Camera lifting device in industrial vehicle

[Technical Field to which the Invention Affiliates] The present invention relates to an industrial vehicle provided with a cargo handling carriage that moves up and down along a mast, such as a forklift, when carrying out cargo handling work at a high position. It relates to a camera elevating device in an industrial vehicle equipped with a camera unit for photographing a work area of a tool.

[0002] For example, a forklift, which is an industrial vehicle of this type, is provided with a multi-stage mast on a vehicle body for raising and lowering a cargo handling device (carriage) having a cargo handling tool (attachment) such as a fork. For example, when picking up or storing cargo at a high place on a shelf, the driver operates the cargo handling lever (lift lever) to extend the multi-stage mast hydraulically and lift the cargo handling tool such as a fork along the mast. Then, a positioning operation (cargo handling lever operation) is performed to align the cargo handling tool at a predetermined position with respect to the shelf surface or the pallet on the shelf.

[0003] At this time, the carrier operates the cargo handling lever while looking up at a high place (for example, 3 to 6 meters) and visually confirming whether the fork is aligned with the hole of the pallet or a position slightly above the shelf surface. There is a need. However, it is very difficult to visually judge whether the fork and the pallet are aligned in the horizontal direction while looking up at a high place from below, and there is a problem that even an expert takes time for this alignment. For example, while operating the cargo handling lever, the fork is forced to be carefully operated by gradually moving it closer to the load or the shelf, so that there is a problem that the work efficiency is considerably lowered.

[0004] Therefore, conventionally, for example, by attaching a camera to a cargo handling device, an image of a shelf, a pallet, etc. that can be seen in front of the fork can be viewed by a driver in the driver's seat through the screen of the display device. , Devices that support fork alignment work in high places are known.

[0005] In the conventional apparatus, it is known that the camera is fixed to the tip end portion or the side portion of the fork or fixed to a predetermined position of the mast. As the fixed location of the camera, it is desirable that the work area can be photographed from almost the front. However, if it is fixed near the base of the fork, even if the work area can be photographed widely when unloading, the load on the fork becomes an obstacle when unloading and the work area around the shelf surface of the unloading destination is narrow. There was a problem such as being photographed only. Therefore, the mounting position of the camera is limited to places where the camera needs to be miniaturized, such as the tip of the fork and the side of the fork, or the shooting angle is limited to places where appropriate image support is difficult , and optimal support is provided. There was a problem that it was difficult.

[0006] On the other hand, for example, in U.S. Pat. No. 5,586,620, a camera is attached to a carriage (cargo handling device) together with an elevating mechanism, and when the fork is slightly raised from the lowest lowered position, the camera is lowered and the fork is lowered to the lowest lowered position. Disclosed is a camera equipped with an elevating type camera elevating device in which the camera is raised and stored in a protected position by the time the camera reaches the minimum lowered position. With this camera mechanism, when the fork is raised, the camera is lowered from the carriage to take a picture of the front of the fork, and when the fork is lowered to the minimum, the camera is raised and stored in the protected position, so that the camera is on the floor. Collisions are avoided. The camera is urged downward by a spring, and when the carriage descends to the vicinity of the lowest descending position, the camera hits a plate provided on the mast side and rises against the urging force of the spring to be stored in the protective position.

[0007] [Problem to be Solved by the Invention] However, since a mechanical structure is adopted in which the fork hits the plate in the process of descending to the minimum descending position and the camera is raised to the protective position and stored, the fork is near the minimum descending position. The camera was always protruding downward when it was at a height other than. In other words, since the camera position is uniquely determined in conjunction with the ascending / descending motion of the fork, the camera was in a state of protruding downward at high places where support for the fork positioning operation was required, so the camera became a peripheral object during cargo handling work. There was a risk of interference. In addition, the shooting position of the camera was fixed at a position below a predetermined distance with respect to the fork.

[0008] Also, when unloading, the front work area is photographed from the vicinity of the base of the fork, and when the load on the fork interferes with the loading, the camera is slightly lowered from the vicinity of the base of the fork to photograph, thereby securing a wide work area. It is conceivable to do.

[0009] In addition, using image recognition technology based on the image taken by the camera, the position of the fork with respect to the target is recognized by the computer, and support for aligning the fork with the target or the like is positively provided by a method such as voice announcement. It is also possible to do it. In this case, it is preferable to photograph the target object such as a pallet or a shelf from the front. That is, we want the pallet to be the target when unloading, and the shelf as the target when unloading. However, in the conventional device, since the camera position is fixed, it is not possible to change the camera position according to a different target for each work content.

[0010] U.S. Pat. No. 5,586,620 also discloses a configuration in which one camera moves to a plurality of positions and a configuration in which two cameras can switch between a plurality of shooting positions. However, it was not possible to change the position of the camera at an arbitrary elevation to switch the shooting position. Further, arranging a plurality of cameras has a problem that an extra camera is required and the display control on the screen of the display device becomes complicated.

[0011] The present invention has been made to solve the above problems, and the first object thereof is to make the camera unit movable at an arbitrary lift regardless of the lift of the cargo handling tool, and at a high place. It is an object of the present invention to provide a camera elevating device in an industrial vehicle that can effectively support the cargo handling work to be performed by providing an appropriate photographed image.

[0012] The second purpose is to keep the impact of the camera unit hitting the floor surface from being transmitted to the actuator to a small extent even if the actuator is used to raise and lower the camera unit in order to achieve the first purpose. The purpose is to provide a camera lifting device in an industrial vehicle capable of performing.

[Means for Solving the Problem] First<u style="single">And the second</u>The invention according to claim 1 is an industrial vehicle provided with a cargo handling device for raising and lowering a cargo handling carriage along a mast provided on a vehicle body, in a state of being attached to the carriage. A camera unit that captures the work area of the cargo handling tool included in the carriage, a moving mechanism that enables relative movement between the camera unit and the cargo handling tool, and a drive for moving the camera unit relative to the cargo handling tool. Equipped with an actuator<u style="single">The moving mechanism is an elevating mechanism that supports the camera unit in an elevating manner with respect to the carriage, and the elevating mechanism includes a flexible power transmission member that suspends and supports the camera unit and the camera unit. In the elevating mechanism, the camera unit is operably connected to the actuator in a state of being suspended and supported via the flexible power transmission member, and the actuator is driven by the actuator. The flexible power transmission member is provided with a rotating body that is driven in the forward and reverse directions by the actuator and is driven in the forward and reverse directions by the drive of the actuator. The camera unit moves up and down in a suspended and supported state by being unwound and wound up, and moves up and down to two positions: a shooting position that protrudes below the carriage and a storage position that does not protrude below the carriage. The actuator is driven so that the camera unit is completely stored in the storage position by the time the carriage reaches the lift of the lowest position, and the time required for the movement stroke for the storage is secured. A control means for driving and controlling the actuator so as to lower the camera unit to the photographing position at an arbitrary lift in the range on the higher lift side except for the retractable operation range set on the lower lift side. Prepare</u>That is the gist<u style="single">。</u>[0014] According to the present invention, the camera unit provided in the cargo handling carriage moves relative to the cargo handling tool by driving the actuator via a moving mechanism. Therefore, the shooting position of the camera unit can be adjusted at an arbitrary lift by driving the actuator, and the shooting position of the camera unit is not restricted by the lift of the cargo handling tool or the carriage. For example, it is possible to change the shooting position according to the contents of cargo handling (for example, loading and unloading). Further, for example, it is possible to store the camera unit when shooting is not required.

