JP4968667B2 - Forklift work assistance system - Google Patents

Description

  The present invention relates to a work assist system for a forklift that assists in loading or unloading work in a forklift.

Conventionally, when a forklift transports a load having a high height, the load is obstructing the front view from the cab of the forklift, and therefore, it is generally operated while traveling backward. However, at the time of reverse driving, the driver has a posture in which his / her body is bent backward with respect to the front handle, and it is difficult to drive and the safety of work is reduced.
Thus, for example, Patent Document 1 discloses a technique for assisting the driver's field of vision in front of the problem.
Patent Document 1 is a display device in which a small camera is mounted in the vicinity of an attachment portion of a fork for holding a load of a forklift, and the image of the camera is installed in a driver's cab when the forward visibility is deteriorated by the load. The driver will drive forward while confirming the image.
JP 2003-212494 A

  However, since the camera is provided in the vicinity of the fork mounting portion of the forklift in Patent Document 1, when the load is held, the shooting range of the camera is narrowed by the load so that the entire work range can be confirmed. There was a drawback that it could not be displayed on the display device. For this reason, especially in the work of loading a load with a height dimension on the loading platform as described above, it is difficult to confirm the contact between the loading platform and the load with the camera alone, which is unsafe and more careful. Therefore, there was a problem that work efficiency was lowered. Furthermore, in such a case, it is necessary to arrange an auxiliary guide person separately from the driver of the forklift, which increases the labor cost.

  The present invention has been made in view of the above-described problems. By checking the entire work range for loading or unloading, work can be performed efficiently and safely, and labor costs can be reduced. An object of the present invention is to provide a work assist system for forklift trucks.

In order to achieve the above object, a forklift work assistance system according to the present invention is a forklift work assistance system for carrying out a work for loading or unloading a load by a forklift at a work position on the bed. Or a wireless ID tag provided in the vicinity of the loading platform, a reader provided in the forklift, a work monitoring camera for photographing from above for each work position of the loading platform, and a display device provided in the cab of the forklift provided, the wireless ID tag, an identification information associating the loading platform and work monitoring camera is recorded, when the wireless ID tag and the reader is in communication state by radio waves, to start the work monitoring camera corresponding to the wireless ID tag , by reading the identification information of the wireless ID tag reader, to project a picture of the working surveillance cameras being activated on the display device It is characterized by being composed.
In the present invention, when carrying out loading or unloading work at the work position of the loading platform, the wireless ID tag provided in the vicinity of the loading platform or the loading platform and the reader are in communication with each other, so that The work monitoring camera starts. At the same time, the work monitoring camera that has been activated is identified from the identification information read by the reader, and the image being taken by the work monitoring camera is received, so that it can be automatically displayed on the display device in the cab of the forklift. Thereby, the driver of the forklift can efficiently perform the loading work while confirming the image of the work position.

In the forklift work assistance system according to the present invention, the second wireless ID tag that can communicate with the reader is provided near the wireless ID tag, and the reader is in communication with the second wireless ID tag. It is preferable to notify the driver of the forklift.
In the present invention, when the reader is notified of the communication state with the second wireless ID tag, the driver lifts the load on the forklift, for example, to load or load the load at the work position of the loading platform. It is possible to reliably lift the luggage to a predetermined ascending position before taking it out. That is, it is possible to prevent a collision caused by approaching the loading platform while the load is lowered, and improve safety.

According to the forklift work assistance system of the present invention, when loading or unloading work is performed, an image obtained by photographing the entire work position from above is automatically displayed on a display device provided in the cab of the forklift. Can do. As a result, even when the front view of the forklift is blocked by the load, the driver can perform loading and unloading work while checking the image of the display device, so that safety can be improved, The work efficiency can be improved, for example, the load can be smoothly moved to a predetermined loading position.
In addition, in this work assistance system, the work monitoring camera and the display device are activated only when loading or unloading work is necessary, and the power is cut off at other times. The cost can be reduced.
In addition, since only the driver can check the state of the entire work, there is no need to arrange an auxiliary guide as in the conventional case, and the labor cost can be reduced.

Hereinafter, a forklift work assistance system according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.
FIG. 1 is an overall schematic diagram illustrating a forklift work assistance system according to an embodiment of the present invention, and FIG. 2 is a flowchart of image communication in the work assistance system.

As shown in FIG. 1, the work assistance system 1 for a forklift 2 according to the present embodiment is applied to a carrying work for loading a load 3 on a conveyor 4 (loading platform). This conveyor 4 is for transporting the cargo 3 in the longitudinal direction (direction orthogonal to the paper surface of FIG. 1), and the first conveyor 4A, the second conveyor 4B, and the third conveyor 4C are respectively in predetermined positions. Has been placed. In addition, the place where the luggage 3 is placed on each of the conveyors 4A, 4B, and 4C (this position is referred to as a loading position T) is a fixed position.
Here, the forklift 2 includes a cab 2 a in the vehicle body 20, and a fork 21 for inserting and holding a pallet (not shown) on which the load 3 is placed is provided on the front surface of the vehicle body 20. The fork 21 is provided so as to be movable up and down.

