JP7081505B2 - Palette and display system - Google Patents

Description

The present invention relates to pallets and display systems.

The forklift supports the pallet on which the load is loaded by the fork and transports the pallet. The fork is located in front of the forklift. Therefore, depending on the height of the load loaded on the pallet, the view of the forklift occupant may be narrowed by the load.

The forklift described in Patent Document 1 includes a camera arranged at the tip of the forklift and a display unit on which an image taken by the camera is displayed. The display unit is located in front of the driver's seat. The passenger of the forklift can operate the forklift while watching the image displayed on the display unit.

Japanese Unexamined Patent Publication No. 2001-310898

In Patent Document 1, depending on the position of the pallet supported by the fork, a part of the pallet may enter the shooting range of the camera, and the shooting range of the camera is substantially narrowed. Therefore, the image displayed on the display unit depends on the position of the fork with respect to the pallet, and depending on the position of the fork with respect to the pallet, the front of the forklift may not be sufficiently displayed.

An object of the present invention is to provide a pallet and a display system capable of displaying the front of a forklift on a display unit without depending on the position of the fork with respect to the pallet.

The pallet that solves the above-mentioned problems is a pallet that is supported by a fork of a forklift and is conveyed together with a load, and the pallet body on which the load is loaded, a photographing unit mounted on the pallet body, and the photographing unit. The shooting unit includes a power supply line for supplying power, and the shooting unit transmits at least a camera that shoots the front of the forklift and video data shot by the camera to a display unit on which the video based on the video data is displayed. The camera is provided on the display unit, which is arranged at a position where the passenger of the forklift can see the forklift while facing the front of the forklift by transmitting the video data by the transmission unit. Display the image taken by.

According to this, the image taken by the camera mounted on the palette is displayed on the display unit. By providing a camera on the pallet, the camera can be arranged so that the load does not appear within the shooting range. Further, by providing the camera on the pallet, the position of the camera does not change depending on the position of the fork with respect to the pallet. Therefore, the front of the forklift can be displayed on the display unit without depending on the position of the fork with respect to the pallet. This allows the passenger to operate the forklift while checking the front of the load.

The pallet includes a rechargeable battery connected to the power supply line, and the transmission unit transmits the video data as a wireless signal to a receiving device mounted on the forklift. According to this, it is possible to transmit video data without connecting the transmission unit provided on the pallet and the display unit by wire. Therefore, the configuration of the pallet and the forklift is less likely to be complicated.

Regarding the pallet, the photographing unit includes a vibration sensor for detecting the vibration generated in the pallet body, and when the vibration sensor detects the vibration of the pallet body, the photographing unit consumes more power than the operation mode. The mode may be changed from the small standby mode to the operation mode.

When the pallet is transported by a forklift, vibration is applied to the pallet body. When the vibration sensor detects this vibration, the photographing unit transitions from the standby mode to the operation mode. Since the photographing unit is in the standby mode until vibration is detected by the vibration sensor, power consumption can be suppressed.

With respect to the palette, a plurality of the cameras may be arranged facing different directions, and the photographing unit may include a yaw rate sensor for detecting the yaw rate.
Regarding the pallet, the photographing unit includes a low voltage detection unit that detects that the voltage of the rechargeable battery is less than the threshold value, and the transmission unit provides information that the voltage of the rechargeable battery is less than the threshold value. It can be transmitted to the receiving device.

Regarding the pallet, the photographing unit may include a real-time clock for detecting the current time, and the transmission unit may transmit the video data in association with the current time.

A display system that solves the above problems is a display system including a forklift and a pallet that is supported by the fork of the forklift and is carried together with a load. The display system includes a power source, and the forklift is equipped with a power source. A display unit is provided at a position where the passenger of the forklift can be visually recognized while facing the front of the forklift, and the pallet is mounted on the pallet body on which the load is loaded and the pallet body. The imaging unit includes a power line that connects the power source and the imaging unit and supplies power to the imaging unit, and the imaging unit includes a camera that photographs at least the front of the forklift and the camera. A transmission unit for transmitting video data captured by the camera to a display unit on which the video based on the video data is displayed is provided, and the video data is transmitted by the transmission unit to the display unit by the camera. Display the image being shot. According to this, the front of the forklift can be displayed on the display unit regardless of the position of the fork with respect to the pallet.

According to the present invention, the front of the forklift can be displayed on the display unit without depending on the position of the fork with respect to the pallet.

Schematic diagram of the display system. Perspective view of the pallet. FIG. 2 is a sectional view taken along line 3-3. Schematic diagram of the shooting unit. Interaction diagram of pallet and forklift. A perspective view of a pallet placed on top of a charging stand. Schematic configuration diagram of a pallet and a forklift when the display unit and the CPU are connected by wire.

Hereinafter, an embodiment of the pallet and the display system will be described.
As shown in FIG. 1, the display system DS includes a forklift 10 and a pallet 30. Although not shown, a plurality of forklifts 10 and pallets 30 are provided.

