Remote control system

Abstract

To intuitively and easily operate a forklift, and to efficiently perform cargo handling, when remotely operating the forklift.SOLUTION: The remote control system includes a camera 10 provided in a forklift 1, and a display part 20 for displaying an image photographed by the camera 10. Further, the remote operation system includes a load handling object position specifying unit 233 for specifying the positions of the first load handling object 110 to be handled next and the second load handling object 111 to be handled after the next. The remote operation system is configured to display a first guide route GR1 for guiding the horizontal position of the first load bearing object 110, a second guide route GR2 for guiding the vertical position of the first load bearing object 110, a third guide route GR3 for guiding the horizontal position of the second load bearing object 111, and a fourth guide route GR4 for guiding the vertical position of the second load bearing object 111.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a remote control system for remotely operating a forklift. [Background technology]

[0002] Forklifts are operated by operators who transport and load / unload cargo. Therefore, in order for an operator to operate a forklift quickly and accurately, many years of experience are required. However, since the number of skilled operators is limited, there is a shortage of skilled operators in sparsely populated areas. Therefore, there is a demand from areas with many skilled operators for skilled operators to operate forklifts remotely in rural areas.

[0003] In addition, when loading and unloading tanks filled with gases that are harmful to the human body or explosives that will explode if dropped, it is preferable for the operator to operate the forklift remotely, away from the warehouse where the loading and unloading takes place.

[0004] For this reason, a remote control system for remotely operating a forklift is known (see, for example, Patent Document 1). In a remote control system, an operating device is provided at a remote base station that is distant from the warehouse where the forklift handles cargo, and an operator operates the forklift from the remote base station using the operating device.

[0005] The forklift is equipped with a control device, a wireless communication device, a camera, sensors, a drive device that operates the vehicle's travel and lifting, etc. The base station's operating device is equipped with a handle, a lever, pedals, a control unit, a display unit, etc. For example, the display unit is provided with two display monitors, one of which displays an image of the area in front of the vehicle captured by a camera mounted on the forklift, and the other monitor displays information detected by the sensor, etc.

[0006] Incidentally, there is known a remote control system that, when remotely operating a forklift, can recognize the position of an object to be handled without losing sight of it, even if the object is stored in a storage section of a shelf (see Patent Document 2). In this remote control system, a first guide route that guides the horizontal position of the object to be handled is displayed horizontally on the image displayed on the display unit, and a second guide route that guides the vertical position of the object to be handled is displayed vertically on the image displayed on the display unit.

[0007] With this remote control system, the operator can recognize the position of the object to be loaded without losing sight of it. Since this remote control system performs multiple loading operations, the operator can perform the loading operations efficiently by recognizing the positions of the objects to be loaded in advance. However, since only the position of the object to be loaded next is displayed, the operator cannot recognize the position of the object to be loaded after that until the current loading operation is completed. Therefore, there is a demand for a remote control system that can perform loading operations more efficiently. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-11518 [Patent Document 2] Japanese Patent Application Publication No. 2023-85019 Summary of the Invention [Problem to be solved by the invention]

[0009] Therefore, an object of the present invention is to provide a remote operation system that can perform cargo handling more efficiently when remotely operating a forklift. [Means for solving the problem]

[0010] In order to solve the above problem, the present invention provides a remote control system for remotely operating a forklift, which includes a facility having shelves with multiple storage sections arranged vertically, and a forklift that travels and performs loading and unloading operations within the facility. The remote control system includes a camera mounted on the forklift, a display unit that displays images captured by the camera, and a loading object position identification unit that identifies the positions of the first loading object, which is the object to be loaded next, and the second loading object, which is the object to be loaded after that. The remote control system also includes a first guidance route display unit that displays a first guidance route for guiding the horizontal position of the first loading object in the horizontal direction on the image displayed on the display unit, a second guidance route display unit that displays a second guidance route for guiding the vertical position of the first loading object in the vertical direction on the image displayed on the display unit, a third guidance route display unit that displays a third guidance route for guiding the horizontal position of the second loading object in the horizontal direction on the image displayed on the display unit, and a fourth guidance route display unit that displays a fourth guidance route for guiding the vertical position of the second loading object in the vertical direction on the image displayed on the display unit.

[0011] Preferably, The second to fourth guide route display units display the second to fourth guide routes when the forklift enters an approach area within a predetermined range from the first handling object.

[0012] Preferably, The approach area is made up of first to third approach areas, the first access area is located away from the first object; The second approach area is located closer to the first object than the first approach area; The third approach area is located closer to the first object than the second approach area, the second guide route display unit displays the second guide route when the forklift enters inside the first approach area; the third guide route display unit displays the third guide route when the forklift enters inside the second approach area, The fourth guide route display unit displays the fourth guide route when the forklift enters inside the third approach area.

