Operation support system for cargo handling vehicles

Abstract

To provide a cargo handling vehicle operation support system, a cargo handling vehicle, a remote control device, and a cargo handling vehicle operation support program that can improve work efficiency.SOLUTION: An operation support system 40 for a cargo handling vehicle 10 comprises first and second arms, at least one of which is movable, and a clamp part 16 that clamps a workpiece with both arms. The cargo handling vehicle comprises an imaging unit 41 for imaging the front of the cargo handling vehicle, a display screen 42, and a display control unit 43 for controlling the display screen. The display control unit creates a guide video in which a guide display for guiding a clamp position of the first arm with respect to the workpiece is superimposed and displayed with respect to a video captured by the imaging unit, and displays the guide video on the display screen.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an operation support system for a cargo handling vehicle. To Regarding. [Background technology]

[0002] Patent Document 1 describes a loading vehicle equipped with a clamping device that clamps a workpiece. The clamping device of Patent Document 1 includes a first arm and a second arm, and clamps the workpiece by pinching it between the tip of the first arm and the tip of the second arm. Patent Document 1 also describes determining whether the clamping position of the arm relative to the workpiece is appropriate after the workpiece has been clamped. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-231308 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a configuration in which the clamping position of the arm relative to the workpiece is judged to be appropriate after the workpiece is clamped, if the clamping position is not appropriate, the worker operates the loading vehicle to clamp the workpiece again. In this way, it is necessary to repeat the clamping until the clamping position is appropriate, which is time-consuming.

[0005] The object of the present invention is to provide an operation support system for a cargo handling vehicle that can improve work efficiency. M The purpose is to provide. [Means for solving the problem]

[0006] An operation support system for a loading vehicle that solves the above-mentioned problems is an operation support system for a loading vehicle equipped with a first arm and a second arm, at least one of which is movable, and a clamping unit that clamps a workpiece with both arms, the system being provided on the loading vehicle and comprising an imaging unit that images the area in front of the loading vehicle, a display screen, and a display control unit that controls the display screen, the display control unit creating a guide image in which a guide display for guiding the clamping position of the first arm relative to the workpiece is superimposed on the image captured by the imaging unit, and displaying the guide image on the display screen. The first arm has a pad at its tip that contacts the workpiece, and the guide display includes an arm display showing the position of the pad. The first arm and the second arm face each other, and the pad has a shape with a predetermined width whose longitudinal direction is perpendicular to both the opposing direction of the first arm and the second arm and the front-rear direction of the loading vehicle, and the arm display extends linearly in the longitudinal direction in the guide image.

[0007] According to the above configuration, the worker can grasp the appropriate clamping position of the first arm relative to the workpiece through the guide display. The worker can align the first arm with the appropriate clamping position by operating the loading vehicle while watching the guide image. This allows the worker to appropriately clamp the workpiece with the clamp unit. Therefore, work efficiency is improved.

[0009] According to the above configuration, the arm display makes it easy for the worker to grasp the position of the pad. The worker can align the pad to an appropriate clamp position by operating the loading vehicle while looking at the arm display.

[0011] According to the above configuration, the worker can easily visually recognize the arm indication, for example, compared to when the arm indication is dot-shaped. Also, when clamping the work by aligning the direction in which the edge of the workpiece extends with the longitudinal direction of the pad, the positioning is performed so that the linear arm indication and the edge overlap. In this case, it is easy to align the first arm to the appropriate clamping position.

[0012] In the above-mentioned loading vehicle operation support system, the loading vehicle may include a drive control unit that rotates the clamp unit, and the display control unit may rotate the arm display according to a rotation angle of the clamp unit.

[0013] According to the above configuration, the arm display makes it easy for the worker to grasp the rotation angle of the clamp unit. The worker can adjust the rotation angle of the clamp unit so that it is appropriate for the workpiece by operating the loading vehicle while watching the guide video.

[0014] In the above-mentioned cargo handling vehicle operation assistance system, the first arm may be a fixed arm whose position is fixed, and the second arm may be a rotatable movable arm. According to the above configuration, since the position of the first arm is fixed, the position of the first arm does not change unless the clamp part moves. Therefore, unless the clamp part moves, it is not necessary to change the position of the arm display according to the position of the first arm. Therefore, it is possible to simplify the arm display.