The forklift 10 includes a vehicle body 11, a cargo handling device 12, and a battery 13. The cargo handling device 12 includes a mast 14 and a fork 15. The battery 13 is a power source for a motor for driving the forklift 10 and a motor for operating the cargo handling device 12. The forklift 10 supports the pallet 30 by the fork 15, and conveys the pallet 30 together with the load W loaded on the pallet 30.

The forklift 10 includes a display unit 16. The display unit 16 includes a display unit 17, a vehicle-side communication module 18, and a reception control unit 21. The vehicle-side communication module 18 includes a vehicle-side connection communication unit 19 and a vehicle-side video communication unit 20. The vehicle-side connection communication unit 19 receives a Bluetooth (registered trademark) standard radio signal and demodulates the received signal into an electric signal. The vehicle-side connection communication unit 19 modulates the electric signal into a Bluetooth standard radio signal, and transmits the modulated radio signal. Although not shown, the vehicle-side connection communication unit 19 includes a detection circuit for detecting the RSSI value of the radio signal. The RSSI value is a value indicating the reception strength of the radio signal = RSSI: Received Signal Strength Indication. The vehicle-side video communication unit 20 receives a wireless signal of the IEEE802.11 standard (Wi-Fi standard), and demodulates the received signal into an electric signal. The demodulated electric signal is output to the reception control unit 21.

The reception control unit 21 is, for example, a microcomputer composed of a CPU, RAM, ROM, and the like. The reception control unit 21 controls the transmission / reception of information using the vehicle-side communication module 18 and the display of the display unit 17.

The display unit 17 is a display arranged at a position where the passenger M of the forklift 10 can be visually recognized while facing the front of the forklift 10. The display unit 17 is arranged behind the fork 15. The display unit 17 reflects the video data obtained by demodulating the radio signal received by the vehicle-side video communication unit 20. The display unit 17 is installed on the vehicle body 11 including the head guard, for example.

As shown in FIGS. 2 and 3, the pallet 30 includes a pallet body 31, a photographing unit 40 mounted on the pallet body 31, a rechargeable battery 60, a power supply line 61, a metal contact 62, and a charging line 63. , Equipped with. The pallet body 31 includes a rectangular mounting portion 32, support portions 35 provided at the four corners of the mounting portion 32, and a support plate 36. The mounting portion 32 of the present embodiment is configured by arranging a plurality of plates side by side. The support portion 35 is fixed to the back surface 34 of the mounting surface 33 on which the load W is placed on both sides of the mounting portion 32. The support plates 36 are provided so as to overlap each other of the adjacent support portions 35, and extend between the adjacent support portions 35. Between the support portions 35, there is an insertion port 37 into which the fork 15 is inserted. The insertion ports 37 are provided at four locations along the four sides of the mounting portion 32. Therefore, it can be said that the pallet body 31 is a four-sided flat pallet.

The photographing unit 40 is provided between the support portions 35. In other words, the photographing unit 40 is provided in each of the four insertion ports 37. The photographing unit 40 is fixed to the back surface 34 of the mounting portion 32. The photographing unit 40 is arranged along the edge of the mounting portion 32.

The rechargeable battery 60 is fixed to the back surface 34 of the mounting portion 32. The rechargeable battery 60 and the photographing unit 40 are connected by a power supply line 61. The rechargeable battery 60 serves as a power source for the photographing unit 40. The photographing unit 40 is operated by the electric power of the rechargeable battery 60.

Each metal contact 62 is provided at the four corners of the pallet body 31. The metal contact 62 penetrates the pallet body 31. The metal contact 62 is exposed on the mounting surface 33 on which the load W is placed and the ground contact surface 38 in contact with the floor surface of the pallet body 31. More specifically, the surface of the metal contacts 62 exposed to the mounting surface 33 is flush with the mounting surface 33, and the surface of the metal contacts 62 exposed to the ground plane 38 is flush with the ground surface 38. .. The charging line 63 connects each metal contact 62 to the rechargeable battery 60.

As shown in FIG. 4, the photographing unit 40 includes a CPU 41, a vibration sensor 42, a real-time clock 43, a low voltage detection unit 44, a yaw rate sensor 45, a camera 46, and a cargo side communication module 47. ..

The CPU 41 is a microcomputer that controls the operation of the photographing unit 40 by executing various software. The CPU 41 includes, for example, a ROM, a RAM, an input / output control circuit, an A / D converter, and the like. The positive electrode of the rechargeable battery 60 is connected to the power supply terminal Vcc of the CPU 41. The ground terminal GND of the CPU 41 is connected to the ground.

The vibration sensor 42 detects the vibration applied to the pallet 30. The vibration sensor 42 is connected to the interrupt terminal Int of the CPU 41. When the vibration sensor 42 detects vibration, it outputs a detection signal to the CPU 41.