【0016】<u style="single">Also</u>When the carriage descends to the minimum lowered position, the actuator is driven when the lift reaches within the retractable operating range set in advance on the low lift side, and the camera unit is in the retracted position by the time the carriage reaches the minimum lowered position. Stored in. Therefore, it is possible to prevent the camera unit from colliding with the floor surface or the like. The camera unit is lowered to the shooting position at an arbitrary lift in the range on the higher lift side excluding the retractable operating range. That is, the camera unit can be lowered to the shooting position only when necessary. Therefore, the time for the camera unit to be placed in the protruding state downward of the carriage can be reduced as much as possible, and the concern that the camera unit in the protruding state interferes (collides) with the surrounding objects can be reduced as much as possible.<u style="single">Further, the camera unit is operatively connected to the actuator in a state of being suspended and supported via a flexible power transmission member by an elevating mechanism. That is, the camera unit rises or falls while being suspended and supported by the flexible power transmission member by driving the actuator. For example, even if the camera unit cannot be raised due to an actuator failure or the like and the carriage is lowered to the lowest position and the camera unit hits the floor surface, the flexible power transmission member is loosened (flexed) at this time. As a result, the impact received by the camera unit is alleviated, and the impact is less likely to be transmitted to the actuator. Further, the camera unit moves up and down by feeding and winding the flexible power transmission member from the rotating body by driving the actuator. Since the flexible power transmission member is wound around the rotating body and is housed in the rotating body except for the required amount, the structure including the actuator and the elevating mechanism can be arranged relatively compactly. Further, the camera unit suspended and supported by the flexible power transmission member in the state of being operatively connected to the actuator is urged downward by the damper. When lowering the camera unit, the flexible power transmission member tends to loosen, so there is concern about rattling of the camera unit due to this looseness, but the camera unit is flexible due to the downward urging force of the damper. By positioning the power transmission member in a state where tension is applied, rattling of the camera unit can be suppressed to a small extent. Therefore, problems such as camera shake of the camera unit can be easily solved. Further, even if the camera unit hits the floor surface, the impact at that time is alleviated by the damper. Further, the camera unit is smoothly lowered by being urged downward by the damper. Further, even when the camera unit is raised, the load applied to the actuator can be relatively small as compared with the case where an urging means such as a spring whose elastic force increases in proportion to the displacement is used. Therefore, for example, it contributes to the miniaturization of the actuator.</u>[0017] Claim<u style="single">2</u>The invention described in is claimed.<u style="single">1</u>In the invention described in the present invention, the storage position is also a position for photographing, and the control means sets the storage operation range as a lowering in which the camera unit is arranged in the photographing position and an ascending position in which the camera unit is arranged in the storage position. Excluding This, the gist is to drive and control the actuator so that it is performed at an arbitrary lift within the range on the lift side.

[0018] According to the present invention<u style="single">, Mosquitoes</u>The lowering of the Mela unit to the shooting position and the ascending to the retracted position are performed at an arbitrary lift when the lift of the carriage is within the range of the higher lift side except for a part of the lower lift side. .. That is, the camera unit is raised or lowered according to the required shooting position, and it is possible to shoot at two positions, the retracted position and the shooting position.

[0019] Claim<u style="single">3</u>The invention described in is claimed.<u style="single">2</u>In the invention described in the above, the gist is that the storage position is a position where the photographing portion of the camera unit is arranged at substantially the same height as the loading portion of the cargo handling tool.

[0020] According to the present invention<u style="single">, Case</u>At the delivery position, the camera unit captures the work area from a height substantially the same as the loading portion of the cargo handling tool, so that a photographed image can be obtained from an angle at which the cargo handling tool can be easily aligned.

[0021] Claim<u style="single">4</u>The invention described in is claimed.<u style="single">2</u>In the invention described in the above, the gist is that the photographing position is a position where the working area can be photographed from a viewpoint which is not obstructed by the load taken by the cargo handling tool.

[0022] According to the present invention<u style="single">, Mosquitoes</u>By moving the Mela unit to the shooting position, it becomes possible to shoot the work area from a viewpoint that is not obstructed by the load taken by the cargo handling tool.

[0023] Claim<u style="single">5</u>The invention according to claim 1 to claim 1.<u style="single">4</u>In the invention according to any one of the above, the carriage moves along the mast with respect to the elevating member, the tilting member provided so as to be tiltable with respect to the elevating member, and the vehicle width direction with respect to the tilting member. It is a gist that the cargo handling tool is integrally attached to the side shifter, and the camera unit is provided so as to be able to move up and down with respect to the side shifter.

[0024] According to the present invention<u style="single">, Ma</u>When the carriage moves up and down along the strike, the cargo handling tool moves up and down (lifts) together, and when the tilting member tilts with respect to the lifting member, the cargo handling tool tilts (tilts), and the side shifter tilts in the vehicle width direction with respect to the tilting member. By moving to, the cargo handling equipment moves left and right. When the cargo handling tool is moved left and right, the camera unit provided on the side shifter also moves left and right together with the cargo handling tool, so the angle of the captured image with respect to the cargo handling tool can be kept constant without shifting to the left or right. It will be possible.

[0032] Claim<u style="single">6</u>In the invention described in 1.<u style="single">1</u>~<u style="single">5</u>In the invention according to any one of the above items, in the elevating mechanism, a tensioner for applying tension to the flexible power transmission member is interposed at a connecting portion between the flexible power transmission member and the camera unit. The gist is that it has been done.

[0033] According to the present invention, tension is applied to the flexible power transmission member by the tensioner to eliminate the slack, so that irregular winding is less likely to occur in the rotating body of the actuator.

[0034] Claim<u style="single">7</u>In the invention described in 1.<u style="single">1</u>~<u style="single">6</u>In the invention described in any one of the above, it is a gist that the actuator is an electric actuator. According to the present invention, even if the camera unit hits the floor surface, the impact at that time is not easily transmitted to the electric actuator, so that it is safe to use an electric actuator that is relatively vulnerable to damage as compared with an actuator such as a cylinder. In addition, by using an electric actuator, it is easy to handle various controls and it is relatively easy to obtain position accuracy.

[0037] Claim<u style="single">8</u>In the invention described in 1.<u style="single">1</u>~<u style="single">7</u>In the invention according to any one of the above, the elevating mechanism includes a guide rail for ascending and descending the camera unit, a guide wheel provided on the side surface of the case of the camera unit and rolling on the guide rail, and the above. The gist is that it is provided with a pressure receiving member that receives a load in the thrust direction of the guide wheel.

[0038] According to the present invention, the camera unit moves up and down by being guided by the guide rail by rolling the guide wheel provided on the side surface of the case on the guide rail. At this time, since the pressure receiving member receives the load in the thrust direction of the guide wheel, it is avoided that the thrust load is applied to the guide wheel. Therefore, problems such as early breakage of the guide wheel can be easily avoided.

[Embodiment of the Invention] (First Embodiment) Hereinafter, a first embodiment in which the present invention is embodied in a forklift as an industrial vehicle will be described with reference to the drawings.

As shown in FIG. 1, a reach-type forklift (hereinafter referred to as a forklift) 1 as an industrial vehicle is used, for example, for cargo handling work in a factory. As the cargo handling work, for example, the fork 2 as a cargo handling tool is moved up and down with respect to the shelves erected in the factory to perform the loading and unloading work. The unloading work is the work of inserting the fork 2 into the pallet on which the load stored on the shelf is placed and unloading, and it is necessary to align the fork 2 with the insertion hole of the pallet. In addition, the loading work is the work of placing the load (pallet) placed on the fork 2 on the shelf surface of the shelf, and the fork 2 is placed at a predetermined height above the shelf surface (for example, a height of 10 to 20 cm above the shelf surface). It needs to be aligned.

[0041] This forklift 1 is a three-wheel drive type with two front wheels and one rear wheel, and the left and right front wheels (following wheels) 4 are the tips of a pair of left and right reach legs 5 extending forward from the front of the vehicle body 3. It is attached to each. The rear one wheel is a drive wheel (hereinafter referred to as a drive steering wheel) 6 that also serves as a steering wheel, and the drive steering wheel 6 is the power of a traveling motor 8 driven by a battery 7 deployed in the vehicle body 3 as a power source. Is driven by the vehicle. A caster (not shown) that assists the drive steering wheel 6 is also provided as a rear wheel.

