WO2021075541A1 - Dispositif d'assistance au travail de manutention de cargaison de véhicule de manutention de cargaison - Google Patents

Dispositif d'assistance au travail de manutention de cargaison de véhicule de manutention de cargaison Download PDF

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Publication number
WO2021075541A1
WO2021075541A1 PCT/JP2020/039067 JP2020039067W WO2021075541A1 WO 2021075541 A1 WO2021075541 A1 WO 2021075541A1 JP 2020039067 W JP2020039067 W JP 2020039067W WO 2021075541 A1 WO2021075541 A1 WO 2021075541A1
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WIPO (PCT)
Prior art keywords
cargo handling
mark
handling vehicle
support device
work support
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Application number
PCT/JP2020/039067
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English (en)
Japanese (ja)
Inventor
琢磨 小野
結香子 安立
健人 榊原
稜 中屋
Original Assignee
株式会社豊田自動織機
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Application filed by 株式会社豊田自動織機 filed Critical 株式会社豊田自動織機
Publication of WO2021075541A1 publication Critical patent/WO2021075541A1/fr

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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

  • This disclosure 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 the designation of a target point for moving the tip of the fork in the image displayed on the display.
  • the support device calculates the distance from the reference point at the tip of the fork to the target point.
  • the assistive device tracks the target point in the updated stereo image and outputs the calculated distance to the display.
  • the support device calculates the distance from the reference point, that is, the midpoint of the line segment connecting the tip of the left fork and the tip of the right fork to the target point.
  • numerical values indicating the calculated distance the distance along the x-axis, the distance along the y-axis, and the distance along the z-axis are displayed at the lower right of the screen. Further, on the same screen, three dotted arrows having a length corresponding to the distance along the x-axis, the distance along the y-axis, and the distance along the z-axis connecting the reference point to the target point are displayed.
  • the purpose of the present disclosure is to provide a cargo handling work support device for a cargo handling vehicle that can improve visibility.
  • the cargo handling work support device for a cargo handling vehicle includes a camera arranged to image the periphery of the cargo handling vehicle, a display unit configured to display a camera image captured by the camera, and a display unit.
  • the display unit includes a superimposition unit configured to superimpose and display information supporting the cargo handling work on the drawing area on the display screen of the cargo handling target whose position has been measured on the camera image.
  • FIG. 6A is a diagram for explaining the display contents on the display unit in the first state
  • FIG. 6B is a partially enlarged view of FIG. 6A
  • FIG. 8A is a diagram for explaining the display contents on the display unit in the second state
  • FIG. 8B is a partially enlarged view of FIG.
  • FIG. 8A Schematic plan view showing a pallet in the workplace and a forklift in the third state. The figure for demonstrating the display content in the display part in a 3rd state.
  • FIG. 11A is a schematic side view showing a pallet and a forklift in the workplace according to the modified example
  • FIG. 11B is a diagram for explaining the display contents on the display unit according to the modified example.
  • the cargo handling work support device for a cargo handling vehicle is used for a forklift remote control system, which is a remote control system for a cargo handling vehicle.
  • the forklift remote control system 10 includes a reach-type forklift 20 which is a cargo handling vehicle, and a remote control device 40 used for remotely controlling the traveling of the forklift 20 and the cargo handling by the cargo handling device.
  • the forklift 20 is arranged in the workplace. The operator can remotely control the forklift 20 in the work place from the operation room by using the remote control device 40.
  • the operator starts remote control of the forklift 20 from the state where the forklift 20 is located at a place away from the pallet in the work place. For example, the operator brings the forklift 20 closer to the pallet and inserts the fork into the hole of the pallet. By such an operation, the pallet can be used for loading or unloading.
  • the forklift 20 includes a machine base 21.
  • Reach legs 22a and 22b are arranged on the front side of the machine base 21.
  • the reach legs 22a and 22b extend forward.
  • the reach leg 22a is arranged on the right side in the traveling direction
  • the reach leg 22b is arranged on the left side in the traveling direction.