The real-time clock 43 outputs the current time to the CPU 41. The real-time clock 43 is connected to the clock terminal CLK of the CPU. The real-time clock 43 outputs a clock signal to the CPU 41.

The low voltage detection unit 44 is provided to detect that the voltage of the rechargeable battery 60 is less than the threshold value. The low voltage detection unit 44 is, for example, a voltage division resistance that divides the power supply voltage, which is the voltage of the rechargeable battery 60, and inputs it to the analog / digital conversion input terminal A / D of the CPU 41. The CPU 41 detects that the voltage of the rechargeable battery 60 is less than the threshold value from the divided power supply voltage. The analog / digital conversion input terminal A / D is a terminal connected to the A / D converter. The threshold value is set to, for example, a value that can prompt the passenger M to charge the rechargeable battery 60 before the voltage of the rechargeable battery 60 becomes lower than the voltage required to operate the photographing unit 40.

The yaw rate sensor 45 outputs the yaw rate to the CPU 41. The yaw rate sensor 45 is connected to the analog / digital conversion input terminal A / D.
The camera 46 outputs the captured video data as digital data to the CPU 41, and uses, for example, a CMOS image sensor or a CCD image sensor. The photographing unit 40 is arranged so that the photographing range of the camera 46 faces the outside of the pallet body 31. The four cameras 46 are arranged so as to shoot in all directions from the pallet body 31.

When the fork 15 is inserted into any of the four insertion ports 37, the camera 46 provided at the insertion port 37 on the opposite side of the insertion port 37 into which the fork 15 is inserted faces the front of the forklift 10. In this way, when the fork 15 is inserted into each insertion port 37, by arranging the camera 46 so as to face the direction in which the fork 15 is inserted, the camera 46 can take a picture in front of the forklift 10. .. Note that "the camera 46 captures the front of the forklift 10" is not limited to the mode in which the optical axis of the camera 46 extends in front of the forklift 10, and the shooting range of the camera 46 includes the front of the forklift 10. Just do it.

In the present embodiment, when the fork 15 is inserted into any of the four insertion ports 37, one of the four cameras 46 faces the right side of the forklift 10, and one of the four cameras 46 faces the forklift 10. Turn to the left of. Therefore, the camera 46 is arranged so as to be able to photograph the left-right direction of the forklift 10 in addition to the front of the forklift 10.

The camera 46 is arranged so that the pallet body 31 is not reflected in the shooting range determined by the horizontal angle of view and the vertical angle of view. In particular, the camera 46 is arranged so that the shooting range is not substantially limited by preventing the mounting portion 32 from being reflected in the vertical angle of view of the camera 46. The camera 46 is connected to the input / output port I / O of the CPU 41.

The cargo-side communication module 47 is for transmitting video data captured by the camera 46 to the vehicle-side communication module 18. The cargo-side communication module 47 is connected to the input / output port I / O of the CPU 41. The cargo-side communication module 47 includes a cargo-side connection communication unit 48 and a cargo-side video communication unit 49. The cargo side connection communication unit 48 receives a Bluetooth standard radio signal and demodulates the received signal into an electric signal. The cargo side connection communication unit 48 modulates the electric signal into a Bluetooth standard radio signal, and transmits the modulated radio signal. Although not shown, the cargo side connection communication unit 48 includes a detection circuit for detecting the RSSI value of the radio signal. The cargo side video communication unit 49 modulates the electric signal into a radio signal of the IEEE802.11 standard (Wi-Fi standard), and transmits the modulated radio signal.

The cargo-side communication module 47 and the vehicle-side communication module 18 have registered information necessary for pairing in advance. The pairing is to connect the cargo side communication module 47 and the vehicle side communication module 18 so that data can be transmitted and received to each other. In other words, by associating the specific cargo-side communication module 47 with the specific vehicle-side communication module 18, only the radio signal transmitted from the associated device is received. .. As a result, the vehicle-side communication module 18 can receive only the radio signal transmitted from the paired cargo-side communication module 47. In the work place where the forklift 10 and the pallet 30 are used, the vehicle side communication module 18 mounted on the forklift 10 used in the work place and the load side communication module 47 mounted on the pallet 30 are made connectable. There is.

An external storage medium 50 can be attached to the photographing unit 40. As the external storage medium 50, a medium that can be rewritten by the CPU 41 and can be removed from the photographing unit 40 is used. As the external storage medium 50, for example, a flash memory or a storage medium such as EEPROM that can be read and written is used.

Next, a sequence for displaying the image captured by the camera 46 on the display unit 17 will be described.
As shown in FIG. 5, in step S1, the vibration sensor 42 detects the vibration and outputs the detection signal to the CPU 41. In step S2, the CPU 41 shifts the photographing unit 40 from the standby mode to the operation mode. The standby mode is a mode in which the function of the photographing unit 40 is restricted for the purpose of suppressing power consumption, and is, for example, a mode in which photography by the camera 46 is not performed. The operation mode is a mode for displaying the image captured by the camera 46 on the display unit 17, and is a mode for operating each member constituting the imaging unit 40. The standby mode consumes less power than the operating mode. The CPU 41 puts the photographing unit 40 in the standby mode until the vibration of the pallet body 31 is detected by the vibration sensor 42, thereby suppressing power consumption.