[0042] A standing type driver's seat 9 is provided on the rear right portion of the vehicle body 3. A steering wheel 10 is provided on the upper surface of the storage box 3A erected on the side (next to the left) of the driver's seat 9. The drive steering wheel 6 is steered by operating the steering wheel 10.

[0043] A cargo handling device (mast device) 11 is mounted on the front portion of the vehicle body 3 so as to be movable in the front-rear direction along a pair of left and right reach legs 5. The piston rod 12a of the reach cylinder (hydraulic cylinder) 12 arranged at the bottom of the vehicle body 3 is connected to the cargo handling device 11, and the cargo handling device 11 moves in the front-rear direction (reach operation) by driving the reach cylinder 12. .. That is, the vehicle disclosed in the US patent described in the prior art is a pantograph reach type, whereas the vehicle of the present embodiment adopts a mast reach type.

[0044] The cargo handling device 11 includes a multi-stage (three-stage type in this example) mast 13 and a lift cylinder 14 (only one side is shown). The mast 13 consists of three stages of outer mast 15, middle mast 16 and inner mast 17 slidably engaged. Each mast 15, 16 and 17 is composed of a pair of left and right mast materials and a beam material connecting both mast materials.

[0045] The mast 13 is equipped with a carriage (fork device) 18 for cargo handling so as to be able to move up and down. The carriage 18 is guided by the inner mast 17 and is suspended from the inner mast 17 via a chain mechanism (not shown). By driving a pair of left and right lift cylinders 14 arranged behind the mast 13, the carriage 18 moves up and down along the mast 13 with the slide expansion and contraction of the mast 13. However, this mast 13 is a telescopic type, and the extension operation of the multi-stage mast 13 is started only after the carriage 18 rises from the lowest position to the upper end position of the mast. Fork 2 rises up to about 6 meters.

[0046] The forklift 1 is provided with a cargo handling operation support device (fork positioning operation support device) 20 that supports the positioning operation of the fork 2 at a high place (elevation height range). The cargo handling operation support device 20 includes a camera elevating device 21 mounted at the center of the front surface of the carriage 18. The camera elevating device 21 includes an elevating camera unit 23 that appears and decreases downward from the lower end of the housing 22. The housing 22 is assembled in a vertically elongated state at the center of the carriage 18 in the width direction, and its front surface is substantially flush with the front surface of the backrest 24. The camera unit 23 has a built-in camera (CCD camera) 26 at the lower end of the case 25, and has a photographing unit (lens unit) 26A at the lower front end of the case 25.

The camera unit 23 moves up and down between two positions, a storage position stored in the housing 22 (see FIG. 2) and a lowering position shown in FIG. 1 (see FIG. 3). A shooting window 22A is formed in the lower part of the front surface of the housing 22 at a position facing the shooting unit 26A of the camera unit 23 arranged in the retracted position, and the camera 26 captures an image of the front surface of the fork 2 even from the stored position. You can do it. That is, in the camera elevating device 21, the camera 26 can take an image directly in front of the fork 2 (front front) from two positions, the retracted position and the lowered position.

[0048] A display device (liquid crystal display device (LCD)) 28 is attached to the roof 27 at a position that can be easily seen by the driver standing in the driver's seat 9. Images of shelves and pallets directly in front of the fork taken by the camera 26 during cargo handling work are displayed on the screen of the display device 28.

Hereinafter, the configurations of the carriage 18 and the camera elevating device 21 will be described. Here, FIGS. 2, 3 and 7 show the front view of the carriage, FIG. 2 shows the retracted state of the camera unit, FIG. 3 shows the lowered state of the camera unit, and FIG. 7 shows the side shift (left / right movement) state of the carriage. .. FIG. 4 shows a side sectional view of the carriage, and FIG. 8 shows a plan view of the carriage. In addition, FIGS. 5 and 6 show the camera elevating device, FIG. 5 shows a normal cross-sectional view, and FIG. 6 shows a partially disassembled perspective view.

[0050] First, the structure of the carriage 18 to which the camera elevating device 21 is attached will be described with reference to FIGS. 4, 6, and 7. The carriage 18 is composed of a lift bracket 30, a finger bar 31, a shifter (side shifter) 32, a backrest 24, and a fork 2. Since the fork 2 is an attachment, it can be replaced with another attachment depending on the purpose of cargo handling work.

[0051] The lift bracket 30 is arranged so as to be able to move up and down between the masts 13. That is, the lift bracket 30 is provided with a plurality (two) of rollers 30A (shown in FIG. 4) that roll on the guide surface (inner surface) of the inner mast 17 on both side surfaces thereof, and can be raised and lowered by a chain (not shown). Suspended and supported. The finger bar (tilt support member) 31 is supported in a state where it can tilt back and forth with respect to the lift bracket 30. The shifter 32 is attached to the finger bar 31 so that it can slide left and right. That is, by engaging the two guide rails 34 of the shifter 32 with the pair of upper and lower support rails 33 fixed to the upper and lower ends of the finger bar 31 extending in the vehicle width direction, the shifter 32 is aligned with the rail 33. It can slide in the vehicle width direction (left and right direction). The backrest 24 is fixed to the top of the shifter 32. The fork 2 is detachably attached to the shifter 32.

[0052] The lift bracket 30 is provided with a tilt cylinder 35 that tilts the finger bar 31. When the tilt cylinder 35 is driven, the finger bar 31 tilts, which causes the fork 2 to tilt. A side shift cylinder 36 is provided above the finger bar 31, and the piston rod 36A thereof is connected to the shifter 32. By driving the side shift cylinder 36, the shifter 32 can move relative to the finger bar 31 by a certain distance (for example, a set value within 50 to 100 mm) from the center of its width (marked with in FIG. 3) to the left and right. It has become.

Next, the configuration of the camera elevating device 21 will be described in detail with reference to FIGS. 2 to 9. The camera elevating device 21 includes a pair of left and right guide rails 40A and 40B assembled at the center of the width of the shifter 32. The camera unit 23 is guided by the left and right guide rails 40A and 40B and is supported so as to be able to move up and down. The case 25 of the camera unit 23 is a columnar column having a U-shaped cross section, and a partition wall 25A for partitioning the accommodation space of the camera 26 is formed at the bottom thereof. The camera 26 is covered with a cushioning material (anti-vibration rubber) 37 around it except for a part of the lens portion 26A. Even if the camera unit 23 collides with a surrounding obstacle due to an erroneous operation by the driver, the cushioning material 37 absorbs the impact at that time, so that the camera 26 is protected from the impact. In addition, the left and right guide rails 40A and 40B are made of sufficiently rigid mast rail material, so even if the driver accidentally collides the case 25 with a shelf or the like and a slight impact is applied, it will not break easily. It is covered with a rigid material.

[0054] On the left and right side walls of the case 25, two upper and lower rollers (roller bearings) 41 are rotatably provided. Each roller 41 rolls on the guide rails 40A and 40B. Resin blocks 42 as pressure receiving members that function as bearings when a thrust load is applied between the pair of upper and lower rollers 41 are fixed to the left and right side walls of the case 25, respectively. The resin block 42 is in sliding contact with the inner walls of the guide rails 40A and 40B so that a thrust load is not applied to the roller 41.

[0055] In the backrest 24, a support plate 24A is fixed in the upper region corresponding to the left and right rails 40A and 40B, and an electric motor unit (electric actuator) 43 as an actuator is mounted on the support plate 24A. It is arranged. The electric motor unit 43 includes an electric motor 44, a gear box 45, and a drum 46 as a rotating body. A wire 47 as a flexible power transmission member is wound in the drum 46. The wire 47 extending downward from the drum 46 is located on the width center line of the case 25, and its lower end is connected to the inner wall of the case 25 via the tensioner 48. When the electric motor 44 is driven in the forward and reverse directions, the drum 46 reverses forward and reverse through the gear box 45, and the wire 47 wound around the drum 46 is wound and unwound. The case 25 is moved up and down by winding and unwinding the wire 47 by the electric motor 44.