[0015] An operation support system for a loading vehicle that solves the above-mentioned problems is an operation support system for a loading vehicle equipped with a first arm and a second arm, at least one of which is movable, and a clamping unit that clamps a workpiece with both arms, the system being provided on the loading vehicle and comprising an imaging unit that images the area in front of the loading vehicle, a display screen, and a display control unit that controls the display screen, the display control unit creating a guide image in which a guide display for guiding the clamping position of the first arm relative to the workpiece is superimposed on the image captured by the imaging unit, and displaying the guide image on the display screen. The display control unit may include an edge detection unit that detects an edge of the workpiece from the image, and the guide display may include an edge display that indicates the position of the edge.

[0016] According to the above configuration, the edge display makes it easy for the worker to grasp the position of the edge of the workpiece. The worker can align the first arm to an appropriate clamping position by operating the loading vehicle so as to align the first arm with the edge display.

[0017] In the above-mentioned operation assistance system for a cargo handling vehicle, the edge display may be a straight line overlapping the edge detected by the edge detection unit. According to the above configuration, the operator can easily visually recognize the edge indication compared to when the edge indication is a dot, and therefore can easily align the first arm with an appropriate clamping position.

[0018] In the above-mentioned cargo handling vehicle operation assistance system, the workpiece may be a roll, and the clamp portion may clamp the roll. According to the above configuration, the worker can properly clamp the roll with the clamp portion. Effect of the Invention

[0023] According to the present invention, work efficiency can be improved. [Brief description of the drawings]

[0024] [Figure 1] 1 is a side view of a loading vehicle equipped with an operation support system. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 2 is a block diagram of a loading vehicle. [Diagram 5] FIG. 2 is a top view showing a loading vehicle in schematic form; [Figure 6] 13 is a flowchart of an operation assistance program. [Figure 7] FIG. [Figure 8] 13 is a diagram of a guide image when the clamp part is inclined with respect to the workpiece. FIG. [Figure 9] FIG. 8 is a diagram of a guide image when a loading vehicle approaches a workpiece more closely than FIG. 7. [Figure 10] FIG. 10 is a diagram of a guide image when a loading vehicle approaches a workpiece more closely than FIG. 9 . [Figure 11] FIG. 13 is a diagram of a guide image when the first arm comes into contact with the workpiece. [Figure 12] 1 is a block diagram of an operation support system including a cargo handling vehicle and a remote control device. [Figure 13] 13 is a diagram of a guide image showing a modified example of the guide display. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] First Embodiment First, a first embodiment will be described. This operation support system is applied to a cargo handling vehicle. In other words, this operation support system is an operation support system for a cargo handling vehicle. Therefore, first, the cargo handling vehicle to which this operation support system is applied will be described.

[0026] As shown in Fig. 1, in the first embodiment, the cargo handling vehicle 10 is a manned type that is operated by a worker riding on the vehicle. The cargo handling vehicle 10 transports the workpiece W by clamping the workpiece W. The workpiece W is, for example, a cylindrical roll. In the first embodiment, the workpiece W is a roll of paper, a drum can, or the like.

[0027] The loading vehicle 10 includes a vehicle body 11, front wheels 12, rear wheels 13, an operating unit 14, a mast 15, and a clamp unit 16. The vehicle body 11 has a driver's seat 17 for an operator to sit in.

[0028] The front wheels 12 and the rear wheels 13 are attached to the vehicle body 11. In the first embodiment, the front wheels 12 are driving wheels, and the rear wheels 13 are steering wheels. The operation unit 14 is attached to the vehicle body 11. The operation unit 14 is used by an operator to operate the loading vehicle 10. The operation unit 14 includes, for example, a handle, a lever, a button, and the like. The operator moves the vehicle body 11 and drives the clamp unit 16 by operating the operation unit 14.

[0029] The mast 15 is attached to the front of the vehicle body 11. The mast 15 has an outer mast 18 and an inner mast 19. The outer mast 18 extends vertically. The inner mast 19 is attached to the outer mast 18. The inner mast 19 is configured to move vertically relative to the outer mast 18.

[0030] The clamp unit 16 is attached to the mast 15. More specifically, the clamp unit 16 is attached to an inner mast 19. Therefore, the clamp unit 16 is movable up and down relative to the vehicle body 11, that is, it can be raised and lowered. In FIG. 1, the clamp unit 16 is located at the lowest position on the mast 15. In the first embodiment, unless otherwise specified, the clamp unit 16 will be described as being located at the lowest position on the mast 15.

[0031] As shown in FIGS. 2 and 3, the clamp unit 16 has a base 21, a support unit 22, a first arm 23, and a second arm 24. The base 21 is attached to the mast 15. More specifically, the base 21 is attached to the inner mast 19. In the first embodiment, the base 21 is rotatable relative to the inner mast 19 about a rotation axis A1 indicated by a dashed dotted line in FIG.