When transporting the pallet 30, the fork 15 of the forklift 10 is inserted into the pallet 30, and the pallet 30 is supported by the fork 15. When the pallet 30 is supported by the fork 15, vibration is applied to the pallet 30 as the fork 15 moves up and down and the forklift 10 moves. Therefore, when the detection signal from the vibration sensor 42 is input to the CPU 41, it can be said that the pallet 30 is supported by the fork 15.

Next, in step S3, the cargo-side communication module 47 is paired with the vehicle-side communication module 18. The pairing is performed by receiving the connection request signal transmitted from the vehicle-side communication module 18. The connection request signal is transmitted from the vehicle-side connection communication unit 19 of the vehicle-side communication module 18 mounted on the forklift 10. The connection request signal is received by the cargo side connection communication unit 48 of the cargo side communication module 47.

Upon receiving the connection request signal, the cargo side connection communication unit 48 detects the RSSI value of the connection request signal. The RSSI value increases as the distance between the vehicle-side connection communication unit 19 and the cargo-side connection communication unit 48 becomes shorter. Therefore, it can be said that the RSSI value of the connection request signal represents the separation distance between the vehicle-side connection communication unit 19 and the cargo-side connection communication unit 48. When the cargo side connection communication unit 48 receives the connection request signal whose RSSI value is equal to or higher than the threshold value, the cargo side connection communication unit 48 pairs with the vehicle side connection communication unit 19 that has transmitted the connection request signal. The threshold value of the RSSI value is set in consideration of the separation distance between the vehicle-side connection communication unit 19 and the load-side connection communication unit 48 when the pallet 30 is supported by the fork 15. The threshold value is such that the vehicle-side connection communication unit 19 of the forklift 10 is paired with the load-side connection communication unit 48 of the pallet 30 supported by the forklift 10, and the forklift 10 is paired with the vehicle-side connection communication unit 19. The distance is set so that the pallet 30 that is not supported by the forklift 10 is not paired with the load-side connection communication unit 48. That is, the threshold value is set so that pairing is performed with the load-side connection communication unit 48 of the pallet 30 supported by the fork 15. As the threshold value, for example, the RSSI value when the separation distance between the vehicle-side connection communication unit 19 and the cargo-side connection communication unit 48 is 1 [m] is used. The separation distance between the vehicle-side connection communication unit 19 and the cargo-side connection communication unit 48 may be calculated from the RSSI value, and it may be determined whether or not pairing is performed according to the separation distance. In this case as well, a threshold value is set for the separation distance so that pairing is performed with the load-side connection communication unit 48 of the pallet 30 supported by the fork 15, as in the case of using the RSSI value.

In step S4, when the connection between the vehicle-side communication module 18 and the cargo-side communication module 47 is established, communication between the cargo-side communication module 47 and the vehicle-side communication module 18 is started.

In step S5, the cargo-side connection communication unit 48 acquires the IP address of the vehicle-side video communication unit 20 from the vehicle-side connection communication unit 19. This enables communication between the cargo-side video communication unit 49 and the vehicle-side video communication unit 20.

In step S6, the CPU 41 outputs an electric signal indicating the video data acquired from each camera 46, the current time acquired from the real-time clock 43, and the yaw rate data acquired from the yaw rate sensor 45 to the cargo side video communication unit 49. It can be said that the current time acquired from the real-time clock 43 represents the shooting time of the video. The cargo-side video communication unit 49 converts an electric signal into a wireless signal and transmits it to the vehicle-side video communication unit 20. As a result, the video data is transmitted to the display unit 17. The cargo-side communication module 47 functions as a transmission unit for transmitting video data. The vehicle-side communication module 18 functions as a receiving device for receiving a radio signal. Further, the CPU 41 stores the video data in the external storage medium 50 in association with the current time acquired from the real-time clock 43. That is, the image taken by the camera 46 and the shooting time of the image are stored in the external storage medium 50.

In step S7, the reception control unit 21 selects the video data to be displayed on the display unit 17 from the yaw rate. First, the reception control unit 21 acquires video data, shooting time, and yaw rate from the electric signal demodulated by the vehicle-side video communication unit 20.

In the pallet 30 into which the fork 15 can be inserted from all sides as in the present embodiment, it is necessary to determine which of the four cameras 46 is facing the front of the forklift 10. The camera 46 facing forward can be said to be the camera 46 farthest from the vehicle body 11 of the forklift 10.