The work assistance system 1 is fixed to the ID tag 5 (first to third ID tags 5A, 5B, 5C) attached to the conveyors 4A, 4B, 4C and the front lower portion 2b of the vehicle body 20 of the forklift 2. And a work monitoring camera 7 provided above the loading positions T (first to third loading positions T1, T2, T3) of the conveyors 4A, 4B, and 4C and photographing a predetermined range from above. (First to third work monitoring cameras 7A, 7B, 7C) and an in-vehicle monitor 8 (display device) provided in the cab 2a of the forklift 2 are provided. The loading position T corresponds to the “working position” of the present invention.
The work monitoring cameras 7A, 7B, and 7C are positions at which the loading positions T1, T2, and T3 of the conveyors 4A, 4B, and 4C can be seen from above with a predetermined shooting range R, for example, the work shown in FIG. It is fixed to the ceiling 13 of the floor.

  The ID tag 5 includes an antenna (not shown) that can communicate with the reader 6 via radio waves and an IC chip (not shown). Identification information relating the conveyor 4 to which the ID tag 5 is attached and the work monitoring camera 7 arranged above the conveyor 4 is recorded on the IC chip. When the ID tag 5 is in communication with the reader 6 and receives a radio wave from the reader 6 for a certain period of time, the ID tag 5 converts this into a current, operates the IC chip, and transmits identification information to the reader 6. In this way, since the ID tag 5 can receive radio waves from the reader 6, it is possible to employ a tag that does not require a battery. As the ID tag 5, a non-contact distance (communication possible distance) with the reader 6 can be about 1 cm to 200 cm, for example.

  The reader 6 is an ID tag reader having a reading function, and has a configuration including a signal processing unit necessary for communication with the ID tag 5. The reader 6 can transmit radio waves to the ID tag 5 for a certain period of time from an antenna (not shown) provided therein, and can receive identification information of the ID tag 5. Note that the reader 6 may be an ID tag reader / writer having a function of writing data such as identification information and communication records received from the ID tag 5.

Further, the forklift 2 is provided with a first controller 9 that controls the reader 6 that communicates with the ID tag 5 and the in-vehicle monitor 8. The reader 6, the first controller 9, and the in-vehicle monitor 8 are connected by, for example, first control lines 11a and 11b.
When the reader 6 communicates with the ID tag 5, the first controller 9 automatically selects the work monitoring camera 7 corresponding to the ID tag 5 from the identification information of the ID tag 5, and the frequency ( (Radio wave) to match. Thereby, the image | video of the work monitoring camera 7 can be projected on the vehicle-mounted monitor 8 of the forklift 2.

In addition, the work assist system 1 is provided with a second controller 10 that controls each ID tag 5 and each work monitoring camera 7. Each ID tag 5, each work monitoring camera 7, and the second controller 10 are connected by, for example, second control lines 12a and 12b.
When the second controller 10 detects the ID tag 5 in communication with the reader 6, it automatically selects the work monitoring camera 7 corresponding to the ID tag 5 from the identification information of the ID tag 5, The power source of the work monitoring camera 7 is activated, and control is performed so that the loading position of the identified conveyor 4 is photographed from above.

  Then, the work monitoring camera 7 is not in a state in which it always operates. For example, when the first ID tag 5A is in communication with the reader 6 and a control command is issued via the second controller 10, the first ID tag 5A The first work monitoring camera 7A installed at the top of the camera is activated, and the first loading position T1 of the first conveyor 4A to which the first ID tag 5A is attached is photographed. Moreover, each work monitoring camera 7 is transmitting the image | video image | photographed with the radio wave of a different frequency to the exterior during the starting.

  As described above, the in-vehicle monitor 8 is installed at a position where the driver M can easily see in the cab 2a of the forklift 2. The in-vehicle monitor 8 includes an antenna (not shown) having a receiving function, and a first controller 9 which will be described later so that the loading position T has the same frequency as that of the work monitoring camera 7 during photographing. By receiving the video of the work monitoring camera 7 under the control of the above, the video can be displayed on the in-vehicle monitor 8.

