JP7124675B2 - Driving support device for forklift - Google Patents

Description

The present invention relates to a driving assistance device for forklifts.

In the work support device for a forklift disclosed in Patent Document 1, a camera captures a forward field of view including at least the tip of the fork and detects the tire angle. A monitor is arranged near the driver's seat. Then, the predicted trajectory of the tip of the fork when the vehicle moves forward at the detected tire angle is calculated, the image captured by the camera is displayed on the monitor, and the calculated predicted trajectory is superimposed on the monitor.

JP-A-2006-96457

By the way, when the forklift truck approaches a target object, for example, a pallet, it travels to the side of the pallet and turns to face the pallet. In this case, there is a need to make it possible to know at what position to start turning so that the pallet can face the pallet.

SUMMARY OF THE INVENTION An object of the present invention is to provide a driving support device for a forklift that can easily determine a turning start position.

A forklift driving support device for solving the above problems is a forklift driving support device for supporting the operation of a forklift, comprising: a camera mounted on the forklift for imaging at least part of the surroundings of the forklift; A maximum turning trajectory generating unit for generating a maximum turning trajectory on the predicted traveling trajectory according to the steering angle, and displaying the maximum turning trajectory generated by the maximum turning trajectory generating unit superimposed on the image captured by the camera. and a display unit.

According to this, the maximum turning trajectory is generated on the predicted traveling trajectory according to the steering angle and displayed on the display section while being superimposed on the image captured by the camera, so that the turning start position can be easily determined. can be done.

Further, the forklift driving support device may further include a position determination unit that displays the maximum turning trajectory at a constant distance in the front-rear direction of the forklift.
The forklift driving support device may further include a display position adjusting unit that displays the maximum turning trajectory at a position reached after a certain period of time according to the speed of the forklift.

Further, the forklift driving support device is used in a forklift remote control system, and the forklift remote control system includes a forklift and a remote control device, and the forklift has a cargo handling device mounted on the platform. and a vehicle communication unit, and the remote control device has an operation device communication unit that performs wireless communication with the vehicle communication unit, and is used to remotely control traveling of the forklift and cargo handling by the cargo handling device. I hope you can.

According to the present invention, it is possible to easily determine the turning start position.

FIG. 2 is a block diagram showing the electrical configuration of the forklift remote control system; The schematic side view which shows a reach-type forklift. BRIEF DESCRIPTION OF THE DRAWINGS The schematic perspective view which fracture|ruptures and shows a part of reach-type forklift. The top view which shows a reach-type forklift typically. FIG. 2 is a block diagram showing the electrical configuration of part of the remote control device; A flow chart for explaining the action. FIG. 2 is a plan view schematically showing a reach-type forklift for explaining a maximum turning trajectory; FIG. 2 is a plan view schematically showing a reach-type forklift for explaining a maximum turning trajectory; The figure which shows the display content in a display part. The figure which shows the display content in a display part. The figure which shows the display content in a display part. The figure which shows the display content in a display part. The figure which shows the display content in a display part.

An embodiment embodying the present invention will be described below with reference to the drawings.
In this embodiment, a forklift driving support device that supports driving of a forklift is used in a forklift remote control system.

As shown in FIG. 1, the forklift remote control system 10 includes a reach-type forklift 20 and a remote control device 40 used to remotely control travel of the reach-type forklift 20 and cargo handling by the cargo-handling device. . A reach-type forklift 20 is arranged at a work place. Then, using the remote control device 40, the reach-type forklift 20 in the workplace can be remotely controlled from the control room.
A reach-type forklift 20 is positioned at a place apart from pallets and the like in a work place. From this state, the operator remotely operates the reach-type forklift 20 to move the reach-type forklift 20 closer to the pallet or the like and insert the forks into the pallet holes.

As shown in FIGS. 2 and 3 , the reach-type forklift 20 has a machine base 21 . A pair of left and right reach legs 22a and 22b are arranged on the front side of the machine base 21, and the reach legs 22a and 22b extend forward. Specifically, the reach leg 22a is provided on the right side in the traveling direction, and the reach leg 22b is provided on the left side in the traveling direction. Front wheels 23a, 23b are arranged in front of the reach legs 22a, 22b. Specifically, the right front wheel 23a is provided on the right reach leg 22a in the traveling direction, and the left front wheel 23b is provided on the left reach leg 22b in the traveling direction. In this manner, a pair of left and right front wheels 23a and 23b are provided on the front side of the machine base 21. As shown in FIG.

