WO2020085067A1 - Remote control system for forklift - Google Patents

Remote control system for forklift Download PDF

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Publication number
WO2020085067A1
WO2020085067A1 PCT/JP2019/039556 JP2019039556W WO2020085067A1 WO 2020085067 A1 WO2020085067 A1 WO 2020085067A1 JP 2019039556 W JP2019039556 W JP 2019039556W WO 2020085067 A1 WO2020085067 A1 WO 2020085067A1
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WO
WIPO (PCT)
Prior art keywords
cargo handling
forklift
remote control
camera
reach
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PCT/JP2019/039556
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French (fr)
Japanese (ja)
Inventor
井上順治
小野琢磨
神谷知典
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株式会社豊田自動織機
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Publication of WO2020085067A1 publication Critical patent/WO2020085067A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present invention relates to a remote control system for a forklift.
  • Patent Document 1 discloses a wirelessly operated forklift including a cargo handling camera.
  • the cargo handling camera is arranged above the fork, and photographs the loaded object loaded on the fork.
  • the image captured by the cargo handling camera is displayed on the display monitor provided on the operating device for the forklift.
  • the forklift of Patent Document 1 includes a front camera that captures the front of the vehicle, a rear camera that captures the rear of the vehicle, and a floor camera that captures the floor.
  • the operator determines the distance between the reach leg and the load rack of the reach type forklift at the time of loading and unloading, and the fork to the pallet on which the load is loaded. It is necessary to grasp the amount of insertion.
  • the remote operation device for a forklift disclosed in Patent Document 1 since the cargo handling camera is simply provided above the fork, it is difficult to see the position required for the cargo handling work. That is, it is difficult to grasp the distance between the reach leg and the luggage rack and the insertion amount of the fork inserted into the pallet. Therefore, there is a problem that the efficiency of the cargo handling work by remote control is low.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a remote control system for a forklift truck that can improve the efficiency of cargo handling work by remote control.
  • the present invention includes a forklift including a cargo handling device on a vehicle body, and a remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device, wherein the forklift is the vehicle body.
  • a pair of reach legs that are provided in the front part of the vehicle and that extend forward from the vehicle body; a fork that is provided in the cargo handling device and that can move up and down; and a cargo handling camera provided in the cargo handling device.
  • the remote operation device is a remote control system for a forklift truck having a display unit for displaying a captured image taken by the cargo handling camera, wherein the cargo handling camera is at least one of the pair of reach legs in the cargo handling device. Between the tip of the reach leg and the rack, and the pallet slot where the fork is inserted, in the shooting area. Characterized in that it is installed in free position.
  • the cargo handling camera captures an image of a portion required for cargo handling work.
  • the area to be imaged includes a pallet insertion port between the tip of the reach leg and the luggage rack and a fork.
  • the display device displays a captured image captured by the cargo handling camera. Therefore, the operator can ascertain the distance between the tip of the reach leg and the cargo rack necessary for the cargo handling operation and the amount of the fork inserted into the pallet based on the image captured by the cargo handling camera. As a result, it becomes possible to improve the efficiency of the cargo handling work by remote control.
  • the cargo handling camera may be installed at a position including a rear surface of the pallet and a front surface of the cargo rack in an imaging target area.
  • the photographing target area of the cargo handling camera includes a space between the rear surface of the pallet and the front surface of the luggage rack. Therefore, the operator can grasp the distance between the rear surface of the pallet and the front surface of the luggage rack based on the image captured by the cargo handling camera.
  • the cargo handling camera may be installed at a position including a lower surface of the pallet and an upper surface of the cargo rack in an imaging target area.
  • the photographing target area of the cargo handling camera includes a space between the lower surface of the pallet and the upper surface of the luggage rack. Therefore, the operator can grasp the distance between the lower surface of the pallet and the upper surface of the luggage rack.
  • FIG. 1 is a perspective view of a reach type forklift according to an embodiment of the invention. It is a principal part front view which shows the principal part of the cargo handling apparatus of a reach type forklift. It is a side view explaining the imaging target area of the camera for cargo handling at the time of cargo handling.
  • a remote control system 10 for a forklift truck includes a reach type forklift 11 and a remote control device 12 used to remotely control the reach type forklift 11.
  • the reach-type forklift 11 is arranged in the workplace E.
  • the remote control device 12 is arranged in an operation room R provided separately from the work space E. Then, the operator can remotely operate the reach type forklift 11 in the workplace E from the operation room R by using the remote operation device 12.
  • a work rack E has a luggage rack 13 installed therein.
  • the luggage rack 13 includes a plurality of columns 14, horizontal members 15 and 16 that connect the columns 14, and a shelf board 17 provided at an intermediate portion of the columns 14 as a loading section.
  • a shelf 17 and a load W are placed below the shelf 17. All the loads W are placed on the pallet 18.
  • the pallet 18 is provided with an insertion port 19 into which a fork 29 is inserted. The operator remotely operates the reach-type forklift 11 to take out the load W from the load rack 13 or place the load W on the empty shelf plate 17.
  • the vehicle body 20 of the reach type forklift 11 is provided with a pair of left and right reach legs 21.
  • the pair of left and right reach legs 21 extends forward from the front portion of the vehicle body 20.
  • Front wheels 22 are provided on the front portions of the pair of left and right reach legs 21, respectively.
  • Rear wheels 23 and caster wheels (not shown) are provided at the rear of the vehicle body 20.
  • the rear wheels 23 are steerable drive wheels.
  • the reach type forklift 11 is equipped with a cargo handling device 24.
  • the cargo handling device 24 is located between the pair of left and right reach legs 21 in the front portion of the vehicle body 20.
  • the cargo handling device 24 includes a pair of left and right outer masts 25 and an inner mast 26 that moves up and down with respect to the outer masts 25.
  • the cargo handling device 24 includes a lift cylinder 27 connected to the inner mast 26.
  • the inner mast 26 moves up and down as the hydraulic oil is supplied to and discharged from the lift cylinder 27.
  • a lift bracket 28 that can move up and down with respect to the inner mast 26 is provided.
  • the lift bracket 28 is provided with a pair of left and right forks 29.
  • the pair of left and right forks 29 can be tilted back and forth by a tilt cylinder (not shown).
  • a backrest 30 is attached to the lift bracket 28 so as to be located above the fork 29.
  • the backrest 30 supports the rear surface of the load W when the load W is placed on the fork 29.
  • the backrest 30 includes a rectangular frame body 31 and a plurality of reinforcing members 32A and 32B that are arranged between the frame bodies 31 and reinforce the frame body 31.
  • the backrest 30 is attached to the lift bracket 28 such that the longitudinal direction of the frame body 31 is the horizontal direction and the lateral direction of the frame body 31 is the vertical direction.
  • the frame 31 has a long side portion 33 extending in the left-right direction, a short side portion 34 extending in the vertical direction, and a curved corner portion 35 connecting the long side portion 33 and the short side portion 34.
  • the length of the backrest 30 in the left-right direction is set to a length smaller than the width of the vehicle body 20 but protruding to the outside of the outer mast 25.
  • the vehicle body 20 is equipped with a reach cylinder 36 connected to the cargo handling device 24 (see FIG. 3).
  • the rod of the reach cylinder 36 advances and retracts in the front-rear direction by supplying and discharging hydraulic oil. Due to the operation of the reach cylinder 36, the cargo handling device 24 moves back and forth along the reach leg 21.