  • a right front wheel 23a is arranged at the front of the reach leg 22a.
  • a left front wheel 23b is arranged at the front of the reach leg 22b. In this way, the front wheels 23a and 23b are arranged on the front side of the machine base 21.
  • rear wheels 24 and caster wheels (training wheels) 25 are arranged at the rear of the machine base 21.
  • the rear wheel 24 is arranged on the left side of the machine base 21.
  • the caster wheel 25 is arranged on the right side of the machine base 21.
  • the rear wheels 24 are drive wheels and steering wheels.
  • the forklift 20 travels by rotating three wheels, that is, two front wheels 23a and 23b, and one rear wheel 24.
  • the machine base 21 is equipped with a traveling motor 26 which is a driving source of the forklift 20 and a battery 27 which is a power source of the traveling motor 26.
  • the traveling motor 26 When the traveling motor 26 is driven, the rear wheels 24 rotate.
  • the forklift 20 is provided with a cargo handling device 28 in front of the machine base 21.
  • the cargo handling device 28 includes a mast 29.
  • the mast 29 moves back and forth along the reach legs 22a and 22b by driving a reach cylinder (not shown).
  • Forks 30a and 30b are attached to the front of the mast 29 via the lift bracket 31.
  • Each fork 30a, 30b has a claw (hereinafter, referred to as a fork claw) Nf extending in the front direction, specifically, when the tilt angle is 0, in the horizontal direction.
  • the forks 30a and 30b move up and down along the mast 29. That is, the forklift 20 includes a fork claw Nf, which is a cargo handling portion that moves up and down.
  • the operator can operate by sitting in the driver's seat of the forklift 20.
  • the cargo handling vehicle may be an unmanned forklift without a driver's seat.
  • the forklift 20 is provided with a standing type driver's cab 32 at the rear of the machine base 21.
  • Steering tables 33a and 33b are arranged in front of and to the left of the driver's cab 32, respectively.
  • a direction lever 34 for traveling the forklift 20 and a plurality of cargo handling levers 35 for operating the cargo handling device 28 are arranged on the steering table 33a.
  • the direction lever 34 is operated to rotate the rear wheel 24 to drive the vehicle.
  • a steering wheel 36 for steering the rear wheels 24 is arranged on the steering table 33b.
  • a brake pedal 37 is arranged on the floor surface of the driver's cab 32.
  • the machine base 21 has two pillars 38 and a head guard 39.
  • the two pillars 38 are erected on the machine base 21.
  • the head guard 39 is fixed to the upper end of the pillar 38.
  • the driver's cab 32 is surrounded by two pillars 38 and a head guard 39.
  • the head guard 39 has a plate shape that extends in the horizontal direction, and has a square shape in a plan view.
  • the forklift 20 includes a forklift-mounted device 50.
  • the forklift-mounted device 50 includes a controller 51, a radio unit 52 which is a vehicle communication unit, an image processing unit 53, a radio 54 which is a vehicle communication unit, and two cameras 71 and 72.
  • the remote control device 40 includes an operation room side device 60 and radios 64 and 65 which are operation device communication units.
  • the operation room side device 60 includes a controller 61, an operation unit 62, and a display unit (monitor) 63.
  • the controllers 51 and 61 can be configured as a circuitry.
  • the circuit is one of 1) one or more processors that operate according to a computer program (software), 2) dedicated hardware (integrated circuit for specific applications: ASIC) that executes at least a part of various processes. Includes the above dedicated hardware circuits, or 3) combinations thereof.
  • the processor includes a CPU and a memory such as a RAM and a ROM, and the memory stores a program code or an instruction configured to cause the CPU to execute a process.
  • Memory or computer-readable media includes any available medium accessible by a general purpose or dedicated computer.
  • Radios 64 and 65 are located in the workplace.
  • the controller 61 is arranged in the operation room.
  • the controller 61 is connected to the radio 64 by a wired L1.