Rear wheels 24 and caster wheels (auxiliary wheels) 25 are arranged at the rear of the machine base 21 . A rear wheel 24 is provided on the left side of the machine base 21 , and a caster wheel 25 is provided on the right side of the machine base 21 . The rear wheels 24 are driving and steering wheels.

As shown in FIG. 2 , the reach-type forklift 20 runs on three wheels, two front wheels 23 a and 23 b and one rear wheel 24 . A traveling motor 26 that serves as a drive source for the reach-type forklift 20 and a battery 27 that serves as a power source for the traveling motor 26 are mounted on the machine base 21 . Then, the rear wheels 24 are rotationally driven by the travel motor 26 .

The reach-type forklift 20 includes a cargo handling device 28 in front of the machine base 21 . The cargo handling device 28 includes a mast 29 that moves back and forth along each reach leg 22a, 22b by driving a reach cylinder (not shown). A pair of left and right forks 30 a and 30 b are provided in front of the mast 29 via a lift bracket 31 . The forks 30a, 30b move up and down along the mast 29.

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

As shown in FIGS. 2 and 3, the operator's cab 32 is surrounded by left and right pillars 38 erected on the machine base 21 and a head guard 39 fixed to the upper ends of the pillars 38 .
As shown in FIG. 1, the reach-type forklift 20 includes, as the forklift-mounted equipment 50, a controller 51, a wireless unit 52 as a vehicle communication section, an image processing section 53, a wireless device 54 as a vehicle communication section, and a camera. 71,72,73.

The remote control device 40 has a controller 61 , an operation unit 62 , a display unit (monitor) 63 , wireless devices 64 and 65 as operation device communication units, and an image processing unit 66 . The remote control device 40 includes a controller 61 , an operation section 62 , a display section (monitor) 63 and an image processing section 66 as the control room side equipment 60 .

The radio 64 of the remote control device 40 is located at the workplace. Also, the wireless device 65 of the remote control device 40 is arranged in the workplace. A controller 61 placed in the operation room is connected to a wireless device 64 placed in the workshop via a wire L1. The controller 61 is connected to a wireless device 65 placed in the workplace via a wire L2.

In the workplace, the radio 64 of the remote controller 40 and the radio unit 52 of the forklift-mounted equipment 50 can communicate bidirectionally. In addition, wireless communication can be performed from the wireless device 54 of the equipment 50 mounted on the forklift to the wireless device 65 of the remote control device 40 in the workplace.

Thus, the reach forklift 20 has a radio unit 52 and a radio 54, and the remote control device 40 has radios 64, 65 that communicate with the radio unit 52 and the radio 54 by radio.

A controller 61 of the remote control device 40 is connected to an operation section 62 and an image processing section 66 . The operation unit 62 is for remote-controlling the reach-type forklift 20 by the operator, and the contents of the operation of the reach-type forklift 20 by the operator (lift, reach, tilt operation command values, speed, acceleration, steering corner operation command value, etc.) is sent to the controller 61 . The controller 61 wirelessly transmits vehicle control signals such as lift, reach, and tilt operation command values and speed, acceleration, and steering angle operation command values to the wireless unit 52 of the forklift-mounted equipment 50 via the wireless device 64. do.

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

The wireless unit 52 wirelessly transmits vehicle information such as vehicle speed of the reach-type forklift 20 and abnormality information (such as obstacle detection information) to the controller 61 via the wireless device 64 .
In FIG. 1 , a controller 61 can remotely control travel of the reach-type forklift 20 and cargo handling by the cargo handling device 28 via a wireless device 64 , a wireless unit 52 and the controller 51 . In other words, remote operation can be performed by the operation unit 62 of the remote control device 40 in place of the operation units (the direction lever 34, the cargo handling lever 35, the handle 36, the brake pedal 37, etc.) in FIG.

In the remote control device 40 , when the operator performs a desired operation using the operation unit 62 , the operation content is sent to the reach-type forklift 20 via the wireless device 64 by the controller 61 . In the reach-type forklift 20, the wireless unit 52 receives the operation details from the remote control device 40, and the actuator section is driven by the controller 51 to perform a desired operation.