  • the reach type forklift 11 includes a traveling motor 37 that drives the rear wheels 23 and a steering motor (not shown) that steers the rear wheels 23.
  • the reach-type forklift 11 includes a wireless unit 40 as a vehicle communication unit, a vehicle control unit 41, an image signal processing unit 42, and a cargo handling camera 43.
  • the wireless unit 40 is for performing wireless communication with the remote control device 12 described below.
  • the vehicle control unit 41 is connected to each unit of the reach type forklift 11, controls each unit connected to the vehicle control unit 41, and is also connected to the wireless unit 40.
  • the image signal processing unit 42 performs signal processing of a captured image captured by the cargo handling camera 43 so as to be communicable.
  • the cargo handling camera 43 captures an image of a place required for cargo handling work.
  • the reach-type forklift 11 is provided with a plurality of traveling cameras for photographing the front and the rear for traveling and a plurality of sensors for detecting obstacles.
  • the remote operation device 12 includes a wireless unit 45 as an operation device communication unit, a control unit 46, an operation unit 47, a display unit 48, and an image signal processing unit 49.
  • the wireless unit 45 can wirelessly communicate with the wireless unit 40 of the reach type forklift 11.
  • the control unit 46 is connected to the wireless unit 45, the operation unit 47, the display unit 48, and the image signal processing unit 49.
  • a touch panel method, a mouse method, a joystick method, or the like is used as an operation method in the operation unit 47.
  • the display unit 48 is an image monitor, and displays, for example, a captured image received through the wireless unit 45 and various information necessary for remote operation.
  • the image signal processing unit 49 performs editing and processing such as rearrangement of captured images displayed on the display unit 48.
  • the control unit 46 sends the operation content to the reach type forklift 11 side via the wireless unit 45.
  • the operation content from the remote operation device is received by the wireless unit 40, and the vehicle control unit 41 controls each part of the reach type forklift 11 based on an instruction from the remote operation device 12 side.
  • the traveling drive system devices the traveling motor 37, the steering motor, etc.
  • the cargo handling system devices the lift cylinder 27, the reach cylinder 36, the tilt cylinder, etc.
  • the remote control device 12 can remotely control the travel of the reach type forklift 11 and the cargo handling by the cargo handling device 24.
  • the cargo handling camera 43 of the present embodiment is a camera for carrying out cargo handling work, but as shown in FIGS. 4 to 6, it is mounted so that the lens faces downward at the lower right portion of the backrest 30.
  • the cargo handling camera 43 is attached to the lower right portion of the backrest 30, it is possible to photograph the position necessary for performing the cargo handling work by remote control.
  • the positions required to perform the cargo handling work by remote control are specifically the first position T1 to the fourth position T4 shown in FIG. In FIG. 5 and FIG. 6, the imaging target area of the cargo handling camera 43 is indicated by a dashed line.
  • the cargo handling camera 43 is attached to the lower right portion of the backrest 30 in this embodiment, it may be attached to the lower left portion of the backrest 30.
  • the first position T1 is a position where the clearance (separation distance A) between the one (right) reach leg 21 and the front surface of the luggage rack 13 can be grasped by photographing.
  • the second position T2 allows the separation distance B between the rear surface of the pallet 18 and the fork 29 to be grasped by photographing when the load W is placed on the fork 29, and the fork 29 relative to the pallet 18 based on the separation distance B. This is the position where the insertion amount of can be grasped.
  • the third position T3 is a position where the clearance (separation distance C) between the rear surface of the pallet 18 and the front surface of the luggage rack 13 can be grasped by photographing when the cargo W is placed on the fork 29.
  • the fourth position T4 is a position where the clearance (separation distance D) between the lower surface of the pallet 18 and the upper surface of the shelf plate 17 can be grasped by photographing when the load W is placed on the fork 29.
  • the lens included in the cargo handling camera 43 is a wide-angle lens that can include the first position T1 to the fourth position T4 as a shooting target area that can be simultaneously shot.
  • the image captured by the cargo handling camera 43 is transmitted to the remote control device 12 by the vehicle control unit 41 via the image signal processing unit 42 and the wireless unit 40.
  • the wireless unit 45 receives the captured image from the reach type forklift 11, and the control unit 46 displays the captured image on the display unit 48 via the image signal processing unit 49. The operator operates while looking at the captured image on the display unit 48.
  • the control unit 46 calculates the separation distances A, B, C, D from the captured images of the first position T1 to the fourth position T4.
  • the separation distance A is a clearance between the tip of the reach leg 21 and the front surface of the luggage rack 13.
  • the separation distance B is the distance between the rear surface of the pallet 18 and the fork 29.
  • the dimensional condition of the pallet 18 and the dimensional condition of the fork 29 are preset in the control unit 46, and the control unit 46 can calculate the insertion amount of the fork 29 into the pallet 18 based on the separation distance B.
  • the separation distance C is a clearance between the rear end surface of the pallet 18 and the front surface of the luggage rack 13.
  • the separation distance D is a clearance between the lower surface of the pallet 18 and the upper surface of the shelf board 17.
  • the control unit 46 calculates the separation distances A, B, C, and D from the captured images captured by the cargo handling camera 43 at the time of unloading, and the operator calculates the separation distances A, B, C, and D obtained by the calculation. It is displayed on the viewing display unit 48.
  • the control unit 46 determines whether or not the values of the separation distances A, B, C, and D are within the reference value, and displays “Matching OK” when the values of the separation distances A, B, C, and D are within the reference value. Displayed in each of the sections 48. When the values of the separation distances A, B, C, and D reach within the reference value, the control unit 46 may notify the display unit 48 by numerically displaying them on the screen.
  • the cargo handling camera 43 can simultaneously photograph the first position T1 to the fourth position T4 as one image. . Then, the captured images of the first position T1 to the fourth position T4 captured by the cargo handling camera 43 are displayed as one image on the display unit 48, but have an appropriate size that facilitates the cargo handling work by the operator's remote operation. Is. Therefore, the captured image captured by the cargo handling camera 43 is not a captured image captured by being excessively enlarged or reduced. As a result, the operability and work efficiency of the cargo handling work that is remotely controlled by viewing the captured image are improved.
  • the load handling camera 43 also detects the load W placed on the load rack 13 by the reach-type forklift 11 from the first position T1 to the first position T1. 4 Position T4 is photographed.
  • the control unit 46 calculates the separation distance A of the first position T1 until the fork 29 is inserted into the pallet 18, and after the fork 29 is inserted into the pallet 18, the first position T1 to the fourth position T4 are photographed.
  • the separation distances A, B, C, and D are calculated from the captured image.
  • the cargo-handling camera 43 photographs the first position T1 and the second position T2, which are locations required for cargo-handling work.
  • the photographing target area includes the insertion opening 19 of the pallet 18 into which the fork 29 is inserted between the tip of the reach leg 21 and the luggage rack 13.
  • the display unit 48 displays a captured image captured by the cargo handling camera 43. Therefore, the operator can grasp the separation distance A and the separation distance B between the tip end portion of the reach leg 21 and the cargo rack 13 necessary for the cargo handling operation based on the image captured by the cargo handling camera 43. By grasping the separation distance B, the insertion amount of the fork 29 with respect to the pallet 18 can be grasped. As a result, it becomes possible to improve the efficiency of the cargo handling work by remote control.
  • the imaging target area of the cargo handling camera 43 includes the third position T3 between the rear surface of the pallet 18 and the front surface of the cargo rack 13. Therefore, the operator can grasp the separation distance C between the rear surface of the pallet 18 and the front surface of the luggage rack 13 based on the image captured by the cargo handling camera 43.