  • the controller 61 is connected to the radio 65 by a wired L2.
  • the wireless device 64 of the remote control device 40 and the wireless unit 52 of the forklift-mounted device 50 can perform wireless communication in both directions.
  • the radio 54 of the forklift-mounted device 50 can wirelessly communicate with the radio 65 of the remote control device 40.
  • the forklift 20 has a radio unit 52 and a radio 54
  • the remote control device 40 has a radio unit 52, a radio 54, and radios 64 and 65 that perform wireless communication.
  • the controller 61 of the remote control device 40 is connected to the operation unit 62 and the display unit 63.
  • the operation unit 62 is operated when the operator remotely controls the forklift 20.
  • the operation contents of the forklift 20 (lift, reach, tilt operation command values, speed, acceleration, steering angle operation command values, etc.) by the operator are sent to the controller 61.
  • the controller 61 wirelessly transmits vehicle control signals, for example, lift, reach, and tilt operation command values, and speed, acceleration, and steering angle operation command values to the radio unit 52 of the forklift-mounted device 50 via the radio 64. Send with.
  • the controller 51 In the forklift-mounted device 50, the controller 51, the wireless unit 52, and the image processing unit 53 are connected so as to be able to communicate with each other (for example, CAN communication).
  • the controller 51 can drive a traveling system actuator (for example, a traveling motor 26 and a steering motor (not shown)) and a cargo handling system actuator (for example, a lift cylinder, a reach cylinder, and a tilt cylinder (not shown)) according to an instruction from the remote control device 40. ..
  • the wireless unit 52 wirelessly transmits vehicle information including the vehicle speed of the forklift 20 and abnormality information (for example, obstacle detection information) to the controller 61 via the radio 64.
  • 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. That is, the operator remotely controls the forklift 20 by using the operation unit 62 of the remote control device 40 instead of the operation unit (direction lever 34, cargo handling lever 35, handle 36 or brake pedal 37) in FIG. can do.
  • the controller 61 sends the operation content to the forklift 20 via the radio 64.
  • the forklift 20 receives the operation content sent from the remote control device 40 via the wireless unit 52.
  • the controller 51 drives the actuator to execute a desired operation.
  • the camera 71 is arranged in the center of the lift bracket 31.
  • the camera 71 is attached so as to face forward and downward in order to image the front of the fork claw Nf.
  • the camera 71 takes an image of the lower part of the forklift 20 around the vehicle in the traveling direction while the vehicle is traveling.
  • the camera 72 is attached to the upper surface of the left reach leg 22b so as to face forward.
  • the camera 72 images the left front of the forklift 20. That is, the camera 72 monitors the obstacle at the leg destination.
  • the controller 51 sends the images captured by the cameras 71 and 72 to the remote control device 40 via the image processing unit 53 and the radio 54.
  • the remote control device 40 receives the camera image sent from the forklift 20 via the radio 65.
  • the controller 61 displays the camera image on the display unit 63 of the remote control device 40.
  • the display unit 63 is, for example, a desktop type display. The operator can operate while looking at the camera image displayed on the display unit 63.
  • FIG. 5 shows the center Cpf of the front surface 101 of the pallet 100, the midpoint Cfh of the line segment connecting the front wheels 23a and 23b, and the axle Axfh of the front wheels 23a and 23b.
  • the orthogonal line Lr1 passes through the midpoint Cfh and is orthogonal to the axle Axfh.
  • the shortest distance line Lmi is a straight line indicating the shortest distance from the midpoint Cfh to the virtual plane including the front surface 101.
  • the shortest distance line Lmi passes through the midpoint Cfh and is orthogonal to the virtual plane including the front surface 101. As shown in FIG. 7, lateral displacement is prevented by aligning the center Cpf on the shortest distance line Lmi.
  • the pallet 100 has a first pallet hole 102 on the right side and a second pallet hole 103 on the left side.
  • the pallet holes 102 and 103 have a rectangular cross section.