[0056] Further, a gas damper 49 as an urging means is arranged in the case 25. The upper ends of the left and right guide rails 40A and 40B are connected by a beam material (plate material) 50, and the base end portion of the gas damper 49 is fixed to this beam material 50. The gas damper 49 is arranged so as to extend vertically at the center position of the width of the case 25, and the piston rod 51 is arranged on the lower end side thereof. The lower end of the piston rod 51 is connected and fixed to the partition wall 25A of the case 25. The gas damper 49 is in a state of pressing and urging the case 25 downward.

[0057] The wire 47 extending from the electric motor unit 43 suspends and supports the camera unit 23 against its own weight and the downward force due to the pressing force of the gas damper 49. Therefore, the camera unit 23 is lowered by feeding out the wire 47 from the electric motor unit 43, and the camera unit 23 is raised by winding the wire 47.

A pair of left and right stoppers (L-shaped brackets) 52 are fixed to the beam material 50, and the upper end surface of the case 25 hits the stopper 52 when the camera unit 23 is raised, so that the camera unit 23 is in the upper limit position. Position is regulated. An L-shaped bracket 53 is fixed to the inner surface of the side wall of the case 25, and when the camera unit 23 is lowered, the bracket 53 hits the stopper (L-shaped bracket) 54 fixed to the shifter 32 to cause the camera. The unit 23 is positioned at the lower limit position.

As shown in FIG. 4, the shifter 32 is provided with position detection switches (limit switches) 55 and 56 for detecting the retracted position (rising position) and the descending position of the camera unit 23. There is. In the case 25, a detected portion (convex surface) is formed at a portion that can be detected by the upper limit position detection switch 55 shortly before the camera unit 23 reaches the upper limit position. Further, in the case 25, a detected portion (convex surface) is formed at a portion that can be detected by the lower limit position detection switch 56 shortly before the camera unit 23 reaches the lower limit position. In this example, two position detection switches 55 and 56 are arranged at two positions individually facing the left and right side walls of the case 25, and a height difference (unevenness) is provided in the vertical direction on the left and right side wall end faces (back side walls) of the case 25. The detected portion (convex surface) is formed by surface processing by applying the applied surface processing.

[0060] When the camera unit 23 is raised, the detection tentacle of the upper limit position detection switch 55 rides on the convex surface (detected portion), so that it is detected that the camera unit 23 has reached the upper limit position, and the camera unit 23 When descending, the detection tentacle of the lower limit position detection switch 56 rides on the convex surface (detected portion), so that it is detected that the camera unit 23 has reached just before the lower limit position. That is, the upper limit end and the lower limit end of the camera unit 23 are detected by the position detection switches 55 and 56. The electric motor unit 43 is stopped and controlled based on the detection signals of the position detection switches 55 and 56. A member (dog) can be attached to the case 25 to serve as a detected portion.

[0061] A cable bear 57 is provided in the case 25, and the electrical wiring of the camera 26 is routed through the inside of the cable bear 57. The electrical wiring of the camera 26 is connected to the controller 58 in the vehicle body 3 via a pulley (not shown) attached to the inner mast 17, together with other electrical wiring such as the electric motor unit 43 and various switches 55 and 56. ing. The guide rails 40A and 40B, the roller 41, the wire 47, the gas damper 49, and the like constitute a moving mechanism and an elevating mechanism.

[0062] Here, the reason for adopting the connection configuration using the wire 47 and the damper 49 as the camera elevating mechanism will be described. One reason is to prevent damage to the equipment in the event of an abnormality such as a failure. That is, if the electric motor 44 should not move due to a failure of the power supply or the like and the camera unit 23 cannot be raised while being lowered, the fork 2 may be lowered to cause the camera unit 23 to collide with the floor surface. , The impact applied to the camera 26 and the electric motor 44 at this time is suppressed as small as possible. When the camera unit 23 collides with the floor surface, the wire 47 loosens and the gas damper 49 absorbs the impact without resisting the impact force, so that the camera 26 can be avoided from being damaged. Further, since the impact is not transmitted to the electric motor 44 only by loosening the wire, there is no concern that the electric motor 44 will be damaged.

[0063] Further, since there are not a few inconveniences due to the adoption of the connection configuration using the wire 47 and the damper 49, the configuration also solves this problem. For example, if the camera unit 23 is loose, there is a concern that the image quality may be deteriorated due to image blurring or an early failure may occur due to camera vibration. Therefore, the camera position is fixed at the ascending position and the descending position of the camera unit 23. That is, in the raised position (retracted position) of the camera unit 23, the drum 46 is locked by the worm gear in the gear box 45 of the electric motor 44, and the upper end of the wire 47 stretched while being pulled downward is locked. Fix the camera 26 in an immovable state. Further, at the lowered position of the camera unit 23, although the wire 47 has no tension, the camera 26 is prevented from rattling due to the pressing force below the gas damper 49. Therefore, since the camera position can be fixed so that the camera 26 does not play, image shake and camera vibration can be suppressed.

[0064] Further, since it is difficult to increase the descending speed of the camera unit 23 when the wire 47 is unwound from the electric motor unit 43 only by depending on the weight of the camera unit 23, it is necessary to increase the descending speed. The gas damper 49 also has a function. Therefore, the camera unit 23 is swiftly lowered by the gas damper 49. Further, since the ascending / descending speed of the camera unit 23 is controlled by the stroke speed of the gas damper 49, the ascending / descending speed of the camera unit 23 becomes substantially constant. If the pressing force of the gas damper 49 is too large, a large amount of power is required for the electric motor 44, so that the pressing pressure is set to an appropriate value suitable for the above purpose and function.

FIG. 9 is a side cross section showing a tensioner interposed at the connection between the wire and the case. The tensioner 48 includes a fixed holder 61 fixed to the inner wall of the front surface of the case 25 by bolts 60, a movable holder 62 arranged to face the lower side of the fixed holder 61, and a spring intervened between both holders 61 and 62. It is composed of a spring) 63. The wire 47 penetrates through the through holes 61A and 62A formed at the axial positions of the fixed holder 61 and the movable holder 62, and the cylindrical stopper 64 fixed to the lower end of the wire 47 is the bottom of the movable holder 62. It is locked in a recess on the wall. The spring 63 is mounted so that the upper and lower ends are housed in the grooves 61B and 62B formed at the opposite positions of the holders 61 and 62. FIG. 3A shows a process in which the wire 47 is unwound and the camera unit 23 is lowered, and a state when the camera unit 23 is stopped. The figure (b) shows the state of the process in which the wire 47 is wound up and the camera unit 23 is raised.

As shown in FIG. 6A, when the wire 47 is unwound and when the case 25 is stopped, the wire 47 is pulled downward by the spring 63 even if the wire 47 is slightly loosened. Tension is applied to the wire 47. When the wire 47 is wound up, as shown in FIG. 6B, the spring 63 is compressed by the tension when the wire 47 is wound up, and both holders 61 and 62 come into contact with each other. The case 25 is pulled up as it is. Therefore, the tensioner 48 keeps the wire 47 in a tensioned state at all times when the case 25 is lowered or stopped, which is more likely to cause slack in the wire 47 than when the wire 47 is wound up. Therefore, problems such as irregular winding of the wire 47 that occur in the drum 46 of the electric motor unit 43 due to the looseness of the wire 47 are less likely to occur.

Next, the storage position and the lowering position of the camera unit will be described. As shown in FIG. 2, the shooting height of the camera 26 when in the retracted position, that is, the height of the shooting window 22A of the housing 22 is set at a position slightly higher than the height of the upper surface (loading surface) of the fork 2. ing. When carrying out cargo handling work using the fork 2, it is necessary to position the fork 2 in the height direction and the left-right direction. Therefore, the shooting position is high at the center of the two forks 2 in the vehicle width direction. In the longitudinal direction, it is desirable that the height is approximately the same as the height of the fork 2 (specifically, the loading portion where the fork extends forward). However, if the camera unit 23 protrudes from the carriage 18, there is concern about interference with surrounding obstacles, etc. Therefore, in this embodiment, the fork 2 is provided within a range in which the camera unit 23 can be almost completely stored in the carriage 18. The storage position is set so that the shooting unit (lens unit) 26A can be placed at a height that is as close as possible to the height.