  • the shooting target area of the cargo handling camera 43 includes the fourth position T4 between the lower surface of the pallet 18 and the upper surface of the shelf board 17. Therefore, the operator can grasp the separation distance D between the lower surface of the pallet 18 and the upper surface of the shelf plate 17.
  • the first position T1 to the fourth position T4 can be included in the shooting target area only by providing the single cargo handling camera 43 on the lower right portion of the backrest 30.
  • the captured images of the first position T1 to the fourth position T4 taken by the cargo handling camera 43 during the cargo handling work by the operator's remote operation have an appropriate size that facilitates the cargo handling work by the operator. Therefore, it is not a photographed image which is photographed by being enlarged or reduced excessively. As a result, the operability and work efficiency of the cargo handling work that is remotely controlled by viewing the captured image are improved.
  • the first position to the fourth position are included in the photographing target area of the cargo handling camera, but the present invention is not limited to this.
  • the cargo handling camera is installed so that the photographing target area of the cargo handling camera includes only the first position and the second position, and the third and fourth positions are photographed by cameras different from the cargo handling camera.
  • a mounting member may be provided on the lift bracket, and the cargo handling camera may be mounted on the mounting member so that the cargo handling camera is located at the lower right portion or the lower left portion of the backrest.
  • the cargo handling camera shoots with the clearance between the left reach leg and the luggage rack as the first position.
  • the two-stage type rack that can store loads vertically is illustrated as the rack, but the rack is not limited to this. It may be a cargo rack having three or more shelves, or may be a cargo rack of a vehicle such as a large truck.
  • the reach type forklift is explained as the forklift, but the forklift is not limited to the reach type forklift.
  • the forklift may be, for example, a counterweight type forklift.
  • Forklift Remote Control System 11 Forklift 12 Remote Control Device 13 Luggage Rack 17 Shelf Board 18 Pallet 19 Slot 20 Car Body 21 Reach Leg 24 Cargo Handling Device 29 Fork 30 Backrest 40 Radio Section (Vehicle Communication Section) 41 vehicle control unit 42, 49 image signal processing unit 43 cargo handling camera 45 wireless unit (operating device communication unit) 46 control section 47 operation section 48 display section A, B, C, D separation distance E work area R operation room W load T1 first position T2 second position T3 third position T4 fourth position

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

A forklift remote control system (10) in which: a reach-type forklift (11) has a pair of reach legs (21) that are provided to a front part of a vehicle body (20) and extend forward from the vehicle body (20), a fork (29) that is provided to a cargo handling device (24) and can move up and down, and a cargo handling camera (43) that is provided to the cargo handling device (24); and a remote control device (12) has a display part (48) that displays a photographed image that has been captured by the cargo handling camera (43). The cargo handling camera (43) is positioned on the cargo handling device (24) between a cargo shelf (13) and a tip end part of at least one reach leg (21) of the pair of reach legs (21) such that an insertion opening (19) in a pallet (18) into which the fork (29) is to be inserted is included in a photographed area.

Description

フォークリフトの遠隔操作システムForklift remote control system
　この発明は、フォークリフトの遠隔操作システムに関する。 The present invention relates to a remote control system for a forklift.
　フォークリフトの遠隔操作システムの従来技術としては、例えば、特許文献１に開示された無線操作式車両の遠隔操作システムが知られている。特許文献１には、荷役カメラを備えた無線操作式のフォークリフトが開示されている。荷役カメラはフォークの上方に配置されており、フォークに積載された積載物を撮影する。荷役カメラにより撮影された画像は、フォークリフトを操作装置に備えられる表示モニタに表示される。なお、特許文献１のフォークリフトは、荷役カメラのほか、車両前方を撮影する前方カメラ、車両後方を撮影する後方カメラ、床面を撮影する床面カメラを備えている。 As a conventional technique of a remote control system for a forklift, for example, a remote control system for a wireless operation type vehicle disclosed in Patent Document 1 is known. Patent Document 1 discloses a wirelessly operated forklift including a cargo handling camera. The cargo handling camera is arranged above the fork, and photographs the loaded object loaded on the fork. The image captured by the cargo handling camera is displayed on the display monitor provided on the operating device for the forklift. In addition to the cargo handling camera, the forklift of Patent Document 1 includes a front camera that captures the front of the vehicle, a rear camera that captures the rear of the vehicle, and a floor camera that captures the floor.
特開２０１４－１１５１８号公報JP, 2014-11518, A
　ところで、遠隔操作されるフォークリフトがリーチ式のフォークリフトである場合、オペレータは、荷役の際にリーチ式フォークリフトが備えるリーチレグと荷棚との間との距離のほか、荷が搭載されるパレットへのフォークの差込量を把握する必要がある。しかしながら、特許文献１に開示されたフォークリフトの遠隔操作装置では、荷役カメラが単にフォークの上方に設けられているため、荷役作業に必要な位置が見え難い。つまり、リーチレグと荷棚との間の距離およびパレットに差し込まれたフォークの差込量を把握することが困難である。このため、遠隔操作による荷役作業の効率が低いという問題がある。なお、カメラの増設により荷役作業の効率低下を防止することも考えられるが、製作コストの増大を招いてしまう。さらに、より正確な荷役作業を行うためには、パレットの後面と荷棚の対向面との距離およびパレットの下面と荷棚との距離についても把握できることが望ましい。 By the way, when the remotely operated forklift is a reach type forklift, the operator determines the distance between the reach leg and the load rack of the reach type forklift at the time of loading and unloading, and the fork to the pallet on which the load is loaded. It is necessary to grasp the amount of insertion. However, in the remote operation device for a forklift disclosed in Patent Document 1, since the cargo handling camera is simply provided above the fork, it is difficult to see the position required for the cargo handling work. That is, it is difficult to grasp the distance between the reach leg and the luggage rack and the insertion amount of the fork inserted into the pallet. Therefore, there is a problem that the efficiency of the cargo handling work by remote control is low. Although it may be possible to prevent the efficiency of the cargo handling work from being lowered by adding cameras, the manufacturing cost is increased. Further, in order to carry out more accurate cargo handling work, it is desirable to be able to grasp the distance between the rear surface of the pallet and the facing surface of the cargo rack and the distance between the lower surface of the pallet and the cargo rack.
　本発明は上記の問題点に鑑みてなされたもので、本発明の目的は、遠隔操作による荷役作業の高効率化を図ることが可能なフォークリフトの遠隔操作システムの提供にある。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a remote control system for a forklift truck that can improve the efficiency of cargo handling work by remote control.
　上記の課題を解決するために、本発明は、車体に荷役装置を備えるフォークリフトと、前記フォークリフトの走行および前記荷役装置による荷役を遠隔操作する遠隔操作装置と、を備え、前記フォークリフトは、前記車体の前部に備えられ、前記車体から前方へ向けて延在する一対のリーチレグと、前記荷役装置に備えられ、昇降可能なフォークと、前記荷役装置に備えられた荷役用カメラと、を有し、前記遠隔操作装置は、前記荷役用カメラにより撮影された撮影画像を表示する表示部を有するフォークリフトの遠隔操作システムであって、前記荷役用カメラは、前記荷役装置において前記一対のリーチレグの少なくとも一方のリーチレグの先端部と荷棚との間および前記フォークが差し込まれているパレットの差込口を撮影対象領域に含む位置に設置されていることを特徴とする。 In order to solve the above problems, the present invention includes a forklift including a cargo handling device on a vehicle body, and a remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device, wherein the forklift is the vehicle body. A pair of reach legs that are provided in the front part of the vehicle and that extend forward from the vehicle body; a fork that is provided in the cargo handling device and that can move up and down; and a cargo handling camera provided in the cargo handling device. The remote operation device is a remote control system for a forklift truck having a display unit for displaying a captured image taken by the cargo handling camera, wherein the cargo handling camera is at least one of the pair of reach legs in the cargo handling device. Between the tip of the reach leg and the rack, and the pallet slot where the fork is inserted, in the shooting area. Characterized in that it is installed in free position.
