JP7371544B2 - Industrial vehicle work support equipment - Google Patents

Description

The present invention relates to a work support device for an industrial vehicle.

In the fork positioning support device for a forklift disclosed in Patent Document 1, when a stereo image of the front of the forklift including the pallet and fork being transported by the forklift is captured and displayed on a display, a target point to which the fork tip is to be moved is specified. Upon reception, the distance from the reference point of the fork tip to the target point is calculated, the target point is tracked within the updated stereo image, and the calculated distance is output on the display. In the remote control system for industrial vehicles disclosed in Patent Document 2, if the vehicle speed of the industrial vehicle is below a threshold value, switching from an image captured by a traveling camera to an image captured by a cargo handling camera is permitted. That's what I do.

Japanese Patent Application Publication No. 2013-86959 JP2019-208176A

By the way, when performing multiple tasks in succession using an industrial vehicle, an operator who operates by looking at the image display section needs to switch the guide display and camera images according to the work process, but it is difficult to get used to it. Is required.

An object of the present invention is to provide a work support device for an industrial vehicle that allows an operator to easily recognize the next work to be done while looking at an image display unit.

A work support device for an industrial vehicle to solve the above problems includes a camera that images the surroundings of the machine, a sensor that detects at least one of the movement of the vehicle, the movement of the working part, and the working situation, and A process control department that identifies the current process status and the next process based on the values, and displays a guide suitable for the next process or a camera image suitable for the next process among multiple camera images before the next process. The gist of the present invention is to include an image display section that displays images.

According to this, the current process status and the next process are identified based on the values obtained by the sensor, and a guide suitable for the next process or a camera image suitable for the next process among multiple camera images is transferred to the next process. Before starting the next process, a guide suitable for the next process is displayed and a camera image suitable for the next process is displayed, so even operators who are not familiar with the work can You can easily recognize the next task by looking at the display.

Further, in the work support device for an industrial vehicle, the image display unit displays a guide suitable for the current process before displaying a guide suitable for the next process or a camera image suitable for the next process among a plurality of camera images. It would be better to erase it.

Further, in the work support device for an industrial vehicle, the industrial vehicle is a forklift, the current step is a step of directly facing a pallet, and the next step is adjusting the height of the fork claw to the height of the pallet hole. It is good if it is a process.

Further, in the work support device for an industrial vehicle, the industrial vehicle is a forklift, the current process is a process of adjusting the height of the fork claws to the height of the pallet hole, and the next process is a process of adjusting the height of the fork claw to the height of the pallet hole. It is preferable that the process is to move forward toward the target.

Further, in the work support device for an industrial vehicle, the industrial vehicle is a forklift, the current step is a step of advancing the machine platform toward a pallet, and the next step is a step of moving the machine platform backward. Good.

Further, in the work support device for an industrial vehicle, the image display unit displays a guide suitable for the next process or a camera image suitable for the next process among a plurality of camera images when determining completion of the current process. It's good to do that.

Further, in the work support device for an industrial vehicle, the work support device for an industrial vehicle is used for a remote control system for an industrial vehicle, and the remote control system for an industrial vehicle includes the industrial vehicle and a remote control device. The industrial vehicle is equipped with a cargo handling device as the working section on the machine base and has a vehicle communication section, and the remote control device has an operating device communication section that performs wireless communication with the vehicle communication section. However, it may be used to remotely control the traveling of the industrial vehicle and the cargo handling by the cargo handling device.

According to the present invention, the operator can easily recognize the next task to be performed while looking at the image display unit.

FIG. 2 is a block diagram showing the electrical configuration of a forklift remote control system. A schematic side view showing a forklift. FIG. 2 is a partially cutaway schematic perspective view of the forklift. A schematic plan view showing a pallet and a forklift in a workplace. FIG. 3 is a diagram for explaining display contents on an image display unit. A schematic plan view showing a pallet and a forklift in a workplace. FIG. 3 is a diagram for explaining display contents on an image display unit. FIG. 3 is a diagram for explaining display contents on an image display unit. A schematic side view showing a forklift. FIG. 3 is a diagram for explaining display contents on an image display unit. FIG. 3 is a diagram for explaining display contents on an image display unit.

An embodiment embodying the present invention will be described below with reference to the drawings.
In this embodiment, the industrial vehicle work support device is used for a forklift remote control system as an industrial vehicle remote control system.

