JP2006096457A - Forklift work assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a forklift work assisting device capable of easily carrying out proper traveling and loading work of a forklift. <P>SOLUTION: Perspective locusi Ufl and Ufr at tip end portions 3a of right and left forks 3, which are drawn when forward moving by a tire angle of a rear wheel; a forward distance guidepost line Lf0, Lf1, Lf2 indicating predetermined forward distances of three stages set in advance; and straight-ahead extension lines Wfl and Wfr linearly extending the tip end portions 3a of the right and left forks 3 forward in a length direction of the forks 3, are superimposed in a camera picture shooting a forward view field including at least the tie end portions 3a of the forks 3, and indicated on a screen 6a of a monitor 6 installed near a driver's seat. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a work support device for a forklift, and more particularly to a device that supports a forklift traveling and a cargo handling work by displaying an expected locus of a tip of a fork or a tip of a conveyed object.

  Conventionally, as disclosed in Patent Document 1, for example, an image from a rear monitoring camera attached to an automobile is displayed on a monitor when the vehicle is moved backward, and an expected backward movement locus of the automobile corresponding to the steering angle of the steering wheel is displayed on the monitor. A steering assist device has been developed that assists driving operation by superimposing display.

Japanese Patent No. 3183284

However, unlike automobiles, forklifts usually have a problem that it is difficult to grasp the traveling direction of the vehicle, particularly when starting, because the rear wheels are steering wheels.
In addition, when supporting a load with a fork, it is necessary to insert a fork extending forward into, for example, a fork pocket of a pallet. At this time, the vehicle is driven with a spatial position as a target and the height of the fork is increased. There was also a problem that adjustment was required and skill was required for the work.

  The present invention has been made to solve such problems, and an object of the present invention is to provide a work support device for a forklift that can easily perform appropriate traveling and cargo handling work of the forklift.

  The forklift work support device according to the present invention images a front view including at least the fork tip with a camera, and is supported by the fork tip or the fork when the tire moves forward at the tire angle detected by the tire angle detecting means. The calculation means calculates the expected trajectory of the tip of the conveyed object, and the display control means displays the image from the camera on a monitor arranged in the vicinity of the driver's seat and displays the expected trajectory calculated by the calculation means on the monitor. Is displayed in a superimposed manner.

The calculation means may be configured to calculate an expected locus at the height of the fork detected by the fork height sensor.
Preferably, the camera is mounted on the top of the mast for raising and lowering the fork. In this case, it is preferable that the calculating means calculates the expected locus on the horizontal plane of the fork tip height in consideration of the tilt angle of the mast detected by the tilt angle sensor.

In addition, a load sensor is provided for determining the presence or absence of an object to be transported on the fork, and the calculation means calculates an expected trajectory of the tip of the fork when the load sensor determines that there is no object to be transported. When it is determined that there is a transported object, an expected trajectory of the tip of the transported object may be calculated. In this case, the information on the size of the object to be conveyed is read from the RFID tag attached to the object to be conveyed by the reader and the RFID antenna, and the calculation means predicts the expected locus of the tip of the object to be conveyed based on the size of the object to be conveyed. It is preferable to be configured to calculate
The transported object may include a pallet supported by a fork, and the calculation means may calculate an expected trajectory of the tip of the pallet.
The RFID antenna can be attached to the fork bracket.

Further, the calculation means calculates a straight extension line of the fork and a forward distance guide line representing a predetermined forward distance set in advance, and the fork extension line and the forward distance guide line of the fork are superimposed and displayed on the monitor together with an expected locus. be able to.
Here, the straight extension line of the fork means a line obtained by linearly extending the fork in its length direction, that is, forward.

  According to the present invention, it is possible to easily perform appropriate traveling and cargo handling work of the forklift.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1, the forklift has a pair of left and right masts 1 erected at the front of the vehicle, and a fork bracket 2 is attached to the fork bracket 2 so as to be movable up and down along the mast 1. 3 is fixed. A CCD camera 4 that captures the front field of view is attached to the upper part of one of the masts 1 and a monitor 6 is installed in the vicinity of the driver's seat 5. Although not shown, the rear wheel as the steering wheel is steered by operating the handle 7.