As shown in FIG. 4 , the reach-type forklift 20 has a right rear corner portion P1 and a left rear corner portion P2 on the machine base 21 .
As shown in FIGS. 2 and 4 , a camera 71 is attached to the front of the head guard 39 of the reach-type forklift 20 so as to face forward and downward. Specifically, the camera 71 captures an image of the floor in front of the reach-type forklift 20 in the traveling direction. A camera 72 is attached to the right rear portion of the head guard 39 of the reach-type forklift 20 so as to face downward, and the camera 72 images the surroundings of the reach-type forklift 20 . Specifically, the camera 72 takes an image of the vicinity of the right rear corner P1 of the machine base 21 from above. A camera 73 is attached to the left rear portion of the head guard 39 of the reach-type forklift 20 so as to face downward, and the camera 73 images the surroundings of the reach-type forklift 20 . Specifically, the camera 73 takes an image of the vicinity of the left rear corner P2 of the machine base 21 from above.

As shown in FIG. 1 , images captured by cameras 71 , 72 , and 73 in reach-type forklift 20 are sent by controller 51 to remote controller 40 via image processor 53 and radio 54 . In the remote control device 40 , the camera image from the reach-type forklift 20 is received by the wireless device 65 and displayed on the display section 63 via the image processing section 66 . The display unit 63 is, for example, a desktop display.

The images captured by the cameras 71 , 72 and 73 are displayed on the display unit 63 provided in the remote control device 40 . The operator operates while viewing the images of the cameras 71 , 72 , 73 on the display unit 63 .

As shown in FIG. 5 , in the remote control device 40 , the controller 61 gives an operation amount instruction to the forklift truck from an operation unit 62 based on an operation instruction such as a steering angle. Image data from the forklift side is sent to the display section 63 via the image processing section 66, and the display section 63 displays the image.

In FIG. 5, the controller 61 generates maximum turning circles C1 and C2 (see FIG. 7) as maximum turning trajectories on the predicted travel trajectory L10 (see FIG. 4) corresponding to the steering angle. 4, the predicted travel locus L10 is the predicted locus of the base center of the reach-type forklift 20 when the steering angle is zero and the reach-type forklift 20 moves forward straight. The maximum turning circle C1 is a circle through which the rear corner P1 of the machine base 21 passes, and the maximum turning circle C2 is a circle through which the rear corner P2 of the machine base 21 passes. The controller 61 can superimpose the maximum turning circles C1 and C2 on the camera image via the image processing section 66 and display them on the display section 63 . Further, the controller 61 displays the maximum turning circles C1 and C2 at a constant distance d1 (see FIG. 4) in the front-rear direction of the reach-type forklift truck 20 . A distance d1 in front of the reach-type forklift 20 is, for example, about 3 m.

Next, the action will be described.
As shown in FIG. 6, in step S101, the controller 61 determines a position α (see FIG. 4) at a constant distance d1 defined in the longitudinal direction on the expected travel locus L10 (see FIG. 4) corresponding to the steering angle. .

Then, in step S102, the controller 61 sets the maximum turning circle through which the rear corners P1 and P2 of the machine base 21 pass as shown in FIG. Express C1 and C2 in the world coordinate system. The right front wheel 23a is used as a reference for the turning radius when turning right. The left front wheel 23b is used as a reference for the turning radius when turning left. The circles drawn by the outermost rear corners P1 and P2 of the rear part of the machine base of the reach-type forklift have the maximum turning radii, and these are the maximum turning circles C1 and C2.

6, the controller 61 detects the relative positions of the maximum turning circles C1, C2 of step S102 and the cameras 71, 72, 73 as shown in FIG. 8, and detects the maximum turning circles C1, C2 of step S102. is transformed from the world coordinate system to the camera coordinate system. In step S104 of FIG. 6, the controller 61 coordinate-transforms the maximum turning circles C1 and C2 of step S103 from the camera coordinate system to the monitor coordinate system. In step S105 of FIG. 6, the controller 61 superimposes the maximum turning circles C1 and C2 of step S104 on a predetermined position on the predicted travel locus L10 in the camera image, and displays the reach-type forklift on the display unit 63 as shown in FIG. 20 front floor is displayed.

In this manner, the maximum turning circles C1 and C2 are superimposed on the expected travel locus L10 when the vehicle is traveling at the current steering angle, and it is possible to know what will happen if the vehicle continues to travel at the steering angle and turns. As a result, it is possible to improve operability during turning at the destination by remote control.

