JP2006069778A - Forklift cargo handling confirmation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo handling confirmation device for a forklift capable of automatically switching to an optimal camera position during cargo handling operation.
SOLUTION: A movement which is arranged on the upper surface of a cross beam 2B at the upper end of an outer mast 2A of a cargo handling device and is movable between a standby position where the tip is retracted within the width of the vehicle body 1 and an operating position which protrudes from the width of the vehicle body 1. The means 21, the actuator 30 that moves the moving means 21 between the standby position and the operating position, the front camera 20 that is arranged at the tip of the moving means 21 and images the front of the cargo handling device, and the front camera 20 A monitor 23 for displaying the image, a lever switch 42 disposed on the cargo handling levers 16 and 17, and a moving means 21 is moved to an operating position by an actuator 30 when the lever switch 42 is operated, and the front camera 20 at the operating position is moved. Is displayed on the monitor 23, and the moving means 21 is put on standby by the actuator 30 when the operation of the lever switch 42 is released. It was comprised from the control means 40 which returns to a position.
[Selection] Figure 5

Description

  The present invention relates to a loading / unloading confirmation device for a forklift that performs loading and unloading operations with a fork, and more particularly to a loading / unloading confirmation device for a forklift that can control the position of a camera for assisting the fork work. .

  Conventionally, a forklift forward confirmation device has been proposed that facilitates positioning of a fork in both loading and unloading operations (see Patent Documents 1 and 2).

  In Patent Document 1, a front arm protector on the front surface of a forklift is provided with a slide arm that can be extended and contracted to the side of the vehicle. A camera is attached to the tip of the slide arm. The camera is positioned at the inside position where the camera is retracted to the vehicle body side, and during loading and loading operations, the expansion switch is operated to the expansion side and the camera is positioned at the outer position away from the vehicle body by the slide arm, The tip side can be confirmed from the left and right side rear.

In Patent Document 2, a camera that can move up and down along the mast of a forklift and is positioned on a carriage having a fork in the front, and can photograph the front, has an inner position at the center of the carriage and an outer position that protrudes to the side of the load. The camera position is switched between the inner position and the outer position by a camera position change switch.
Japanese Utility Model Publication No. 6-15971 JP 2003-267694 A

  However, in each of the above conventional examples, it is necessary to operate the camera position changeover switch in order to move the camera in the left-right direction of the vehicle between the inner position and the outer position. This operation is an operation for cargo handling operation. Is another operation, and the camera position changeover switch has to be always operated at the time of loading operation and switching between loading operation and traveling, which is complicated.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is to provide a forklift cargo handling confirmation device that can automatically switch to an optimal camera position during cargo handling operation.

  The present invention provides a moving means that is disposed at an upper end portion of an outer mast of a cargo handling device and is movable between a standby position in which a tip is retracted within the width of the vehicle body and an operating position protruding from the width of the vehicle body, An actuator that moves the vehicle between a standby position and an operating position, a front camera that is disposed at the tip of the moving means and images the front of the cargo handling device, a monitor that displays an image captured by the front camera, and a cargo handling The lever switch arranged on the operating lever and the moving means are moved to the operating position by the actuator when the lever switch is operated, and the photographed image from the front camera at the operating position is displayed on the monitor and moved when the lever switch is released. And a control means for returning the means to the standby position by the actuator.

  Therefore, according to the present invention, the moving means is arranged at the upper end of the outer mast of the cargo handling device and is movable between the standby position where the tip is retracted within the width of the vehicle body by the actuator and the operating position protruding from the width of the vehicle body. A front camera for photographing the front of the cargo handling device is arranged at the tip, and an image photographed by the front camera is displayed on the monitor. When the lever switch arranged on the cargo handling lever is operated by the control means, the moving means is operated by the actuator. The camera is moved to the operating position and the image taken from the front camera at the operating position is displayed on the monitor, and when the lever switch is released, the moving means is returned to the standby position by the actuator, that is, the front camera protrudes from the width of the vehicle body. The moving means for moving to the operation position and the lever switch for operating the actuator are Because disposed in, handling and becomes easy Setsu換Ru the camera position at the same time, it can be confirmed by monitoring the right front of the cargo apparatus with the cargo handling operation.