FIG. 2 shows a configuration of a forklift work support apparatus according to an embodiment of the present invention. A work support ECU 8 is connected to the CCD camera 4 and the monitor 6. The work support ECU 8 further includes a tire angle sensor 9 for detecting the tire angle of the rear wheel, and a direction lever (not shown) provided in the driver's seat 5 in any of forward, reverse, and neutral positions. A direction switch 10 that determines whether the mast 1 is tilted, a tilt angle sensor 11 that detects the tilt angle of the mast 1, a load sensor 12 that detects the presence or absence of an object to be conveyed on the fork 3, and a fork height that detects the height of the fork 3 A sensor 13 is connected.
An RFID control ECU 14 is connected to the work support ECU 8, and an RFID antenna 16 is connected to the RFID control ECU 14 via a reader 15.

  The RFID antenna 16 is used to transmit and receive signals to and from an RFID tag attached to an object supported by the fork 3, and is attached to the fork bracket 2 as shown in FIG.

  The operation support ECU 8 forms the calculation means and display control means of the present invention. When there is no load on the fork 3, the work support ECU 8 moves the left and right forks 3 drawn when the vehicle moves forward at the tire angle of the rear wheels detected by the tire angle sensor 9, as shown in FIG. 4. The predicted trajectories Ufl and Ufr of the distal end portion 3a and the forward distance guide lines Lf0, Lf1 and Lf2 representing the predetermined three-step forward distances are calculated and superimposed on the screen 6a of the monitor 6. Further, the work support ECU 8 also calculates straight extension lines Wfl and Wfr obtained by linearly extending the front end portions 3a of the left and right forks 3 along the length direction of the forks 3, respectively, on the screen 6a of the monitor 6. Superimposed display.

The forward distance reference lines Lf0, Lf1, and Lf2 are, for example, line segments that connect the tip portions 3a of the left and right forks 3 to each other when the vehicle has advanced 0.5 m, 1.5 m, and 3 m from the current position. It is represented by
In this way, the expected trajectories Ufl and Ufr of the tip 3a of the fork 3 are displayed in a superimposed manner, so even in a forklift whose rear wheel is a steered wheel, by observing the screen 6a of the monitor 6, particularly when starting. The traveling direction of the vehicle can be easily grasped.

  Further, as shown in FIG. 4, when the fork 3 is to be inserted into the fork pocket 18 of the pallet 17 arranged in the front, the forklift line Wfl and Wfr are respectively directed to the fork pocket 18 so that the straight extension lines Wfl and Wfr are directed to the fork pocket 18. After adjusting the position, as shown in FIG. 5, the handle 7 is operated so that the expected trajectories Ufl and Ufr of the tip 3 a of the fork 3 overlap the straight extension lines Wfl and Wfr, respectively, toward the fork pocket 18. To adjust the steering angle of the rear wheels. If the vehicle moves forward in this state, the driver can accurately insert the fork 3 into the fork pocket 18 of the pallet 17 without requiring skill.

  Further, when there is a pallet 17 loaded with a load on the fork 3, for example, the work support ECU 8 moves forward at the tire angle of the rear wheel detected by the tire angle sensor 9, as shown in FIG. On the screen 6a of the monitor 6 by calculating the expected trajectories Upl and Upr of the left and right tips 17a of the pallet 17 drawn on the front and the forward distance guide lines Lp0, Lp1 and Lp2 representing the predetermined three-step forward distance. Is superimposed on the screen. Further, the work support ECU 8 also calculates the straight extension lines Wpl and Wpr obtained by linearly extending the left and right tip portions 17a of the pallet 17 forward along the length direction of the fork 3, respectively, on the screen 6a of the monitor 6. Superimposed display.