From the yaw rate, the reception control unit 21 can grasp which camera 46 is being conveyed with the pallet 30 facing forward of the forklift 10. That is, it is possible to grasp from the yaw rate which of the video data obtained by the four cameras 46 is the data obtained by photographing the front of the forklift 10. Further, the reception control unit 21 recognizes the traveling direction of the forklift 10 from the yaw rate. When the forklift 10 is moving forward, the reception control unit 21 outputs the video data of the camera 46 that is photographing the front of the forklift 10 to the display unit 17, and displays the front of the forklift 10 on the display unit 17. When the forklift 10 is turning right, the reception control unit 21 outputs the video data of the camera 46 that is photographing the right side to the display unit 17, and displays the right side of the forklift 10 on the display unit 17. When the forklift 10 is turning left, the reception control unit 21 outputs the video data of the camera 46 that is photographing the left side to the display unit 17, and displays the left side of the forklift 10 on the display unit 17. When the forklift 10 is moving backward, the reception control unit 21 may or may not display the image on the display unit 17.

In the present embodiment, the video data of the four cameras 46 is transmitted to the vehicle-side communication module 18, and the reception control unit 21 selects the video to be displayed on the display unit 17, but the CPU 41 has the four video data. One of the video data may be transmitted. The CPU 41 selects the video data of the camera 46 corresponding to the traveling direction of the forklift 10 from the yaw rate, and transmits only this video data to the vehicle side communication module 18. That is, which of the four cameras 46 to display on the display unit 17 may be selected on the forklift 10 side or the pallet 30 side.

In step S8, when the video data is output from the reception control unit 21, the display unit 17 displays the video based on the video data. The passenger M can operate the forklift 10 while looking at the display unit 17.

In step S9, the forklift 10 places the pallet 30 loaded with the load W on the transport destination, and when the forklift 10 separates from the pallet 30, the vehicle-side connection communication unit 19 and the load-side connection communication unit 48 are connected in step S10. Pairing) is canceled. In step S11, when the connection is released, the CPU 41 shifts the photographing unit 40 from the operation mode to the standby mode. By the above processing, when the forklift 10 conveys the pallet 30, the image taken by the camera 46 is displayed on the display unit 17.

Next, a case where the rechargeable battery 60 is charged will be described.
There is a correlation between the remaining capacity of the rechargeable battery 60 and the voltage of the rechargeable battery 60. When the remaining capacity of the rechargeable battery 60 becomes low, the low voltage detection unit 44 detects that the voltage of the rechargeable battery 60 is less than the threshold value. When the voltage of the rechargeable battery 60 becomes less than the threshold value, the cargo side communication module 47 transmits information to the effect that the voltage of the rechargeable battery 60 is less than the threshold value. This information may be included in the radio signal transmitted from the cargo side connection communication unit 48, or may be included in the radio signal transmitted from the cargo side video communication unit 49. When the reception control unit 21 recognizes that the voltage of the rechargeable battery 60 is less than the threshold value, the reception control unit 21 displays on the display unit 17 that the remaining capacity of the rechargeable battery 60 is low. This prompts the passenger M of the forklift 10 to charge the rechargeable battery 60.

As shown in FIG. 6, when charging the rechargeable battery 60 of the pallet 30, the pallet 30 is placed on the charging stand 70 in an overlapping manner. The metal contacts 62 of the stacked pallets 30 are in contact with each other and are electrically connected. The lowermost pallet 30 of the stacked pallets 30 comes into contact with the feeding portions 71 and 72 of the charging stand 70.

The power supply units 71 and 72 are supplied with electric power after power conversion of the electric power supplied from the system power supply. The rechargeable battery 60 is charged by supplying electric power from the feeding units 71 and 72 to the metal contacts 62. The metal contact 62 may be a contact having both polarities of the positive electrode and the negative electrode, or may be a contact of either the positive electrode or the negative electrode. For example, two of the four metal contacts 62 may be used for the positive electrode, and the remaining two may be used for the negative electrode. At this time, if the pallets 30 are such that the diagonals of the metal contacts 62 located at the four corners of the pallet body 31 are contacts for the same polarity so that the long sides are aligned and stacked, when the pallets 30 are stacked. The metal contacts 62 having the same polarity come into contact with each other regardless of the orientation of the pallets 30.

When each of the metal contacts 62 has both positive and negative polarities, two metal contacts 62 are provided, for example, the central portion of the metal contact 62 and the outer peripheral portion outside the central portion have different polarities. And insulate both. As a result, when the pallets 30 are stacked, the portions having the same polarity come into contact with each other regardless of the orientation of the pallets 30.

The operation of this embodiment will be described.
As shown in FIG. 1, when the pallet 30 loaded with the load W is transported by the forklift 10, the view of the occupant M may be narrowed by the load W. In the present embodiment, the image taken by the camera 46 mounted on the pallet 30 is displayed on the display unit 17. By operating the forklift 10 while looking at the display unit 17, the passenger M can operate the forklift 10 while visually recognizing the front of the load W.

