JP7428100B2 - Optical equipment unit device in industrial vehicles - Google Patents

Description

The present invention relates to an optical equipment unit device in an industrial vehicle.

In recent years, industrial vehicles are sometimes equipped with stereo cameras to obtain information about the surroundings of the industrial vehicle (for example, see Patent Document 1). In Patent Document 1, a stereo camera for capturing an image of the rear is mounted on the rear of a head guard of a forklift as an industrial vehicle. In this forklift, the distance from the industrial vehicle to the person is detected by detecting the position of the person from a parallax image acquired by a stereo camera. When the distance from the forklift to the person is less than the warning threshold, the light emitting unit mounted on the forklift flashes and emits light, allowing people around the forklift to recognize that an industrial vehicle is nearby.

Incidentally, architectural structures such as factories and warehouses are provided with entrances and exits through which industrial vehicles can enter and exit. A curtain made of a transparent resin sheet may be installed at the entrance/exit. This type of curtain is often provided, for example, to keep heat or cold inside a building structure, or to prevent foreign matter from entering. Industrial vehicles such as forklifts push up this curtain and pass through the doorway.

JP2020-57057A

However, in the case of the industrial vehicle disclosed in Patent Document 1, there is a problem in that the curtain interferes with the camera when the industrial vehicle moves backward and passes through an entrance/exit. If the curtain interferes with the camera, the camera lens may be scratched or dirty. Furthermore, if the curtain repeatedly interferes with the camera, there is a risk that the camera may malfunction or the camera may be misaligned.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an optical equipment unit device for an industrial vehicle that can prevent a lens included in an optical equipment from interfering with a curtain provided at an entrance/exit. It's on offer.

In order to solve the above problems, the present invention provides an optical device having a lens, a bracket fixed to protrude toward the rear of a vehicle body and supporting the optical device, and a protective member protecting the optical device. The protection member is located above the lens and rearward of the vehicle body than the lens , and the protection member is a rod-shaped body having a circular cross section .

In the present invention, the protective member is fixed at a position above and behind the lens. Therefore, even if an industrial vehicle passes through an entrance/exit provided with a curtain, the curtain will not interfere with the protective member located above the lens and will not interfere with the optical equipment. As a result, it is possible to prevent scratches on the lens and stains on the lens due to interference between the lens of the optical device and the curtain.
Moreover, since the protection member is a rod-shaped body with a circular cross section, when an industrial vehicle passes through an entrance/exit provided with a curtain, the protection member slides smoothly against the curtain. Therefore, the protective member will not damage the curtain, and the curtain will not get caught on the protective member and apply an excessive load to the camera or bracket.

Further, in the above optical equipment unit device for an industrial vehicle, the bracket is fixed so as to protrude toward the rear of the vehicle body, and is located at a position lower than the height of the lens and rearward than the lens. It is also possible to have a configuration in which the rear end portion is located at .
In this case, by positioning the rear end of the bracket at a position lower than the height of the lens and at the rear of the lens, the bracket and the protective member can more reliably prevent the curtain from interfering with the lens. can.

Further, in the above optical equipment unit device for an industrial vehicle, the optical equipment is a camera having the lens and photographing the rear of the vehicle body, and the camera is configured such that the optical axis of the lens is horizontal. It may be supported by the bracket.
In this case, since the camera is supported by the bracket so that the optical axis of the lens is horizontal, image distortion in the image taken by the camera can be suppressed.

Further, in the above-mentioned optical equipment unit device for an industrial vehicle, the protection member may be provided at a position that is not included in the angle of view of the lens.
In this case, since the protective member is provided at a position that is not included in the angle of view of the lens, the protective member does not interfere with the function of the optical device.

Further, in the above-mentioned optical equipment unit device for an industrial vehicle, the bracket may be provided on a head guard provided above a driver's seat in the vehicle body.
In this case, since the bracket is installed on the head guard, even if the industrial vehicle reverses through an entrance with a curtain, the curtain will interfere with the protective member located above the lens and interfere with the optical equipment. There's nothing to do.