The forward distance reference lines Lp0, Lp1, and Lp2 represent the front end portion of the pallet 17 at each time point when the vehicle has advanced 0.5 m, 1.5 m, and 3 m from the current position, for example.
Therefore, it can be confirmed in advance whether the pallet 17 does not interfere with obstacles such as pillars and curbs when the vehicle turns, and the forklift can be safely driven.

  Next, a method for drawing the expected trajectory, the forward distance guide line, and the straight extension line as described above will be described. First, as shown in FIG. 7, the drawing calculation process is a first process for calculating an expected trajectory or the like in a road surface (horizontal plane) coordinate system with the origin O as the center of the base ends of the pair of left and right forks 3. As shown in FIG. 8, the predicted trajectory or the like calculated in the first process is converted from the coordinates (X_f, Y_f) of the road surface (horizontal plane) to the coordinates (Xccd_f, Yccd_f) of the image plane of the CCD camera 4. The second process is performed.

Taking a counter-type three-wheel forklift as an example, the first process will be described with reference to FIG. 9 in the case of forward turning (−π / 2 ≦ θ <0). Here, parameters Jn (n = 1 to 6) relating to the machine base are as follows.
J1: Tire angle θ of the rear wheel (clockwise with respect to straight ahead as positive)
J2: Fork 3 length L1
J3: Front overhang F
J4: Wheelbase L2
J5: Full width of machine base B1
J6: Fork 3 interval B2

The arc-shaped predicted trajectories Ufl and Ufr drawn by the tip portions 3a of the left and right forks 3 are obtained geometrically as follows using the parameter Jn relating to the above machine base.
The coordinates (Pfx, Pfy) of the center Pf of the expected trajectories Ufl and Ufr are calculated from the tire angle θ of the rear wheel and the wheel base L2.
Pfx = −L2 / tanθ
Pfy = 0
The arc radii Rfl and Rfr are respectively Rfl = [{(− L2 / tan θ) + (B2 / 2)} ² + (L1 + F) ² ] ^1/2
Rfr = [{(− L2 / tan θ) − (B2 / 2)} ² + (L1 + F) ² ] ^1/2
It is expressed.

In addition, the angle of the start point of the predicted locus Ufl is π-αfl
It is represented by However,
αfl = tan ⁻¹ [(L1 + F) / {(− L2 / tan θ) + (B2 / 2)}]
It is.
On the other hand, the angle of the starting point of the expected trajectory Ufr is π−αfr
It is represented by However,
αfr = tan ⁻¹ [(L1 + F) / {(− L2 / tan θ) − (B2 / 2)}]
It is.

Furthermore, the angles of the end points of the expected trajectories Ufl and Ufr are π-αfl-βf, respectively.
π-αfr-βf
It is represented by Here, βf indicates the arc angle of the locus to be drawn and is set in advance. If the trajectory length converted to the center point of the front axle of the trajectory to be drawn is Sf,
βf = −Sf · tanθ / L2
It is expressed.

Next, the forward distance reference line Lfn (n = 0, 1, 2) divides the trajectory length Sf of the center point of the front axle into three stages, and sets the start points of the expected trajectories Ufl and Ufr by the arc angle with respect to each. It is represented by a line segment whose ends are points rotated in the clockwise direction. The coordinates (Qflnx, Qflny) of the end point Qfln on the predicted trajectory Ufl side of the forward distance reference line Lfn are:
Qflnx = Pfx + Rfl · cos (π−αfl−βfn)
Qflny = Rfl · sin (π−αfl−βfn)
The coordinates (Qfrnx, Qfrny) of the end point Qfrn on the predicted locus Ufr side are:
Qfrnx = Pfx + Rfr · cos (π−αfr−βfn)
Qfrny = Rfr · sin (π−αfr−βfn)
It is represented by However,
βfn = −Sfn · tanθ / L2
Sfn: The trajectory length converted to the center point of the front axle of the divided trajectory.
The coordinates of the end points Qfln and Qfrn are obtained by giving Sfn as a set value, and these may be connected by a line segment.
There is no need to divide into three stages, and it may be two stages or less or four stages or more. The number of front distance guide lines Lfn changes according to the number of divisions. The color recognition according to the stage of the trajectory length together with the expected trajectories Ufl and Ufr improves the recognition by the driver.