As shown in FIG. 1, the forklift remote control system 10 includes a reach-type forklift 20 as an industrial vehicle, and a remote control device 40 used to remotely control traveling of the forklift 20 and cargo handling by a cargo handling device. We are prepared. Forklift 20 is placed at the work site. The forklift 20 in the workshop can be remotely controlled from the control room using the remote control device 40.

A forklift 20 is located at a location away from pallets and the like in a workplace. From this state, the operator remotely controls the forklift 20 to move the forklift 20 closer to the pallet and perform operations such as inserting the fork into the holes in the pallet. It is possible to pick up and store cargo using such pallets.

As shown in FIGS. 2, 3, and 4, the forklift 20 includes a platform 21. As shown in FIGS. A pair of left and right reach legs 22a, 22b are arranged on the front side of the machine base 21, and the reach legs 22a, 22b extend forward. Specifically, the reach leg 22a is provided on the right side in the direction of travel, and the reach leg 22b is provided on the left side in the direction of travel. Front wheels 23a, 23b are disposed at the front of the reach legs 22a, 22b. Specifically, the right front wheel 23a is provided on the right reach leg 22a in the traveling direction, and the left front wheel 23b is provided on the left reach leg 22b in the traveling direction. In this way, a pair of left and right front wheels 23a and 23b are provided on the front side of the machine base 21.

As shown in FIGS. 2 and 3, a rear wheel 24 and a caster wheel (auxiliary wheel) 25 are provided at the rear of the machine base 21. The rear wheel 24 is provided on the left side of the machine base 21, and the caster wheel 25 is provided on the right side of the machine base 21. The rear wheels 24 are driving wheels and steering wheels.

As shown in FIGS. 2, 3, and 4, the forklift 20 runs on three wheels: two front wheels 23a, 23b, and one rear wheel 24. As shown in FIG. 2, the machine base 21 is equipped with a travel motor 26 that serves as a drive source for the forklift 20, and a battery 27 that serves as a power source for the travel motor 26. The rear wheels 24 are rotationally driven by the travel motor 26.

As shown in FIG. 2, the forklift 20 includes a cargo handling device 28 as a working section in front of the platform 21. The cargo handling device 28 includes a mast 29 that moves back and forth along each reach leg 22a, 22b by driving a reach cylinder (not shown). A pair of left and right forks 30a and 30b are provided in front of the mast 29 via a lift bracket 31. The forks 30a, 30b have claws (hereinafter referred to as fork claws) Nf that extend in the front, specifically in the horizontal direction when the tilt angle is 0. The forks 30a, 30b move up and down along the mast 29. That is, the forklift 20 includes a fork pawl Nf that moves up and down.

The forklift 20 of this embodiment is configured so that a driver can operate it while seated. Note that it may be an unmanned forklift without a driver's seat.
As shown in FIG. 3 , the forklift 20 includes a standing-type driver's cab 32 at the rear of the machine platform 21 . Steering tables 33a and 33b are provided in front and on the left side of the driver's cab 32. A steering table 33a located in front of the driver's cab 32 is provided with a direction lever 34 for driving the forklift 20 and a plurality of cargo handling levers 35 for operating the cargo handling device 28. The direction lever 34 is operated to rotate the rear wheels 24 and drive the vehicle. A steering table 33b located on the left side of the driver's cab 32 is provided with a handle 36 for steering the rear wheels 24. Further, a brake pedal 37 is provided on the floor of the driver's cab 32.

As shown in FIGS. 2 and 3, the machine base 21 has two pillars 38 and a head guard 39. The operator's cab 32 is surrounded by two pillars 38 erected on the machine base 21 and a head guard 39 fixed to the upper ends of the pillars 38. The head guard 39 has a plate shape that extends in the horizontal direction, and has a rectangular shape in plan view.

As shown in FIG. 1, the forklift 20 includes, as forklift-mounted equipment 50, a controller 51, a wireless unit 52 as a vehicle communication section, an image processing section 53, a radio device 54 as a vehicle communication section, and two units. It includes cameras 71 and 72, a lift-up operation amount sensor S1, a baggage sensor (cargo presence sensor) S2, and a steering angle sensor S3.

The remote control device 40 includes a controller 61, an operating section 62, an image display section (monitor) 63, and radios 64 and 65 as operating device communication sections. The remote control device 40 includes a controller 61, an operation section 62, and an image display section (monitor) 63 as an operation room side device 60.

The radio 64 of the remote control device 40 is placed in the work place. Moreover, the radio device 65 of the remote control device 40 is placed in the work place. A controller 61 placed in the operation room is connected to a wireless device 64 placed in the work area via a wire L1. The controller 61 is connected to a wireless device 65 placed in the work place via a wire L2.