[0032] The clamp unit 16 can clamp not only a vertically placed workpiece W but also a horizontally placed workpiece W by rotating about the rotation axis A1. The workpiece W shown in FIG. 3 is vertically placed. In a vertically placed workpiece W, the axial direction of the workpiece W coincides with the vertical direction. In a horizontally placed workpiece W, the axial direction of the workpiece W coincides with the horizontal direction. In the first embodiment, it is assumed that the clamp unit 16 clamps a vertically placed workpiece W. Therefore, in the first embodiment, a case where a vertically placed workpiece W is clamped will be mainly described.

[0033] The support part 22 is attached to the base 21. The support part 22 supports a first arm 23 and a second arm 24. In detail, the first arm 23 and the second arm 24 are attached to both sides of the support part 22. The first arm 23 and the second arm 24 extend toward the front of the loading vehicle 10 while curving in directions away from the support part 22. The arms 23, 24 face each other, and a space is formed between them into which the workpiece W can be placed.

[0034] The first arm 23 and the second arm 24 are opened and closed by moving at least one of the first arm 23 and the second arm 24. That is, of the first arm 23 and the second arm 24, the first arm 23 may be movable, the second arm 24 may be movable, or both the first arm 23 and the second arm 24 may be movable.

[0035] The first arm 23 and the second arm 24 open and close, thereby changing the distance between the tip of the first arm 23 and the tip of the second arm 24. This allows the first arm 23 and the second arm 24 to sandwich the workpiece W. At this time, the tip of the first arm 23 and the tip of the second arm 24 come into contact with the peripheral surface of the workpiece W. The tip of the first arm 23 and the tip of the second arm 24 sandwich the workpiece W, causing the clamp unit 16 to clamp the workpiece W.

[0036] In the state shown in Figs. 2 and 3, the first arm 23 and the second arm 24 sandwich the vertically placed workpiece W between them. At this time, the first arm 23 and the second arm 24 are aligned side by side. That is, in the state shown in Figs. 2 and 3, the opposing direction of both arms 23, 24 coincides with the left-right direction of the loading vehicle 10. In the first embodiment, in the clamp unit 16, the first arm 23 is located on the left side, and the second arm 24 is located on the right side. In the first embodiment, for convenience of explanation, the state in which the first arm 23 and the second arm 24 are aligned side by side in the clamp unit 16, i.e., the state shown in Figs. 2 and 3, may be referred to as the normal state.

[0037] When the clamp unit 16 is rotated 90 degrees from the normal state around the rotation axis A1, the first arm 23 and the second arm 24 sandwich the horizontally placed workpiece W between the top and bottom. At this time, the first arm 23 and the second arm 24 are aligned vertically. In the first embodiment, in the clamp unit 16, the first arm 23 is located on the lower side, and the second arm 24 is located on the upper side.

[0038] In the first embodiment, the first arm 23 is a fixed arm whose position is fixed. The first arm 23 is fixed relative to the support portion 22. In the first embodiment, the second arm 24 is a rotatable movable arm. The second arm 24 is rotatable relative to the support portion 22. The second arm 24 moves toward and away from the first arm 23 by rotating.

[0039] In the first embodiment, the first arm 23 is a short arm that is shorter than the second arm 24. The first arm 23 has a first arm member 26, a first shaft 27, a first pad 28, and a first hinge 29. In the first embodiment, the first arm 23 has two each of the first arm members 26, the first shafts 27, and the first hinges 29, but may have only one each. The two each of the first arm members 26, the first shafts 27, and the first hinges 29 are arranged side by side in a direction perpendicular to both the front-rear direction of the cargo handling vehicle 10 and the opposing direction of both the arms 23, 24.

[0040] First arm member 26 is attached to support portion 22 via first shaft 27. More specifically, the base end of first arm member 26 is attached to support portion 22 via first shaft 27. A first pad 28 is attached to the tip of first arm member 26 via a first hinge 29. Therefore, first pad 28 is located at the tip of first arm 23. In other words, first pad 28 constitutes the tip of first arm 23.

[0041] The first pad 28 comes into contact with the peripheral surface of the workpiece W when the clamp unit 16 clamps the workpiece W. The first pad 28 is rotatable about the first hinge 29. Therefore, when the first pad 28 comes into contact with the peripheral surface of the workpiece W, it rotates in accordance with the shape of the workpiece W.