The straight extension lines Wfl and Wfr are straight lines obtained by extending the front end portions 3a of the left and right forks 3 forward along the length direction of the forks 3, and the coordinates (Wflsx, Wflsy) of the start points of the straight extension lines Wfl are:
Wflsx = -B2 / 2
Wflsy = L1 + F
The coordinates of the start point of the straight extension line Wfr (Wfrsx, Wfrsy) are
Wfrsx = B2 / 2
Wfrsy = L1 + F
The coordinates (Wflex, Wfly) of the end point of the straight line Wfl are expressed as
Wflex = -B2 / 2
Wfley = L1 + F + Sf
The coordinates of the end point of the straight extension line Wfr (Wfrex, Wfrey) are
Wflex = B2 / 2
Wfree = L1 + F + Sf
It is expressed.

Next, a second process related to coordinate conversion will be described. The conversion from the road surface (horizontal plane) coordinates (X_f, Y_f) to the camera image plane coordinates (Xccd_f, Yccd_f) is performed using the following parameters Kn (n = 1 to 10) including various parameters shown in FIG. Is called.
K1: X direction distance Cxoff_f from the fork center of the camera 4
K2: Y-direction distance Coffset_f from the fork base end of the camera 4
K3: the height h_f of the camera 4
K4: The dip angle (tilt angle) ω_f from the horizontal of the camera 4
K5: Direction (pan angle) γ_f on the road surface of the camera 4
K6: Camera optical axis center rotation angle (roll angle) θr_f
K7: Offset amount X in the X direction between the camera lens center and the CCD center OffsetX_f
K8: Amount of offset Y in the Y direction between the camera lens center and the CCD center OffsetY_f
K9: Camera lens focal length f_f
K10: Camera lens distortion coefficient D_f

The coordinates (Xccd_f, Yccd_f) on the camera image plane are obtained from the road surface (horizontal plane) coordinates (X_f, Y_f) and the coordinate conversion parameters Kn (n = 1 to 10) described above using the coordinate conversion functions F and G.
Xccd_f = F (X_f, Y_f, Kn)
Yccd_f = G (X_f, Y_f, Kn)
It is represented by Here, the relational expression between the coordinates (X, Y) in FIG. 9 and the road surface (horizontal plane) coordinates (X_f, Y_f) with the center point of the front axle as the origin is
X_f = X
Y_f = Y-F
It is.

  However, the tilt angle ωf of the camera 4 changes because the mast 1 to which the CCD camera 4 is attached tilts back and forth except for the reach type forklift. Therefore, when the camera is calibrated, the mast 1 is kept in a vertical state by using an automatic fork leveling function that has been conventionally provided in many forklifts, and the tilt angle of the camera 4 at this time is set to ωf. Thereafter, at the time of operation, as shown in FIG. 11, the tilt angle θm of the mast 1 is taken from the tilt angle sensor 11 and the tilt angle of the camera 4 is set to ωf ′ (= ωf−θm) to perform sequential drawing calculations. To. In this way, by performing redrawing calculation by recalculating the tilt angle ωf of the camera 4 in real time, it is possible to prevent the drawing position with respect to the camera image from deviating greatly.

Further, when the fork 3 is lifted, as shown in FIG. 12, by capturing the fork tip predicted horizontal plane Hp as a road surface, an expected locus, a forward distance guide line, a straight extension line in the fork tip predicted horizontal plane Hp. Is drawn by the same coordinate transformation. Here, if the height of the fork 3 is fork_h, the camera height Coffset_f ′ in the Y_f direction, the height h_f ′ of the camera 4 from the fork tip expected horizontal plane Hp, is obtained as follows.
h_f ′ = [h_f− {fork_h + L1 · sin (θm) / cos (θm)}] · cos (θm)
Coffset_f ′ = Coffset_f−h_f · sin (θm)
Therefore, the fork height sensor 13 sequentially detects the height fork_h of the fork 3 and performs drawing calculation using the detected value.