[0013] Preferably, The second and fourth guide route display unit determines the second and fourth guide routes to be displayed on the display unit from among a plurality of types of second and fourth guide routes according to the vertical position of the object to be loaded.

[0014] Preferably, The plurality of types of second and fourth guidance routes are made up of different shapes, patterns, and colors, or a combination thereof.

[0015] Preferably, the first and third guide route display units display the first and third guide routes extending horizontally on the image; The second and fourth guide route display sections display the second and fourth guide routes that extend vertically on the image from the ends of the first and third guide routes.

[0016] Preferably, A passageway is formed between adjacent shelves in the facility for forklifts to travel and perform loading and unloading operations, The first to fourth guide route display units display the first to fourth guide routes on the passage in the image.

[0017] Preferably, The first to fourth guide route display units display first to fourth guide routes each having a width corresponding to the width of a forklift. [Effects of the Invention]

[0018] According to the remote control system of the present invention, when remotely operating a forklift, not only the position of the next object to be loaded is displayed, but also the position of the object to be loaded after that, thereby enabling more efficient loading and unloading. [Brief explanation of the drawings]

[0019] [Figure 1]FIG. 1 is a plan view showing a remote control system according to a first embodiment. [Figure 2] FIG. [Figure 3] FIG. 1 is a block diagram showing the configuration of a forklift. [Figure 4] FIG. 2 is a block diagram showing the configuration of an operation device. [Figure 5] FIG. 2 is a flowchart showing a control flow of the remote control system according to the first embodiment. [Figure 6] FIG. 10 is an image diagram of the display unit displaying the first recommended route in the first embodiment. [Figure 7] FIG. 10 is an image diagram of the display unit displaying first to fourth recommended routes in the first embodiment. [Figure 8] FIG. 10 is a plan view showing a remote control system according to a second embodiment. [Figure 9] FIG. 10 is a flowchart showing a control flow of the remote control system according to the second embodiment. [Figure 10] FIG. 10 is an image diagram of a display unit displaying first and second guide routes according to a second embodiment. [Figure 11] FIG. 10 is an image diagram of a display unit displaying first to third recommended routes according to the second embodiment. [Figure 12] FIG. 10 is an image diagram of a display unit displaying first to fourth recommended routes according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a remote control system according to the present invention will be described with reference to the drawings.

[0021] First Embodiment A first embodiment of the remote control system will be described.

[0022] [Remote control system] 1, the remote operation system includes a forklift 1 for traveling and performing loading and unloading operations in a facility 100. The remote operation system also includes a base station 200 installed in a remote location away from the facility 100. The base station 200 is equipped with an operation device 2, and an operator can use the operation device 2 to remotely operate a specific forklift 1.

[0023] In this embodiment, the facility 100 is a warehouse, but it may also be a factory or the like. Also, in this embodiment, the forklift 1 is a reach forklift, but it may also be a counterbalance forklift or the like. For example, an operator can operate the forklift 1 from a remote base station 200 to load and unload tanks filled with gases that are harmful to humans or explosives that explode if dropped in the facility 100.

[0024] A plurality of shelves 102 are installed within the facility 100. A plurality of objects (baggage) are placed on the shelves 102, and a forklift 1 travels within the facility 100 to perform loading and unloading work of loading and unloading a predetermined object (baggage) from a predetermined shelf 102.

[0025] [forklift] As shown in Fig. 2, the forklift 1 includes a camera 10, a laser scanner 12, a drive unit 13, a control unit 14, a wireless communication unit 15, etc. As shown in Fig. 3, the control unit 14 includes an image processing unit 141, a forklift position acquisition unit 142, a drive control unit 143, etc. The control unit 14 is composed of a CPU (central processing unit), an input / output interface, a ROM, a RAM, etc., and stores programs for processing information. The camera 10, the laser scanner 12, the drive unit 13, and the wireless communication unit 15 are connected to the control unit 14.

[0026] The drive device 13 comprises a travel motor for driving drive wheels 16 provided at the rear of the vehicle body, and a plurality of hydraulic cylinders for raising and lowering, tilting, and moving forks 17 provided at the front of the vehicle body. An operation signal from the operation device 2 provided in the base station 200 is sent to the control unit 14 via the wireless communication unit 15, and this operation signal is processed by the drive control unit 143, and the drive device 13 for the travel motor and hydraulic cylinders is driven based on the operation of the operation device 2. As a result, the drive device 13, including the travel motor and hydraulic cylinders, is driven in conjunction with the operation of the operation device 2 by the operator, allowing the forklift 1 to be operated.