  Hereinafter, an embodiment of a cargo handling confirmation device for a forklift according to the present invention will be described with reference to FIGS. 1 is a perspective view of a forklift equipped with a cargo handling confirmation device to which the present invention is applied, FIG. 2 is a plan view of a forklift equipped with a cargo handling confirmation device, FIG. 3 is a side view of the forklift equipped with a cargo handling confirmation device, and FIG. 5 is a perspective view of the position switching mechanism, FIG. 5 is a system configuration diagram of a forklift cargo handling confirmation device, and FIG. 6 is a diagram showing an operation pattern.

  In the forklift shown in FIGS. 1 to 3, a mast 2 as a cargo handling device is arranged at the front end of the vehicle body 1, and a carriage 3 that is lifted and lowered by the mast 2 and a cargo handling fork 4 mounted on the carriage 3 are arranged in front of the mast 2. Prepare. The vehicle body 1 of the forklift is configured as a counter-type forklift that includes a front wheel 5 that moves the vehicle forward and backward by a forward and backward driving force and a rear wheel 6 that is a steering wheel, and a counterweight 7 above the rear wheel 6. is doing. Above the driver's seat 8 is provided with an overhead guard 10 supported by the front pillar 11 and the rear pillar 12. At the front of the driver's seat 8 is provided with a steering handle 13 and an instrument panel 14. The forward switch lever 15 is provided with a tilt operation lever 16 and a lift operation lever 17 which are cargo handling operation levers on the right side.

  The forklift loading / unloading confirmation device operates on the cross beam 2B that connects the left and right mast rails of the outer mast 2A of the mast 2 that is the loading / unloading device at the upper end thereof, and the operation protruding from the width of the vehicle and the standby position contracted within the width of the vehicle. A right front camera 20 that captures the side of the load and a position of loading and loading, and a right front camera 20 is moved between a standby position contracted within the vehicle body width and an operating position protruding from the vehicle body width. A moving mechanism 21, a rear camera 22 arranged at a position protruding from the rear of the overhead guard 10 and photographing the rear of the counterweight 7, and fixed to the instrument panel 14 or the right front pillar 11 in front of the operator, And a monitor 23 for displaying 22 captured images.

  As shown in FIG. 4, the moving mechanism 21 is fixed on the cross beam 2B at the upper end of the outer mast 2A, and moves the slider 31 on a slide rail (not shown) arranged in the left-right direction to the left and right. A camera holding arm 33 that is coupled to a slider 31 that moves left and right by a bolt 32 with a bolt 32 and that holds the right front camera 20 at the tip. FIG. 4 shows the moving mechanism 21 in the standby position. A harness 34 that supplies a drive current to the electric motor of the electric cylinder 30 is fixed to the electric cylinder 30 with a clip. The camera harness 35 that is fixed to the camera holding arm 33 with a clip and whose tip is connected to the right front camera 20 is routed along the harness 34 from the rear end side of the camera holding arm 33 to the electric motor, and the harness clip of the electric motor. Both harnesses 34 and 35 are united by 36 and routed along the outer mast 2A etc. and routed to the control unit arranged in the instrument. Although not shown, the electric cylinder 30, slider 31, camera holding arm 33, and harnesses 34 and 35 are covered with a cover in the upper and front and rear directions, and are attached to foreign matters such as dust and other structures such as buildings. Prevents damage due to contact. The position of the slider 31 is detected by the standby position detection switch 37A when positioned at the standby position, and by the operating position detection switch 37B when positioned at the operating position.