　本発明では、荷役用カメラは荷役作業に必要な箇所を撮影する。撮影対象領域にはリーチレグの先端部と荷棚との間およびフォークが差し込まれているパレットの差込口が含まれている。表示装置は荷役用カメラが撮影した撮影画像を表示する。このため、オペレータは、荷役用カメラの撮影画像に基づいて荷役作業に必要なリーチレグの先端部と荷棚との間の距離およびパレットに対するフォークの差込量を把握することができる。その結果、遠隔操作による荷役作業の高効率化を図ることが可能となる。 In the present invention, the cargo handling camera captures an image of a portion required for cargo handling work. The area to be imaged includes a pallet insertion port between the tip of the reach leg and the luggage rack and a fork. The display device displays a captured image captured by the cargo handling camera. Therefore, the operator can ascertain the distance between the tip of the reach leg and the cargo rack necessary for the cargo handling operation and the amount of the fork inserted into the pallet based on the image captured by the cargo handling camera. As a result, it becomes possible to improve the efficiency of the cargo handling work by remote control.
　また、上記のフォークリフトの遠隔操作システムにおいて、前記荷役用カメラは、前記パレットの後面と前記荷棚の前面との間を撮影対象領域に含む位置に設置されている構成としてもよい。
　この場合、荷役用カメラの撮影対象領域には、前記パレットの後面と前記荷棚の前面との間が含まれている。このため、オペレータは、荷役用カメラの撮影画像に基づいてパレットの後面と前記荷棚の前面との間の距離を把握することができる。 Further, in the above remote control system for a forklift, the cargo handling camera may be installed at a position including a rear surface of the pallet and a front surface of the cargo rack in an imaging target area.
In this case, the photographing target area of the cargo handling camera includes a space between the rear surface of the pallet and the front surface of the luggage rack. Therefore, the operator can grasp the distance between the rear surface of the pallet and the front surface of the luggage rack based on the image captured by the cargo handling camera.
　また、上記のフォークリフトの遠隔操作システムにおいて、前記荷役用カメラは、前記パレットの下面と前記荷棚の上面との間を撮影対象領域に含む位置に設置されている構成としてもよい。
　この場合、荷役用カメラの撮影対象領域には、パレットの下面と荷棚の上面との間が含まれている。このため、オペレータは、パレットの下面と前記荷棚の上面との間の距離を把握することができる。 Further, in the remote control system for a forklift, the cargo handling camera may be installed at a position including a lower surface of the pallet and an upper surface of the cargo rack in an imaging target area.
In this case, the photographing target area of the cargo handling camera includes a space between the lower surface of the pallet and the upper surface of the luggage rack. Therefore, the operator can grasp the distance between the lower surface of the pallet and the upper surface of the luggage rack.
　本発明によれば、遠隔操作による荷役作業の高効率化を図ることが可能なフォークリフトの遠隔操作システムを提供することができる。 According to the present invention, it is possible to provide a remote operation system for a forklift truck that can improve the efficiency of cargo handling work by remote operation.
発明の実施形態に係るフォークリフトの遠隔操作システムの電気的構成を示すブロック図である。It is a block diagram which shows the electric constitution of the remote control system of the forklift truck which concerns on embodiment of invention. 発明の実施形態に係る荷棚の斜視図である。It is a perspective view of the luggage rack concerning the embodiment of the invention. 発明の実施形態に係るリーチ式フォークリフトの側面図である。It is a side view of the reach type forklift truck concerning the embodiment of the invention. 発明の実施形態に係るリーチ式フォークリフトの斜視図である。1 is a perspective view of a reach type forklift according to an embodiment of the invention. リーチ式フォークリフトの荷役装置の要部を示す要部正面図である。It is a principal part front view which shows the principal part of the cargo handling apparatus of a reach type forklift. 荷役時における荷役用カメラの撮影対象領域を説明する側面図である。It is a side view explaining the imaging target area of the camera for cargo handling at the time of cargo handling.
　以下、本発明の実施形態に係るフォークリフトの遠隔操作システムについて図面を参照して説明する。図１に示すように、フォークリフト用遠隔操作システム１０は、リーチ式フォークリフト１１と、リーチ式フォークリフト１１を遠隔操作するのに用いられる遠隔操作装置１２と、を備えている。本実施形態では、リーチ式フォークリフト１１は、作業場Ｅに配置される。遠隔操作装置１２は、作業場Ｅと別に設けた操作室Ｒに配置されている。そして、オペレータは、遠隔操作装置１２を用いて操作室Ｒから、作業場Ｅのリーチ式フォークリフト１１を遠隔操作することができる。 Hereinafter, a remote control system for a forklift according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a remote control system 10 for a forklift truck includes a reach type forklift 11 and a remote control device 12 used to remotely control the reach type forklift 11. In this embodiment, the reach-type forklift 11 is arranged in the workplace E. The remote control device 12 is arranged in an operation room R provided separately from the work space E. Then, the operator can remotely operate the reach type forklift 11 in the workplace E from the operation room R by using the remote operation device 12.
　図２に示すように、作業場Ｅには荷棚１３が設置されている。荷棚１３は、複数の支柱１４と、支柱１４を繋ぐ横架材１５、１６と、支柱１４の中間部に設けられた荷載置部としての棚板１７を備えている。荷棚１３では棚板１７および棚板１７の下方に荷Ｗが載置される。荷Ｗはいずれもパレット１８に載置されている。パレット１８にはフォーク２９を差し込む差込口１９が備えられている。オペレータは、リーチ式フォークリフト１１を遠隔操作して荷棚１３から荷Ｗを取り出したり、空いている棚板１７へ荷Ｗを載置したりする。 As shown in FIG. 2, a work rack E has a luggage rack 13 installed therein. The luggage rack 13 includes a plurality of columns 14, horizontal members 15 and 16 that connect the columns 14, and a shelf board 17 provided at an intermediate portion of the columns 14 as a loading section. On the luggage rack 13, a shelf 17 and a load W are placed below the shelf 17. All the loads W are placed on the pallet 18. The pallet 18 is provided with an insertion port 19 into which a fork 29 is inserted. The operator remotely operates the reach-type forklift 11 to take out the load W from the load rack 13 or place the load W on the empty shelf plate 17.
　図３、図４に示すように、リーチ式フォークリフト１１の車体２０には、左右一対のリーチレグ２１が備えられている。左右一対のリーチレグ２１は車体２０の前部から前方へ向けて延在する。左右一対のリーチレグ２１の前部には前輪２２がそれぞれ備えられている。車体２０の後部には後輪２３およびキャスタ輪（図示せず）が設けられている。後輪２３は操舵可能な駆動輪である。 As shown in FIGS. 3 and 4, the vehicle body 20 of the reach type forklift 11 is provided with a pair of left and right reach legs 21. The pair of left and right reach legs 21 extends forward from the front portion of the vehicle body 20. Front wheels 22 are provided on the front portions of the pair of left and right reach legs 21, respectively. Rear wheels 23 and caster wheels (not shown) are provided at the rear of the vehicle body 20. The rear wheels 23 are steerable drive wheels.