Further, the horizontal length of the fork 3 is given by L1 on the road surface coordinates, but becomes L1 ′ shown below on the predicted fork tip horizontal plane Hp.
L1 ′ = L1 / cos (θm)
− [{L1 · sin (θm) / cos (θm)} + fork_h] · sin (θm)
Therefore, it is preferable to use L1 ′ instead of L1 as the horizontal length of the fork 3 in the above-described drawing calculation of the predicted locus, the forward distance guide line, and the straight extension line. Thereby, it is prevented that the drawing position with respect to the camera image is largely shifted.

  As shown in FIG. 13, when the pallet 17 is present on the fork 3, the distance B2 of the fork 3 and the length L1 of the fork 3 are set to the width load_x and the length load_y of the pallet 17, respectively, in the above-described arithmetic expressions. In the same manner, the expected trajectories Upl and Upr of the left and right tip portions 17a of the pallet 17, the forward distance guide lines Lp0, Lp1 and Lp2, and the straight extension lines Wpl and Wpr of the left and right tip portions 17a of the pallet 17 are drawn. be able to.

An RFID tag is attached to the pallet 17 or a load placed on the pallet 17, and information relating to the load is stored in advance in the RFID tag. It is assumed that the information regarding the load includes the width load_x and the length load_y of the pallet 17.
Therefore, with the pallet 17 supported by the fork 3, information is read by the reader 15 from the pallet 17 or the RFID tag of the load by the RFID antenna 16 attached to the fork bracket 2, and the width of the pallet 17 is passed through the RFID control ECU 14. The load_x and the length load_y can be input to the work support ECU 8. As a result, it is possible to draw the expected trajectories Upl and Upr, the forward distance guide lines Lp0, Lp1 and Lp2, and the straight extension lines Wpl and Wpr as shown in FIG.

  Next, the operation of the forklift work support device according to this embodiment will be described with reference to the flowchart of FIG. The work support device is started when the forklift key is turned on or the power is turned on. First, initialization for drawing is performed in step S1, and the direction switch is moved forward, backward, or neutral by the direction switch 10 in step S2. Determine if it is located. If it is determined that the direction lever is in the forward movement state, the process proceeds to step S3, and the presence sensor 12 determines whether or not there is an object to be conveyed on the fork 3.

If it is determined in step S3 that there is no object to be conveyed on the fork 3, in step S4, the expected trajectories Ufl and Ufr of the tip 3a of the fork 3, the forward distance guide lines Lf0, Lf1 and Lf2, the straight extension line Wfl and It is set to draw Wfr.
On the other hand, if it is determined in step S3 that an object to be conveyed exists on the fork 3, in step S5, the RFID control ECU 14 is instructed to read, and the RFID antenna 16 and the reader 15 read the width load_x and the length load_y of the pallet 17. Thereafter, in step S6, it is set to draw the expected trajectories Upl and Upr of the tip 17a of the pallet 17, the forward distance guide lines Lp0, Lp1 and Lp2, and the straight extension lines Wpl and Wpr.

  Next, in step S7, the tire angle sensor 9 detects the tire angle θ of the rear wheel, the tilt angle sensor 11 detects the tilt angle θm of the mast 1, and the fork height sensor 13 detects the height fork_h of the fork 3, respectively. In the subsequent step S8, drawing calculation is performed. In step S9, the drawing that has been superimposed on the screen 6a of the monitor 6 is deleted, and a new drawing is superimposed on the monitor 6 in step S10.

Thereafter, in step S11, it is determined whether or not the position of the direction lever has been changed by the direction switch 10. If not, the process proceeds to step S12, and the loaded state of the object to be conveyed on the fork 3 is detected by the loaded sensor 12. It is determined whether or not has changed. If there is no change in the state of the transported object, the process returns to step S7, and the tire angle θ of the rear wheel, the tilt angle θm of the mast 1 and the height fork_h of the fork 3 are detected again, and the presence of the transported object is detected. When there is a change in the load state, the process returns to step S3 and the presence sensor 12 determines whether or not there is an object to be conveyed on the fork 3.
On the other hand, if it is determined in step S11 that the direction lever 10 has changed the position of the direction lever, the process returns to step S1 and initialization for drawing is performed again.