  When the slider 31 is driven to the operation position in the left-right direction (the right end position of the electric cylinder 30 in FIG. 4), the tip of the camera holding arm 33 protrudes from the outer mast 2A by the moving distance of the slider 31, and accordingly the camera In the side harness 35, the portion along the electric motor harness 34 moves following the movement. That is, in this operating position, as shown in FIG. 2, the right front camera 20 is positioned so as to protrude from the side surface of the outer mast 2A by the moving distance of the slider 31, and from that position, for example, 90 degrees left and right and 70 degrees up and down. The side of the load W and the position of loading / loading are photographed with a certain angle of view. A hatched portion in FIG. 2 indicates a blind spot portion by the operator.

  Since the camera holding arm 33 is fixed to the slider 31 by a single bolt 32 via a washer or the like, the right front camera 20 or the camera holding arm 33 holding the right front camera 20 is When a structure or the like comes into contact, the camera holding arm 33 is rotated in the front-rear direction around the bolt 32 to avoid an impact due to the contact being input to the right front camera 20. When such contact occurs, the camera holding arm 33 is tilted forward or backward, and the camera holding arm 33 and the cover interfere with each other even when the electric cylinder 30 is operated to return to the standby position. Cannot return to the standby position. However, as described above, since the slider 31 and the camera holding arm 33 are rotatably fixed by the single bolt 32, the tilt of the camera holding arm 33 in the front-rear direction can be manually returned. The right front camera 20 and the camera holding arm 33 can be returned to the standby position by the electric cylinder 30.

  The rear camera 22 is disposed at the front end of a bracket 41 that protrudes rearward from the overhead guard 10 and is slightly rearward. For example, the horizontal field angle is 120 degrees and the vertical field angle is 90 degrees. It has a moderately wide angle of view and is configured to photograph a wide area behind the vehicle including the rear end of the counterweight 7.

  A lever switch 42 for operating the moving mechanism 21 of the right front camera 20 is disposed on the knob of the tilt operation lever 16 or the lift operation lever 17 which is the cargo handling operation lever. The lever switch 42 is preferably a push-button switch that is turned on only when it is pressed and returns to the OFF state when the finger that is pressed is released. Further, a reverse detection switch 43 for detecting a reverse operation of the forward / reverse switching lever 15 for operating the forward / reverse switching mechanism of the transmission via a link mechanism (not shown) is disposed.

  In the system configuration diagram shown in FIG. 5, the signals of the cargo handling lever switch 42, the reverse detection switch 43, the operation position detection switch 37B, and the standby position detection switch 37A are input to the controller 40, which is a controller, and the right front camera 20 and the rear camera 22 captured images are also input to the control unit 40, and one of the images is output to the monitor 23. Further, the control unit 40 operates the electric cylinder 30 to the standby position or the operating position in accordance with the ON operation of the cargo handling lever switch 42. The stop at the standby position and the operation position is fed back by each signal of the operation position detection switch 37B and the standby position detection switch 37A.

  FIG. 6 shows an operation pattern of a display image on the electric cylinder 30 and the monitor 23. According to this operation pattern, when the cargo handling lever switch 42 is not turned ON, the electric cylinder 30 and the right front camera 20 are in the contracted (standby) position. When the cargo handling lever switch 42 is turned ON, It represents that the cylinder 30 and the right front camera 20 are projected to the extended (actuated) position. On the monitor 23, when the cargo handling lever switch 42 is not turned on, the photographed image by the right front camera 20 is not displayed, and only when the cargo handling lever switch 42 is turned on, the photographed image by the right front camera 20 is displayed. It is displayed. When reverse movement is selected by the forward / reverse lever 15, the monitor 23 displays a photographed image behind the counterweight 7 by the rear camera 22. However, when the reverse operation is selected by the ON operation of the cargo handling lever switch 42 and the forward / reverse lever 15 and both switch signals are input, the image taken by the right front camera 20 is displayed on the monitor 23. Yes.

  The operation of the forklift cargo handling confirmation device having the above configuration will be described. Here, a case where a load W placed on a pallet on the floor is loaded and loaded on a loading platform T of a cargo truck will be described.