[0027] The camera 10 is positioned at eye level of the operator who is on board and operating the forklift 1, and is configured to capture images of the area in front of the forklift 1 from the operator's eye level. The camera 10 is equipped with, for example, a CCD image sensor or a C-MOS image sensor. Images captured by the camera 10 are processed by the image processing unit 141 of the control unit 14 and displayed on the display unit 20 (FIG. 4) provided on the operation device 2. This allows the operator who remotely operates the forklift 1 using the operation device 2 at the base station 200 to check the area in front of the forklift 1 from the same eye level as when operating the forklift 1 from the operator's seat.

[0028] The forklift 1 is equipped with a laser scanner 12, and multiple reflectors 101 are installed within the facility 100. The laser scanner 12 transmits and receives laser light to and from the reflectors 101 while rotating horizontally 360 degrees. As a result, the forklift 1 can recognize the multiple reflectors 101 arranged along its travel path within the facility 100 using the laser scanner 12. The reflectors 101 are fixed to walls and shelves 102 within the facility 100, and their position information is stored on a map in the forklift position acquisition unit 142 of the control unit 14. By recognizing the multiple reflectors 101 with the laser scanner 12, the forklift 1 can have the forklift position acquisition unit 142 measure and acquire the position coordinates of the forklift 1 based on the principle of triangulation.

[0029] [Operation device] 4, the operation device 2 includes a display unit 20, an operation unit 21, a control unit 23, a wireless communication unit 24, etc. The control unit 23 includes an image processing unit 231, a loading object determination unit 232, a loading object position identification unit 233, a first guide route display unit 234, a second guide route display unit 235, a third guide route display unit 237, a fourth guide route display unit 238, a facility environment storage unit 236, etc. The control unit 23 is composed of a CPU (Central Processing Unit), an input / output interface, a ROM, a RAM, etc., and stores programs for processing information. The display unit 20, the operation unit 21, and the wireless communication unit 24 are connected to the control unit 23.

[0030] The display unit 20 consists of, for example, two display monitors, one of which displays an image of the front of the vehicle captured by the camera 10 mounted on the forklift 1, and the other of which displays information detected by various sensors and information necessary for operation.

[0031] The operation unit 21 is equipped with a handle, levers, pedals, etc., and allows the operator to operate the forklift 1 in the same manner as if he or she were actually riding on the forklift 1. Operation signals from the operation unit 21 are transmitted by the wireless communication unit 24 via the control unit 23 and received by the wireless communication unit 15 of the forklift 1. Then, by the operator operating the handle, levers, etc. of the operation unit 21, the drive unit 13, etc. of the forklift 1 can be remotely operated, as described above.

[0032] The handling object determination unit 232 stores a plurality of objects (baggage) placed in the facility 100, and sequentially determines an object (first handling object) 110 to be handled next by the forklift 1 and an object (second handling object) 111 to be handled after that by the forklift 1, based on the handling status, shipping time, arrival time, and storage time of each object (baggage) using a program, machine learning, or the like. In this manner, the objects (baggage) to be handled by the forklift 1 can be sequentially determined as the first handling object 110 and the second handling object 111. For example, a schedule may be set and stored in advance as a program, and the first and second handling objects 110 and 111 to be received are determined at the arrival time, and the first and second handling objects 110 and 111 to be shipped are determined at the shipping time. Alternatively, the first and second handling objects 110 and 111 may be sequentially determined based on the handling status of other forklifts.

[0033] The handling object position specifying unit 233 stores the position of each object (baggage), and when the first and second handling objects 110, 111 are determined by the handling object determining unit 232, the positions of the first and second handling objects 110, 111 are specified. Because the objects (baggage) are stored on a shelf 102 having multiple storage levels in the vertical direction, the positions of the first and second handling objects 110, 111 are specified by horizontal coordinates (XY coordinates) and vertical coordinates (Z coordinates).

[0034] The first guide route display unit 234 is configured to display, by a stored program, a first guide route GR1 for guiding the user to the horizontal position of the first handling object 110 in the horizontal direction (XY direction) on the image displayed on the display unit 20. The second guide route display unit 235 is configured to display, by a stored program, a second guide route GR2 for guiding the user to the vertical position of the first handling object 110 in the vertical direction (Z direction) on the image displayed on the display unit 20.

[0035] The third guidance route display unit 237 is configured to display, by a stored program, a third guidance route GR3 for guiding the user to the horizontal position of the second handling object 111 in the horizontal direction (XY direction) on the image displayed on the display unit 20. The fourth guidance route display unit 238 is configured to display, by a stored program, a fourth guidance route GR4 for guiding the user to the vertical position of the second handling object 111 in the vertical direction (Z direction) on the image displayed on the display unit 20.

