JP7415429B2 - Cargo handling support device for cargo handling vehicles - Google Patents

Description

The present invention relates to a cargo handling work support device for a cargo handling vehicle.

The fork positioning support device for a forklift disclosed in Patent Document 1 accepts a designation of a target point to which a fork tip is to be moved within an image displayed on a display, calculates a distance from a reference point of the fork tip to the target point, The target point is tracked within the updated stereo image and the calculated distance is output on the display. In detail, calculate the distance from the reference point, that is, the midpoint of the line segment connecting the tips of the left and right forks, to the target point, and then display the calculated distance separately on the x-axis, y-axis, and z-axis on the right side of the screen. Numerical values are displayed at the bottom, and dotted line arrows corresponding to the distances for each of the x, y, and z axes are displayed on the screen so as to connect the reference point to the target point.

Japanese Patent Application Publication No. 2013-86959

However, when supporting cargo handling operations using a forklift, which is a cargo handling vehicle, the deviation information between the pallet, which is the target point, and the tip of the fork is drawn at a location away from the pallet displayed on the screen, so the line of sight is The moving distance is long and the work is difficult.

An object of the present invention is to provide a cargo handling work support device for a cargo handling vehicle that can improve visibility.

A cargo handling work support device for a cargo handling vehicle for solving the above problems includes a camera that images the surroundings of the vehicle, a display section that displays the camera image captured by the camera, and a display section that displays the camera image on the display section. a superimposition unit that superimposes and displays information supporting cargo handling work on a drawing area on a display screen of the cargo handling object whose position has been measured, the information being a mark displayed superimposed on the camera image; , the mark is a mark for directing the cargo handling vehicle to face the front of the cargo handling object, the cargo handling vehicle has two front wheels and an axle for the two front wheels, and the mark includes a first mark and a the first mark is displayed at a position where an orthogonal line intersects a virtual plane including the front surface of the cargo handling object, and the orthogonal line passes through the midpoint of the line segment connecting the two front wheels. , and the second mark is a straight line perpendicular to the axle, and the second mark is displayed at a position where the virtual plane and the shortest distance line intersect and are displayed superimposed on the center of the front surface of the cargo handling object , and the second mark The gist is that the distance line is a straight line indicating the shortest distance from the midpoint to the virtual plane.

According to this, information to support cargo handling work is superimposed and displayed on the display screen of the cargo handling object whose position has been measured in the camera image on the display unit, so that when looking at the cargo handling object, the line of sight is Visibility can be improved by reducing movement.

Further, in the cargo handling work support device for a cargo handling vehicle, the first mark and the second mark may be displayed at the same height as the center of the front surface.
Further, in the cargo handling support device for a cargo handling vehicle, the first mark is displayed at a position horizontally shifted from the second mark when the front of the cargo handling vehicle is oriented diagonally to the front of the cargo handling target. Preferably, the first mark and the second mark overlap when the front surface of the cargo handling vehicle directly faces the front surface of the cargo handling object.

Further, in the cargo handling work support device for a cargo handling vehicle, the mark may be a mark for adjusting the height of the cargo handling section.
Further, in the cargo handling work support device for a cargo handling vehicle, it is preferable that the cargo handling vehicle is a forklift and the cargo handling object is a pallet .

Further, the cargo handling work support device for the cargo handling vehicle may include a measurement unit that measures the position of the cargo handling target based on the camera image.
Further, the cargo handling work support device for the cargo handling vehicle is used for a remote control system for the cargo handling vehicle, and the remote control system for the cargo handling vehicle includes the cargo handling vehicle and a remote control device, is equipped with a cargo handling device on the machine base and has a vehicle communication unit, and the remote control device has an operating device communication unit that performs wireless communication with the vehicle communication unit, and the remote control device has a control device communication unit that performs wireless communication with the vehicle communication unit, and the remote control device has a control device communication unit that performs wireless communication with the vehicle communication unit, and the remote control device has a control device communication unit that performs wireless communication with the vehicle communication unit. It may be used to remotely control cargo handling.

According to the present invention, visibility can be improved.

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. FIG. 2 is a plan view schematically showing a forklift. A schematic plan view showing a pallet and a forklift in a workplace. FIG. 3 is a diagram for explaining display contents on a 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 a 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 a display unit. (a) is a schematic side view showing a pallet and a forklift in a workplace of another example, and (b) is a diagram for explaining display contents on a display unit.