　リーチ式フォークリフト１１は荷役装置２４を備えている。荷役装置２４は車体２０の前部における左右一対のリーチレグ２１の間に位置する。荷役装置２４は、左右一対のアウタマスト２５およびアウタマスト２５に対して昇降するインナマスト２６を備えている。また、荷役装置２４は、インナマスト２６に連結されたリフトシリンダ２７を備える。インナマスト２６は、リフトシリンダ２７への作動油の給排によって昇降する。インナマスト２６に対して昇降可能なリフトブラケット２８が備えられている。リフトブラケット２８には、左右一対のフォーク２９が備えられている。左右一対のフォーク２９はティルトシリンダ（図示せず）により前後に傾動可能である。 The reach type forklift 11 is equipped with a cargo handling device 24. The cargo handling device 24 is located between the pair of left and right reach legs 21 in the front portion of the vehicle body 20. The cargo handling device 24 includes a pair of left and right outer masts 25 and an inner mast 26 that moves up and down with respect to the outer masts 25. Further, the cargo handling device 24 includes a lift cylinder 27 connected to the inner mast 26. The inner mast 26 moves up and down as the hydraulic oil is supplied to and discharged from the lift cylinder 27. A lift bracket 28 that can move up and down with respect to the inner mast 26 is provided. The lift bracket 28 is provided with a pair of left and right forks 29. The pair of left and right forks 29 can be tilted back and forth by a tilt cylinder (not shown).
　図４に示すように、リフトブラケット２８には、フォーク２９の上方に位置するようにバックレスト３０が取り付けられている。バックレスト３０は、フォーク２９に荷Ｗが載置されたときに荷Ｗの後面を支持する。図５に示すように、バックレスト３０は矩形状の枠体３１と、枠体３１の間に配置され、枠体３１を補強する複数の補強部材３２Ａ、３２Ｂと、を有している。枠体３１の長手方向が左右方向となり、枠体３１の短手方向が上下方向となるように、バックレスト３０はリフトブラケット２８に取り付けられている。枠体３１は左右方向に延在する長手部３３と、上下方向に延在する短手部３４と、長手部３３と短手部３４とを繋ぐ湾曲したコーナー部３５を有する。バックレスト３０の左右方向の長さは、車体２０の幅より小さいがアウタマスト２５の外側へはみ出す長さに設定されている。 As shown in FIG. 4, a backrest 30 is attached to the lift bracket 28 so as to be located above the fork 29. The backrest 30 supports the rear surface of the load W when the load W is placed on the fork 29. As shown in FIG. 5, the backrest 30 includes a rectangular frame body 31 and a plurality of reinforcing members 32A and 32B that are arranged between the frame bodies 31 and reinforce the frame body 31. The backrest 30 is attached to the lift bracket 28 such that the longitudinal direction of the frame body 31 is the horizontal direction and the lateral direction of the frame body 31 is the vertical direction. The frame 31 has a long side portion 33 extending in the left-right direction, a short side portion 34 extending in the vertical direction, and a curved corner portion 35 connecting the long side portion 33 and the short side portion 34. The length of the backrest 30 in the left-right direction is set to a length smaller than the width of the vehicle body 20 but protruding to the outside of the outer mast 25.
　車体２０には、荷役装置２４に連結されたリーチシリンダ３６が備えられている（図３を参照）。リーチシリンダ３６は作動油の給排によってロッドが前後方向に進退する。リーチシリンダ３６の作動により荷役装置２４は、リーチレグ２１に沿って前後に移動する。リーチ式フォークリフト１１は、後輪２３を駆動させる走行モータ３７と後輪２３を操舵する操舵モータ（図示せず）を備える。 The vehicle body 20 is equipped with a reach cylinder 36 connected to the cargo handling device 24 (see FIG. 3). The rod of the reach cylinder 36 advances and retracts in the front-rear direction by supplying and discharging hydraulic oil. Due to the operation of the reach cylinder 36, the cargo handling device 24 moves back and forth along the reach leg 21. The reach type forklift 11 includes a traveling motor 37 that drives the rear wheels 23 and a steering motor (not shown) that steers the rear wheels 23.
　図１に示すように、リーチ式フォークリフト１１は、車両通信部としての無線部４０と、車両制御部４１と、画像信号処理部４２と、荷役用カメラ４３と、を有する。無線部４０は、次に説明する遠隔操作装置１２と無線通信を行うためのものである。車両制御部４１は、リーチ式フォークリフト１１の各部と接続され、車両制御部４１と接続された各部を制御するほか、無線部４０と接続されている。画像信号処理部４２は、荷役用カメラ４３により撮影された撮影画像を通信可能に信号処理する。荷役用カメラ４３は荷役作業に必要な場所を撮影する。なお、図示を省略したが、リーチ式フォークリフト１１には、走行のために前方および後方を撮影する複数の走行用カメラおよび障害物を検出する複数のセンサが備えられている。 As shown in FIG. 1, the reach-type forklift 11 includes a wireless unit 40 as a vehicle communication unit, a vehicle control unit 41, an image signal processing unit 42, and a cargo handling camera 43. The wireless unit 40 is for performing wireless communication with the remote control device 12 described below. The vehicle control unit 41 is connected to each unit of the reach type forklift 11, controls each unit connected to the vehicle control unit 41, and is also connected to the wireless unit 40. The image signal processing unit 42 performs signal processing of a captured image captured by the cargo handling camera 43 so as to be communicable. The cargo handling camera 43 captures an image of a place required for cargo handling work. Although not shown, the reach-type forklift 11 is provided with a plurality of traveling cameras for photographing the front and the rear for traveling and a plurality of sensors for detecting obstacles.
　次に、遠隔操作装置１２について説明する。遠隔操作装置１２は、操作装置通信部としての無線部４５と、制御部４６と、操作部４７と、表示部４８と、画像信号処理部４９を有する。無線部４５はリーチ式フォークリフト１１の無線部４０と無線通信可能である。制御部４６は、無線部４５、操作部４７、表示部４８および画像信号処理部４９と接続されている。操作部４７における操作方式として、タッチパネル方式、マウス方式、ジョイスティック方式等が用いられる。表示部４８は、画像モニタであり、例えば、無線部４５を通じて受信された撮影画像を表示したり、遠隔操作に必要な各種の情報を表示したりする。画像信号処理部４９は、表示部４８に表示する撮影画像の並び替え等の編集や加工を行う。 Next, the remote control device 12 will be described. The remote operation device 12 includes a wireless unit 45 as an operation device communication unit, a control unit 46, an operation unit 47, a display unit 48, and an image signal processing unit 49. The wireless unit 45 can wirelessly communicate with the wireless unit 40 of the reach type forklift 11. The control unit 46 is connected to the wireless unit 45, the operation unit 47, the display unit 48, and the image signal processing unit 49. A touch panel method, a mouse method, a joystick method, or the like is used as an operation method in the operation unit 47. The display unit 48 is an image monitor, and displays, for example, a captured image received through the wireless unit 45 and various information necessary for remote operation. The image signal processing unit 49 performs editing and processing such as rearrangement of captured images displayed on the display unit 48.