Further, in the above-mentioned optical equipment unit device for an industrial vehicle, the protection member may be a rod-shaped body having a circular cross section.
In this case, since the protection member is a rod-shaped body with a circular cross section, when the industrial vehicle passes through an entrance/exit provided with a curtain, the protection member slides smoothly against the curtain. Therefore, the protective member will not damage the curtain, and the curtain will not get caught on the protective member and apply an excessive load to the camera or bracket.

The present invention can provide an optical equipment unit device for an industrial vehicle that can prevent a lens included in an optical equipment from interfering with a curtain provided at an entrance/exit.

It is a side view of the forklift truck concerning a 1st embodiment. FIG. 2 is a rear view of the forklift according to the first embodiment. It is a perspective view of the camera unit device in the forklift concerning a 1st embodiment. It is an exploded perspective view of a camera unit device in a forklift concerning a 1st embodiment. It is a side view of the camera unit device in the forklift concerning a 1st embodiment. (a) is a side view of the forklift just before it interferes with the curtain, and (b) is a side view of the forklift when it interferes with the curtain. FIG. 2 is a perspective view of a camera unit device in a forklift according to a reference example . FIG. 2 is an exploded perspective view of a camera unit device in a forklift according to a reference example . It is a side view of the camera unit device in the forklift concerning a reference example . It is a side view of the camera unit device in the forklift concerning another example.

(First embodiment)
Hereinafter, an optical equipment unit device for an industrial vehicle according to a first embodiment will be described with reference to the drawings. The industrial vehicle of this embodiment is a forklift, and the optical device is a camera. Therefore, in this embodiment, a camera unit device in a forklift will be described. Note that the directions "front and back,""left and right," and "up and down" are shown based on the state in which the forklift operator is seated in the driver's seat and facing the forward direction of the forklift.

As shown in FIG. 1, the forklift 10 includes a cargo handling device 12 at the front of a vehicle body 11. A driver's seat 13 is provided near the center of the vehicle body 11. A driving wheel 14 serving as a front wheel is provided at the front portion of the vehicle body 11, and a steering wheel 15 serving as a rear wheel is provided at the rear portion of the vehicle body 11. A counterweight 16 is provided at the rear of the vehicle body 11, and the counterweight 16 is used to adjust the vehicle weight and balance the weight in the vehicle body 11. The forklift 10 of this embodiment is a battery forklift with one steering wheel 15.

The cargo handling device 12 includes a mast 20 having an outer mast 18 and an inner mast 19. The pair of left and right outer masts 18 are provided with an inner mast 19 that is slidable inside the outer masts 18. A tilt cylinder (not shown) operated by hydraulic pressure is installed between the vehicle body 11 and the outer mast 18. The mast 20 tilts forward and backward using its lower end as a fulcrum by actuation of a tilt cylinder. The mast 20 is provided with a hydraulically operated lift cylinder 22. As the lift cylinder 22 operates, the inner mast 19 slides within the outer mast 18 and moves up and down.

A pair of left and right forks 23 are provided on the mast 20 via a lift bracket 24, and the lift bracket 24 is provided to move up and down with respect to the inner mast 19. That is, the lift bracket 24 can be moved up and down relative to the mast 20. Note that the left and right forks 23 have the same configuration.

The vehicle body 11 is provided with a head guard 25 that covers the upper part of the driver's seat 13. The head guard 25 is supported by a front pillar 26 that stands up from the front of the vehicle body 11 and a rear pillar 27 that stands up from the rear of the vehicle body 11. The head guard 25 is a known one. The head guard 25 includes a side beam 28 that is integrated with the front pillar 26 by a hollow structural member, a lattice-shaped roof portion 29 provided between the pair of left and right side beams 28, and a rear portion of the pair of left and right side beams 28. and a rear beam 30 connecting the ends.

As shown in FIG. 2, a pair of left and right rear combination lamps 31 are provided on the rear end surface of the rear beam 30. The rear combination lamp 31 is a lamp in which a direction indicator 32, a brake light 33, and a reversing light 34 are integrally combined.