Next, the operation flow of the work assistance system 1 of the forklift 2 will be described with reference to FIG.
In this operation flow, when the forklift 2 loaded with the load 3 performs a transporting operation for loading on a predetermined conveyor 4, an operation of moving forward (X direction shown in FIG. 1) while approaching the conveyor 4 is set as the start of the operation flow. 3 shows a series of operation flows until an image is displayed on the in-vehicle monitor 8. Here, a case where the luggage 3 is loaded at the first loading position T1 of the first conveyor 4A will be described.
In this work assistance system 1, first, when the forklift 2 approaches the loading position T1 and the reader 6 enters the communicable distance L with the first ID tag 5A, it is attached to the first conveyor 4A in step S1. The ID tag 5A and the reader 6 are in a communication state (step S1: YES), and the process proceeds to step S2 and step S4.

  In step S <b> 2, in response to the reader 6 being in a communication state, the power source of the in-vehicle monitor 8 is activated by a control command from the first controller 9. Subsequently, in step S3, the first conveyor 4A and the first work monitoring camera 7A are specified from the identification information of the first ID tag 5A read by the reader 6, and the frequency transmitted by the first work monitoring camera 7A is determined. It is controlled by the first controller 9 so that the frequencies of the in-vehicle monitor 8 are matched.

On the other hand, in step S4, the first ID tag 5A is identified by detecting the electrical signal of the first ID tag 5A communicated by the second controller 10, and the first work monitoring corresponding to the first ID tag 5A is detected. The camera 7A, that is, the first work monitoring camera 7A disposed above the first conveyor 4A to which the first ID tag 5A is attached is selected.
Next, the process proceeds from step S4 to step S5. In step S5, the work monitoring camera 7A selected in response to a control command from the second controller 10 is activated and images are taken with a predetermined imaging range R.

  In step S6 following step S3 and step S5, the in-vehicle monitor 8 receives the image of the first work monitoring camera 7A, and the image is displayed on the in-vehicle monitor 8. As a result, the driver M of the forklift 2 can efficiently perform the loading operation while confirming the image of the first loading position T1 displayed on the in-vehicle monitor 8, and the transportation operation is assisted. Become.

If the ID tag 5 and the reader 6 are not in the communication state in step S1 (step S1: NO), the process proceeds to step S7, and the activation states of the first work monitoring camera 7A and the in-vehicle monitor 8 are confirmed. Is done. As a result, when at least one of the first work monitoring camera 7A and the on-vehicle monitor 8 is activated (step S7: YES), the process proceeds to step S8, and the activated first work monitoring camera 7 and on-vehicle monitor are activated. The power supply of the monitor 8 is turned off. In other words, after the loading operation is completed, the forklift 2 moves from the conveyor 4, the reader 6 moves out of the communicable distance L with the ID tag 5, and the communication state is released. A control command is issued to turn off the power and the power is turned off.
Also, a control command is issued from the second controller 10 to turn off the power of the work monitoring camera 7, and the power is turned off. As described above, only when the ID tag 5 and the reader 6 are in communication, the work monitoring camera 7 is automatically operated, and at the same time, the video is displayed on the in-vehicle monitor 8.

On the other hand, when both 7A and 8 are not activated in step S7 (step S7: NO), the operation flow is returned to the start again.
In the description of the operation flow, the case where the luggage 3 is loaded on the first conveyor 4A has been described. However, the operation flow for loading the luggage 3 on the second conveyor 4B or the third conveyor 4C is similar to the operation flow. Work assistance in loading work is performed.

In the forklift work assistance system according to the present embodiment described above, when loading or unloading work is performed, an image obtained by photographing the entire work position (loading position T) from above is shown in the cab 2a of the forklift 2. Can be automatically displayed on the in-vehicle monitor 8 provided in the system. Thus, even when the front view of the forklift 2 is blocked by the luggage 3, the driver M can perform loading and unloading work while checking the image on the in-vehicle monitor 8, thereby improving safety. In addition, the work efficiency can be improved, for example, the load 3 can be smoothly moved to a predetermined load storage position T.
Moreover, in this work assistance system, the work monitoring camera 7 and the vehicle-mounted monitor 8 are activated only when it is necessary to carry out the loading work, and the power is cut off at times other than during the work. It can be reduced, and the cost can be reduced.
In addition, since only the driver M can check the state of the entire work, there is no need to arrange an auxiliary guide as in the conventional case, and the labor cost can be reduced.