  When the cargo handling lever switch 42 is in the OFF state and the forward / reverse lever 15 is in the neutral position or forward position, the moving mechanism 21 is in the standby position, and both the right front camera 20 and the rear camera 22 are both in the standby position. The camera is not in a shooting state, and no captured image is displayed on the monitor 23.

  To pick up the cargo placed on the floor, the tilt control lever 16 is operated to tilt the mast 2 forward, and when the vehicle is advanced with the forward / reverse lever 15 as the forward movement position, the tip of the fork 4 enters the pallet. If the mast 2 is tilted backward by the tilt operation lever 16, the load W can be lifted by the fork 4 from the floor. In the loading from the floor, the operator is looking down on the load from above, and the pallet into which the fork 4 is inserted and the load can be visually confirmed. Accordingly, it is not necessary to turn on the cargo handling lever switch 42 and display the photographed image from the right front camera 20 on the monitor 23.

  Next, when the forward / reverse lever 15 is switched to the reverse side, an image captured by the rear camera 22 is displayed on the monitor 23, and a blind spot portion immediately behind the counterweight 7 can be confirmed. After confirming the rear, the vehicle can be moved backward without touching the obstacle by visual confirmation by the operator. When the front of the vehicle is directly opposed to the truck bed T and the forward / reverse lever 15 is in a neutral state, the rear image displayed on the monitor 23 disappears.

  When the lift control lever 17 is operated to raise the fork 4 to the height of the loading platform T and the cargo handling lever switch 42 is turned ON, the moving mechanism 21 protrudes to the operating position to move the right front camera 20 to the operating position. A captured image from the operating position of the right front camera 20 is displayed on the monitor 23. When the fork 4 is raised to the height of the truck bed T, the load on the fork 4 becomes a position that obstructs the front view of the operator, and from the operator the truck bed T becomes a blind spot due to the loading. However, since the right front camera 20 projects from the upper surface of the cross beam 2B at the upper end of the outer mast 2A to the right operating position, images the side of the load W (particularly the front side), and displays a captured image on the monitor 23. The side of the load W (particularly the side front side) can be confirmed, and the truck bed T can be confirmed. In this case, as shown in FIG. 2, the adjacent load W already loaded on the truck bed T can also be confirmed. Accordingly, the vehicle can be moved forward to move the load W onto the truck bed T, and the load on the fork 4 can be loaded right up to the corner of the load W or bed T already loaded. This is the same when unloading from the truck bed T, and the loaded load W may be caught on the right obstacle, but both the right side of the load W and the right front view can be seen. These blind spots can be displayed on the monitor 23 by the camera 20 and can be improved.

  When the forward / reverse switching lever 15 is switched to the reverse position after loading, the reverse switch 43 is turned on. However, as long as the cargo handling lever switch 42 is kept on, an image taken by the right front camera 20 is displayed on the monitor 23. Is done. Therefore, the vehicle can be moved backward while confirming that the fork 4 from the pallet of the load W transferred on the loading platform T is surely removed. When the fork 4 is completely removed from the pallet, if the cargo handling lever switch 42 is released, the fork 4 is switched to the OFF state, and the photographed image of the rear camera 22 is displayed on the monitor 23.

  Further, even when the loaded cargo W is transferred to a shelf or the like, it can be transferred while confirming the cargo W already placed on the shelf as described above. When the shelf is above the operator's line of sight, the fork 4 is raised above the operator's line of sight, so the operator can confirm the position of the pallet loaded with the tip of the fork 4 or the load W from below, Since it is possible to transfer while confirming the luggage W already placed on the shelf, the transfer operation can be performed without causing a blind spot due to the load W. Therefore, it is not necessary to turn on the cargo handling lever switch 42 to move the right front camera 20 to the operating position and display the image taken by the right front camera 20 on the monitor 23. However, even in this case, the loading operation is performed with reference to the image information from the side of the load W by displaying the captured image of the right front camera 20 on the monitor 23 by turning on the cargo handling lever switch 42. There is no problem.