The forklift 10 of this embodiment includes a camera unit device 40 as an optical equipment unit device. As shown in FIGS. 3 and 4, the camera unit device 40 includes a stereo camera 41 as an optical device, a bracket 42 that supports the stereo camera 41, and a protector 43 that protects the stereo camera 41. .

The stereo camera 41 is a known camera equipped with a pair of left and right camera lenses 44. The housing 45 of the stereo camera 41 has a box shape, and the housing 45 includes a front surface 46 including a camera lens 44, a rear surface 47 opposite to the front surface 46, a pair of left and right side surfaces 48 and 49, and a top surface 50. It has a lower surface 51. The lower surface 51 is provided with a plurality of bolt holes (not shown) into which bolts 52 for fixing the stereo camera 41 to the bracket 42 are screwed. As shown in FIG. 5, the lower surface 51 abuts the bracket 42 so that the front surface 46 faces rearward. Wiring (shown) is drawn out to the back surface 47.

As shown in FIG. 5, a camera lens 44 serving as a lens has a predetermined angle of view α set in the vertical direction. The angle of view α corresponds to the photographable range of the stereo camera 41. The stereo camera 41 is connected to a controller (not shown) mounted on the vehicle body 11, and images taken by the stereo camera 41 are analyzed by the controller. The presence or absence of an obstacle in the captured image and the distance to the obstacle are detected from the results of image analysis of the captured image.

The stereo camera 41 of this embodiment has a built-in laser range finder (not shown). The laser range finder includes a laser lens 54 as a lens that emits a laser beam for distance measurement, and the laser lens 54 is provided between the camera lenses 44 on the front surface 46. The optical axis A2 of the laser lens 54 is parallel to the optical axis A1 of the camera lens 44. The laser range finder measures distance using laser light within the photographable range of the stereo camera 41.

Next, the bracket 42 will be explained. As shown in FIG. 3, the bracket 42 is plate-shaped and includes a pair of long sides 55 and short sides 56 that are parallel to each other. A bolt through hole 57 is provided near one long side 55. The bracket 42 is attached to the head guard 25 by inserting a bolt 58 into the bolt hole 57 and fastening the bolt 58 to the lower surface of the rear beam 30 in the head guard 25. Therefore, the bracket 42 protrudes toward the rear of the vehicle body 11, and the other long side 55 corresponds to the rear end of the bracket 42 when the bracket 42 is attached to the head guard 25 .

As shown in FIG. 4, the bracket 42 is provided with a plurality of bolt holes 59 for fixing the stereo camera 41. The stereo camera 41 is fixed on the bracket 42 by inserting the bolt 52 into the bolt hole 59 and screwing it into the bolt hole of the stereo camera 41. Further, the bracket 42 is provided with a bolt through hole 60 for fixing the protective device 43. A bolt 61 is inserted into the bolt through hole 60. The rear end portion of the bracket 42 is provided at a position that is not included in the angle of view α of the camera lens 44.

Next, the protector 43 will be explained. The protector 43 is a member for protecting the stereo camera 41. The protective equipment 43 of this embodiment includes a first protection member 62 made of a rod-shaped body with a circular cross section, a second protection member 63 made of a rod-shaped body with a circular cross-section, and both ends of the first protection member 62 and the second protection member 63. It has a plate-shaped connecting member 64 to be connected.

The first protection member 62 as a protection member is a bent gate-shaped member, and is provided to protect the camera lens 44 of the stereo camera 41. The first protection member 62 includes a pair of mounting portions 65 including end portions, a pair of rising portions 66 bent and extending in a direction rising from the mounting portions 65, and a pair of rising portions 66 bent horizontally from the rising portions 66. and a horizontal portion 67 extending between the pair of rising portions 66 .

When the protector 43 is attached to the bracket 42 , the outer peripheral surface of the attachment portion 65 is attached to the connection member 64 such that the axis of the attachment portion 65 is parallel to the short side 56 . The pair of rising portions 66 extend to a height exceeding the top surface 50 of the stereo camera 41. The horizontal portion 67 has a height exceeding the top surface 50 of the stereo camera 41 and is located behind the front surface 46 of the stereo camera 41. As shown in FIG. 5, the horizontal portion 67 of the first protection member 62 is provided at a position that is not included in the angle of view α of the camera lens 44. As shown in FIG.