Next, the first and second modifications of the embodiment of the present invention will be described with reference to FIGS. 3 and 4, but the same or similar members and parts as those in the above-described embodiment are denoted by the same reference numerals. The description is omitted, and a configuration different from that of the embodiment will be described.
FIG. 3 is a schematic diagram illustrating a forklift work assistance system according to a first modification of the embodiment.
As shown in FIG. 3, in the forklift work assistance system 1 according to the first modification, the ID tag 5 (5A, 5B, 5C) is attached to the floor 14 near the conveyors 4A, 4B, 4C. Is. In this case, the position of the forklift 2 when the work monitoring camera 7 and the in-vehicle monitor 8 are activated is a position closer to the front (a direction away from the bellcon 4) than the embodiment in which the ID tag 5 is attached to the conveyor 4 described above. Thus, an image is displayed on the in-vehicle monitor 8 at an earlier stage than the embodiment. That is, by changing the installation of the ID tag 5 on the floor surface 14, it is possible to adjust the timing at which an image is displayed on the in-vehicle monitor 8. The operation and effect of the position work assist system 1 are the same as those in the embodiment.

FIG. 4 is a schematic diagram illustrating a forklift work assistance system according to a second modification of the embodiment.
As shown in FIG. 4, in the forklift work assistance system according to the second modification, in addition to the ID tag 5 of the first modification, a second ID tag 30 is provided on the floor 14 near the ID tag 5. Is. The IC chip (not shown) built in the second ID tag 30 may be one in which no identification information is recorded.
In this case, when the forklift 2 approaches the second ID tag 30 and the reader 6 enters a communication state with the second ID tag 30, the driver M is notified of notification information indicating that the communication state is established. It is controlled by one controller 9. As a transmission method of the notification information at this time, for example, there are methods such as voice, alarm, or display on the vehicle-mounted monitor 8. Then, when the driver M receives this notification information, the fork 21 (load 3) is surely placed before loading on the conveyor 4 by performing an operation of raising the position of the fork 21 of the forklift 2 in the direction of arrow Y. ) Can be raised to a predetermined ascent position Y1. That is, it is possible to prevent a collision or the like caused by bringing the luggage 3 close to the conveyor 4 in the lowered position Y2, and the safety can be further improved.
In addition, the installation position of the 2nd ID tag 30 is not limited to the position far from the ID tag 5 with respect to the conveyor 4 as shown in FIG. 4, It can set arbitrarily.

As mentioned above, although the work assistance system of the forklift according to the embodiment of the present invention and the first and second modified examples has been described, the present invention is not limited to the above-described embodiment, the first and second modified examples. It can be changed as appropriate without departing from the spirit of the invention.
For example, in the present embodiment, the first and second modifications, the number of the first to third conveyors 4A, 4B, and 4C is three. However, the number of conveyors 4 is not limited to this, and the number of conveyors 4 is other than one or three. It is possible to have more than one. The loading platform is not limited to the conveyor 4.
Moreover, in this Embodiment, the 1st and 2nd modification, although applied to the loading operation | work, it can apply also at the time of a loading operation | work. Also during this cargo collection operation, the image of the cargo collection operation position is displayed on the in-vehicle monitor 8 in the forklift 2 by the same operation flow, and the driver M can perform the operation while confirming the image.
Furthermore, the attachment position of the ID tag 5 is not particularly limited, and it is sufficient that the work monitoring camera 7 and the vehicle monitor 8 are activated within a range where the driver M works while looking at the vehicle monitor 8. Is done. However, if the ID tag 5 is installed at a position away from the conveyor 4, the reader 6 communicates with the ID tag 5 even when traveling near the conveyor 4 other than the work of loading on the conveyor 4. Therefore, it is preferable to install the ID tag 5 in the vicinity of the conveyor 4 as much as possible.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole schematic diagram explaining the forklift work assistance system by embodiment of this invention. It is a flowchart of the image communication in a work assistance system. It is a schematic diagram explaining the work assistance system of the forklift truck by the 1st modification of embodiment. It is a schematic diagram explaining the work assistance system of the forklift by the 2nd modification of embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Work assistance system 2 Forklift 3 Luggage 4 Conveyor 5 ID tag 6 Reader 7 Work monitoring camera 8 Car-mounted monitor (display device)
9 First controller 10 Second controller 30 Second ID tag T Loading position R Shooting range

Claims (2)

A forklift work assistance system for carrying out a work of loading or unloading a load with a forklift at a work position on a loading platform,
A wireless ID tag provided near the cargo bed or the cargo bed,
A reader provided in the forklift;
A work monitoring camera for photographing from above for each work position of the loading platform;
A display device provided in a cab of the forklift;
With
In the wireless ID tag, the identification information that associates the loading platform and the work monitoring camera is recorded,
Wherein when the wireless ID tag and said reader is a communication state by the radio wave, it activates the work monitoring camera corresponding to the wireless ID tag,
A forklift work assistance system configured to display an image of the activated work monitoring camera on the display device by reading the identification information of the wireless ID tag with the reader. A second wireless ID tag that can communicate with the reader is provided in the vicinity of the wireless ID tag;
The forklift work assistance system according to claim 1, wherein the forklift driver is notified that the reader is in communication with the second wireless ID tag.

Images