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

As shown in FIG. 1, the forklift remote control system 10 includes a reach-type forklift 20 as a cargo handling 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 and 3, 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, 3, and 4, a rear wheel 24 and a caster wheel (auxiliary wheel) 25 are disposed 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 and 4, the forklift 20 runs on three wheels: two front wheels 23a and 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 in front of the platform 21. As shown in FIG. 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 as a cargo handling section 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 has cameras 71 and 72.

The remote control device 40 includes a controller 61, an operation section 62, a 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 a 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 a 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 as a cargo handling section, and is attached so as to face forward and downward. The camera 71 captures an image of the vicinity of the vehicle, which is the lower part in front of the forklift 20 in the traveling direction, while the vehicle is traveling. Further, a camera 72 is attached to the upper surface of the left reach leg 22b so as to face forward, and the camera 72 images the left front of the forklift 20. That is, the camera 72 is a camera for monitoring obstacles ahead of the legs.

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 the camera images taken by the cameras 71 and 72 on the display unit 63 provided in the remote control device 40. The display unit 63 is, for example, a desktop display. The operator operates while viewing the camera image on the display section 63.

In FIG. 5, 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. 7, 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. 5, 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.

As shown in FIG. 6, on the front surface 101 of the pallet 100, a mark 104 is placed on the right side, and a mark 105 is placed on the left side. By reading these marks 104 and 105 with a camera, 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 as a cargo handling target by image recognition based on the 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. 7 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 as a superimposing unit displays two marks Gm1 and Gm2 (Fig. 6) can be displayed in a superimposed manner. 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. 6 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, the effect will be explained.
Hereinafter, the display content of the display unit 63 will be explained using a camera image taken by the camera 71 of the cameras 71 and 72.

FIG. 5 shows a schematic plan view of the pallet 100 and the forklift 20 in a work area, approaching the front surface 101 of the pallet 100 from the diagonal right direction. The display contents on the display unit 63 at that time are shown in FIG.

The situation shown in FIG. 5 is changed to the situation shown in FIG. 7 by an operation by the operator. FIG. 7 shows a schematic plan view of the pallet 100 and the forklift 20 in the workplace, and FIG. 8 shows the contents displayed on the display unit 63 at that time.

The situation shown in FIG. 7 is changed to the situation shown in FIG. 9 by an operation by the operator. FIG. 9 shows a schematic plan view of the pallet 100 and forklift 20 in the workplace, and FIG. 10 shows the contents displayed on the display unit 63 at that time.

As shown in FIGS. 5 and 6, the controller 61 measures the position of the pallet 100 as a cargo handling target by image recognition based on the camera image. With respect to the lateral deviation amount ΔL and the angular deviation amount Δθ with respect to the facing direction in FIG. 5, the lateral deviation amount ΔL and the angular deviation amount Δθ are eliminated in the subsequent operation. In FIG. 5, 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. 5, 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. 6, in the camera image of the display unit 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 left end of the front surface of the pallet, and the mark Gm1 and the mark Gm2 are do not overlap. Further, in the camera image of the 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 a cargo handling target, passes through the center Cfh of the left and right front wheels 23a and 23b, and 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 including the front surface 101 of the pallet 100. Specifically, from the state shown in FIG. 5, 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. 5, the lateral deviation amount ΔL in FIG. 7 is eliminated (ΔL=0). In FIG. 7, there is an angular deviation amount Δθ with respect to the facing direction.

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. Moreover, as shown in FIG. 8, the mark Gm1 and the mark Gm2 do not overlap in the camera image of the display section 63.

From this state, as a second step, the operator turns right 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, as shown in FIGS. , 23b is aligned 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 shown in FIG. 7, the angular deviation amount Δθ is eliminated in FIG. 9 (Δθ=0).

At this time, as shown in FIG. 10, 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. 7), and the orthogonal line Lr1 (see FIG. 9) is aligned with the center Cpf of the pallet front surface 101, directly facing each other.

The operator turns the forklift 20 on the spot while looking at the display screen to directly face the pallet 100, moves the forks 30a and 30b upward to adjust the heights of the forks 30a and 30b, and then moves the forks 30a and 30b. Move it forward and insert it into the holes 102 and 103 of the pallet 100. After the insertion is completed, the operator lifts the pallet 100. Further, the operator moves the vehicle backward and moves the vehicle together with the pallet 100 to a desired location.