Like the first protection member 62, the second protection member 63 is a bent gate-shaped member, and is provided to protect the top surface 50 of the stereo camera 41. The second protection member 63 includes a pair of left and right upright portions 68 erected from the connecting member 64 and a horizontal portion that is bent horizontally from the upright portion 68 and extends between the pair of upright portions 68 . 69.

The connecting member 64 is a plate-shaped member, and a mounting portion 65 of the first protection member 62 is attached to the upper surface of the connecting member 64. The connection member 64 and the attachment portion 65 are attached by welding. An end portion of the upright portion 68 of the second protection member 63 is attached to the upper surface of the connection member 64 . The ends of the connecting member 64 and the upright portion 68 are attached. The connecting member 64 is provided with a bolt hole 70 for fixing the connecting member 64 to the bracket 42 . The connecting member 64 is fixed to the bracket 42 by inserting the bolt 61 into the bolt hole 60 of the bracket 42 and screwing into the bolt hole 70. Note that in FIGS. 3 and 4, only one bolt hole 70 is shown.

Next, the operation of the camera unit device 40 according to this embodiment will be explained. A case will be described in which a forklift 10 moves backward and passes through an entrance/exit provided with a curtain made of a transparent resin sheet in an architectural structure such as a factory or a warehouse. This curtain is provided, for example, to keep heat and cold inside a building structure, or to prevent foreign matter from entering.

As shown in FIG. 6(a), the forklift 10 attempts to pass through an entrance/exit provided with a curtain C by moving backward. The counterweight 16 and camera unit device 40 of the forklift 10 moving backward hit the curtain C. As shown in FIG. 6(b), as the forklift 10 moves further backward, the curtain C is pushed up. When the curtain C is pushed up, the curtain C comes into sliding contact with the horizontal portion 67 of the first protection member 62 of the camera unit device 40. Since the first protection member 62 is located behind the camera lens 44, the curtain C does not interfere with the camera lens 44 (see FIG. 5). Furthermore, when the curtain C is pushed up, the rear end of the bracket 42 hits the curtain C at a portion of the curtain C below the horizontal portion 67 of the first protection member 62 even if the curtain C moves forward. There is almost no possibility that a portion below the first protective member 62 will interfere with the camera lens 44 (see FIG. 5).

Note that when the forklift 10 moves forward and passes through an entrance/exit where a curtain C is provided, the lower end of the curtain C interferes with the camera unit device 40; It comes into sliding contact with the protection member 63 and does not interfere with the camera lens 44.

The camera unit device 40 according to this embodiment has the following effects.
(1) The first protection member 62 is fixed at a position above and behind the camera lens 44. Therefore, even if the forklift 10 passes through an entrance provided with a curtain C, the curtain C interferes with the first protection member 62 located above the camera lens 44 and interferes with the camera lens 44 of the stereo camera 41. There isn't. As a result, it is possible to prevent scratches on the camera lens 44 and dirt on the camera lens 44 due to interference between the camera lens 44 and the curtain.

(2) The rear end of the bracket 42 is located at a position lower than the height of the camera lens 44 and at the rear of the camera lens 44. Therefore, the bracket 42 and the first protection member 62 can more reliably prevent the curtain C from interfering with the camera lens 44. As a result, scratches on the camera lens 44 and stains on the camera lens 44 due to interference between the camera lens 44 and the curtain C can be more reliably prevented. Furthermore, by locating the first protection member 62 at the rear of the camera lens 44, the stereo camera 41 can be protected from interference from the rear.

(3) The stereo camera 41 is a camera that photographs the rear of the vehicle body 11, and the stereo camera 41 is supported by the bracket 42 so that the optical axis A1 of the camera lens 44 is horizontal. Therefore, image distortion in the captured image captured by the stereo camera 41 can be suppressed.