A detailed description will be given below.
Conventionally, it is not known from which position of the traveling destination the pallet should be turned to face the target pallet. In addition, it is not known whether it is possible to turn at the travel destination (whether there is space or whether there are obstacles in the turning range). In Patent Document 1, it is possible to grasp the destination (movement trajectory) of the tip of the fork by the steering angle, but it is not known whether turning at the destination will make it face the target pallet.

In this embodiment, the maximum turning circles C1 and C2 are displayed on the predicted travel locus L10 according to the steering angle. At this time, the maximum turning circles C1 and C2 are displayed at a constant distance d1 from the reach-type forklift truck 20 in the front-rear direction.

Specifically, as shown in FIG. 9, the user approaches the target pallet 100 while looking at the maximum turning circles C1 and C2.
Then, as shown in FIG. 10, the maximum turning circles C1 and C2 come right beside the pallet 100, and the target pallet 100 comes to a position where it touches the maximum turning circles C1 and C2. Further, as shown in FIG. 11, when the reach type forklift 20 reaches the side of the pallet 100, it starts turning. Then, as shown in FIG. 12, when it turns on the spot, it faces the pallet 100 directly. Further, as shown in FIG. 13, the forks 30a and 30b are moved forward and inserted into the pallet holes.

In this way, the reach-type forklift 20 is often used in relatively narrow places because of its rear-wheel steering and small turning radius. Therefore, if the turning radius at the destination is not correctly predicted and judged, there is a possibility of contacting surrounding objects when turning. In particular, when operating the reach-type forklift 20 by remote control, the operator must predict and judge the turning radius of the reach-type forklift 20 at the destination from the camera image. becomes difficult. Therefore, when the reach type forklift 20 turns at the maximum handle angle at the destination, that is, when performing so-called on-the-spot turning, the maximum turning circles C1 and C2, which are the trajectories passed by the rear corners P1 and P2 of the machine base, are guided. As a display, it is superimposed on the camera image and displayed. Therefore, it becomes easy to recognize the maximum turning circles C1 and C2, which are the predicted trajectories of the rear corners P1 and P2 of the machine base, at the destination, and the operability at the time of turning at the destination by remote control is improved.

According to the above embodiment, the following effects can be obtained.
(1) Cameras 71, 72, and 73 mounted on the reach-type forklift 20 and capturing at least part of the surroundings of the reach-type forklift 20 as a configuration of a forklift driving support device that supports the operation of the reach-type forklift 20; A controller 61 and a display unit 63 are provided. The controller 61 as a maximum turning trajectory generator generates maximum turning circles C1 and C2 as maximum turning trajectories on the predicted traveling trajectory L10 according to the steering angle. The display unit 63 superimposes the maximum turning circles C1 and C2 on the images captured by the cameras 71, 72 and 73 and displays them. Therefore, the maximum turning circles C1 and C2 as the maximum turning trajectories are generated on the predicted traveling trajectory L10 corresponding to the steering angle, and displayed on the display unit 63 superimposed on the images captured by the cameras 71, 72, and 73. Therefore, the turning start position can be easily determined. In addition, it can be determined whether or not it is possible to turn at the destination.

(2) The controller 61 as a position determination unit displays the maximum turning circles C1 and C2 as the maximum turning trajectories at a constant distance d1 in the front-rear direction of the reach-type forklift 20 . Therefore, the turning start position can be determined more easily. In addition, it is possible to easily determine whether or not it is possible to turn at the destination.

(3) The forklift driving support device is used in the forklift remote control system 10 , and the forklift remote control system 10 includes the reach-type forklift 20 and the remote control device 40 . The reach-type forklift 20 has a cargo handling device 28 on a machine base 21 and a wireless unit 52 and a wireless device 54 as vehicle communication units. The remote control device 40 has a wireless unit 52 as a vehicle communication unit and wireless devices 64 and 65 as operating device communication units that perform wireless communication with a wireless device 54 , and controls the traveling of the reach-type forklift 20 and the cargo handling by the cargo handling device 28 . used to remotely control the Therefore, the turning start position can be easily determined during remote control. Also, when performing remote control, it is possible to determine whether turning is possible at the travel destination.