By providing the camera 46 on the pallet 30, the camera 46 can be arranged so that the load W is not reflected in the shooting range. Further, by providing the camera 46 on the pallet 30, the position of the camera 46 does not change depending on the position of the fork 15 with respect to the pallet 30. Therefore, the camera 46 can photograph the front of the forklift 10 regardless of whether the fork 15 projects forward from the pallet 30, the shape of the load W, and the height of the load W. More specifically, when the camera 46 is provided at the tip of the fork 15, the pallet body 31 is reflected in the vertical angle of view unless the fork 15 protrudes forward from the pallet 30, and the shooting range is substantially limited. There is a risk of It is also conceivable to dispose the camera 46 above the cargo handling device 12, such as above the mast 14. However, in this case, the load W may be reflected below the vertical angle of view. Therefore, the shooting range is substantially limited depending on the shape of the load W and the height of the load W. On the other hand, when the camera 46 is provided on the pallet body 31, practical problems occur even if the pallet body 31 is not reflected in the vertical angle of view or even if the pallet body 31 is reflected in the vertical angle of view. It can be stored to the extent that it does not exist.

If the passenger M cannot operate the forklift 10 while visually recognizing the front of the load W, the passenger M moves the forklift 10 backward while visually recognizing the rear of the forklift 10, and the pallet 30 on which the load W is loaded. Will be transported. The passenger M operates the forklift 10 in an unnatural posture, and the operability is poor. Further, since the passenger M faces the rear of the forklift 10, the load W may fall without noticing the sign of the load W falling. Further, when the work of taking the load W from the shelf or the work of placing the load W on the shelf is performed, it is necessary to remove the shelf from the gap of the load W or the side of the load W, which is inefficient.

On the other hand, as in the present embodiment, the image in front of the load W is displayed on the display unit 17, so that the passenger M can notice the sign of the load W falling. Further, when the work of removing the load W from the shelf or the work of placing the load W on the shelf is performed, the position of the shelf and the state of the shelf can be confirmed through the camera 46.

The effect of this embodiment will be described.
(1) By providing the camera 46 on the pallet 30, the front of the forklift 10 can be displayed on the display unit 17 regardless of the position of the fork 15 with respect to the pallet 30. The image taken by the camera 46 is displayed on the display unit 17. Therefore, the passenger M can operate the forklift 10 while checking the front of the load W.

(2) If video data is transmitted by a wired connection, the configuration of the pallet 30 and the forklift 10 becomes complicated, such as providing contacts to the fork 15 and the pallet 30 and passing wiring through the fork 15. Similarly, if the battery 13 in which the photographing unit 40 is mounted on the forklift 10 is to be operated as a power source, the configuration of the pallet 30 and the forklift 10 becomes complicated. On the other hand, in the present embodiment, the photographing unit 40 operates using the rechargeable battery 60 provided in the pallet 30 as a power source, and the cargo side communication module 47 wirelessly transmits video data. Therefore, the configuration of the pallet 30 and the forklift 10 is less likely to be complicated.

(3) The CPU 41 shifts the photographing unit 40 from the standby mode to the operation mode, triggered by the input of the detection signal by the vibration sensor 42. Since the photographing unit 40 is in the standby mode until the vibration is detected by the vibration sensor 42, the power consumption can be suppressed.

(4) The pallet 30 includes a plurality of cameras 46 and a yaw rate sensor 45. By detecting the yaw rate with the yaw rate sensor 45, the traveling direction of the forklift 10 can be associated with each camera 46. In the embodiment, it is possible to associate which of the four cameras 46 is facing the forklift 10 in the front-rear, left-right direction. Therefore, the image of the camera 46 corresponding to the traveling direction of the forklift 10 can be displayed on the display unit 17.

(5) The pallet 30 includes a low voltage detection unit 44. Since it can be detected that the voltage of the rechargeable battery 60 is less than the threshold value, it is possible to prompt the passenger M to charge the battery before the remaining capacity of the rechargeable battery 60 is exhausted.

(6) The photographing unit 40 includes a real-time clock 43. Therefore, the video data can be associated with the shooting time. By storing the video data in the external storage medium 50 in correspondence with each other, when checking the video stored in the external storage medium 50, the time when the video was shot can be confirmed. When checking the operating status of the forklift 10, the passenger M can be identified from the shooting time.

The embodiment can be modified and implemented as follows. The embodiments and the following modifications can be implemented in combination with each other within a technically consistent range.
○ Video data may be transmitted by wire. For example, as shown in FIG. 7, the fork 15 has two vehicle-side power supply contacts 81 and 82, a vehicle-side signal contact 83, two vehicle-side power supply lines 84 and 85, and a vehicle-side signal line 86. Be prepared. The vehicle-side power supply contacts 81 and 82 and the vehicle-side signal contact 83 are exposed on the upper surface of the fork 15. One of the vehicle-side power contacts 81 and 82 is connected to the positive electrode of the battery 13 by the vehicle-side power line 84, and the other of the vehicle-side power contacts 81 and 82 is connected to the negative electrode of the battery 13 by the vehicle-side power line 85. The vehicle-side signal contact 83 is connected to the display unit 17 by the vehicle-side signal line 86.