At the workplace, the wireless device 64 of the remote control device 40 and the wireless unit 52 of the forklift-mounted equipment 50 can communicate wirelessly in both directions. Further, in the workplace, wireless communication is possible from the radio 54 of the forklift-mounted equipment 50 to the radio 65 of the remote control device 40.

In this way, the forklift 20 has the wireless unit 52 and the wireless device 54, and the remote control device 40 has the wireless devices 64 and 65 that perform wireless communication with the wireless unit 52 and the wireless device 54.

A controller 61 of the remote control device 40 is connected to an operation section 62 and an image display section (monitor) 63. The operation unit 62 is used to remotely control the forklift 20 by the operator, and allows the operator to control the operation details of the forklift 20 (operation command values for lift, reach, and tilt, and operation commands for speed, acceleration, and steering angle). value, etc.) is sent to the controller 61. The controller 61 wirelessly transmits vehicle control signals such as lift, reach, and tilt operation command values, and speed, acceleration, and steering angle operation command values to the wireless unit 52 of the forklift-mounted equipment 50 via the radio 64. do.

In the forklift-mounted equipment 50, the controller 51, the wireless unit 52, and the image processing section 53 are connected to each other so that they can communicate with each other (eg, CAN communication). The controller 51 can drive travel system actuators (travel motor 26, steering motor (not shown), etc.) and cargo handling system actuators (lift cylinder, reach cylinder, tilt cylinder, etc. (not shown)) according to instructions from the remote control device 40.

The wireless unit 52 wirelessly transmits vehicle information such as the vehicle speed of the forklift 20 and abnormality information (obstacle detection information, etc.) to the controller 61 via the wireless device 64.
In FIG. 1, the controller 61 can remotely control the traveling of the forklift 20 and the cargo handling by the cargo handling device 28 via the radio 64, the radio unit 52, and the controller 51. In other words, remote control can be performed using the operating section 62 of the remote control device 40 instead of the operating sections (direction lever 34, cargo handling lever 35, handle 36, brake pedal 37, etc.) shown in FIG.

In the remote control device 40, when the operator performs a desired operation using the operation unit 62, the controller 61 sends the details of the operation to the forklift 20 via the radio 64. In the forklift 20, the wireless unit 52 receives the operation details from the remote control device 40, and the controller 51 drives the actuator section to execute a desired operation.

As shown in FIGS. 2 and 4, a camera 71 is provided in the center of the lift bracket 31 of the forklift 20. The camera 71 is for capturing an image in front of the fork pawl Nf, and is attached so as to face forward and downward. The camera 71 captures an image of the area around the machine platform 21 and below in the forward direction of movement of the forklift 20 . Further, a camera 72 is attached to the rear end of the head guard 39 so as to face rearward and downward, and the camera 72 takes an image of the area around the machine platform 21 and the rearward and lower part of the forklift 20 . That is, the camera 72 is a camera for monitoring the rear of the machine stand 21.

As shown in FIG. 1, in the forklift 20, images captured by cameras 71 and 72 are sent by the controller 51 to the remote control device 40 via the image processing section 53 and the radio 54. In the remote control device 40 , a camera image from the forklift 20 is received by the wireless device 65 . Then, the controller 61 displays camera images taken by the cameras 71 and 72 on an image display section 63 provided in the remote control device 40. The image display unit 63 is, for example, a desktop display. The operator operates while viewing the camera image on the image display section 63.

The lift-up operation amount sensor S1 is a sensor that detects the amount of operation for upward movement of the forks 30a, 30b. The cargo sensor (cargo presence sensor) S2 is a sensor that detects whether cargo is placed on the forks 30a, 30b via the pallet 100. The steering angle sensor S3 is a sensor that detects the steering angle, which is the orientation of the rear wheels 24. The lift-up operation amount sensor S1, the cargo sensor (load sensor) S2, and the steering angle sensor S3 are for detecting at least one of the movement of the vehicle, the movement of the cargo handling device 28 as a working part, and the working status. . In addition, for example, a vehicle speed sensor that detects the speed of the machine base 21 or the like is used as a sensor that detects the movement of the vehicle. As a sensor that detects the movement of the working part or the working situation, a sensor that detects the back and forth movement (reach-in, reach-out) of the forks 30a, 30b is used. The values obtained by the sensors S1, S2, S3, etc. are sent to the controller 61 via the wireless unit 52 and radio device 64.