(4) Since the first protective member 62 is provided at a position that is not included in the angle of view α of the camera lens 44, the first protective member 62 does not interfere with the function of the stereo camera 41.

(5) The bracket 42 is provided on the head guard 25 provided above the driver's seat 13 in the vehicle body 11. Therefore, even if the forklift 10 passes in reverse through an entrance provided with a curtain C, the curtain C will interfere with the first protection member 62 located above the camera lens 44 and will not interfere with the camera lens 44. .

(6) Since the first protection member 62 is a rod-shaped body with a circular cross section, the first protection member 62 slides smoothly with respect to the curtain C when the forklift 10 passes through the entrance/exit where the curtain C is provided. Therefore, the first protection member 62 does not damage the curtain C, and the curtain C does not get caught on the first protection member 62 when the forklift 10 passes, and does not apply an excessive load to the stereo camera 41 or the bracket 42.

(7) Since the second protection member 63 is provided, the stereo camera 41 becomes difficult to interfere with the curtain C together with the first protection member 62, and the impact caused to the stereo camera 41 due to interference with the curtain C is reduced. Misalignment of the stereo camera 41 can be prevented. Further, the second protection member 63 can protect the stereo camera 41 from falling objects from above.

( Reference example )
Next, a camera unit device according to a reference example will be described. The camera unit device of this reference example differs from the first embodiment in the configuration of the protective equipment. In this reference example , for the same configuration as the first embodiment, the explanation of the first embodiment is referred to, and common symbols are used.

The forklift 10 of this reference example includes a camera unit device 80 as an optical equipment unit device shown in FIGS. 7 and 8. The camera unit device 80 is attached to the head guard 25 at the center of the rear pillar 27 in the longitudinal direction. As shown in FIGS. 7 and 8, the camera unit device 80 includes a stereo camera 41 as an optical device, a bracket 42 that supports the stereo camera 41, and a protector 81 that protects the stereo camera 41. .

The protector 81 is a member for protecting the stereo camera 41. The protector 81 of this reference example is a single cover member made by punching out a metal plate and bending the punched metal plate, and corresponds to a protection member.

The protector 81 is provided to protect the camera lens 44 of the stereo camera 41. The protective equipment 81 includes a pair of mounting portions 82 fixed to the bracket 42, a pair of rising portions 83 extending from the mounting portions 82 in a bent direction, and a pair of rising portions 83 bent horizontally from the rising portions 83. and a horizontal portion 84 extending between the pair of rising portions 83 . The mounting portion 82 is provided with a bolt hole 85 into which the bolt 61 is screwed. The protector 81 is fixed to the bracket 42 by inserting the bolt 61 into the bolt hole 60 of the bracket 42 and screwing into the bolt hole 85. Note that in FIGS. 7 and 8, only one bolt hole 70 is shown.

When the protector 81 is attached to the bracket 42 , the attachment portion 82 is attached to the bracket 42 such that the vicinity of the boundary between the attachment portion 82 and the rising portion 83 is parallel to the short side 56 . The pair of rising portions 83 extend to a height exceeding the top surface 50 of the stereo camera 41. As shown in FIG. 9, the horizontal portion 84 has a height exceeding the top surface 50 of the stereo camera 41, and the rear end of the horizontal portion 84 is located behind the front surface 46 of the stereo camera 41. The rear end of the horizontal portion 84 is at the same position as the rear end of the bracket 42 in the front-rear direction. The horizontal portion 84 of the protector 81 is provided at a position that is not included in the angle of view α of the camera lens 44.

According to the camera unit device 80 according to this reference example , the protective gear 81 that is a cover member covers the top surface 50 and side surfaces 48 and 49 of the stereo camera 41. The rear end of the protector 81 is fixed at a position above and behind the camera lens 44 . Therefore, even if the forklift 10 passes through the entrance/exit provided with the curtain C, the curtain C will not interfere with the protective equipment 81 located above the camera lens 44 and will not interfere with the camera lens 44 of the stereo camera 41. . As a result, it is possible to prevent scratches on the camera lens 44 and dirt on the camera lens 44 due to interference between the camera lens 44 and the curtain C.