[0042] In the first embodiment, the first pad 28 has a predetermined width and is shaped to extend in the longitudinal direction. In detail, the first pad 28 is shaped like a long plate with a longitudinal direction perpendicular to both the front-rear direction of the loading vehicle 10 and the opposing direction of both arms 23, 24, and a width direction perpendicular to the longitudinal direction. When the clamping section 16 clamps the workpiece W on the left and right, that is, when the clamping section 16 clamps the workpiece W in the normal state, the first pad 28 is preferably disposed so that its longitudinal direction coincides with the vertical direction and its width direction coincides with the horizontal direction. The first hinge 29 is attached to the center of the first pad 28 in the width direction of the first pad 28.

[0043] In the first embodiment, the second arm 24 is a long arm that is longer than the first arm 23. However, the present invention is not limited to this, and the second arm 24 may be a short arm that is shorter than the first arm 23.

[0044] The second arm 24 has a second arm member 31, a second shaft 32, a second pad 33, and a second hinge 34. In the first embodiment, the second arm 24 has two each of the second arm members 31, the second shafts 32, and the second hinges 34, but may have only one each. The two second arm members 31, the two second shafts 32, and the two second hinges 34 are arranged side by side in a direction perpendicular to both the front-rear direction of the cargo handling vehicle 10 and the opposing direction of both the arms 23, 24.

[0045] The second arm member 31 is attached to the support portion 22 via the second shaft 32. More specifically, the base end of the second arm member 31 is attached to the support portion 22 via the second shaft 32. The second arm member 31 is rotatable about the second shaft 32. By rotating about the second shaft 32, the second arm member 31 moves toward or away from the first arm member 26.

[0046] A second pad 33 is attached to the tip of the second arm member 31 via a second hinge 34. Therefore, the second pad 33 is located at the tip of the second arm 24. In other words, the second pad 33 constitutes the tip of the second arm 24.

[0047] The second pad 33 comes into contact with the peripheral surface of the workpiece W when the clamp portion 16 clamps the workpiece W. The second pad 33 is rotatable about the second hinge 34. Therefore, when the second pad 33 comes into contact with the peripheral surface of the workpiece W, it rotates in accordance with the shape of the workpiece W.

[0048] In the first embodiment, the second pad 33 has the same shape as the first pad 28. That is, the second pad 33 has a long plate shape with a direction perpendicular to both the front-rear direction of the loading vehicle 10 and the opposing direction of both arms 23, 24 as the longitudinal direction and a direction perpendicular to the longitudinal direction as the width direction. When the clamp unit 16 clamps the workpiece W on the left and right, that is, when the clamp unit 16 clamps the workpiece W in the normal state, the second pad 33 is preferably disposed so that its longitudinal direction coincides with the vertical direction and its width direction coincides with the horizontal direction. The second hinge 34 is attached to the center of the second pad 33 in the width direction of the second pad 33.

[0049] When clamping the workpiece W with the clamp unit 16, the worker first moves the vehicle body 11 to bring the tip of the first arm 23 into contact with the peripheral surface of the workpiece W. Next, the worker rotates the second arm 24 to bring the tip of the second arm 24 into contact with the peripheral surface of the workpiece W. In this manner, the worker clamps the workpiece W with the clamp unit 16.

[0050] As shown in Fig. 4, the loading vehicle 10 includes a drive control unit 36. The drive control unit 36 ​​controls the clamp unit 16 based on the operation of the worker via the operation unit 14. That is, the drive control unit 36 ​​rotates the clamp unit 16 and pivots the second arm 24. The drive control unit 36 ​​may control not only the clamp unit 16 but also the front wheels 12 and the rear wheels 13. The drive control unit 36 ​​may control the mast 15. In this case, the drive control unit 36 ​​can raise and lower the clamp unit 16.

[0051] The drive control unit 36 ​​is a circuit including, for example, a CPU, a memory, etc. The drive control unit 36 ​​controls the rotation angle of the clamp unit 16 and the pivot angle of the second arm 24. Therefore, the drive control unit 36 ​​can obtain the rotation angle of the clamp unit 16 and the pivot angle of the second arm 24 from the clamp unit 16. When controlling the mast 15, the drive control unit 36 ​​can obtain the up-down position of the clamp unit 16 from the mast 15.

[0052] The operation support system 40 is a system that supports the operation of the cargo handling vehicle 10 in order to improve work efficiency. In the first embodiment, the cargo handling vehicle 10 is equipped with the operation support system 40. The operation support system 40 includes an imaging unit 41 , a display screen 42 , and a display control unit 43 .

[0053] As shown in Fig. 5, the imaging unit 41 captures an image in front of the loading vehicle 10. The imaging unit 41 is, for example, a camera. The imaging unit 41 is attached to a fixed position regardless of the rotation of the clamp unit 16, and is attached to, for example, the vehicle body 11 or the mast 15. In the first embodiment, the imaging unit 41 is attached to the outer mast 18. As a result, even if the clamp unit 16 rotates, the image captured by the imaging unit 41 does not rotate. The imaging unit 41 is connected to a display control unit 43.