4 and 6 are explanatory diagrams when the machine base 21 is made to face the pallet 100, with FIG. 4 showing the machine before facing the pallet 100, and FIG. 6 showing it after facing the pallet 100.
In FIG. 4, the symbol Cpf indicates the center of the front surface 101 of the pallet 100. The symbol Cfh indicates the center of the left and right front wheels 23a, 23b. The symbol Axfh indicates the axle of the left and right front wheels 23a, 23b. The symbol Lr1 indicates an orthogonal line passing through the center Cfh of the left and right front wheels 23a, 23b and orthogonal to the axle axis Axfh of the left and right front wheels 23a, 23b. The symbol Lmi indicates the shortest distance line to a plane that passes through the center Cfh of the left and right front wheels 23a and 23b and includes the front surface 101 of the pallet 100. As shown in FIG. 6, the center Cpf of the front surface 101 of the pallet 100 is aligned on this shortest distance line Lmi. This is an operation to prevent lateral slippage.

As shown in FIG. 4, the pallet 100 has a pallet hole 102 on the right side and a pallet hole 103 on the left side, and the pallet holes 102 and 103 have a rectangular cross section and are open at the front surface 101 of the pallet 100.

FIG. 5 shows the display contents on the image display section 63. On the front surface 101 of the palette 100, a mark 104 is attached to the right side, and a mark 105 is attached to the left side. By reading these marks 104 and 105 with the camera 71, the position of the pallet 100 and the center of the front surface 101 of the pallet can be determined.

The controller 61 measures the position of the pallet 100 by image recognition based on this camera image.
When turning on the spot, that is, turning at the maximum steering angle, the center Cfh of the left and right front wheels 23a, 23b shown in FIG. 4 becomes the turning center. By turning on the spot, the above-mentioned orthogonal line Lr1 is aligned with the center Cpf of the pallet front surface 101, as shown in FIG. This is an operation to prevent angular deviation.

The controller 61 can cause the image display section 63 to display two marks Gm1 and Gm2 (see FIG. 5), which are guides for supporting work, superimposed on the camera image. Marks Gm1 and Gm2 are guide marks for informing that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi mentioned above, and that the above-mentioned orthogonal line Lr1 is aligned with the center Cpf of the pallet front surface 101. be. Specifically, the mark Gm1 shown in FIG. 5 is an x shape, and the mark Gm2 is a diamond shape. The marks Gm1 and Gm2 can be displayed in different colors. The mark Gm2 is displayed superimposed on the center of the palette front surface 101 in the camera image. When facing directly, the mark Gm1 and the mark Gm2 overlap in the camera image.

Next, an operation for causing the forklift 20 to face the pallet 100 will be described.
A camera image taken by the camera 71 is displayed on the image display section 63.

FIG. 4 shows a schematic plan view of the pallet 100 and the forklift 20 in the workplace, and they approach the front surface 101 of the pallet 100 from an oblique left direction. At that time, the image is displayed on the image display section 63 as shown in FIG.

The situation shown in FIG. 4 is changed to the situation shown in FIG. 6 by an operation by the operator, and at that time, the situation is displayed on the image display section 63 as shown in FIG.
As shown in FIGS. 4 and 5, the controller 61 measures the position of the pallet 100 by image recognition based on the camera image. In contrast to the lateral deviation amount ΔL and angular deviation amount Δθ with respect to the facing direction in FIG. 4, the lateral deviation amount ΔL and the angular deviation amount Δθ are eliminated in the subsequent operation. In FIG. 4, the lateral shift amount ΔL is the distance between the perpendicular line extending from the center Cpf of the front surface 101 of the pallet 100 and the center of rotation. In FIG. 4, the angular deviation amount Δθ is the angle formed between the shortest distance line Lmi and the orthogonal line Lr1.

At this time, as shown in FIG. 5, in the camera image of the image display section 63, the mark Gm2 is displayed superimposed on the center of the front surface of the pallet, and the mark Gm1 is displayed superimposed on the right end of the front surface of the pallet, and the mark Gm1 and the mark Gm2 It doesn't overlap. Further, in the camera image of the image display section 63, the mark Gm1 is displayed in red, and the mark Gm2 is also displayed in red.

From this state, as a first step, the operator measures the position of the pallet 100, as shown in FIG. An operation is performed to align the center Cpf of the front surface 101 of the pallet 100 on the shortest distance line Lmi to the plane. Specifically, from the state shown in FIG. 4, the forklift 20 is caused to travel straight ahead by a predetermined distance. This prevents lateral displacement. That is, in contrast to the lateral deviation amount ΔL with respect to the facing direction in FIG. 4, the lateral deviation amount ΔL in FIG. 6 is eliminated (ΔL=0).