[0068] That is, since the fork 2 is located slightly below the height of the bottom surface of the carriage portion other than the fork 2 such as the shifter 32, the position of the photographing unit 26A in the retracted position is slightly higher than the upper surface of the fork 2. Although the shooting position is slightly higher than the upper surface of the fork 2, the distance is a small range within 20 cm from the upper surface of the fork 2 in the present embodiment, which is a sufficiently acceptable range. Further, in the vehicle width direction, since the photographing unit 26A is located at the center of the two forks 2, it is possible to provide an image taken from an optimum angle for determining the positions of the two forks 2. Therefore, at the storage position set as the first shooting position, it is possible to shoot substantially the front of the fork 2. Here, the storage position is within a range recognized as "approximately the same height" as the fork 2 as a cargo handling tool, for example, if the shooting position is within an elevation angle of 10 degrees when the tip of the fork 2 is photographed. It can be regarded as a range of "approximately the same height".

[0069] If the distance between the shooting viewpoint at the stowed position and the attachment (loading tool) in the height direction is unacceptably large due to a difference in the type of fork or the type of attachment, the camera unit is used as the cargo handling tool. It may be a storage position that protrudes from the carriage other than the cargo handling tool within the range above the bottom surface of the cargo handling tool. In this case, it is the cargo handling tool that hits the floor surface, and the camera unit does not hit the floor surface. Further, the camera unit 23 may not be photographed at the retracted position where the camera unit 23 is almost completely retracted, and may be lowered to the height of the cargo handling tool at the time of photographing.

[0070] Here, if there is no load on the fork 2, the work area directly in front of the fork can be photographed from the shooting window 22A at the storage position, but when there is a load on the fork 2, the load on the fork 2 is an obstacle. It is not possible to shoot the work area directly in front of the fork from the shooting window 22A. Therefore, when positioning the fork 2, the camera unit 23 is placed in the retracted position when there is no load on the fork 2, and the camera unit 23 is moved from the retracted position only when there is a load on the fork 2. Lower to the lower position. The descending position as the second shooting position is a height position at which the work area can be photographed without being hindered by the load (pallet) on the fork 2, and is set to a position a predetermined distance below the lower surface of the fork 2. As for the descending position, it is desirable that the elevation angle at which the tip (front end) of the load on the fork 2 is taken exceeds, for example, 5 degrees. In the present embodiment, the moving distance of the camera unit 23 from the stored position to the lowered position is, for example, a value within the range of 20 to 40 cm. The longer this moving distance (descent distance) is, the wider the field of view of the work area can be expanded. However, if this distance is too long, it takes too much time to move the camera unit 23, or the camera unit 23 is before the fork 2 is lowered to the maximum. Since there are inconveniences such as not being able to store the camera, the moving distance is set in consideration of these points.

Next, the electrical configuration of the cargo handling operation support device 20 will be described. As shown in FIG. 10, the controller 58 includes a camera (CCD camera) 26, an electric motor 44 (electric motor unit 43), an upper limit position detection switch 55, a lower limit position detection switch 56, a lift sensor 70, and a load sensor 71. It is connected. Further, the controller 58 is electrically connected to the lift lever 72, the reach lever 73, the side shift lever 74, the sensors 76, 77, 78, 79 for detecting the operation of the tilt lever 75, and the operation button switch 80. .. The controller 58 is electrically connected to the display device 28, the cargo handling motor 81, and the solenoids of various electromagnetic switching valves 82,83,84,85. Various electromagnetic switching valves 82, 83, 84, 85 are attached to the oil control valve 86 that constitutes the cargo handling system hydraulic circuit, and are the electromagnetic switching valve 82 for lift, the electromagnetic switching valve 83 for reach, and the electromagnetic for side shift. The switching valve 84 and the tilt electromagnetic switching valve 85.

The lift sensor 70 detects the lift of the fork 2, and is composed of, for example, a limit switch attached to a predetermined height of the mast 13. It is also possible to use a lift sensor that can continuously detect the lift. Examples of the lift sensor capable of continuously detecting the lift include a wire winding type sensor that detects the amount of wire feeding from the amount of drum rotation. Of course, a stroke sensor that detects the stroke length of the lift cylinder can also be used. If it is a switch, the lift sensor 70 outputs a detection signal to the controller 58 when it detects the set lift. If the lift sensor is capable of continuously detecting the lift, a detection signal of a value corresponding to the lift of the fork 2 is output to the controller 58.

[0073] The load sensor 71 detects the weight of the load on the fork 2, and is composed of, for example, a pressure sensor. The load sensor 71 outputs a detection signal of a value corresponding to the weight of the load on the fork 2 to the controller 58.

[0074] Further, the operation button switch 80 is provided on the knob of the lift lever 72, for example, and is operated by the driver when performing fork positioning control described later. The cargo handling motor 81 is for driving the cargo handling pump 87, and supplies hydraulic oil to the oil control valve 82 by driving the cargo handling pump 86.

[0075] Various electromagnetic switching valves 82,83,84,85 are used for oil passage switching control in the oil control valve 86, and are lifted by oil passage switching control by the electromagnetic switching valve 82,83,84,85. The cylinder 14, reach cylinder 12, side shift cylinder 36, and tilt cylinder 35 are hydraulically controlled, respectively. When the controller 58 inputs a detection signal from any one of the sensors 76, 77, 78, 79 due to the cargo handling operation, it corresponds to the detected sensor among the electromagnetic switching valves 82, 83, 84, 85. The electromagnetic switching valve is controlled by the current value, and among the cylinders 12, 14, 35, and 36, the cylinder corresponding to the cargo handling operation is driven.

[0076] That is, the lift cylinder 14 is driven by operating the lift lever 72, whereby the fork 2 can be raised and lowered. Further, the reach cylinder 12 is driven by operating the reach lever 73, which enables the reach operation of the fork 2 (cargo handling device 11). Further, when the side shift lever 74 is operated, the side shift cylinder 36 is driven, which enables the side shift operation of the fork 2. Further, when the tilt lever 75 is operated, the tilt cylinder 35 is driven, which enables the tilting operation of the fork 2.

[0077] The controller 58 includes a main control unit 90, a camera elevating control unit 91, an image generation unit 92, an image processing unit 93, a cargo handling control unit 94, and the like. The camera elevating control unit 91 drives and controls the electric motor 44 based on the signals input from the lift sensor 70, the load sensor 71, and the position detection switches 55 and 56.

[0078] The image generation unit 92 generates image data based on the image signal input from the CCD camera 26, and outputs the image data to the display device 28 to display the captured image of the camera 26 on the screen of the display device 28. Is displayed. The image processing unit 93 performs image recognition processing based on the image data generated by the image generation unit 92, calculates the position of the fork 2, and the direction in which the fork 2 should be moved for positioning (up / down and left / right). And the calculation of the distance. Then, the image processing unit 93 outputs the position control data (shift amount in each direction) for moving the fork 2 by the direction and the distance obtained by the calculation to the cargo handling control unit 94.

[0079] The cargo handling control unit 94 controls the current values of the electromagnetic switching valves 82 to 85 and the drive control of the cargo handling motor 81 based on the signals from the sensors 76 to 79. Further, the cargo handling control unit 94 controls the current values of the lift electromagnetic switching valve 82 and the side shift electromagnetic switching valve 84 based on the position control data from the image processing unit 93, and controls the lift cylinder 14 and the side shift cylinder 36. Drive control. The main control unit 90, the camera elevating control unit 91, the image generation unit 92, the image processing unit 93, and the cargo handling control unit 94 are composed of a microcomputer and a memory.