　そして、遠隔操作装置１２の操作部４７がオペレータにより操作されると、制御部４６は無線部４５を介して操作内容をリーチ式フォークリフト１１側に送る。リーチ式フォークリフト１１では、遠隔操作装置からの操作内容が無線部４０にて受信され、車両制御部４１は遠隔操作装置１２側からの指示に基づきリーチ式フォークリフト１１の各部を制御する。具体的には、走行駆動系の機器（走行モータ３７、操舵モータ等）および荷役系の機器（リフトシリンダ２７、リーチシリンダ３６、ティルトシリンダ等）が車両制御部４１の指令に基づいて駆動される。このように、遠隔操作装置１２は、リーチ式フォークリフト１１の走行および荷役装置２４による荷役を遠隔操作することができるようになっている。 When the operator operates the operation unit 47 of the remote operation device 12, the control unit 46 sends the operation content to the reach type forklift 11 side via the wireless unit 45. In the reach type forklift 11, the operation content from the remote operation device is received by the wireless unit 40, and the vehicle control unit 41 controls each part of the reach type forklift 11 based on an instruction from the remote operation device 12 side. Specifically, the traveling drive system devices (the traveling motor 37, the steering motor, etc.) and the cargo handling system devices (the lift cylinder 27, the reach cylinder 36, the tilt cylinder, etc.) are driven based on a command from the vehicle control unit 41. . In this way, the remote control device 12 can remotely control the travel of the reach type forklift 11 and the cargo handling by the cargo handling device 24.
　ところで、本実施形態の荷役用カメラ４３は、荷役作業を行うためのカメラであるが、図４～図６に示すように、バックレスト３０の右方下部にてレンズが下方を向くように取り付けられている。荷役用カメラ４３がバックレスト３０の右方下部に取り付けられていることにより、遠隔操作により荷役作業を行うために必要な位置が撮影可能となっている。遠隔操作により荷役作業を行うために必要な位置は、具体的には、図６に示す第１位置Ｔ１～第４位置Ｔ４である。図５、図６では、荷役用カメラ４３の撮影対象領域を一点鎖線にて示す。なお、本実施形態では、荷役用カメラ４３がバックレスト３０の右方下部に取り付けられているが、バックレスト３０の左方下部に取り付けてもよい。 By the way, the cargo handling camera 43 of the present embodiment is a camera for carrying out cargo handling work, but as shown in FIGS. 4 to 6, it is mounted so that the lens faces downward at the lower right portion of the backrest 30. Has been. Since the cargo handling camera 43 is attached to the lower right portion of the backrest 30, it is possible to photograph the position necessary for performing the cargo handling work by remote control. The positions required to perform the cargo handling work by remote control are specifically the first position T1 to the fourth position T4 shown in FIG. In FIG. 5 and FIG. 6, the imaging target area of the cargo handling camera 43 is indicated by a dashed line. Although the cargo handling camera 43 is attached to the lower right portion of the backrest 30 in this embodiment, it may be attached to the lower left portion of the backrest 30.
　第１位置Ｔ１は、撮影によって一方（右側）のリーチレグ２１と荷棚１３の前面とのクリアランス（離間距離Ａ）を把握することが可能となる位置である。第２位置Ｔ２は、フォーク２９に荷Ｗが載置されている状態において、撮影によりパレット１８の後面とフォーク２９との離間距離Ｂを把握可能とし、離間距離Ｂに基づいてパレット１８に対するフォーク２９の差込量を把握可能とする位置である。第３位置Ｔ３は、フォーク２９に荷Ｗが載置されている状態において、撮影によりパレット１８の後面と荷棚１３の前面とのクリアランス（離間距離Ｃ）を把握可能とする位置である。第４位置Ｔ４は、フォーク２９に荷Ｗが載置されている状態において、撮影によりパレット１８の下面と棚板１７の上面とのクリアランス（離間距離Ｄ）を把握可能とする位置である。荷役用カメラ４３が備えるレンズは、第１位置Ｔ１～第４位置Ｔ４を同時に撮影可能な撮影対象領域として含むことができる広角レンズである。 The first position T1 is a position where the clearance (separation distance A) between the one (right) reach leg 21 and the front surface of the luggage rack 13 can be grasped by photographing. The second position T2 allows the separation distance B between the rear surface of the pallet 18 and the fork 29 to be grasped by photographing when the load W is placed on the fork 29, and the fork 29 relative to the pallet 18 based on the separation distance B. This is the position where the insertion amount of can be grasped. The third position T3 is a position where the clearance (separation distance C) between the rear surface of the pallet 18 and the front surface of the luggage rack 13 can be grasped by photographing when the cargo W is placed on the fork 29. The fourth position T4 is a position where the clearance (separation distance D) between the lower surface of the pallet 18 and the upper surface of the shelf plate 17 can be grasped by photographing when the load W is placed on the fork 29. The lens included in the cargo handling camera 43 is a wide-angle lens that can include the first position T1 to the fourth position T4 as a shooting target area that can be simultaneously shot.
　リーチ式フォークリフト１１において、荷役用カメラ４３により撮影された画像は車両制御部４１により画像信号処理部４２および無線部４０を介して遠隔操作装置１２へ伝送される。遠隔操作装置１２では、無線部４５がリーチ式フォークリフト１１からの撮影画像を受信し、制御部４６は画像信号処理部４９を介して撮影画像を表示部４８に表示する。オペレータは表示部４８における撮影画像を見ながら操作することになる。 In the reach type forklift 11, the image captured by the cargo handling camera 43 is transmitted to the remote control device 12 by the vehicle control unit 41 via the image signal processing unit 42 and the wireless unit 40. In the remote control device 12, the wireless unit 45 receives the captured image from the reach type forklift 11, and the control unit 46 displays the captured image on the display unit 48 via the image signal processing unit 49. The operator operates while looking at the captured image on the display unit 48.
　次に、本実施形態のリーチ式フォークリフト１１の遠隔操作システムの作用について説明する。図６に示すように、リーチ式フォークリフト１１が荷棚１３と対向し、荷棚１３へ荷Ｗを積み降ろす場合について説明する。 Next, the operation of the remote operation system for the reach type forklift 11 of this embodiment will be described. As shown in FIG. 6, a case where the reach type forklift 11 faces the luggage rack 13 and loads and unloads the cargo W on the luggage rack 13 will be described.
　図６に示すように、リーチ式フォークリフト１１によって荷棚１３へ荷Ｗを積み降ろす際に、荷役用カメラ４３は、第１位置Ｔ１～第４位置Ｔ４を同時に撮影する。制御部４６は、第１位置Ｔ１～第４位置Ｔ４を撮影した撮影画像から、離間距離Ａ、Ｂ、Ｃ、Ｄを演算する。離間距離Ａは、リーチレグ２１の先端部と荷棚１３の前面とのクリアランスである。離間距離Ｂは、パレット１８の後面とフォーク２９との距離である。制御部４６にはパレット１８の寸法条件およびフォーク２９の寸法条件が予め設定されており、制御部４６は離間距離Ｂに基づいてパレット１８へのフォーク２９の差込量を算出することができる。離間距離Ｃは、パレット１８の後端面と荷棚１３の前面とのクリアランスである。離間距離Ｄは、パレット１８の下面と棚板１７の上面とのクリアランスである。 As shown in FIG. 6, when loading / unloading the load W to / from the load rack 13 by the reach type forklift 11, the cargo handling camera 43 simultaneously photographs the first position T1 to the fourth position T4. The control unit 46 calculates the separation distances A, B, C, D from the captured images of the first position T1 to the fourth position T4. The separation distance A is a clearance between the tip of the reach leg 21 and the front surface of the luggage rack 13. The separation distance B is the distance between the rear surface of the pallet 18 and the fork 29. The dimensional condition of the pallet 18 and the dimensional condition of the fork 29 are preset in the control unit 46, and the control unit 46 can calculate the insertion amount of the fork 29 into the pallet 18 based on the separation distance B. The separation distance C is a clearance between the rear end surface of the pallet 18 and the front surface of the luggage rack 13. The separation distance D is a clearance between the lower surface of the pallet 18 and the upper surface of the shelf board 17.