At this time, the color of the mark Gm2 is changed. Specifically, the color of the mark Gm2 is changed from red to green. This shows that the center Cpf of the pallet front surface 101 is aligned on the shortest distance line Lmi.

From this state, as a second step, the operator turns left at the maximum steering angle, passes through the center Cfh of the left and right front wheels 23a, 23b, and passes through the center Cfh of the left and right front wheels 23a, 23b, as shown in FIGS. An operation is performed to align the orthogonal line Lr1 perpendicular to the axle axis Axfh of the pallet 23b with the center Cpf of the front surface 101 of the pallet 100. This prevents angular misalignment. That is, in contrast to the angular deviation amount Δθ with respect to the direct facing in FIG. 4, the angular deviation amount Δθ is eliminated in FIG. 6 (Δθ=0).

At this time, as shown in FIG. 7, the mark Gm1 and the mark Gm2 overlap, and the color of the mark Gm1 is changed. Specifically, the color of the mark Gm1 is changed from red to green. As a result, it can be seen that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi (see FIG. 4), and the orthogonal line Lr1 (see FIG. 6) is aligned with the center Cpf of the pallet front surface 101, directly facing each other.

In FIG. 1, a controller 61 as a process control section stores information regarding a series of a plurality of operations in advance, and the controller 61 controls at least the movement of a vehicle and the movement of a cargo handling device 28 as a working section and the working status. Based on the values obtained by sensors S1, S2, S3, etc. that detect one process, the status of the current process can be specified, as well as the next process.

The image display section 63 is capable of displaying a guide suitable for the next process or a camera image suitable for the next process among a plurality of camera images before the next process. Furthermore, the image display unit 63 can erase the guide suitable for the current process before displaying the guide suitable for the next process or the camera image suitable for the next process among the plurality of camera images. There is.

When performing a plurality of operations in succession using the forklift 20, there is a step in which the forklift truck 20 is used to directly face the pallet 100, a step in which the height of the fork claw Nf is adjusted to the height of the pallet holes 102 and 103, and a step in which the machine base 21 is moved to the pallet 100. A step of moving the machine 21 forward toward the machine and a step of retracting the machine stand 21 are performed.

When the image display unit 63 determines that the current process is complete, it can display a guide suitable for the next process or a camera image suitable for the next process among the plurality of camera images.

Next, the effect will be explained.
Now, as shown in FIG. 2, a pallet 100 on which cargo W is placed is placed on a table Ta. Then, the following series of loading operations are performed.

The operator operates the forklift 20 to drive the forklift 20 closer to the platform Ta, as shown in FIG. At this time, a camera image captured by the camera 71 in front of the machine base 21 is displayed on the image display section 63. The display shown in FIG. 5 is performed on the camera image of the image display section 63. In FIG. 5, marks Gm1 and Gm2 are displayed as guides.

Then, when the operator operates using the marks Gm1 and Gm2 as guides in FIG. 5 so that the lateral deviation amount ΔL and the angular deviation amount Δθ are eliminated, it is possible to face the camera directly as shown in FIG.

When the facing is completed, as shown in FIG. 8, the fork height adjustment indicator 200 for the heights of the pallet holes 102, 103 and the height of the fork claw Nf is displayed in the camera image of the image display section 63.

In this way, the controller 61 determines that facing is completed when the marks Gm1 and Gm2 overlap, and when the steering angle measured by the steering angle sensor S3 becomes zero after turning on the spot (turning at the maximum steering angle). If detected, it is predicted that the next work will be to align the heights of the pallet holes 102, 103 and the fork claw Nf. Then, as shown in FIG. 8, the controller 61 automatically switches the display to an indicator 200 for adjusting the heights of the pallet holes 102, 103 and the fork claw Nf.

In this way, when transitioning from the step of directly facing the pallet 100 to the step of adjusting the height of the fork claw Nf to the height of the pallet holes 102, 103, the controller 61 uses the sensors S1, S2, S3, etc. Based on the obtained value, the current process situation (for example, on-spot rotation) and the next process are specified, and a guide (indicator 200) suitable for the next process is displayed on the image display section 63 before the next process. The image display unit 63 erases the guides (marks Gm1, Gm2) suitable for the current process before displaying the guides (indicator 200) suitable for the next process. When the image display unit 63 determines that the current process is complete, it displays a guide (indicator 200) suitable for the next process.