The pallet 30 includes two load-side power supply contacts 91 and 92, a load-side signal contact 93, two load-side power supply lines 94 and 95, and a load-side signal line 96. The load-side power supply contacts 91 and 92 are arranged at positions in contact with the vehicle-side power supply contacts 81 and 82 while the pallet 30 is supported by the fork 15. The load-side signal contact 93 is arranged at a position in contact with the vehicle-side signal contact 83 while the pallet 30 is supported by the fork 15. The load-side power supply contacts 91 and 92 are connected to the photographing unit 40 by the load-side power supply lines 94 and 95. The load-side signal contact 93 is connected to the CPU 41 by a load-side signal line 96.

When the pallet 30 is supported by the fork 15, the power of the battery 13 is transmitted through the vehicle-side power supply lines 84,85, the vehicle-side power supply contacts 81,82, the load-side power supply contacts 91,92, and the load-side power supply lines 94,95. It is supplied to the photographing unit 40. The photographing unit 40 is operated by the electric power of the battery 13. Therefore, the pallet 30 does not have to include the rechargeable battery 60, the metal contact 62, and the charging line 63. The load-side power supply lines 94 and 95 function as power supply lines.

When the pallet 30 is supported by the fork 15, the CPU 41 and the display unit 17 are connected to each other via the vehicle-side signal line 86, the vehicle-side signal contact 83, the load-side signal contact 93, and the load-side signal line 96. .. The CPU 41 transmits video data to the display unit 17 via the vehicle-side signal line 86, the vehicle-side signal contact 83, the load-side signal contact 93, and the load-side signal line 96. That is, the bus is composed of the vehicle-side signal line 86, the vehicle-side signal contact 83, the load-side signal contact 93, and the load-side signal line 96. The load-side signal contact 93 and the load-side signal line 96 serve as a transmission unit for transmitting video data to the display unit 17. Since it is not necessary to convert the video data into a wireless signal, the pallet 30 does not have to include the cargo side communication module 47. Further, the forklift 10 does not have to include the vehicle-side communication module 18.

○ The pallet 30 does not have to include the real-time clock 43.
○ The CPU 41 does not have to store the video data in the external storage medium 50.
○ The pallet 30 does not have to include the low voltage detection unit 44. In this case, it is preferable to operate the rechargeable battery 60 so that the remaining capacity of the rechargeable battery 60 is not exhausted, such as charging the rechargeable battery 60 periodically. For example, if the operation mode continues for a certain period of time, the passenger M may be urged to charge the rechargeable battery 60.

○ Instead of displaying on the display unit 17, the forklift 10 may urge the passenger M to charge the rechargeable battery 60 by lighting a lamp or making a sound.
○ The camera 46 may be any camera that can capture at least the front of the forklift 10, and the number of cameras 46 may be increased or decreased. For example, the pallet 30 may be configured to include one camera 46. In this case, the pallet 30 has one outlet 37, and the camera 46 is arranged at a position facing the outlet 37. As a result, the camera 46 faces the front of the forklift 10 with the pallet 30 supported by the fork 15. The display unit 17 displays an image taken by the camera 46 facing the front of the forklift 10 regardless of the traveling direction of the forklift 10. In this case, the pallet 30 does not have to include the yaw rate sensor 45.

○ The pallet 30 does not have to include the vibration sensor 42. In this case, the photographing unit 40 is always maintained in the operation mode.
○ The video data and the shooting time associated with the video data may be stored in the server instead of the external storage medium 50. In this case, the cargo-side communication module 47 wirelessly transmits video data and the imaging time to the server in addition to the vehicle-side communication module 18. The server stores the received video data and the shooting time.

○ The cargo-side communication module 47 may transmit a radio signal to a receiving device different from the vehicle-side communication module 18 in addition to the vehicle-side communication module 18. For example, a wireless signal may be transmitted to a receiving device that reflects an image of video data on a monitor that can be visually recognized by an administrator. The manager is a person who manages the workplace where the forklift 10 and the pallet 30 are used.

○ Images of a plurality of cameras 46 may be displayed on the display unit 17. For example, the images of the two cameras 46 may be combined and displayed as one image. In this case, for example, when the forklift 10 is turning right, the images of the camera 46 shooting the front of the forklift 10 and the camera 46 shooting the right side of the forklift 10 may be combined. That is, the number of cameras 46 corresponding to the traveling direction of the forklift 10 is not limited to one, and may be plural. Further, the display unit 17 may be divided into a plurality of areas, and images of different cameras 46 may be displayed in each area.