[0080] Here, the image recognition process will be described. Position detection marks are marked on the pallets and shelves at predetermined locations on the front when loading and unloading. The controller 58 performs image processing on the image captured by the camera 26, determines the position of the mark by image recognition processing (for example, plate matching processing), and calculates the amount of deviation of the position of the fork 2 with respect to the palette. Then, the fork 2 is moved up and down or left and right so as to complement the calculated displacement amount, and the fork 2 is automatically controlled to align with the regular position that matches the insertion hole of the pallet. Automatic control is not performed at low lifts where it can be confirmed from the driver's perspective that the fork 2 matches the insertion hole of the pallet, and this automatic control is performed only when the fork 2 is at a height higher than the specified height. Is executed. In the present embodiment, the elevation range in which this automatic control is executed is set to a range exceeding 2 meters.

[0081] The lift range for executing automatic positioning control is set to a range exceeding 2 meters because the storage position of the camera unit 23 is set before the fork 2 reaches the minimum lowering position when the fork 2 is lowered to the lowest position. To complete the ascent to. In other words, the lift Ho that must start ascending for the storage of the camera unit 23 is the lift Ho = V1 × T1 assuming that the storage time of the camera unit 23 is T1 second and the maximum descent speed of the fork 2 is V1. It is expressed, and the lift H (= Ho) with a little margin in this lift Ho Below + ΔH), it is set to force the ascending operation of the camera unit 23 and avoid the collision of the camera unit 23 with the floor surface. In this embodiment, the value of the lift H is set to 2 meters, the lift range of 2 meters or less is the retractable operating range for forcibly storing the camera unit 23, and the positioning automatic control is performed only in the lift range of more than 2 meters. I do. Although there is a limit to the retractable operating range (2 meters or less in this example) that prevents the camera unit 23 from being lowered when loading, when the fork 2 is at low lift, the fork 2 can reach the shelves and pallets even from the perspective of the carrier. There is no particular inconvenience in cargo handling work because it is possible to determine whether or not the alignment has been performed with a certain degree of accuracy.

[0082] The controller 58 determines the presence or absence of a load on the fork 2 based on the detected value of the signal input from the load sensor 71. When it is determined that there is no load on the fork 2, the loading mode is set, and when it is determined that there is a load on the fork 2, the loading mode is set. In the loading mode, the shooting position of the camera unit 23 is set as the storage position, and in the loading mode, the shooting position of the camera unit 23 is set as the descending position. When the lift of the fork 2 is outside the above-mentioned retractable operating range and is in the elevation range of more than 2 meters, in the loading mode, the camera unit 23 is lift-controlled so as to be placed in the retracted position if it is in the descending position. In the mode, if the camera unit 23 is in the retracted position, it is controlled to be lowered so as to be placed in the lowered position. For example, in the loading mode in which the load is placed on the fork 2, when the fork 2 is raised from the lifting height within the retractable operating range to a height exceeding 2 meters, the camera unit enters the lifting height range exceeding 2 meters. The descent of 23 begins.

[0083] However, if the switching point between the ascending control and the ascending control of the camera unit 23 is one point of 2 meters, chattering may occur at the ascending and descending position near 2 meters. Therefore, in practical use, ascending and descending. It is desirable to provide hisiteresis for the lift of the switch. Therefore, in the present embodiment, in detail, the camera unit 23 is raised from the lowering position to the storage position in the lifting height of 2000 mm or less or in the loading mode, and the camera unit 23 is moved from the storage position in the lifting height of 2050 mm or more and in the loading mode. Adopt a control logic that lowers to the lowering position. In this case, if the lift sensor 70 is a limit switch, switch-type lift sensors 70 are arranged at two locations so that two types of lifts of 2000 mm and 2050 mm can be detected.

[0084] When it is desired to automatically control the positioning of the fork, the operation button switch 80 provided on the knob of the lift lever 72 is operated. A pallet position detection mark is affixed or printed on the pallet at a certain point on the side surface with an insertion hole, and each shelf (horizontal material) forming the shelf surface of the shelf has a shelf position at a certain place in front of it. A detection mark is pasted or printed. When the controller 58 detects the operation of the operation button switch 80, it enters the automatic positioning mode and executes the image recognition process of the image captured by the camera. In the loading mode, the pallet position detection mark is identified, and the three-dimensional position coordinates of the mark on the screen are calculated. On the other hand, in the loading mode, the shelf position detection mark is identified, and the three-dimensional position coordinates of the mark on the screen are calculated. Once the loading mode or loading mode is decided, the 3D position coordinates (target position coordinates) (Xo, Yo, Zo) that should be marked when the fork 2 is in the normal position that should be the positioning target on the shooting screen. Is decided. From the recognition position coordinates (X1, Y1, Z1) of the mark and the target position coordinates (Xo, Yo, Zo), the two-dimensional plane coordinates (XY plane coordinates) (XY plane coordinates) up and down and left and right in this three-dimensional space. Calculate the vertical and horizontal shift amounts of the fork 2 to match 1) and (X o o). Then, this calculation result is sent to the cargo handling control unit 94, and the cargo handling control unit 94 controls the electromagnetic switching valves 82 and 84 so as to move and control the fork 2 by the shift amount of the calculation result. As a result, the fork 2 is aligned with the target position according to the cargo handling mode (loading mode or loading mode) at that time by automatic control by the controller 58.

[0085] That is, in the loading mode, the fork 2 is automatically positioned so as to match the insertion hole of the pallet. In the loading mode, the fork 2 is set a certain distance (value within the range of about 10 to 20 cm) above the shelf surface in a state where the center of the fork width coincides with the center of the width of the storage part with respect to the storage part of the shelf. The position is automatically controlled so that it is placed at the height.

[0086] Here, even if the fork 2 is aligned with the normal position, the fork 2 is not inserted into the pallet even if the pallet is slightly tilted (2 or 3 degrees). For this reason, the vertical and horizontal positions of the fork 2 are automatically controlled, but the driver himself decides and operates the final reach operation for inserting the fork 2 into the insertion hole of the pallet. .. As another automatic control, an automatic horizontal control is adopted in which the tilt angle of the fork 2 is viewed by an angle sensor (for example, a potentiometer) and the fork 2 is horizontally controlled.

Further, since the camera elevating device 21 is assembled to the shifter 32, the camera unit 23 moves together with the movement of the fork 2 in the left-right direction. That is, as shown in FIG. 3, when the width center of the shifter 32 coincides with the width center ( mark position) of the carriage 18 (lift bracket 30), the width center of both the fork 2 and the camera unit 23 is the carriage 18 Matches the width center of. Then, as shown in FIG. 7, when the shifter 32 is moved to the right (leftward toward the drawing), for example, the fork 2 and the camera unit 23 both move to the right together with the shifter 32, and the shifter 32 Even if the center of width (position marked with ) deviates from the center of width (position marked with ), the center of width of the fork 2 and the camera unit 23 both coincide with the center of width of the shifter 32. Therefore, even if the fork 2 is side-shifted to the left or right with the carriage 18 equipped with the side shift mechanism, it is always possible to shoot from the center position between the two forks 2. Therefore, when the fork 2 is moved to the left or right by the side shift function, the shooting angle of the image displayed on the screen of the display device 28 does not change. In other words, since the image directly in front of the fork 2 is always captured, the position of the fork 2 can be confirmed more correctly from the captured image, and the calculation considering the difference in the shooting angle is not required when performing the image recognition processing. Contributes to shortening the calculation time.

[0088] Further, the camera unit 23 is lowered only when the loading mode is necessary to secure the shooting area as wide as possible. Therefore, even when the load is placed, even if there is a load on the fork 2 due to shooting from the lowered position, the load does not block the load so much, and the work area is shot in a wide range. Therefore, the target mark is less frequently out of the shooting range, and control delay due to the mark going out of the shooting range is unlikely to occur. Further, since the camera unit 23 is lowered only when it is necessary to be in the loading mode, it is possible to reduce as much as possible the concern that the lowered camera unit 23 is hit against the shelf due to an erroneous operation or the like and is damaged. In addition, there is a concern that the driving noise of the electric motor unit 43 when lowering the camera unit 23 may cause noise, but by lowering the camera unit 23 only when necessary, the noise caused by this type of driving noise is reduced as much as possible. be able to.