　制御部４６は、荷降ろしの際に、荷役用カメラ４３撮影した撮影画像から離間距離Ａ、Ｂ、Ｃ、Ｄを演算し、演算により得られた離間距離Ａ、Ｂ、Ｃ、Ｄをオペレータが見る表示部４８に表示する。制御部４６は離間距離Ａ、Ｂ、Ｃ、Ｄの各値が基準値内か否か判定し、離間距離Ａ、Ｂ、Ｃ、Ｄの各値が基準値内になると「マッチングＯＫ」を表示部４８にそれぞれ表示させる。なお、離間距離Ａ、Ｂ、Ｃ、Ｄの値が基準値内に到達したら、制御部４６は、数値で表示部４８に画面表示することにより通知するようにしてもよい。 The control unit 46 calculates the separation distances A, B, C, and D from the captured images captured by the cargo handling camera 43 at the time of unloading, and the operator calculates the separation distances A, B, C, and D obtained by the calculation. It is displayed on the viewing display unit 48. The control unit 46 determines whether or not the values of the separation distances A, B, C, and D are within the reference value, and displays “Matching OK” when the values of the separation distances A, B, C, and D are within the reference value. Displayed in each of the sections 48. When the values of the separation distances A, B, C, and D reach within the reference value, the control unit 46 may notify the display unit 48 by numerically displaying them on the screen.
　このように、バックレスト３０の右方下部に単一の荷役用カメラ４３が設けられることにより、荷役用カメラ４３は、第１位置Ｔ１～第４位置Ｔ４を同時に一画像として撮影することができる。そして、荷役用カメラ４３により撮影された第１位置Ｔ１～第４位置Ｔ４の撮影画像は、表示部４８に一画像として表示されるが、オペレータによる遠隔操作による荷役作業が行い易い適切な大きさである。したがって、荷役用カメラ４３が撮影した撮影画像は過度に拡大又は縮小されて撮影された撮影画像ではない。その結果、撮影画像を見て遠隔操作する荷役作業の操作性や作業効率は向上する。 In this way, since the single cargo handling camera 43 is provided on the lower right portion of the backrest 30, the cargo handling camera 43 can simultaneously photograph the first position T1 to the fourth position T4 as one image. . Then, the captured images of the first position T1 to the fourth position T4 captured by the cargo handling camera 43 are displayed as one image on the display unit 48, but have an appropriate size that facilitates the cargo handling work by the operator's remote operation. Is. Therefore, the captured image captured by the cargo handling camera 43 is not a captured image captured by being excessively enlarged or reduced. As a result, the operability and work efficiency of the cargo handling work that is remotely controlled by viewing the captured image are improved.
　なお、荷棚１３へ荷Ｗを積み降ろす場合について説明したが、荷棚１３に載置された荷Ｗをリーチ式フォークリフト１１が取り出す場合についても、荷役用カメラ４３は、第１位置Ｔ１～第４位置Ｔ４を撮影する。フォーク２９がパレット１８に差し込まれるまでは制御部４６は、第１位置Ｔ１の離間距離Ａを算出し、フォーク２９がパレット１８に差し込まれた後は、第１位置Ｔ１～第４位置Ｔ４を撮影した撮影画像から、離間距離Ａ、Ｂ、Ｃ、Ｄを演算する。 Although the case of loading and unloading the load W onto and from the load rack 13 has been described, the load handling camera 43 also detects the load W placed on the load rack 13 by the reach-type forklift 11 from the first position T1 to the first position T1. 4 Position T4 is photographed. The control unit 46 calculates the separation distance A of the first position T1 until the fork 29 is inserted into the pallet 18, and after the fork 29 is inserted into the pallet 18, the first position T1 to the fourth position T4 are photographed. The separation distances A, B, C, and D are calculated from the captured image.
　（１）荷役用カメラ４３は荷役作業に必要な箇所である第１位置Ｔ１、第２位置Ｔ２を撮影する。撮影対象領域にはリーチレグ２１の先端部と荷棚１３との間およびフォーク２９が差し込まれているパレット１８の差込口１９が含まれている。表示部４８は荷役用カメラ４３が撮影した撮影画像を表示する。このため、オペレータは、荷役用カメラ４３の撮影画像に基づいて荷役作業に必要なリーチレグ２１の先端部と荷棚１３との間の離間距離Ａおよび離間距離Ｂを把握することができる。離間距離Ｂの把握によりパレット１８に対するフォーク２９の差込量を把握することができる。その結果、遠隔操作による荷役作業の高効率化を図ることが可能となる。 (1) The cargo-handling camera 43 photographs the first position T1 and the second position T2, which are locations required for cargo-handling work. The photographing target area includes the insertion opening 19 of the pallet 18 into which the fork 29 is inserted between the tip of the reach leg 21 and the luggage rack 13. The display unit 48 displays a captured image captured by the cargo handling camera 43. Therefore, the operator can grasp the separation distance A and the separation distance B between the tip end portion of the reach leg 21 and the cargo rack 13 necessary for the cargo handling operation based on the image captured by the cargo handling camera 43. By grasping the separation distance B, the insertion amount of the fork 29 with respect to the pallet 18 can be grasped. As a result, it becomes possible to improve the efficiency of the cargo handling work by remote control.
　（２）荷役用カメラ４３の撮影対象領域には、パレット１８の後面と荷棚１３の前面との間の第３位置Ｔ３が含まれている。このため、オペレータは、荷役用カメラ４３の撮影画像に基づいてパレット１８の後面と荷棚１３の前面との間の離間距離Ｃを把握することができる。 (2) The imaging target area of the cargo handling camera 43 includes the third position T3 between the rear surface of the pallet 18 and the front surface of the cargo rack 13. Therefore, the operator can grasp the separation distance C between the rear surface of the pallet 18 and the front surface of the luggage rack 13 based on the image captured by the cargo handling camera 43.
　（３）荷役用カメラ４３の撮影対象領域には、パレット１８の下面と棚板１７の上面との間の第４位置Ｔ４が含まれている。このため、オペレータは、パレット１８の下面と棚板１７の上面との間の離間距離Ｄを把握することができる。 (3) The shooting target area of the cargo handling camera 43 includes the fourth position T4 between the lower surface of the pallet 18 and the upper surface of the shelf board 17. Therefore, the operator can grasp the separation distance D between the lower surface of the pallet 18 and the upper surface of the shelf plate 17.