Further, the bracket 42 and the protector 81 can more reliably prevent the curtain C from interfering with the camera lens 44. The protective equipment 81 does not interfere with the function of the stereo camera 41. Since the protective gear 81 covers most of the top surface 50 and side surfaces 48 and 49 of the stereo camera 41, the stereo camera 41 can be protected from falling objects and rainwater.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the invention. For example, the following modifications may be made.

In the above embodiment, a forklift as an industrial vehicle has been described as an example, but the industrial vehicle is not limited to a forklift. The industrial vehicle may be, for example, a towing vehicle or a construction vehicle.
In the above embodiment, a stereo camera is illustrated as an optical device, but the optical device is not limited to this. The optical device may be a camera, a range finder with a lens (for example, 3D-LiDAR), or an optical sensor with a light emitting section with a lens. Further, the camera may be a camera other than a stereo camera.
In the above embodiment, the camera unit device was installed on the forklift so that the optical axis of the stereo camera was horizontal, but this is not the case. The optical axis of the optical device may be oriented in a direction other than horizontally. For example, when a camera unit device is provided on the head guard, the optical axis of the camera may be oriented toward the rear and slightly downward.
In the above embodiment, the rear end of the bracket is located behind the lens of the optical device, but the present invention is not limited to this. The rear end of the bracket may be at the same position as the lens or may be in front of the lens.
In the embodiments described above, the protective equipment is provided so as not to be included in the angle of view of the lens, but the invention is not limited thereto. A part of the protective equipment may be included in the angle of view of the lens as long as it does not affect the function of the optical device or if the effect is small even if it does affect the function of the optical device.
In the above embodiment, the head guard of the forklift is equipped with the camera unit device, but the present invention is not limited to this. The camera unit device may be included in the counterweight, for example. In that case, it is preferable that the camera unit device be arranged so that there is no part of the vehicle body (for example, a counterweight) behind the bracket.
In the above embodiment, the camera unit device was provided so as to protrude rearward from the rear end of the head guard, but this is not the case. For example, as shown in FIG. 10, the camera unit device 90 may be disposed so as not to protrude rearward from the rear end of the head guard 25, but to protrude from the upper surface of the roof portion 29 of the head guard 25. In this case, for example, even if the curtain C has a length that does not interfere with the rear end of the head guard 25 but interferes with the camera unit device 90, interference between the lens and the curtain C can be prevented .

10 Forklift 11 Vehicle body 12 Cargo handling device 22 Lift cylinder 23 Fork 25 Head guard 40, 80, 90 Camera unit device (as an optical equipment unit device)
41 Stereo camera (as an optical device)
42 Bracket 43, 81 Protective gear 44 Camera lens 52, 58, 61 Bolt 54 Laser lens 57, 59, 60 Bolt hole (bracket side)
62 First protection member (as a protection member)
63 Second protection member 64 Connection member A1, A2 Optical axis C Curtain α Lens angle of view

Claims (5)

an optical device having a lens;
a bracket fixed to protrude toward the rear of the vehicle body and supporting the optical device;
A protective member that protects the optical device,
The protection member is located above the lens and rearward of the vehicle body than the lens ,
An optical equipment unit device for an industrial vehicle , wherein the protection member is a rod-shaped body having a circular cross section . The bracket is fixed so as to protrude toward the rear of the vehicle body, and has a rear end portion located at a position lower than the height of the lens and rearward than the lens. The optical equipment unit device for an industrial vehicle according to claim 1. The optical device is a camera having the lens and photographing the rear of the vehicle body,
3. The optical equipment unit device for an industrial vehicle according to claim 1, wherein the camera is supported by the bracket so that the optical axis of the lens is horizontal. The optical equipment unit device for an industrial vehicle according to any one of claims 1 to 3, wherein the protective member is provided at a position that is not included in the angle of view of the lens. 5. The optical equipment unit device for an industrial vehicle according to claim 1, wherein the bracket is provided on a head guard provided above a driver's seat in the vehicle body .

Images