[0089] In this embodiment, the following effects can be obtained. (1) Since the mechanism uses the electric motor unit 43 to raise and lower the camera unit 23, the camera unit 23 can be raised and lowered arbitrarily without being restricted by the height of the fork 2. Since the camera unit 23 is lowered only when necessary, it is possible to reduce as much as possible the problem that the camera unit 23 in a state of protruding from the carriage 18 (lowering position) hits a peripheral object (shelf, etc.) due to an erroneous operation or the like. Further, since the camera unit 23 is automatically retracted when the fork 2 is lowered to the minimum position, damage to the camera 26 can be prevented.

(2) Since the camera 26 is arranged at the base of the fork, the work area in front of the fork can be photographed from a shooting angle that is most comfortable for the driver. This leads to a reduction in fork alignment work time. If the image is taken at an angle of the target object at a camera position shifted to the left or right from the center of the fork, the calculation process for calculating the fork position with respect to the target object becomes complicated. The arithmetic processing for calculating the fork position is relatively simple. In addition, since the camera 26 is located in the center between the two forks, the target can be placed almost in the center to see a wide area, and the field of view on the screen of the display device 28 and the field of view for image processing can be obtained. Can be secured widely.

(3) In the loaded loading mode, the front view can be secured by lowering the camera 26 below the fork 2, so that the driver can work through the screen of the display device 28 even during loading. In addition to being able to check the area, it is possible to receive support for automatic positioning control of the fork 2.

(4) By attaching the camera elevating device 21 to the shifter 32, the camera 26 is arranged at a position where the relative position with the fork 2 in the left-right direction does not always change, so that when the fork 2 is side-shifted. However, the camera image is not offset to the left or right. Therefore, regardless of the left or right shift position of the fork 2, the cargo handling work can be performed by always looking at the image from the same shooting angle, and the driver does not feel uncomfortable. Moreover, since the shooting angle in front of the fork does not change even if the fork 2 is shifted to the left or right, the calculation of image processing can be relatively simple.

[0093] (5) A configuration is adopted in which the wire 47 is suspended and the gas damper 49 is pressed downward to urge the user. Therefore, even if the electric motor unit 43 breaks down and the camera unit 23 does not rise from the lowered position when the fork 2 is lowered to the maximum position, the camera 26 when the camera unit 23 hits the floor surface Since the impact is absorbed by the gas damper 49, damage to the camera 26 can be prevented. Further, the impact at this time is not transmitted to the electric motor unit 43, and damage to the electric motor unit 43 can be prevented.

(6) At the raised position of the camera unit 23, the camera 26 is locked by locking the drum 46 with the worm gear in the gear box 45 of the electric motor 44 and locking the wire 47 in a tensioned state. It can be fixed in an immovable state. Further, at the lowered position of the camera unit 23, even if the wire 47 does not have much tension, the camera 26 does not play due to the pressing force downward of the gas damper 49. Therefore, since the camera position can be fixed so that the camera 26 does not play, there is no risk of image blurring or failure of the camera 26 due to vibration. Further, since the image shake is suppressed, the positioning accuracy of the fork 2 performed by processing the image from the camera 26 can be kept high.

(7) Since the ascending / descending speed of the camera unit 23 is determined by the stroke speed of the gas damper 49, the ascending / descending speed of the camera unit 23 can be made substantially constant.

(8) Further, since the tensioner 48 can suppress the loosening of the wire 47 when the camera unit 23 is lowered or stopped, it is possible to prevent the wire 47 from being randomly wound in the drum 46 of the electric motor unit 43. Can be done.

(9) Since the guide rails 40A and 40B, which are the slide portions, are made of high-rigidity and high-load rail material, they may be damaged or deformed even if the driver accidentally hits the case 25. There is no.

[0098] The embodiment is not limited to the above, and the following embodiment can also be implemented. The mechanism for suspending the camera unit 23 using the flexible power transmission member is not limited to the configuration of the first embodiment. For example, as shown in FIG. 11, the electric motor 96 and the belt 97 may be used. A drum 98 is connected to the output shaft of the electric motor 96 as an actuator, and the camera unit 23 is suspended and supported at the lower end of the belt 97 wound around the drum 98. By driving and controlling the electric motor 96, the drum 98 is controlled in the forward and reverse directions, and the belt 97 is wound and unwound, whereby the camera unit 23 is guided by the guide rails 40A and 40B and controlled in ascending and descending. Although only the mechanical part of the camera elevating device is shown in the figure, the sensors, control contents, and the like are the same as those in the above embodiment. Even with this configuration, since the basic principle of the mechanism is the same except that the wire 47 is replaced with the belt 97, the same effect as that of the above-described embodiment can be obtained.

[0099] It is not limited to a mechanism that uses a flexible power transmission member and suspends and supports the camera unit 23 via the flexible power transmission member. For example, as shown in FIG. 12, a hydraulic cylinder 99 is used as an actuator, and the camera unit 23 is directly connected to the tip (lower end) of the piston rod 99A of the hydraulic cylinder 99. The camera unit 23 moves up and down by the expansion and contraction drive of the piston rod 99A by driving the hydraulic cylinder 99. The hydraulic cylinder 99 is driven and controlled by an electromagnetic switching valve (not shown) provided in its hydraulic circuit being excited and degaussed by a controller, and the camera unit 23 is lifted and controlled by the controller. Although only the mechanical part of the camera elevating device is shown in the figure, the sensors, control contents, and the like are the same as those in the above embodiment. With this configuration as well, the camera unit 23 can be raised and lowered at an arbitrary lift regardless of the lift. Therefore, the frequency with which the camera unit 23 protruding from the carriage 18 interferes with peripheral objects due to erroneous operation can be reduced as much as possible. In addition, an effect that does not depend on the flexible power transmission member can be obtained in the same manner as in the above embodiment. Furthermore, since it is a hydraulic cylinder 99, it is sufficiently strong against impacts compared to electric actuators, and even if the impact is transmitted from the camera unit 23 to the piston rod 99A, it is not easily damaged. A pneumatic cylinder can be used instead of the hydraulic cylinder as the actuator.

[0100] The camera unit is not limited to the mechanism that appears and disappears below the carriage. For example, when a cargo handling tool other than a fork is used, the camera unit may be raised and lowered so as to appear and disappear above the carriage, depending on the type of cargo handling tool used.

[0101] The actuator is not limited to being mounted on the carriage. For example, it is possible to adopt a configuration in which an actuator is attached to the outer mast and connected to the camera unit via a flexible power transmission member such as a wire, a belt, or a chain. In this case, the actuator is driven and controlled so as to be synchronized with the driving means for raising and lowering the cargo handling tool such as the lift cylinder that raises the fork, and the actuator is independently controlled only when the camera unit 23 is moved up and down with respect to the carriage. According to this configuration, although a flexible power transmission member such as a wire or a belt is required for a long time, the camera unit 23 can be controlled to move up and down.

[0102] The moving mechanism that moves the cargo handling tool and the camera unit relative to each other may be a mechanism that allows the cargo handling tool to move with respect to the carriage 18. In this case, the camera unit is fixed to the carriage, and the actuator drives the cargo handling tool to move with respect to the carriage. Even with this configuration, the relative position between the cargo handling tool and the camera unit can be changed, so that the shooting position can be moved. Of course, a configuration in which both the camera unit and the cargo handling tool are driven by a plurality of actuators may be used.