  Note that when the right front camera 20 is not required to operate the cargo handling lever, it is retracted to a standby position within the width of the vehicle body, so that it can be prevented from coming into contact with a building or the like during traveling.

  In the above embodiment, the case where the right front camera 20 protrudes to the operating position and the captured image is displayed on the monitor 23 has been described when the lever switch 42 of the cargo handling operation levers 16 and 17 is turned on. Although not shown, it may be prohibited to project to the operating position when the lift of the load is higher than a predetermined level, and further to project to the operating position even at a lower level than a predetermined level. May be prohibited. Also, only when the lift of the load is in a range that hinders the operator's view, the right front camera is projected to the operating position in conjunction with the ON operation of the lever switch of the cargo handling lever, and the captured image is displayed on the monitor. You may make it display.

  In the present embodiment, the following effects can be achieved.

  (A) A moving means that is disposed on the upper surface of the cross beam 2B at the upper end of the outer mast 2A of the cargo handling device and is movable between a standby position where the tip is retracted within the width of the vehicle body 1 and an operating position protruding from the width of the vehicle body 1. 21, an actuator 30 that moves the moving means 21 between a standby position and an operating position, a front camera 20 that is arranged at the tip of the moving means 21 and photographs the front of the cargo handling device, and the front camera 20. The monitor 23 for displaying the photographed image, the lever switch 42 disposed on the cargo handling levers 16 and 17, and the moving means 21 is moved to the operating position by the actuator 30 when the lever switch 42 is operated, and at the operating position. A photographed image from the front camera 20 is displayed on the monitor 23, and when the lever switch 42 is released, the moving means 21 is moved to the actuator 30. It comprises a control unit 40 to return to a more standby position.

  That is, since the moving means 21 for moving the front camera 20 to the operating position protruding from the width of the vehicle body 1 and the lever switch 42 for operating the actuator 30 are disposed on the cargo handling operation levers 16 and 17, the camera position is switched simultaneously with the cargo handling. Thus, the right front of the cargo handling device can be confirmed on the monitor 23 while carrying out the cargo handling operation.

  Then, the position of the front camera 20 is protruded from the width of the vehicle body 1 and matched with the side surface of the load W, so that the positional relationship between the right side of the load W that cannot be seen when the load W is held and the surrounding obstacles is accurately confirmed. This makes it easy to place the load W close to the right obstacle, and can prevent the load W from being caught on the right obstacle during loading.

  In addition, since the front camera 20 is disposed on the upper surface of the cross beam 2B at the upper end of the outer mast 2A of the cargo handling device so as to be movable left and right, the operator can visually confirm the load W when the height of the load W is low, and the load W is raised. The operator can visually confirm the position of the right end of the pallet from the bottom during high-load work, and the load W blocks the operator's front view. For example, the front camera protrudes from the vehicle body width when loading and unloading the truck bed T. Accordingly, the positional relationship between the right side of the load W and the surrounding obstacles that cannot be visually checked by the reference numeral 20 can be accurately confirmed, and the most work range of the forklift loading and loading operations can be covered.

  Moreover, since the front camera 20 is arranged on the upper surface of the cross beam 2B at the upper end of the outer mast 2A of the cargo handling device so as to be movable left and right, the distance to the load W is larger than when the front camera 20 is attached to the instrument frame or the vehicle body front pillar. Since they are close to each other, the image on the monitor 23 can be enlarged, and workability is improved.

  Further, since the front camera 20 is disposed on the upper surface of the cross beam 2B at the upper end of the outer mast 2A of the cargo handling device so as to be movable left and right, the front camera 20 is directly attached to the fork 4 and the carriage 3 that directly faces the load W and moves up and down, and receives an impact during loading. Compared with the case where the camera is installed, the impact applied to the front camera 20 can be reduced.