Embodiments are not limited to the above, and may be embodied as follows, for example.
○ Although the maximum turning circles C1 and C2 as the maximum turning trajectory are displayed at a constant distance in the front-rear direction of the reach-type forklift 20, instead of this, the position α of the maximum turning circles C1 and C2 (distance d1 from the forklift) may be a position reached after a certain period of time depending on the speed. That is, the faster the speed, the farther the maximum turning circles C1 and C2 are displayed from the forklift. The slower the speed, the closer the maximum turning circles C1 and C2 are to the forklift, and they overlap with the forklift when stopped. The operator travels at a certain speed, and when the target pallet comes right beside it (when it comes to a position where it touches the maximum turning circles C1 and C2), the maximum turning circles C1 and C2 are positioned right beside the target pallet. By decreasing the speed so that the robot remains in contact with the maximum turning circles C1 and C2, it can finally stop at a position where it can turn in the target direction.

In this manner, the controller 61 may be configured to further include a function as a display position adjusting unit that displays the maximum turning trajectory at a position reached after a certain period of time according to the speed of the forklift.

○ Although the case where the forklift travels forward (forward) has been described, it may be applied to the case where the forklift travels backward (reverse).
○ The maximum turning trajectory is the trajectory of the rear corners P1 and P2 of the machine base 21 during turning, that is, the trajectory of the outermost point during turning, which can be considered other than the maximum turning circles C1 and C2. For example, it may be the trajectory of the fork tip portions P11 and P12 (see FIG. 4) during turning when traveling with reach-out. Alternatively, it may be the trajectory of the turning of the front corner of the pallet inserted into the fork when traveling with reach-out.

○ If the two maximum turning circles C1 and C2 are displayed, but the turning direction is known (for example, the operator indicates the turning direction), one of the maximum turning circles may be displayed. For example, in FIG. 7, if the vehicle is turning right, the maximum turning circle C1 is displayed, and if the vehicle is turning left, the maximum turning circle C2 is displayed.

The maximum turning circles C1 and C2 may not be the turning circles for the maximum steering wheel angle, and the maximum turning circles other than the maximum steering wheel angle may be displayed according to the operator's instruction.
(circle) the camera should just image at least one part of the circumference|surroundings of a forklift truck, For example, only the camera which faces the advancing direction front may be sufficient.

○ The driving support device for forklifts was used for the remote control system for forklifts, but it is not limited to this. For example, you may use it for a manned forklift. That is, instead of providing an unmanned forklift equipped with a camera and a remote control device having a display, for example, the present invention may be applied to a manned forklift equipped with a camera and a display.

○ Although the forklift was a reach-type forklift, it is not limited to this, and a forklift other than a reach-type forklift may be used. For example, a counter-type forklift may be used.

DESCRIPTION OF SYMBOLS 10... Remote control system for forklifts, 20... Reach-type forklift, 28... Cargo-handling apparatus, 40... Remote control apparatus, 52... Wireless unit, 54... Wireless device, 61... Controller, 63... Display unit, 64, 65... Wireless device , 71, 72, 73...cameras, C1, C2...maximum turning circle, d1...distance, L10...anticipated travel trajectory.

Claims (4)

A driving support device for a forklift that supports driving of a forklift,
a camera mounted on the forklift to capture at least a portion of the surroundings of the forklift;
When the forklift turns at the maximum steering wheel angle, the circle drawn by the rear corner, which is the outermost part of the rear part of the forklift, is based on the right front wheel when turning right, and the left front wheel when turning left is the reference. A circle drawn by the outermost rear corner of the rear part of the forklift machine, a circle drawn by the tip of the fork of the forklift, and a circle drawn by the front corner of the pallet inserted into the fork, at least a maximum turning trajectory generator that generates one of the maximum turning trajectories on the predicted traveling trajectory according to the steering angle ;
and a display unit for superimposing and displaying the maximum turning locus generated by the maximum turning locus generating unit on the image captured by the camera. 2. The driving support device for a forklift truck according to claim 1, further comprising a position determination unit that displays the maximum turning trajectory at a constant distance in the longitudinal direction of the forklift truck. 2. The driving support device for a forklift truck according to claim 1, further comprising a display position adjustment unit that displays the maximum turning trajectory at a position that it reaches after a certain time according to the speed of the forklift truck. The forklift driving support device is used in a forklift remote control system,
The forklift remote control system includes a forklift and a remote control device,
The forklift has a cargo handling device on its platform and a vehicle communication unit,
The remote control device has a control device communication unit that performs wireless communication with the vehicle communication unit, and is used to remotely control traveling of the forklift and cargo handling by the cargo handling device. 4. The forklift driving support device according to any one of 3.

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