The indicator 200 in FIG. 8 has a mark 201 representing the current height of the fork claw Nf with respect to a mark 202 representing the center of the pallet holes 102, 103 on the front surface 101 of the pallet 100. The difference ΔH (see FIG. 2) between the center heights of the pallet holes 102 and 103 and the center height of the fork claw Nf is expressed as the magnitude of the deviation between the mark 202 and the mark 201 in FIG.

Then, the operator adjusts the heights of the forks 30a and 30b so that there is no misalignment between the marks 202 and 201 in FIG. It matches.

When the height alignment of the fork claws Nf with respect to the pallet holes 102 and 103 is completed, as shown in FIG. be done.

In this way, the controller 61 determines that the height adjustment of the fork is completed when the lift-up operation amount by the sensor S1 becomes 0%, that is, when the heights of the pallet holes 102, 103 and the fork pawl Nf match. This is detected when the operation of moving the forks 30a, 30b upward is stopped. The predicted next operation is to insert a forward fork, and an indicator 300 is displayed as a guide shown in FIG. 10.

In this way, in the transition from the step of adjusting the height of the fork claws Nf to the height of the pallet holes 102, 103 to the step of advancing the machine base 21 toward the pallet 100, the controller 61 uses the sensor S1, Based on the values obtained in S2, S3, etc., the current process status (for example, lift-up) and the next process are specified, and a guide (indicator 300) suitable for the next process is displayed on the image display section 63 before the next process. to be displayed. The image display unit 63 erases the guide (indicator 200) suitable for the current process before displaying the guide (indicator 300) suitable for the next process. The image display unit 63 displays a guide (indicator 300) suitable for the next process when determining the completion of the current process.

The indicator 300 in FIG. 10 has a mark 302 representing the front surface 101 of the pallet 100 and a mark 301 representing the reach legs 22a, 22b. The distance L between the pallet front surface 101 and the tips of the reach legs 22a and 22b (see FIG. 9) is expressed as the magnitude of the deviation between the mark 301 and the mark 302 on the indicator 300 of FIG.

Then, after the operator advances the machine base 21 and adjusts the tips of the reach legs 22a and 22b so that the mark 301 and the mark 302 have the desired positional relationship in FIG. 10, the operator moves the mast 29 forward. Fork claws Nf are inserted into pallet holes 102 and 103.

When the pallet 100 is lifted by moving the forks 30a, 30b upward after the insertion of the fork claws Nf into the pallet holes 102, 103 is completed, the cargo sensor S2 is turned on. Then, as shown in FIG. 11, when loading is completed, the camera image on the image display section 63 is changed from the image of the front of the machine 21 taken by the camera 71 to the image of the rear of the machine 21 taken by the camera 72. You can switch to a new image. In FIG. 11, the rear part of the machine platform 21 and the floor F are shown. The operator moves the machine stand 21 backward while looking at the camera image captured by the camera 72 of the rear of the machine stand 21.

Specifically, when it is determined that the cargo W has been taken by turning on the cargo sensor S2, and reach-in (the mast 29 is pulled as far as the aircraft 21 side) is detected, the aircraft 21 is moved back. However, once the cargo has been picked up, the front camera image is switched to the rear camera image.

In this way, during the transition from the process of advancing the machine base 21 toward the pallet 100 to the process of retracting the machine base 21, the controller 61 performs The situation of the current process (for example, the advance of the machine base 21 with the forks 30a and 30b at a predetermined height) and the next process are identified, and the image display section 63 displays the image suitable for the next process among the plurality of camera images. The captured camera image is displayed before the next process. The image display unit 63 erases the guide (indicator 300) suitable for the current process before displaying the camera image suitable for the next process among the plurality of camera images. When the image display unit 63 determines that the current process is complete, it displays a camera image suitable for the next process from among the plurality of camera images.

In this way, by grasping the machine status from the received sensor values, predicting the next operation content, switching the indicator/display that matches the next operation content, and displaying it on the image display section 63, the operator There is no need to switch the display, and it is possible to guide the operator to the next operation.

This will be explained in detail below.
This embodiment has an automatic display switching function that predicts the next operation of the machine base 21.
BACKGROUND ART Conventionally, in a remote control system, an operator who operates the system while watching a monitor has to perform the troublesome task of switching the received camera and switching the indicator for the support system depending on the situation at the time. Furthermore, it may be difficult for an operator who is not accustomed to operations to immediately determine the next task. For example, when receiving cargo, it is unclear whether the work to be performed first is to donate the reach leg or to reach out. In addition, for example, when switching camera images, it is not known which camera image to select while driving, for example, whether to display the first camera image or the second camera image.