[0036] 6 and 7, in this embodiment, the first to fourth guide route display units 234, 235, 237, 238 display the first to fourth guide routes GR1, GR2, GR3, GR4, each having a width corresponding to the width of the forklift 1. This allows the operator to intuitively imagine the actual travel route of the forklift 1 and the route for raising and lowering the forks 17.

[0037] The facility environment storage unit 236 stores the horizontal position of the walls of the facility 100, and the horizontal and vertical positions of the shelves 102 and their respective storage units. In this embodiment, as shown in FIG. 1, an aisle 103 is formed between adjacent shelves 102 along which the forklift 1 travels and performs loading and unloading operations. Therefore, the facility environment storage unit 236 stores the horizontal position of the aisle 103. The forklift 1 can travel along the aisle 103 to a desired position on the shelf 102 and can load and unload the first and second objects 110 and 111 onto the shelf 102. Therefore, the first to fourth guide route display units 234, 235, 237, and 238 display the first to fourth guide routes GR1, GR2, GR3, and GR4 on the aisle 103 displayed on the image on the display unit 20. This allows the operator to appropriately operate the forklift 1 traveling along the aisle 103 and performing loading and unloading operations, even remotely.

[0038] The first to fourth guide route display units 234, 235, 237, and 238 are configured to set an approach area AR (FIG. 1) on the aisle 103 within a predetermined range from the first handling object 110. That is, the approach area AR is set on the aisle 103 through which the forklift 1 passes when traveling toward the first handling object 110. The second to fourth guide route display units 235, 237, and 238 are configured to display the second to fourth guide routes GR2, GR3, and GR4 when the forklift 1 enters the approach area AR of the first handling object 110.

[0039] Therefore, as shown in Fig. 6, when the forklift 1 is away from the first handling object 110, the second to fourth guidance routes GR2, GR3, GR4 are not displayed on the display unit 20, and the first guidance route GR1 is displayed, and as shown in Fig. 7, when the forklift 1 approaches the handling object 110, the second to fourth guidance routes GR2, GR3, GR4 are displayed on the display unit 20. This allows the operator to intuitively recognize that the forklift 1 is approaching the first handling object 110, as the second to fourth guidance routes GR2, GR3, GR4 are displayed on the display unit 20.

[0040] Furthermore, since the third and fourth guide routes GR3 and GR4 are displayed on the display unit 20, the operator can intuitively recognize the position and distance to the second object 111 that is to be loaded next, and therefore can take action to load the second object 111 immediately after loading of the first object 110 is completed.

[0041] 6 and 7, the first guide route display unit 234 displays the first guide route GR1 extending horizontally to the first handling object 110, and the second guide route display unit 235 displays the second guide route GR2 extending vertically from the end E1 of the first guide route GR1. The third guide route display unit 237 displays the third guide route GR3 extending horizontally to the second handling object 111, and the fourth guide route display unit 238 displays the fourth guide route GR4 extending vertically from the end E2 of the fourth guide route GR4.

[0042] Furthermore, the second and fourth guide route display units 235, 238 are configured to display an arrow A pointing to the right or left on the second and fourth guide routes GR2, GR4, and indicate the shelf 102 on which the first and second handling objects 110, 111 are stored. This allows the operator to intuitively recognize that the first and second handling objects 110, 111 are located at the ends E1, E2 of the first and third guide routes GR1, GR3, and at positions vertical to the second and fourth guide routes GR2, GR4.

[0043] Furthermore, the second and fourth guide route display units 235, 238 store a plurality of types of second and fourth guide routes GR2, GR4. For example, in the case of a shelf 102 having three storage sections as in this embodiment, the second and fourth guide routes GR2, GR4 that extend vertically to the height of the first shelf of the shelf 102, the second and fourth guide routes GR2, GR4 that extend vertically to the height of the second shelf, and the second and fourth guide routes GR2, GR4 that extend vertically to the height of the third shelf are stored. Then, the second and fourth guide route display units 235, 238 determine the second and fourth guide routes GR2, GR4 to be displayed on the display unit 20 from a plurality of types of second and fourth guide routes GR2, GR4 according to the vertical positions of the first and second handling objects 110, 111. For example, when the first and second objects to be handled 110, 111 are stored in the first storage section of the shelf 102, the second and fourth guide routes GR2, GR4 are displayed, extending vertically up to the height of the first section of the shelf 102. When the first object to be handled 110 is stored in the third storage section of the shelf 102, as shown in Fig. 7, the second guide route GR2 is displayed, extending vertically up to the height of the third section of the shelf 102. When the second object to be handled 111 is stored in the second storage section of the shelf 102, the fourth guide route GR4 is displayed, extending vertically up to the height of the second section of the shelf 102. This allows the operator to intuitively and easily recognize in which storage section of the shelf 102 the first and second objects to be handled 110, 111 are stored by checking the second and fourth guide routes GR2, GR4.