In this way, when the machine base 21 approaches the pallet 100 to directly face the pallet 100, both the lateral deviation and the angular deviation remain, and unless the lateral deviation and angular deviation are accurately minimized, the fork claws Nf cannot be inserted into the pallet holes 102, 103. Although it is difficult to insert the forklift 20, by aligning the center Cpf of the pallet front face 101 with the shortest distance line Lmi, and then turning at the maximum steering angle to align the orthogonal line Lr1 with the center Cpf of the pallet front face 101. The pallet 100 can be correctly faced to the pallet 100 with high accuracy and little lateral deviation and angular deviation, and the fork claws Nf can be inserted into the pallet holes 102 and 103.

When performing this operation, by measuring the pallet 100 to be handled, it is possible to know where the pallet 100 is reflected on the camera screen, so information (mark Gm1 , Gm2) are drawn in an overlapping manner. In other words, the position of the pallet 100 is measured by image recognition on the camera image showing the pallet 100 on the display unit 63, and the marks Gm1 and Gm2, which are information to support cargo handling operations, are superimposed on the drawing area on the display screen of the pallet 100 that has been determined. and display it.

Conventionally, when displaying operation-related support information (for example, information indicating the positional relationship between the cargo and the aircraft platform) using an indicator in an area separate from the pallet 100 on the screen, the camera image was hidden by the indicator, making it difficult to see the camera image. It becomes difficult to see because the screen needs to be moved, and the amount of information on the screen increases, causing confusion.

In this embodiment, by displaying information (marks Gm1, Gm2) on the cargo handling target in the camera image, there is no need to check other indicators, etc., no need to move the line of sight, and intuitive operation is possible. At the same time, confusion due to information overload can be prevented.

According to the above embodiment, the following effects can be obtained.
(1) The structure of the cargo handling support device for the forklift 20 as a cargo handling vehicle includes a camera 71 that images the surroundings of the vehicle, a display unit 63 that displays the camera image captured by the camera 71, and a camera in the display unit 63. A controller 61 is provided as a superimposing unit that superimposes and displays marks Gm1 and Gm2 as information for supporting cargo handling work on an image in a drawing area on a display screen of a pallet 100 as a cargo handling object whose position has been measured. Therefore, when looking at the pallet 100 as a cargo handling object, the movement of the line of sight can be reduced and visibility can be improved. Specifically, supporting information (marks Gm1, Gm2) is superimposed on the cargo handling object (receiving object) to reduce (minimize) the movement of the line of sight when looking at the pallet 100 as the cargo handling object. Visibility can be improved.

(2) Since the information is in the form of marks, it is easy to understand.
(3) Since the mark is a mark for facing directly, visibility when facing directly can be improved.

(4) Since the cargo handling vehicle is a forklift, visibility can be improved when supporting the cargo handling work of the forklift 20.
(5) Since the object to be handled is the pallet 100, visibility when directly facing the pallet 100 can be improved.

(6) The cargo-handling work support device for a cargo-handling vehicle is used in a forklift remote-control system 10 as a cargo-handling vehicle remote-control system, and the forklift remote-control system 10 includes a forklift 20 as a cargo-handling vehicle, A remote control device 40 is provided. The forklift 20 includes a cargo handling device 28 on a platform 21, and also includes a wireless unit 52 and a wireless device 54 as a vehicle communication section. Further, the remote control device 40 has radio devices 64 and 65 as a control device communication unit that performs wireless communication with the wireless unit 52 and the radio device 54, and remotely controls the traveling of the forklift 20 and the cargo handling by the cargo handling device 28. used for. Therefore, visibility can be improved when performing remote control based only on the camera image.

The embodiment is not limited to the above, and may be embodied as follows, for example.
The colors of the 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.

In this way, the information supporting the cargo handling work is a mark, but the information is not limited to this and may be, for example, a number.
○ Information that supports cargo handling work is a mark, and the mark was a mark for facing directly, but as shown in Figure 11 (a) and Figure 11 (b), the mark It may also be a mark for adjusting the height of the claw Nf.

In the schematic side view showing the pallet 100 and forklift 20 in the workshop shown in FIG. Measure the difference ΔH. Then, on the screen of the display unit 63 shown in FIG. 11(b), an indicator 200 representing the difference ΔH in the height of the fork claw Nf with respect to the height of the pallet 100 is superimposed. On the indicator 200, a center point 201 in the height direction on the pallet front surface 101 and an index 202 indicating the height of the fork claw Nf with respect to the center point 201 are drawn. The difference between the center point 201 of the indicator 200 and the index 202 corresponds to the difference ΔH between the height of the pallet 100 and the height of the fork claw Nf.