  In addition, since the front camera 20 is arranged on the upper surface of the cross beam 2B at the upper end of the outer mast 2A of the cargo handling device so as to be movable left and right, the upper and lower parts of the mast 2 are moved up and down as compared with the case where the front camera is mounted on the carriage 3 that moves up and down by lift operation. The wiring of the harnesses 34 and 35 can be simplified without moving with the movement.

  (A) A rear camera 22 for photographing the rear of the vehicle body 1 and a reverse detection switch 43 for detecting a shift state of the vehicle forward / reverse switching lever 15 to the reverse drive position are provided. When the detection signal is input, an image taken by the rear camera 22 is displayed on the monitor 23, and when the detection signal from the reverse detection switch 43 and the operation signal of the lever switch 42 are input, the front camera 20 is displayed. Since the photographed image from the rear camera 22 is displayed on the monitor 23, for example, the blind spot of the counterweight 7 and the rear of the vehicle at the rear of the vehicle can be simultaneously displayed on the monitor 23 for confirmation. . Moreover, the load W can be confirmed even when the vehicle is moving backward by prioritizing the monitoring of the front camera 20 when moving backward after loading and loading. Then, by releasing the ON operation of the lever switch 42, the monitor 23 switches to and displays the image captured by the rear camera 22.

  (C) The moving means 21 is coupled to the actuator 30 so as to be able to swing forward or backward in the horizontal plane when an impact of a predetermined level or more is input from the front or rear of the vehicle. The moving means 21 can escape forward or backward against an external force even if it comes into contact with the front camera 20, so that the impact when the front camera 20 is struck can be reduced and the front camera 20 can be prevented from being damaged.

The perspective view of a forklift provided with the cargo handling confirmation apparatus which shows one Embodiment of this invention. The top view of a forklift provided with a cargo handling confirmation device. The side view of a forklift provided with a cargo handling confirmation apparatus. The perspective view of a camera position switching mechanism. The system block diagram of the forklift cargo handling confirmation apparatus. The figure which shows an operation | movement pattern.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car body 2 Mast 2A Outer mast 2B Cross beam 3 Carriage 4 Fork 7 Counterweight 8 Driver's seat 15 Forward / reverse switching lever 16 Tilt operation lever (load handling operation lever)
17 Lift control lever (Handling lever)
20 Right front camera (front camera)
21 Moving mechanism (moving means)
22 Rear camera 23 Monitor 30 Electric cylinder (actuator)
31 Slider 33 Camera holding arm 40 Control unit (control means)
42 Cargo lever switch 43 Reverse detection switch

Claims (3)

A moving means disposed at the upper end of the outer mast of the cargo handling device and movable between a standby position where the tip is retracted within the width of the vehicle body and an operating position protruding from the width of the vehicle body;
An actuator for moving the moving means between a standby position and an operating position;
A front camera disposed at the tip of the moving means and photographing the front of the cargo handling device;
A monitor for displaying images taken by the front camera;
A lever switch arranged on the cargo handling lever,
Control that moves the moving means to the operating position by the actuator when the lever switch is operated, displays the photographed image from the front camera at the operating position on the monitor, and returns the moving means to the standby position by the actuator when the lever switch is released A forklift cargo handling confirmation device comprising: means. A rear camera for photographing the rear of the vehicle body and a reverse detection switch for detecting a shift state of the vehicle forward / reverse switching lever to the reverse position,
When the detection signal from the reverse detection switch is input, the control means displays a captured image by the rear camera on the monitor, and the detection signal from the reverse detection switch and the operation signal of the lever switch are input. 2. The cargo handling confirmation device for a forklift according to claim 1, wherein a captured image from the front camera is displayed on a monitor.   2. The moving means is coupled to an actuator so as to be able to swing forward or backward in a horizontal plane when an impact of a predetermined level or more is input from the front or rear of the vehicle. A cargo handling confirmation device for a forklift according to claim 2.

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