  In this way, when the forklift moves forward, if there is no object to be conveyed on the fork 3, the expected trajectories Ufl and Ufr of the left and right forks 3 and the forward distance guide lines Lf0, Lf1 and Lf2, straight ahead The extension lines Wfl and Wfr are displayed superimposed on the monitor 6, and when there is an object to be conveyed on the fork 3, the expected trajectories Upl and Upr of the left and right tip portions 17a of the pallet 17, the forward distance guide lines Lp0, Lp1 and Lp2, and straight ahead Extension lines Wpl and Wpr are superimposed on the monitor 6.

Therefore, even in a forklift whose rear wheels are steered wheels, the direction of travel of the vehicle can be easily grasped by observing the screen 6a of the monitor 6, especially at the time of starting, and a column or curb when turning the vehicle. It is possible to check in advance whether the pallet 17 does not interfere with an obstacle such as a forklift, and it is possible to easily carry out a suitable forklift.
Further, the fork 3 can be accurately inserted into the fork pocket 18 of the pallet 17 without requiring the driver to be skilled. This reduces the number of times the forklift is turned back and improves the efficiency of the cargo handling work.
Furthermore, since the forward distance reference line is displayed, it is easy to grasp the sense of distance on the expected course.

  In addition, when there is an object to be transported on the fork 3, the expected trajectories Upl and Upr of the left and right tip portions 17a of the pallet 17, the forward distance guide lines Lp0, Lp1 and Lp2, and the straight extension lines Wpl and Wpr are displayed in a superimposed manner. However, when the load is wider than the pallet 17, the size of the load is stored in the RFID tag, and the predicted trajectory at the tip of the load, the forward distance guide line, and the straight extension line are superimposed and displayed. It can also be configured.

Further, instead of the RFID tag, a bar code indicating the size of the pallet 17 or the load can be attached to the pallet 17 or the load, and the bar code reader can read the information of the bar code. Furthermore, the size of the pallet 17 or the size of the load may be measured by a distance measuring sensor, and the predicted locus, the forward distance guide line, and the straight extension line may be drawn using the measured value.
When a fixed pallet is used, the fixed size of the pallet can be stored in advance in the memory of the work support ECU 8, and the drawing calculation can be performed with the fixed value.

In the above-described embodiment, the camera 4 is attached to the upper portion of the mast 1, but the present invention is not limited to this, and the attachment position is not particularly limited as long as it is a position where the front view can be photographed. . For example, if a movable camera that can move up and down and is stored at a low fork position is attached to the fork bracket 2, fork handling work such as inserting the fork 3 into the fork pocket 18 of the pallet 17 placed at a high position such as a shelf. However, it is possible to provide effective cargo handling work support by superimposing display with an image obtained by photographing the front from under the fork.
In addition, not only one camera but also two or more cameras having different attachment positions can be used to capture the front field of view, and a camera corresponding to the work content can be selected and a work support drawing can be superimposed and displayed. For example, the camera is attached to the upper part of the mast 1 and the fork bracket 2 in the above-described manner, and images from the camera attached to the upper part of the mast 1 are used when the forklift is traveling or when handling cargo at a low position near the ground. In addition, an image from a camera attached to the fork bracket 2 can be used at the time of cargo handling work at a high position such as a shelf.

  In the embodiment described above, the counter type three-wheel forklift has been described as an example. However, if the horizontal front and rear position and the tilt angle of the fork are detected instead of the mast tilt angle, the reach type forklift can be used. The present invention can also be applied. Further, even in a counter type four-wheel forklift, the relationship of the turning radius to the tire angle can be obtained by calculation with a power approximation formula, so that the present invention can be applied by performing drawing calculation in the same manner as in the above-described embodiment. It is.