  • the front surface 101 of the pallet 100 When the front surface 101 of the pallet 100 is viewed from the front, the front surface 101 has a first pallet hole 102 opened between the center and the right end in the width direction, and a second pallet hole 102 between the center and the left end. 103 is open.
  • the front surface 101 has a right end mark 104 in the right end region (between the right end and the first pallet hole 102) as shown in FIG. 6A, and a left end region (left end and the second pallet hole 102) as shown in FIG. 6B.
  • the leftmost mark 105 is attached (between 103).
  • the controller 61 detects the position of the pallet 100 and the center of the pallet front surface 101 by reading the marks 104 and 105 with a camera.
  • the controller 61 which is a measurement unit, measures the position of the pallet 100, which is the cargo handling target, by image recognition based on the camera image.
  • the midpoint Cfh shown in FIG. 7 is the turning center.
  • the forklift 20 turns in-situ and aligns the orthogonal line Lr1 with the center Cpf as shown in FIG. This is an operation for preventing the angle shift.
  • the controller 61 which is a superimposing unit, can display the first mark Gm1 and the second mark Gm2 (see FIGS. 6A and 6B) on the display unit 63 so as to superimpose on the camera image.
  • Marks Gm1 and Gm2 are examples of information that supports cargo handling work.
  • the first mark Gm1 is displayed at a position having the plane coordinates of the first intersection where the virtual plane including the front surface 101 and the orthogonal line Lr1 intersect and the same height as the center Cpf.
  • the second mark Gm2 is displayed at a position having the plane coordinates of the second intersection where the virtual plane including the front surface 101 and the shortest distance line Lmi intersect and the same height as the center Cpf.
  • the marks Gm1 and Gm2 are guide marks for notifying that the plane coordinates on the shortest distance line Lmi match the center Cpf and that the plane coordinates on the orthogonal line Lr1 match the center Cpf.
  • the first mark Gm1 and the second mark Gm2 may be displayed at positions different from the center Cpf.
  • the mark Gm1 may be a figure of ⁇
  • the mark Gm2 may be a diamond-shaped figure.
  • the marks Gm1 and Gm2 can be displayed in different colors. Each of the marks Gm1 and Gm2 can indicate a change in the situation by changing the display color thereof.
  • the mark Gm1 and the mark Gm2 overlap in the camera image.
  • the positional relationship when the forklift 20 faces the front surface 101 of the pallet straight is called the front position.
  • directing the front of the cargo handling vehicle to the front of the cargo handling object is referred to as "alignment".
  • the axle Axfh of the forklift 20 is parallel to the pallet front 101.
  • the marks Gm1 and Gm2 are used to face the front surface of the cargo handling vehicle to the front surface of the cargo handling object.
  • FIG. 5 shows a schematic plane of the pallet 100 and the forklift 20 in the workplace.
  • FIG. 6A shows the display contents on the display unit 63 when the forklift 20 approaches the front surface 101 of the pallet 100 from an oblique right direction.
  • FIG. 7 shows a schematic plane of the pallet 100 and the forklift 20 in the second state in the workplace, and the display contents on the display unit 63 at that time are shown in FIGS. 8A and 8B.
  • FIG. 9 shows a schematic plane of the pallet 100 and the forklift 20 in the third state in the workplace
  • FIG. 10 shows the display contents on the display unit 63 at that time.
  • the controller 61 measures the position of the pallet 100 by image recognition based on the camera image in the first state.
  • the lateral displacement amount ⁇ L and the angular deviation amount ⁇ with respect to the front position in the first state become zero by the operation described later.
  • the lateral displacement amount ⁇ L is the distance between the vertical line and the turning center with respect to the front surface 101 extending from the center Cpf.
  • the angle deviation amount ⁇ is an angle formed by the shortest distance line Lmi and the orthogonal line Lr1.