In this embodiment, the machine status is grasped from the received sensor values and the next operation content is predicted. Therefore, by switching the indicator/display that matches the content of the next operation and displaying it on the image display section 63, it becomes possible to guide the operator to the next operation without requiring the operator to switch the display.

Specifically, the operator's condition is grasped from the received sensor value, the next operation content is predicted, and indicators and displays that match the operation content are switched and displayed on the image display section 63.
As a result, the machine status is grasped, the next operation is predicted, and indicators and displays that match the operation are automatically switched and displayed on the image display section 63, eliminating the need for the operator to switch between displays and indicators. This allows the operator to omit troublesome work. Furthermore, automatic switching of the display makes it possible to guide the operator to the next operation, which is effective for inexperienced operators.

According to the above embodiment, the following effects can be obtained.
(1) The construction of the work support device for an industrial vehicle includes cameras 71 and 72 that image the surroundings of the machine platform 21, the movement of the vehicle (e.g. vehicle speed) and the movement of the cargo handling device 28 as a working part (e.g. the movement of a fork). The apparatus includes sensors S1, S2, and S3 that detect at least one of the following: upward movement) and work status (for example, loading), a controller 61 as a process control section, and an image display section 63. The controller 61 identifies the current process status and the next process based on the values obtained by the sensors S1, S2, and S3. The image display unit 63 displays a guide suitable for the next process or a camera image suitable for the next process among the plurality of camera images before the next process. According to this, the current process situation and the next process are identified based on the values obtained by sensors S1, S2, and S3, and a guide suitable for the next process or a guide suitable for the next process among multiple camera images is determined. By displaying the camera image before the next process, a guide suitable for the next process is displayed before the next process starts, and a camera image suitable for the next process is displayed, so that operators who are not familiar with the work can Even if there is a problem, you can easily recognize the next task while looking at the image display section.

(2) The image display unit 63 erases the guide suitable for the current process before displaying the guide suitable for the next process or the camera image suitable for the next process among the plurality of camera images, so the operator can The display section 63 becomes easier to see.

(3) The industrial vehicle is a forklift 20, and the current process is to make it directly face the pallet 100, and the next process is to adjust the height of the fork claw Nf to the height of the pallet holes 102 and 103. Therefore, you can easily recognize the adjustment of the fork height after facing each other.

(4) The industrial vehicle is a forklift 20, and the current process is the process of adjusting the height of the fork claws Nf to the height of the pallet holes 102, 103. The next process is to move the machine platform 21 towards the pallet 100. Since this is a step of moving the machine forward, the forward movement of the machine base 21 after adjusting the fork height can be easily recognized.

(5) The industrial vehicle is a forklift 20, and the current process is a process in which the machine platform 21 is advanced toward the pallet 100, and the next process is a process in which the machine platform 21 is moved backward, so the machine platform 21 is moved forward. The retreat of the rear machine platform 21 can be easily recognized.

(6) When the image display unit 63 determines the completion of the current process, it displays a guide suitable for the next process or a camera image suitable for the next process among multiple camera images, so that the image display unit 63 displays the guide at a preferable timing. display or camera image display.

(7) The industrial vehicle work support device is used for a forklift remote control system 10 as an industrial vehicle remote control system, and the forklift remote control system 10 is used for a forklift 20 as an industrial vehicle and a remote control system for forklifts. The forklift 20 is equipped with a cargo handling device 28 as an operation section on the platform 21, and has a wireless unit 52 and a radio 54 as vehicle communication sections, and the remote operation device 40 has a wireless unit 52 and It has radio devices 64 and 65 as operating device communication units that perform wireless communication with the radio device 54, and is used to remotely control traveling of the forklift 20 and cargo handling by the cargo handling device 28. Therefore, when performing remote control, the operator can easily recognize the next task to be performed while looking at the image display section 63.

The embodiment is not limited to the above, and may be embodied as follows, for example.
〇 Before displaying the guide suitable for the next process or the camera image suitable for the next process among multiple camera images, the guide suitable for the current process is erased, but it is not necessary to erase it as long as it does not get in the way. good. In short, it is enough if something new is displayed.

Although the guide (indicator, etc.) for the next process is displayed when the completion of the current process is determined, the guide (indicator, etc.) for the next process may be displayed before the completion of the current process.
Although a series of cargo picking operations have been described, the present invention is not limited to this, and may be applied to, for example, cargo storage operations. Specifically, the completion of loading work is determined by detecting reach-in, and a guide suitable for the next process or a camera image suitable for the next process among multiple camera images is displayed before the next process. do. In addition, if it is determined that the load has been placed by turning off the load sensor, and reach-in (the mast 29 has been pulled as far as the machine base 21) is known, the machine base 21 will be moved backwards. When the placement is completed, the front camera image is switched to the rear camera image.