　（４）バックレスト３０の右方下部に単一の荷役用カメラ４３を設けるだけで、撮影対象領域に第１位置Ｔ１～第４位置Ｔ４を含めることができる。また、オペレータの遠隔操作による荷役作業に荷役用カメラ４３により撮影された第１位置Ｔ１～第４位置Ｔ４の撮影画像は、オペレータによる遠隔操作による荷役作業が行い易い適切な大きさである。したがって、過度に拡大又は縮小されて撮影された撮影画像ではない。その結果、撮影画像を見て遠隔操作する荷役作業の操作性や作業効率は向上する。 (4) The first position T1 to the fourth position T4 can be included in the shooting target area only by providing the single cargo handling camera 43 on the lower right portion of the backrest 30. In addition, the captured images of the first position T1 to the fourth position T4 taken by the cargo handling camera 43 during the cargo handling work by the operator's remote operation have an appropriate size that facilitates the cargo handling work by the operator. Therefore, it is not a photographed image which is photographed by being enlarged or reduced excessively. As a result, the operability and work efficiency of the cargo handling work that is remotely controlled by viewing the captured image are improved.
　本発明は、上記の実施形態に限定されるものではなく発明の趣旨の範囲内で種々の変更が可能であり、例えば、次のように変更してもよい。 The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the invention. For example, the following modifications may be made.
　○　上記の実施形態では、荷役用カメラの撮影対象領域に第１位置～第４位置を含めるとしたがこの限りではない。例えば、荷役用カメラの撮影対象領域に第１位置、第２位置のみを含ませるように荷役用カメラを設置し、第３、第４位置は、荷役用カメラとは別のカメラによって撮影するようにしてもよい。
　○　上記の実施形態では、バックレストの右方下部に単一の荷役用カメラを設けるとしたがこの限りではない。例えば、バックレストの左方下部に取り付けてもよい。あるいは、リフトブラケットに取付部材を設け、荷役用カメラがバックレストの右方下部又は左方下部に位置するように取付部材に荷役用カメラを取り付けてもよい。この場合、荷役用カメラは左側のリーチレグと荷棚との間のクリアランスを第１位置として撮影する。
　○　上記の実施形態では、荷棚として上下に荷を保管できる二段式の荷棚を例示したが、荷棚は、これに限らない。三段以上の棚を有する荷棚でもあってもよく、あるいは、大型トラック等の車両の荷棚であってもよい。
　○　上記の実施形態では、フォークリフトとしてリーチ式フォークリフトについて説明したが、フォークリフトはリーチ式フォークリフトに限定されない。フォークリフトは、例えば、カウンタウエイト式フォークリフトであってもよい。 In the above embodiment, the first position to the fourth position are included in the photographing target area of the cargo handling camera, but the present invention is not limited to this. For example, the cargo handling camera is installed so that the photographing target area of the cargo handling camera includes only the first position and the second position, and the third and fourth positions are photographed by cameras different from the cargo handling camera. You may
In the above embodiment, a single cargo handling camera is provided on the lower right side of the backrest, but the invention is not limited to this. For example, it may be attached to the lower left part of the backrest. Alternatively, a mounting member may be provided on the lift bracket, and the cargo handling camera may be mounted on the mounting member so that the cargo handling camera is located at the lower right portion or the lower left portion of the backrest. In this case, the cargo handling camera shoots with the clearance between the left reach leg and the luggage rack as the first position.
In the above-described embodiment, the two-stage type rack that can store loads vertically is illustrated as the rack, but the rack is not limited to this. It may be a cargo rack having three or more shelves, or may be a cargo rack of a vehicle such as a large truck.
In the above embodiment, the reach type forklift is explained as the forklift, but the forklift is not limited to the reach type forklift. The forklift may be, for example, a counterweight type forklift.
　１０　　フォークリフトの遠隔操作システム
　１１　　フォークリフト
　１２　　遠隔操作装置
　１３　　荷棚
　１７　　棚板
　１８　　パレット
　１９　　差込口
　２０　　車体
　２１　　リーチレグ
　２４　　荷役装置
　２９　　フォーク
　３０　　バックレスト
　４０　　無線部（車両通信部）
　４１　　車両制御部
　４２、４９　　画像信号処理部
　４３　　荷役用カメラ
　４５　　無線部（操作装置通信部）
　４６　　制御部
　４７　　操作部
　４８　　表示部
　Ａ、Ｂ、Ｃ、Ｄ　　離間距離
　Ｅ　　作業場
　Ｒ　　操作室
　Ｗ　　荷
　Ｔ１　　第１位置
　Ｔ２　　第２位置
　Ｔ３　　第３位置
　Ｔ４　　第４位置 10 Forklift Remote Control System 11 Forklift 12 Remote Control Device 13 Luggage Rack 17 Shelf Board 18 Pallet 19 Slot 20 Car Body 21 Reach Leg 24 Cargo Handling Device 29 Fork 30 Backrest 40 Radio Section (Vehicle Communication Section)
41 vehicle control unit 42, 49 image signal processing unit 43 cargo handling camera 45 wireless unit (operating device communication unit)
46 control section 47 operation section 48 display section A, B, C, D separation distance E work area R operation room W load T1 first position T2 second position T3 third position T4 fourth position

Claims (3)

  1. 　車体に荷役装置を備えるフォークリフトと、
    　前記フォークリフトの走行および前記荷役装置による荷役を遠隔操作する遠隔操作装置と、を備え、
    　前記フォークリフトは、
    　前記車体の前部に備えられ、前記車体から前方へ向けて延在する一対のリーチレグと、
    　前記荷役装置に備えられ、昇降可能なフォークと、
    　前記荷役装置に備えられた荷役用カメラと、を有し、
    　前記遠隔操作装置は、前記荷役用カメラにより撮影された撮影画像を表示する表示部を有するフォークリフトの遠隔操作システムであって、
    　前記荷役用カメラは、前記荷役装置において前記一対のリーチレグの少なくとも一方のリーチレグの先端部と荷棚との間および前記フォークが差し込まれているパレットの差込口を撮影対象領域に含む位置に設置されていることを特徴とするフォークリフトの遠隔操作システム。     A forklift equipped with a cargo handling device on the vehicle body,
    A remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device;
    The forklift is
    A pair of reach legs provided at the front of the vehicle body and extending forward from the vehicle body,
    A fork that is provided in the cargo handling device and that can move up and down,
    A cargo handling camera provided in the cargo handling device,
    The remote control device is a remote control system for a forklift truck having a display unit that displays a captured image captured by the cargo handling camera,
    The cargo handling camera is installed between the tip of at least one reach leg of the pair of reach legs and the luggage rack in the cargo handling device, and at a position including the pallet insertion port in which the fork is inserted in the imaging target area. A remote control system for forklifts that is characterized by
  2. 　前記荷役用カメラは、前記パレットの後面と前記荷棚の前面との間を撮影対象領域に含む位置に設置されていることを特徴とする請求項１記載のフォークリフトの遠隔操作システム。 The remote control system for a forklift according to claim 1, wherein the cargo handling camera is installed at a position including a rear surface of the pallet and a front surface of the cargo rack in a shooting target area.
  3. 　前記荷役用カメラは、前記パレットの下面と前記荷棚の上面との間を撮影対象領域に含む位置に設置されていることを特徴とする請求項１又は２記載のフォークリフトの遠隔操作システム。 The remote control system for a forklift according to claim 1 or 2, wherein the cargo handling camera is installed at a position including a lower surface of the pallet and an upper surface of the cargo rack in an imaging target area.
PCT/JP2019/039556 2018-10-24 2019-10-08 Remote control system for forklift WO2020085067A1 (en)

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JPS54144658A (en) * 1978-04-28 1979-11-12 Volvo Ab Device that direct lift means in specified direction in relation to load
JPH03252707A (en) * 1990-03-02 1991-11-12 Toyota Motor Corp Unmanned forklift with vision
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