  • the second mark Gm2 is displayed superimposed on the front surface 101, and the first mark Gm1 is displayed superimposed on the left end region (left end mark 105) of the front surface 101. That is, the first mark Gm1 is displayed at a position horizontally deviated from the second mark Gm2, and the mark Gm1 and the mark Gm2 do not overlap.
  • the mark Gm1 is displayed in red and the mark Gm2 is also displayed in red.
  • the controller 61 may indicate that the first state is reached when the marks Gm1 and Gm2 overlap the front surface 101 or when the marks 104 and 105 are read by the camera.
  • the first state can be indicated by, for example, changing the display colors of the marks Gm1 and Gm2.
  • the operator performs an operation of aligning the plane coordinates of the intersection of the shortest distance line Lmi and the virtual plane with the center Cpf, as shown in FIGS. 7, 8A and 8B.
  • the forklift 20 is made to go straight from the first state shown in FIG.
  • the second state is reached in which the shortest distance line Lmi and the center Cpf overlap in a plan view.
  • the second state as shown in FIG. 7, since the plane coordinates of the second intersection coincide with the plane coordinates of the center Cpf, the lateral displacement amount ⁇ L becomes zero. At this time, the amount of angular deviation ⁇ with respect to the front position remains.
  • the color of the mark Gm2 can be changed. Specifically, the color of the mark Gm2 is changed from the previous red color to green color. Therefore, the second state is indicated by the change in the color of the mark Gm2. At this time, as shown in FIGS. 8A and 8B, the mark Gm1 and the mark Gm2 do not overlap in the camera image of the display unit 63.
  • the operator turns right at the maximum steering angle as shown in FIGS. 9 and 10.
  • the orthogonal line Lr1 becomes the third state where the orthogonal line Lr1 overlaps with the center Cpf in a plan view.
  • 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. In this way, the third state is indicated by the change in the color of the mark Gm1.
  • the operator sees that the color of the mark Gm1 has changed, recognizes that the third state has been reached, and stops the turning of the forklift 20. As a result, the forklift 20 is arranged at a front position directly facing the front surface 101 of the pallet.
  • the operator moves the forks 30a and 30b upward or downward to adjust the heights of the forks 30a and 30b. Then, the forks 30a and 30b are moved forward and inserted into the holes 102 and 103 of the pallet 100. When the insertion is completed, the operator lifts the pallet 100. Further, the operator moves the forklift 20 backward and moves the pallet 100 to a desired place.
  • the forklift 20 can be correctly aligned with the pallet 100 with high accuracy and with little lateral deviation and angular deviation. This makes it possible to insert the fork claw Nf into the pallet holes 102 and 103.
  • the palette 100 is measured by image recognition of the camera. As a result, the operator can know at which position on the camera screen the palette 100 is displayed. Information (marks Gm1 and Gm2) is superimposed and drawn on the area where the palette 100 is displayed on the camera image.
  • information (marks Gm1, Gm2) is displayed on the cargo handling target of the camera image. This eliminates the need for the operator to check other indicators. Therefore, the operator does not need to move the line of sight, and intuitive operation is possible. In addition, it is possible to prevent confusion due to excessive information.
  • the cargo handling work support device of the forklift 20 has a camera 71 that images the periphery of the forklift 20, a display unit 63 for displaying the camera image captured by the camera 71, and a position on the camera image on the display unit 63.
  • the controller 61 is a superimposing unit that superimposes and displays information (marks Gm1 and Gm2) that support cargo handling work on a drawing area on the display screen of the measured cargo handling object (pallet 100). Therefore, when looking at the pallet 100, which is the cargo handling target, the movement of the line of sight can be reduced and the visibility can be improved.
  • the information (marks Gm1, Gm2) to be supported is superimposed on the cargo handling target (picking target), and the movement of the line of sight is reduced (minimized) when the cargo handling target (pallet 100) is being viewed. Visibility can be improved.
  • the cargo handling work support device for the cargo handling vehicle is used in the forklift remote control system 10, which is a remote control system for the cargo handling vehicle.
  • the remote control system 10 for a forklift includes a cargo handling vehicle (forklift 20) and a remote control device 40.