○ The vehicle-side communication module 18 and the cargo-side communication module 47 may include a communication unit capable of performing both pairing and video data communication. The vehicle-side communication module 18 and the cargo-side communication module 47 of the embodiment include a communication unit for performing pairing and a communication unit for transmitting video data, but the vehicle-side communication module 18 and the cargo-side communication module 18 are provided. The communication module 47 may be configured to include one communication unit. As the communication unit, any communication standard such as Wi-Fi, Bluetooth, Zigbee (registered trademark) may be used.

○ When the number of pallets 30 used in the workplace is singular, it is not necessary to pair the vehicle-side communication module 18 and the cargo-side communication module 47. When the number of pallets 30 used in the workplace is singular, there is also one cargo-side communication module 47 that transmits video data to the vehicle-side communication module 18. Therefore, there is only one cargo-side communication module 47 that transmits a radio signal to the vehicle-side communication module 18, and there is no need to perform pairing.

○ Even if each of the pallets 30 and the forklift 10 used in the workplace is plural, by predetermining only one pallet 30 used by the forklift 10, the vehicle side communication module 18 and the cargo side communication can be performed. It is not necessary to perform pairing with the module 47. For example, the color, shape, mark, and the like are different for each of the plurality of palettes 30. The passenger M transports only the pallet 30 corresponding to the forklift 10 by the forklift 10. Since the forklift 10 knows the pallet 30 to be transported in advance, the video data can be transmitted by registering the IP address of the load-side video communication unit 49 of the pallet 30 to be transported. Since it is not necessary to perform pairing, the vehicle-side communication module 18 may not include the vehicle-side connection communication unit 19, and the cargo-side communication module 47 may not include the cargo-side connection communication unit 48.

○ The pallet body 31 may have any shape. For example, a flat pallet having a number of outlets different from that of the embodiment may be used, or a pallet of a type different from the flat pallet such as a post pallet may be used.

○ The camera 46 may be placed at any position as long as it does not interfere with the fork 15 and the load W and the pallet body 31 can be suppressed from being reflected in the shooting range.

○ At least one metal contact 62 may be provided.

DS ... Display system, M ... Passenger, W ... Load, 10 ... Forklift, 15 ... Fork, 18 ... Vehicle side communication module (receiver), 30 ... Pallet, 31 ... Pallet body, 40 ... Shooting unit, 42 ... Vibration Sensor, 43 ... real-time clock, 44 ... low voltage detector, 45 ... yaw rate sensor, 46 ... camera, 47 ... cargo side communication module (transmission unit), 60 ... rechargeable battery, 61 ... power line.

Claims (7)

A pallet that is supported by the forks of a forklift and carried with the load.
The pallet body on which the load is loaded and
The shooting unit mounted on the pallet body and
A power line that supplies power to the photographing unit is provided.
The shooting unit is
At least a camera that shoots in front of the forklift,
A transmission unit for transmitting video data captured by the camera to a display unit on which the video based on the video data is displayed is provided.
By transmitting the video data by the transmission unit, the image captured by the camera is displayed on the display unit arranged at a position where the passenger of the forklift can see while facing the front of the forklift. Palette to do. Equipped with a rechargeable battery connected to the power line
The pallet according to claim 1, wherein the transmission unit transmits the video data as a wireless signal to a receiving device mounted on the forklift. The shooting unit is
A vibration sensor for detecting the vibration generated in the pallet body is provided.
The shooting unit is
The pallet according to claim 2, wherein when the vibration of the pallet body is detected by the vibration sensor, the pallet transitions from the standby mode, which consumes less power than the operation mode, to the operation mode. Multiple cameras are arranged facing different directions.
The shooting unit is
The pallet according to claim 2 or 3, further comprising a yaw rate sensor for detecting the yaw rate. The shooting unit is
A low voltage detection unit for detecting that the voltage of the rechargeable battery has fallen below the threshold value is provided.
The pallet according to any one of claims 2 to 4, wherein the transmission unit can transmit information to the effect that the voltage of the rechargeable battery is less than the threshold value to the receiving device. The shooting unit is
Equipped with a real-time clock that detects the current time
The pallet according to any one of claims 1 to 5, wherein the transmission unit transmits the video data in association with the current time. Forklift and
A display system comprising a pallet supported by the fork of the forklift and carried with the load.
The display system is
Equipped with a power source
The forklift is
A display unit is provided so that the passenger of the forklift can be visually recognized while facing the front of the forklift.
The pallet is
The pallet body on which the load is loaded and
The shooting unit mounted on the pallet body and
A power line that connects the power source and the photographing unit and supplies power to the photographing unit is provided.
The shooting unit is
At least a camera that shoots in front of the forklift,
A transmission unit for transmitting video data captured by the camera to a display unit on which the video based on the video data is displayed is provided.
A display system that displays the image captured by the camera on the display unit by transmitting the video data by the transmission unit.

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