It is a perspective view which shows the forklift with which the work assistance apparatus which concerns on embodiment of this invention is mounted. It is a block diagram which shows the structure of the work assistance apparatus of the forklift which concerns on embodiment. It is a perspective view which shows the RFID antenna attached to the fork bracket. It is a figure which shows the screen of the monitor of embodiment. It is a figure which shows the screen of the monitor of embodiment. It is a figure which shows the screen of the monitor of embodiment. It is a figure which shows the road surface (horizontal plane) coordinate system set to the forklift. It is a figure which shows the concept of the coordinate transformation performed in embodiment. It is a figure which shows the drawing method of the estimated locus | trajectory of a front-end | tip part of a fork, a front distance standard line, and a straight extension line. It is a figure which shows a road surface coordinate and the position of a camera. It is a figure which shows a mode when a mast tilts. It is a figure which shows a mode when a fork raises. It is a figure which shows the drawing method of the estimated locus | trajectory of a pallet front-end | tip part, a front distance standard line, and a straight extension line. It is a flowchart which shows operation | movement of embodiment.

Explanation of symbols

  1 mast, 2 fork bracket, 3 fork, 4 CCD camera, 5 driver's seat, 6 monitor, 7 handle, 8 work support ECU, 9 tire angle sensor, 10 direction switch, 11 tilt angle sensor, 12 inventory sensor, 13 fork Height sensor, 14 RFID control ECU, 15 reader, 16 RFID antenna, 17 pallet, 18 fork pocket, Ufl, Ufr, Upl, Upr expected trajectory, Lf0, Lf1, Lf2, Lp0, Lp1, Lp2 forward distance reference line, Wfl , Wfr, Wpl, Wpr Straight extension line.

Claims (9)

A device for supporting forklift traveling and cargo handling work,
A camera that captures a forward field of view including at least the tip of the fork;
Tire angle detecting means for detecting the tire angle;
A monitor placed near the driver's seat;
A calculation means for calculating an expected trajectory of the tip of the fork or the tip of the object supported by the fork when the tire angle is detected by the tire angle detection means;
A forklift work support device comprising: display control means for displaying an image of the camera on the monitor and displaying the predicted locus calculated by the calculation means on the monitor. A fork height sensor for detecting the fork height;
The forklift work support device according to claim 1, wherein the calculation unit calculates an expected trajectory of the fork height detected by the fork height sensor.   The forklift work support device according to claim 1 or 2, wherein the camera is attached to an upper portion of a mast for raising and lowering the fork. It further includes a tilt angle sensor that detects the tilt angle of the mast,
4. The forklift work support device according to claim 3, wherein the calculating means calculates an expected trajectory in a horizontal plane of a fork tip height considering a tilt angle of a mast detected by the tilt angle sensor. It further includes a stock sensor that determines the presence or absence of a transported object on the fork,
The calculating means calculates an expected trajectory of the tip of the fork when it is determined by the load sensor that there is no object to be transported, and when it is determined that there is a object to be transported, The forklift work support device according to any one of claims 1 to 4, which calculates an expected trajectory of the tip portion. An RFID antenna for transmitting / receiving a signal to / from an RFID tag that is attached to the object to be transported and stores information on the size of the object to be transported beforehand
A reader for processing a signal transmitted and received by the RFID antenna;
The forklift work support device according to any one of claims 1 to 5, wherein the calculation means calculates an expected trajectory of a front end portion of the conveyed object based on a size of the conveyed object read by the reader. . The conveyed object includes a pallet supported by a fork,
The forklift work support apparatus according to claim 6, wherein the calculation means calculates an expected trajectory of a tip portion of the pallet.   The forklift work support device according to claim 6 or 7, wherein the RFID antenna is attached to a fork bracket. The calculation means calculates a straight extension line of the fork and a forward distance guide line representing a predetermined forward distance set in advance,
The forklift work support according to any one of claims 1 to 8, wherein the display control means superimposes and displays the fork straight extension line and the forward distance guide line calculated by the calculation means on the monitor together with an expected trajectory. apparatus.

Images