[0044] The second and fourth guide routes GR2 and GR4 may have different shapes, patterns, and / or colors. For example, the second and fourth guide routes GR2 and GR4 may be displayed with the words "first level," "second level," and "third level," or may be displayed with one, two, or three upward-pointing arrows. Alternatively, the second and fourth guide routes GR2 and GR4 may have different shapes, patterns, and / or colors depending on the height of the storage section on the shelf 102 where the first and second objects 110 and 111 are stored. This allows the operator to intuitively recognize in which storage section on the shelf 102 the first and second objects 110 and 111 are stored by checking the second and fourth guide routes GR2 and GR4.

[0045] With the first and second guide routes GR1 and GR2, when the operator drives the forklift 1 to the first loading object 110, he drives and stops along the first guide route GR1 displayed on the display unit 20, and then when the operator drives the forklift 1 to load and unload the loading object 110, he raises and lowers the forks 17 along the second guide route GR2 and stops the forklift 1 to load and unload the loading object 110, so that the operator can intuitively and easily operate the forklift 1 without losing sight of the loading object 110.

[0046] Furthermore, since the third and fourth guidance routes GR3 and GR4 are displayed on the display unit 20, the operator can intuitively recognize the location of the second loading object 111, and therefore can take action to load the second loading object 111 immediately after loading of the first loading object 110 is completed.

[0047] [Control Flow] The control flow performed by the control units 14 and 23 in the remote control system will be described with reference to FIG.

[0048] The forklift position acquisition unit 142 constantly measures and acquires the absolute coordinates (Fx, Fy) of the forklift 1 (step S11). The display unit 20 constantly displays an image captured by the camera 10. The operator remotely controls the forklift 1 using the operation unit 21 based on the image displayed on the display unit 20.

[0049] The handling object determination unit 232 stores a plurality of objects (baggage), and sequentially determines the object (first handling object) 110 to be handled next by the forklift 1 and the object (second handling object) 111 to be handled next, based on a program or the like (step S12). Then, the handling object position identification unit 233 identifies the positions of the first and second handling objects 110, 111 (step S13).

[0050] The first guide route display unit 234 displays the first guide route GR1 to the first handling object 110 on the aisle 103 on the screen of the display unit 20 (step S14). Then, the operator operates the forklift 1 to travel along the first guide route GR1. In addition, the second to fourth guide route display units 235, 237, 238 determine whether the forklift 1 has entered the approach area AR (step S15).

[0051] Then, when the forklift 1 approaches the first loading object 110 and the second to fourth guidance route display units 235, 237, 238 determine that the forklift 1 has entered the approach area AR (step S15), the second to fourth guidance routes GR2, GR3, GR4 are displayed on the aisle 103 on the screen of the display unit 20 (step S16).

[0052] Then, the operator uses an end button (not shown) or the like provided on the operating device 2 to notify the second guidance route display unit 235 of the completion of loading of the first loading object 110, so that the second guidance route GR2 is hidden from the screen of the display unit 20.

[0053] By displaying the second guide route GR2 on the display unit 20, the operator can recognize the vertical position of the first object 110 to be handled next, and can load (unload) the first object 110 with the forklift 1. In addition, by displaying the third and fourth guide routes GR3 and GR4 on the display unit 20, the operator can recognize the horizontal and vertical positions of the second object 111 to be handled next, and can intuitively recognize the position to the second object 111, so that after handling of the first object 110 is completed, the operator can immediately take action to handle the second object 111.

[0054] Second Embodiment A second embodiment of the remote control system will be described. Note that parts that overlap with the first embodiment may be omitted to avoid redundant explanation.

[0055] [Operation device] 8, the approach area AR is made up of first to third approach areas AR1, AR2, and AR3. The first approach area AR1 is located away from the first object 110. The second approach area AR2 is located closer to the first object 110 than the first approach area AR1. The third approach area AR3 is located closer to the first object 110 than the second approach area AR2. In other words, the first approach area AR1, the second approach area AR2, and the third approach area AR3 are located in order of distance from the first object 110, and the forklift 1 approaches the first object 110 by passing through the first approach area AR1, the second approach area AR2, and the third approach area AR3 in that order.

[0056] As shown in Fig. 10, the second guide route display unit 235 displays the second guide route GR2 when the forklift 1 enters the inside of the first approach area AR1. Furthermore, as shown in Fig. 11, the third guide route display unit 237 displays the third guide route GR3 when the forklift 1 enters the inside of the second approach area AR2. Furthermore, as shown in Fig. 12, the fourth guide route display unit 238 displays the fourth guide route GR3 when the forklift 1 enters the inside of the third approach area AR3.