[0103] The actuator used in a configuration in which the camera unit 23 is suspended by a flexible power transmission member is not limited to a rotary actuator such as an electric motor. For example, a cylinder such as a hydraulic cylinder or a pneumatic cylinder can also be used. That is, a flexible power transmission member such as a wire or a belt can be fixed to the tip of the piston rod of the cylinder, and the camera unit 23 can be suspended and supported from the tip of the piston rod of the cylinder via the flexible power transmission member. .. Similar to the above embodiment, the camera unit 23 is pressed and urged downward by a damper. By driving the cylinder, the camera unit moves up and down in a suspended state. With this configuration as well, the effect of using the flexible power transmission member and the damper (prevention of camera damage, etc.) can be similarly obtained. Examples of the cylinder include a hydraulic cylinder, a pneumatic cylinder, and an electric power cylinder as an electric actuator. When using an electric power cylinder, the impact of the camera unit 23 is not transmitted, so damage prevention can be expected. Further, examples of the flexible power transmission member include wires, belts, chains and the like.

[0104] The flexible power transmission member is not limited to a configuration in which the flexible power transmission member is wound and unwound by a rotating body such as a drum of an actuator. For example, a mechanism in which the camera unit is suspended via a pulley or sprocket on which a flexible power transmission member such as a wire or a belt is mounted can be adopted. Of course, the actuator in this case may be a cylinder.

[0105] The target is not limited to the front of the cargo handling tool. For example, in the case of cargo handling work using an attachment other than a fork, if the target object for alignment is other than the front, the camera unit is arranged so that the target object can be photographed. For example, in an industrial vehicle that uses a clamp that grips a load from above as a cargo handling tool, the camera unit is arranged so as to photograph the lower part of the cargo handling device provided with the clamp. Further, the camera unit may use a mechanism that moves in a predetermined direction other than up and down, such as front and back or left and right, instead of a mechanism that moves up and down.

[0106] The actuator may be arranged on the camera unit side instead of the carriage side. That is, the actuator is arranged in the case of the movable camera unit that moves with respect to the carriage. Although the handling of electrical wiring and the like becomes complicated, the camera unit can be driven so as to be movable.

[0107] The damper is not limited to the gas damper. It may be a hydraulic damper or a spring damper. Industrial vehicles are not limited to reach-type forks. A counterbalance type forklift may be used. Further, it may be an industrial vehicle other than a forklift equipped with a mast for cargo handling.

[0108] It can be grasped from each of the above embodiments.<u style="single">Technique</u>The artistic thought is described below. (1<u style="single">)Previous</u>The camera unit moves so as to appear and disappear with respect to the carriage by driving the actuator.

【0109】 (2<u style="single">)Previous</u>The movement mechanism is an elevating mechanism that elevates and elevates the camera unit with respect to the carriage. (3) In the technical idea of (2), the camera unit has two positions: a photographing position that protrudes downward of the carriage and a storage position that does not protrude downward of the carriage when the actuator is driven. Move up and down the position.

【0110】 (4<u style="single">)Previous</u>The actuator is driven to move the camera unit up and down to two positions, a shooting position and a storage position, at an arbitrary lift on the lift side other than the storage operating range.

【0111】 (5<u style="single">)Previous</u>The carriage has a structure in which the cargo handling tool is located at the lower end thereof, and the photographing position of the camera unit is a position where the camera unit is arranged so as to project below the cargo handling tool. The storage position of the carriage is a position where the camera unit is arranged at least above the lower end of the cargo handling tool.

【0112】 (6<u style="single">)Previous</u>The storage position is a position where the camera unit is stored in a carriage portion other than the cargo handling tool, and the photographing position is a position where the camera unit is arranged so as to project downward from the cargo handling tool.

【0113】 (7<u style="single">)Previous</u>The camera unit has a photographing unit (26A) for photographing the work area of the cargo handling tool, and the photographing position is a position where the photographing unit of the camera unit is arranged so as to project below the carriage. ..

(8) In the technical idea of (7), the photographing position is a position where the photographing portion of the camera unit is arranged so as to project below the cargo handling tool. (9<u style="single">)Previous</u>Note The camera unit comprises a single camera (26) and has one imaging unit (26A).

【0115】 (10<u style="single">)Previous</u>The actuator and the elevating mechanism are provided on the carriage.

【0116】 (11<u style="single">)Previous</u>The cargo handling tool included in the carriage is a pair of forks, and the camera unit is arranged so as to be able to move up and down between the pair of forks in the vehicle width direction.

(12) In the technical idea of (11), the camera unit is arranged at a substantially central position between the pair of forks in the vehicle width direction. (13<u style="single">)Previous</u>The cargo handling tool of the carriage is a pair of forks, and the camera unit is arranged so as to take a picture of the front surface of the forks and move up and down at the center position between the pair of forks with respect to the carriage. The camera unit is driven to move up and down between a storage position stored in the carriage and a photographing position located below the storage position and protruding below the lower surface of the fork.

【0118】 (14<u style="single">)Previous</u>The camera unit has a photographing unit that photographs the front of the cargo handling tool. (15<u style="single">)Previous</u>The flexible power transmission member is any one of a wire, a belt, a chain, and a cable.

【0119】 (16<u style="single">) Production</u>The industrial vehicle is a reach-type industrial vehicle in which the cargo handling tool reaches the vehicle body, and the camera unit is provided so as to be reachable together with the cargo handling tool. According to this configuration, the elevating camera unit approaches the target object (for example, a pallet or a shelf) together when the cargo handling tool is reached, so that the target object can be projected large when the cargo handling tool is reached. Therefore, when the cargo handling tool is reached to some extent, effects such as easy alignment operation of the cargo handling tool through the shooting screen and easy confirmation of whether or not the cargo handling tool is aligned can be obtained.

【0120】 (17<u style="single">) Production</u>The industrial vehicle is a mass treat type in which the mast is provided so as to be movable in the front-rear direction with respect to the vehicle body, and the cargo handling tool reaches by moving the mast in the front-rear direction.

[Effect of the Invention] As described in detail above.<u style="single">each</u>Claim<u style="single">Of the term</u>According to the invention, the camera unit can be moved at an arbitrary lift regardless of the lift of the cargo handling tool, and the cargo handling work performed at a high place can be effectively supported by providing an appropriate photographed image. it can.

【0122】<u style="single">Also</u>Further, even if an actuator is used for raising and lowering the camera unit, it is possible to suppress the impact of the camera unit hitting the floor surface from being transmitted to the actuator.

BRIEF DESCRIPTION OF THE INVENTION FIG. 1 is a perspective view of a forklift according to an embodiment.

FIG. 2 is a front view of a carriage equipped with a camera elevating device.

FIG. 3 is a front view of a carriage showing a state in which the camera unit is lowered.

FIG. 4 is a side sectional view of the carriage.

FIG. 5 is a front sectional view of a camera elevating device.

FIG. 6 is a partially exploded perspective view of the camera elevating device.

FIG. 7 is a front view of a carriage showing a side shift state.

FIG. 8 is a partial plan sectional view of a cargo handling device.

FIG. 9 is a side sectional view of the tensioner.

FIG. 10 is an electrical configuration diagram of a cargo handling operation support device.

FIG. 11 is a front view of a carriage provided with a camera elevating device according to another example.

FIG. 12 is a front view of a carriage provided with another example camera elevating device different from FIG.

[Description of Code] 1 ... Forklift as an industrial vehicle, 2 ... Fork as a cargo handling tool, 3 ... Body, 11 ... Cargo handling device, 13 ... Mast, 14 ... Carriage, 23 ... Camera unit, 26 ... Cameras that make up the camera unit, 26A ... Shooting part (lens part), 30 ... Lift bracket as elevating member, 31 ... Finger bar as tilting member , 32 ... Side shifter, 40A, 40B ... Guide rails that make up the moving mechanism and elevating mechanism, 41 ... Rollers that make up the moving mechanism and elevating mechanism and as guide wheels, 42 ... Moving mechanism and A resin block as a pressure receiving member as well as an elevating mechanism, an electric motor unit as a 43 ... actuator and an electric actuator, an electric motor constituting a 44 ... actuator, a drum as a 46 ... rotating body, 47. .. A wire as a flexible power transmission member as well as a moving mechanism and an elevating mechanism, a 48 ... tensioner, 49 ... a gas damper as a urging means while forming a moving mechanism and an elevating mechanism, 58 .. .Controller as a control means.