When displaying camera images suitable for the next process, instead of switching images, if this is done before completion, two images, one for the current process and one for the next process, may be displayed. For example, after picking up cargo, two images (two camera images) are displayed until reach-in (pulling the mast as far as the machine base 21 side).

○ Marks 104 and 105 were attached to the front surface of the pallet 101, and the center Cpf of the pallet front surface 101 was detected based on reading the marks 104 and 105, but the present invention is not limited to this. The center Cpf of the pallet front surface 101 may be detected.

○In the case of loading cargo, the camera 71 is installed in the center of the lift bracket 31 in the above embodiment. Cameras may be provided at the ends in the left and right direction.

The colors of the O marks Gm1 and Gm2 make it clear that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi, and that the center Cpf of the pallet front surface 101 is aligned with the orthogonal line Lr1. Instead, for example, the lateral deviation amount ΔL in FIG. ) may be expressed numerically on the camera screen.

○The installation location and number of cameras does not matter.
○Work support devices for industrial vehicles were used in remote control systems for forklifts, but are not limited to this. For example, it may be used in a manned forklift. That is, instead of including an unmanned forklift truck equipped with a camera and a remote control device having an image display section, the present invention may be applied to, for example, a manned forklift truck equipped with a camera and an image display section.

○The forklift may be a counter-type forklift.
○Although the industrial vehicle was a forklift, it may be applied to industrial vehicles other than forklifts.

10... Remote control system for forklift, 20... Forklift, 21... Machine base, 28... Cargo handling device, 40... Remote control device, 52... Wireless unit, 54... Radio, 61... Controller, 63... Image display section, 64, 65... Radio, 71, 72... Camera, 100... Pallet, 102, 103... Pallet hole, Nt... Fork pawl, S1, S2, S3... Sensor, 200, 300... Indicator.

Claims (6)

A camera that images the area around the machine,
a sensor that detects at least one of the movement of the vehicle, the movement of the working part, and the working situation;
a process control department that identifies the current process status and the next process based on the values obtained by the sensor;
A work support device for an industrial vehicle, comprising: an image display unit that displays a guide suitable for the next process or a camera image suitable for the next process among a plurality of camera images before the next process,
the industrial vehicle is a forklift;
In the current process, the image display unit displays a first guide suitable for the current process superimposed on one camera image suitable for the current process among the plurality of camera images,
The first guide has a first mark and a second mark,
The first mark is a mark that moves according to the operation of the machine base or fork,
The second mark is a mark set at a target point,
When the process control unit specifies that the forklift has been adjusted so that there is no deviation between the first mark and the second mark in the current process based on the value obtained from the sensor, the process control unit adjusts the forklift in the current process. Detecting the completion of a process and anticipating transition to the next process, switching the camera image displayed on the image display section to a camera image suitable for the next process, and changing the camera image to a camera image suitable for the next process. A work support device for an industrial vehicle, characterized in that a suitable second guide is displayed in a superimposed manner . The image display section is characterized in that the guide suitable for the current process is erased before displaying the guide suitable for the next process or the camera image suitable for the next process among the plurality of camera images. The work support device for an industrial vehicle according to claim 1. 2. The industrial vehicle according to claim 1, wherein the current step is a step of making the fork claws face directly against the pallet, and the next step is a step of adjusting the height of the fork claws to the height of the pallet holes. work support equipment. Claim 1, wherein the current step is a step of adjusting the height of the fork claw to the height of the pallet hole, and the next step is a step of advancing the machine platform toward the pallet. A work support device for industrial vehicles described in . The industrial vehicle work support according to claim 1, wherein the current process is a process of advancing the machine platform toward a pallet, and the next process is a process of retreating the machine platform. Device. The industrial vehicle work support device is used for a remote control system for industrial vehicles, and includes:
The industrial vehicle remote control system includes the industrial vehicle and a remote control device,
The industrial vehicle is equipped with a cargo handling device as the working section on the machine base and has a vehicle communication section,
2. The remote control device includes a control device communication unit that performs wireless communication with the vehicle communication unit, and is used to remotely control traveling of the industrial vehicle and cargo handling by the cargo handling device. The work support device for an industrial vehicle according to any one of items 5 to 5 .