[0057] [Control Flow] The control flow performed by the control units 14 and 23 in the remote control system will be described with reference to FIG.

[0058] The forklift position acquisition unit 142 constantly measures and acquires the absolute coordinates (Fx, Fy) of the forklift 1 (step S21). A plurality of objects (baggage) are stored in the handling object determination unit 232, and based on a program or the like, the object (first handling object) 110 to be handled next by the forklift 1 and the object (second handling object) 111 to be handled next are sequentially determined (step S22). Then, the handling object position identification unit 233 identifies the positions of the first and second handling objects 110, 111 (step S23).

[0059] The first guide route display unit 234 displays the first guide route GR1 to the first handling object 110 on the aisle 103 on the screen of the display unit 20 (step S24). Then, the operator operates the forklift 1 to travel along the first guide route GR1. The second to fourth guide route display units 235, 237, 238 also determine whether the forklift 1 has entered inside the first to third approach areas AR1, AR2, AR3 (steps S25, S27, S29).

[0060] Then, when the forklift 1 approaches the first loading object 110 and the second to fourth guide route display units 235, 237, 238 determine that the forklift 1 has entered the inside of the first approach area AR1 (step S25), the second guide route GR2 is displayed on the aisle 103 on the screen of the display unit 20 (step S26).

[0061] Furthermore, when the forklift 1 approaches the first loading object 110 and the second to fourth guide route display units 235, 237, 238 determine that the forklift 1 has entered the inside of the second approach area AR2 (step S27), the third guide route GR3 is displayed on the aisle 103 on the screen of the display unit 20 (step S28).

[0062] Furthermore, when the forklift 1 approaches the first loading object 110 and the second to fourth guide route display units 235, 237, 238 determine that the forklift 1 has entered the inside of the third approach area AR3 (step S29), the fourth guide route GR4 is displayed on the aisle 103 on the screen of the display unit 20 (step S30).

[0063] By displaying the second guidance route GR2, the third guidance route GR3, and the fourth guidance route GR4 in order on the screen of the display unit 20, the operator can quickly and easily understand the order in which to operate to perform loading and unloading on the first and second loading objects 110, 111.

[0064] Furthermore, when the third and fourth guide routes GR3, GR4 are displayed on the screen of the display unit 20 when the forklift 1 is away from the first handling object 110, the second to fourth guide routes GR2, GR3, GR4 are displayed overlapping each other at an early stage, which may cause the operator to mistakenly recognize the fourth guide route GR4 as the location of the first handling object 110 or become confused about the location of the first handling object 110. However, by displaying the third and fourth guide routes GR3, GR4 only after the forklift 1 has come sufficiently close to the first handling object 110, it is possible to prevent the operator from misrecognizing or becoming confused about the first handling object 110. For this reason, the first to third approach areas AR1, AR2, AR3 are set so that the third guide route GR3 is displayed after the second guide route GR2 is displayed, and the fourth guide route GR4 is displayed after the third guide route GR3 is displayed.

[0065] Although the preferred embodiments of the present invention have been described above, the configuration of the present invention is not limited to these embodiments. For example, the following modifications are possible. In the above embodiment, the first to fourth guidance routes GR1, GR2, GR3, and GR4 are in the shape of a band with a width corresponding to the width W of the forklift 1, but they may also be arrows, lines that flash at regular intervals, thin lines, etc. Since there may be cases where the passage 103 does not exist, the approach area AR only needs to be set on the floor surface of the facility 100 and does not need to be set on the passage 103. In this embodiment, the first and second handling objects 110, 111 are determined by the handling object determination unit 232, but the first and second handling objects 110, 111 may also be determined by the operator specifying the first and second handling objects 110, 111 displayed on the display unit 20 using a mouse, touch panel, etc.

[0066] The effects of the present invention will be described.

[0067] The present invention provides a remote control system for remotely operating a forklift 1, the remote control system including a facility 100 having shelves 102 with multiple storage compartments arranged vertically, and a forklift 1 that travels and performs loading and unloading operations within the facility 100. The remote control system also includes a camera 10 mounted on the forklift 1 and a display unit 20 that displays an image captured by the camera 10. The remote control system also includes a loading object position identifying unit 233 that identifies the positions of a first loading object 110, which is the object to be loaded next, and a second loading object 111, which is the object to be loaded after that. The remote control system also includes a first guide route display unit 234 that is configured to display a first guide route GR1 in the horizontal direction on the image displayed on the display unit 20 to guide the horizontal position of the first loading object 110. The remote operation system further includes a second guide route display unit 235, which is configured to display a second guide route GR2 for guiding the vertical position of the first object 110 in the vertical direction on the image displayed on the display unit 20. The remote operation system further includes a third guide route display unit 237, which is configured to display a third guide route GR3 for guiding the horizontal position of the second object 111 in the horizontal direction on the image displayed on the display unit 20. The remote operation system further includes a fourth guide route display unit 238, which is configured to display a fourth guide route GR4 for guiding the vertical position of the second object 111 in the vertical direction on the image displayed on the display unit 20.