〇 Although the cargo handling target was the pallet 100 when picking up the cargo, it may be the cargo itself.
Although the information (marks Gm1, Gm2) is superimposed on the front side of the pallet, it may be placed on other than the front side of the pallet; in short, it may be on the display screen of the cargo handling target.

○ 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.

Although the position of the cargo handling object is measured by image recognition of a camera, the present invention is not limited to this. For example, the position of the cargo handling object may be measured using a sensor. In this case, measurement may be performed in three dimensions.
○ The explanation has been made regarding the case of carrying out cargo unloading work, but the same applies to carrying out cargo loading work, and in the case of cargo loading work, the cargo handling target is the section of the shelf board on which the cargo is placed in the rack.

In other words, the cargo handling target was the pallet 100, but the cargo handling target was a section of the shelf board of the rack, and when you wanted to place the cargo in the narrow space between the packages on the shelf board of the rack, you could mark it on the shelf board of the rack. Add .

In addition, in FIG. 4, the camera 71 is installed in the center of the lift bracket 31 in consideration of cargo loading, but if it becomes difficult to capture images in front of the vehicle when loading cargo, it may be installed in the left and right direction of the lift bracket 31. A camera may be provided at the end.

○ The installation location and number of cameras does not matter.
○ Although the cargo handling support device for cargo handling vehicles was used as a remote control system for forklifts, it is not limited to this. For example, it may be used in a manned forklift. In other words, instead of including an unmanned forklift truck equipped with a camera and a remote control device having a display section, the present invention may be applied to a manned forklift truck equipped with a camera and a display section.

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

DESCRIPTION OF SYMBOLS 10... Remote control system for forklift, 20... Forklift, 21... Machine stand, 28... Cargo handling device, 40... Remote control device, 52... Wireless unit, 54... Radio, 61... Controller, 63... Display unit, 64, 65 ...Radio device, 71...Camera, 100...Pallet, Gm1, Gm2...Mark, Nf...Fork claw.

Claims (7)

A camera that images the area around the cargo handling vehicle,
a display unit that displays a camera image taken by the camera;
a superimposition unit that superimposes and displays information for supporting cargo handling work in a drawing area on a display screen of a cargo handling target whose position has been measured, on the camera image in the display unit;
The information is a mark displayed superimposed on the camera image,
The mark is a mark for directing the cargo handling vehicle to face the front of the cargo handling object,
The cargo handling vehicle has two front wheels and an axle for the two front wheels,
The mark includes a first mark and a second mark,
The first mark is displayed at a position where an orthogonal line intersects a virtual plane including the front surface of the cargo handling object, and the orthogonal line passes through the midpoint of a line segment connecting the two front wheels and is located at a position where the orthogonal line intersects with the axle. are perpendicular straight lines,
The second mark is displayed at a position where the virtual plane and the shortest distance line intersect and are displayed superimposed on the center of the front surface of the cargo handling object , and the shortest distance line is from the midpoint to the virtual plane. is a straight line showing the shortest distance to
Cargo handling support device for cargo handling vehicles. The first mark and the second mark are displayed at the same height as the center of the front surface,
A cargo handling work support device for a cargo handling vehicle according to claim 1. In a state where the front of the cargo handling vehicle faces diagonally to the front of the cargo handling target, the first mark is displayed at a position horizontally shifted from the second mark,
When the front of the cargo handling vehicle directly faces the front of the cargo handling object, the first mark and the second mark overlap,
A cargo handling work support device for a cargo handling vehicle according to claim 1 or 2. The mark is a mark for height adjustment of the cargo handling section ,
A cargo handling work support device for a cargo handling vehicle according to any one of claims 1 to 3 . The cargo handling vehicle is a forklift, and the cargo handling object is a pallet.
A cargo handling work support device for a cargo handling vehicle according to any one of claims 1 to 4. comprising a measurement unit that measures the position of the cargo handling target based on the camera image;
A cargo handling work support device for a cargo handling vehicle according to any one of claims 1 to 5. The cargo handling work support device for the cargo handling vehicle is used for a remote control system for cargo handling vehicles, and includes:
The cargo handling vehicle remote control system includes the cargo handling vehicle and a remote control device,
The cargo handling vehicle is equipped with a cargo handling device on the machine base and has a vehicle communication section,
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 cargo handling vehicle and cargo handling by the cargo handling device .
A cargo handling work support device for a cargo handling vehicle according to any one of claims 1 to 6.