  • the forklift 20 includes a cargo handling device 28 on the machine base 21 and a vehicle communication unit (radio unit 52 and radio 54).
  • the remote control device 40 has an operation device communication unit (radio 64, 65) that performs wireless communication with the radio unit 52 and the radio 54, and is used for remotely controlling the traveling of the forklift 20 and the cargo handling by the cargo handling device 28. Be done. Therefore, when the operator remotely controls the forklift 20 according to only the image of the camera, the visibility can be improved.
  • the embodiment may be changed as follows, for example.
  • the cargo handling work support device is equipped with a notification unit, and the notification of this notification unit indicates that "the first state has been reached", "the second state has been reached", or "the third state has been reached”. At least one of them may be shown.
  • the notification unit may be, for example, a speaker that emits sound, a lamp that emits light, or a vibrator that emits vibration.
  • the notification unit may change the quality or pattern of sound, light, or vibration when performing different notifications.
  • the notification unit may be a part of the display unit (monitor).
  • the information that supports cargo handling work is not limited to marks Gm1 and Gm2, but may be numbers, for example.
  • the lateral displacement amount ⁇ L and the angular deviation amount ⁇ may be expressed numerically on the camera screen.
  • the mark may be used for adjusting the height of the fork claw Nf, which is a cargo handling portion.
  • the pallet 100 is placed on the shelf board 301 of the rack 300.
  • the difference ⁇ H in the height of the fork claw Nf with respect to the height of the pallet 100 is measured by image recognition of the camera.
  • An indicator 200 representing the difference ⁇ H is superimposed on the screen of the display unit 63 shown in FIG. 11B.
  • On the indicator 200 a center point 201 in the height direction on the front surface 101 of the pallet 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 and the index 202 on the indicator 200 corresponds to the difference ⁇ H between the height of the pallet 100 and the height of the fork claw Nf.
  • the cargo handling target may be the cargo itself.
  • ⁇ Information (marks Gm1, Gm2) may be displayed at a position that does not overlap with the front 101. In short, the information may be displayed on the display screen of the cargo handling target.
  • the center Cpf of the front surface 101 of the pallet may be detected from the contour of the pallet by, for example, image recognition without using the marks 104 and 105.
  • the position of the cargo handling target with the sensor may be measured in three dimensions using the sensor, for example.
  • the cargo handling target is the section of the shelf board on which the load is placed in the rack.
  • the cargo handling target is the section of the rack shelf board, and it is advisable to mark the rack shelf board when you want to place the load in the narrow space between the luggage on the rack shelf board.
  • the camera When performing loading work, if it becomes difficult to image the front of the vehicle, the camera may be placed at the left end or the right end of the lift bracket 31.
  • the cargo handling work support device of the cargo handling vehicle may be used for, for example, a manned forklift.
  • the manned forklift may include a camera and a display.
  • the cargo handling vehicle may be a counter-type forklift.
  • the cargo handling vehicle may be a vehicle other than a forklift.

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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)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

La présente invention concerne un dispositif d'assistance au travail de manutention de cargaison d'un véhicule de manutention de cargaison, comprenant : une caméra disposée de façon à capturer une image de l'environnement du véhicule de manutention de cargaison ; une unité d'affichage conçue de façon à afficher l'image de caméra capturée par la caméra ; et une unité de superposition conçue de façon à afficher des informations d'assistance au travail de manipulation de cargaison dans l'unité d'affichage en les superposant sur l'image de caméra, au niveau de la zone de dessin sur l'écran d'affichage d'une cargaison à manipuler, dont la position a été mesurée.
PCT/JP2020/039067 2019-10-18 2020-10-16 Dispositif d'assistance au travail de manutention de cargaison de véhicule de manutention de cargaison WO2021075541A1 (fr)

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JP2019191008A JP7415429B2 (ja) 2019-10-18 2019-10-18 荷役車両の荷役作業支援装置

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