[0068] The operator can remotely operate the forklift 1 based on the image displayed on the display unit 20. The operator can drive the forklift 1 to the first object 110 and stop it along the first guide route GR1 displayed on the image on the display unit 20. The operator can raise, lower, and stop the forks 17 along the second guide route GR2 displayed on the image on the display unit 20, so that the operator can recognize the position of the first object 110 without losing sight of it.

[0069] Furthermore, since the third and fourth guidance routes GR3 and GR4 are displayed on the display unit 20, the operator can intuitively recognize the location of the second loading object 111, and therefore can take action to load the second loading object 111 immediately after loading of the first loading object 110 is completed.

[0070] The second to fourth guide route display units 235, 237, 238 are configured to display the second to fourth guide routes GR2, GR3, GR4 when the forklift 1 enters the approach area AR within a predetermined range from the first handling object 110.

[0071] Therefore, when the forklift 1 is away from the first handling object 110, the second to fourth guidance routes GR2, GR3, GR4 are not displayed on the display unit 20, and when the forklift 1 approaches the handling object 110, the second to fourth guidance routes GR2, GR3, GR4 are displayed on the display unit. As a result, the operator can intuitively recognize that the forklift 1 is approaching the first handling object 110 by seeing the second to fourth guidance routes GR2, GR3, GR4 displayed on the display unit 20.

[0072] The approach area AR is made up of first to third approach areas AR1, AR2, and AR3. The first approach area AR1 is located away from the first handling object 110, the second approach area AR2 is located closer to the first handling object 110 than the first approach area AR1, and the third approach area AR3 is located closer to the first handling object 110 than the second approach area AR2. The second guide route display unit 235 displays the second guide route GR2 when the forklift 1 enters inside the first approach area AR1. The third guide route display unit 237 displays the third guide route GR3 when the forklift 1 enters inside the second approach area AR2. Furthermore, the fourth guide route display unit 238 displays the fourth guide route GR4 when the forklift 1 enters inside the third approach area AR3.

[0073] Therefore, by displaying the second guidance route GR2, the third guidance route GR3, and the fourth guidance route GR4 in order on the screen of the display unit 20, the operator can quickly and easily understand the order in which to operate to perform loading and unloading on the first and second loading objects 110, 111.

[0074] Furthermore, when the third and fourth guide routes GR3, GR4 are displayed on the screen of the display unit 20 when the forklift 1 is away from the first handling object 110, the second to fourth guide routes GR2, GR3, GR4 are displayed overlapping each other at an early stage, which may cause the operator to mistakenly recognize the fourth guide route GR4 as the location of the first handling object 110 or become confused about the location of the first handling object 110. However, by displaying the third and fourth guide routes GR3, GR4 only after the forklift 1 has come sufficiently close to the first handling object 110, it is possible to prevent the operator from misunderstanding or becoming confused about the location of the first handling object 110. For this reason, the first to third approach areas AR1, AR2, AR3 are set so that the third guide route GR3 is displayed after the second guide route GR2 is displayed, and the fourth guide route GR4 is displayed after the third guide route GR3 is displayed.

[0075] In addition, the second and fourth guidance route display units 235, 238 are configured to determine the second and fourth guidance routes GR2, GR4 to be displayed on the display unit 20 from among multiple types of second and fourth guidance routes GR2, GR4 depending on the vertical positions of the first and second loading objects 110, 111.

[0076] The second and fourth guide routes GR2 and GR4 of a plurality of types may be made up of different shapes, patterns, and colors, or a combination thereof.

[0077] This allows the operator to intuitively and easily recognize in which storage section on the shelf 102 the first and second loading objects 110, 111 are stored by checking the second and fourth guide routes GR2, GR4.

[0078] In addition, the first and third guide route display units 234, 237 are configured to display the first and third guide routes GR1, GR3 extending horizontally on the image displayed on the display unit 20, and the second and fourth guide route display units 235, 238 are configured to display the second and fourth guide routes GR2, GR4 extending vertically on the image from the ends E1, E2 of the first and third guide routes GR1, GR3.

[0079] This allows the operator to intuitively recognize that the first and second loading objects 110, 111 are located at the ends E1, E2 of the first and third guide routes GR1, GR3, and at the vertical positions of the second and fourth guide routes GR2, GR4.

[0080] In addition, an aisle 103 is formed between adjacent shelves 102 in the facility 100 for the forklift 1 to travel and perform loading and unloading operations, and the first to fourth guide route display units 234, 235, 237, and 238 are configured to display the first to fourth guide routes GR1, GR2, GR3, and GR4 on the aisle 103 in the image.

[0081] By setting the aisle 103 in the facility 100, the forklift 1 travels along the aisle 103 to a desired position on the shelf 102 and loads and unloads the first and second objects 110, 111 onto the shelf 102 on the aisle 103. Therefore, the first to fourth guide route display units 234, 235, 237, 238 display the first to fourth guide routes GR1, GR2, GR3, GR4 on the aisle 103 displayed on the image on the display unit 20, so that the operator can appropriately operate the forklift 1 traveling and performing loading and unloading operations on the aisle 103 even from a remote location.

[0082] Moreover, the first to fourth guide route display units 234, 235, 237, 238 are preferably configured to display the first to fourth guide routes GR1, GR2, GR3, GR4 having widths corresponding to the width of the forklift 1.

[0083] This allows the operator to intuitively imagine the actual travel route of the forklift 1 and the actual lifting and lowering route of the forks 17 by using the first to fourth guide routes GR1, GR2, GR3, GR4 displayed on the image of the display unit 20. [Explanation of symbols]

[0084] 1 forklift 10 Camera 14 Control Unit 141 Image processing section 142 Forklift position acquisition unit 2 Control device 20 Display section 21 Control section 23 Control Unit 231 Image Processing Unit 232 Loading object determination unit 233 Loading object position identification unit 234 First guidance route display section 235 Second guidance route display section 237 Third guidance route display section 238 4th guidance route display section 100 facilities 102 Shelf Aisle 103 110 First cargo handling object 111 Second cargo handling object AR approach area AR1 1st approach area AR2 2nd approach area AR3 3rd approach area GR1 1st Guided Route GR2 Second Guided Route GR3 3rd Guided Route GR4 4th Guided Route E1 End of the first guide route E2 End of the second guide route

Claims

1. A remote control system includes a facility in which shelves each having a plurality of storage compartments are installed vertically, and a forklift that travels and performs loading and unloading operations within the facility, and the system remotely controls the forklift, a camera provided on the forklift; a display unit that displays an image captured by the camera; a loading object position specifying unit that specifies the positions of a first loading object that is the object to be loaded next and a second loading object that is the object to be loaded after that; a first guidance route display unit that displays a first guidance route for guiding the horizontal position of the first handling object in the horizontal direction on the image displayed on the display unit; a second guidance route display unit that displays a second guidance route for guiding the vertical position of the first handling object in a vertical direction on the image displayed on the display unit; a third guidance route display unit that displays a third guidance route for guiding the horizontal position of the second handling object in the horizontal direction on the image displayed on the display unit; a fourth guidance route display unit that displays a fourth guidance route for guiding the vertical position of the second handling object in the vertical direction on the image displayed on the display unit; Equipped with A remote control system characterized by:

2. The second to fourth guide route display units display the second to fourth guide routes when the forklift enters an approach area within a predetermined range from the first object.

2. The remote control system according to claim 1.

3. The approach area is made up of first to third approach areas, The first access area is located away from the first object, the second access area is disposed closer to the first object than the first access area, the third approach area is disposed closer to the first object than the second approach area, the second guide route display unit displays the second guide route when the forklift enters inside the first approach area, the third guide route display unit displays the third guide route when the forklift enters inside the second approach area, The fourth guide route display unit displays the fourth guide route when the forklift enters inside the third approach area.

3. The remote control system according to claim 2.

4. The second and fourth guide route display units determine the second and fourth guide routes to be displayed on the display units from among a plurality of types of the second and fourth guide routes according to the vertical position of the object to be loaded.

2. The remote control system according to claim 1.

5. The plurality of types of second and fourth guidance routes are made up of different shapes, patterns, and colors, or a combination thereof.

5. The remote control system according to claim 4.

6. the first and third guide route display units display the first and third guide routes extending in a horizontal direction on the image, The second and fourth guide route display units display the second and fourth guide routes extending vertically on the image from the ends of the first and third guide routes.

2. The remote control system according to claim 1.

7. an aisle is formed between adjacent shelves in the facility for the forklift to travel and perform loading and unloading operations; The first to fourth guide route display units display the first to fourth guide routes on the passage in the image.

2. The remote control system according to claim 1.

8. The first to fourth guide route display units display the first to fourth guide routes each having a width corresponding to the width of the forklift.

2. The remote control system according to claim 1.

Images