[0054] In Fig. 5, two dashed dotted lines extending from the imaging unit 41 indicate the imaging range of the imaging unit 41. Therefore, the angle between the two dashed dotted lines in Fig. 5 is the angle of view of the imaging unit 41. In the first embodiment, the imaging unit 41 is attached at a position where it captures an image of the front of the loading vehicle 10 so that the tip of the first arm 23, i.e., the first pad 28, is captured when the clamp unit 16 is in the normal state.

[0055] In the first embodiment, when the clamp unit 16 is in the normal state, the imaging unit 41 captures an image of the front of the loading vehicle 10 such that the first pad 28 is located in the center of the imaging range. That is, when the clamp unit 16 is in the normal state, the tip of the first arm 23 is within the imaging range of the imaging unit 41. Note that when the clamp unit 16 rotates from the normal state or when the clamp unit 16 moves upward by the inner mast 19, the first pad 28 may move out of the imaging range of the imaging unit 41.

[0056] When a worker clamps the workpiece W with the clamp unit 16, the workpiece W is located in front of the loading vehicle 10. Therefore, at least a part of the workpiece W is within the imaging range of the imaging unit 41. In other words, the workpiece W is reflected in the image captured by the imaging unit 41.

[0057] 4, the display screen 42 is connected to the display control unit 43. The display screen 42 is, for example, a liquid crystal display. The display screen 42 is located at a position where the worker can view the display screen 42 while operating the cargo handling vehicle 10. The display screen 42 is attached to the vehicle body 11, for example.

[0058] The display control unit 43 controls the display screen 42. The display control unit 43 displays a guide video on the display screen 42. The guide video is created by the display control unit 43 based on the video captured by the imaging unit 41. The guide video will be described later. The display control unit 43 displays the guide video on the display screen 42, and the operation support system 40 supports the worker's operation.

[0059] The display control unit 43 is, for example, a circuit including a CPU, a memory, etc. The display control unit 43 stores an operation assistance program 45. The display control unit 43 executes the operation assistance program 45 to create a guide video and display the guide video on the display screen 42.

[0060] Next, a description will be given of the processing content of the operation assistance program 45. The display control unit 43 executes the operation assistance processing shown in Fig. 6 by executing the operation assistance program 45. That is, the operation assistance program 45 functions as a component that causes the display control unit 43 to execute the operation assistance processing.

[0061] As shown in FIG. 6, the display control unit 43 acquires an image from the imaging unit 41 in step S11. In step S12, the display control unit 43 corrects distortion of the acquired image. The lens of the imaging unit 41 causes distortion in the image that is specific to the lens. In the first embodiment, the display control unit 43 functions as a correction unit that corrects distortion of the image by executing software stored in the display control unit 43. The display control unit 43 corrects distortion of the image by using correction parameters stored in the display control unit 43, for example. In this respect, it can be said that the display control unit 43 includes a correction unit. The display control unit 43 may include a dedicated hardware circuit for correcting distortion of the image as the correction unit.

[0062] The display control unit 43 acquires the rotation angle of the clamp unit 16 from the drive control unit 36 ​​in step S13. In step S14, the display control unit 43 detects the edges of the workpiece W from the image with the distortion corrected. In the first embodiment, the display control unit 43 executes software stored in itself to function as an edge detection unit that detects the edges of the workpiece W. The display control unit 43 detects the straight edges of the workpiece W from the image, for example, by using Hough transformation. In this respect, it can be said that the display control unit 43 includes an edge detection unit. The display control unit 43 may detect the edges of the workpiece W by other methods, for example, image recognition using machine learning. The display control unit 43 may include a dedicated hardware circuit as an edge detection unit that detects the edges of the workpiece W from the image.

[0063] In step S14, the display control unit 43 may detect all edges or only some edges of one or more workpieces W reflected in the image. The display control unit 43 only needs to detect edges necessary for creating the guide image.

[0064] The display control unit 43 creates a guide video in step S15. The guide video is a video in which a guide display is superimposed on the video captured by the imaging unit 41. In the first embodiment, the display control unit 43 creates the guide video by superimposing the guide display on the video whose distortion has been corrected based on the information acquired in step S13 and the information acquired in step S14. The guide display is a display for guiding the clamp position of the first arm 23 with respect to the workpiece W. In other words, the guide display is a display for guiding the tip of the first arm 23 to an appropriate clamp position. The guide display will be described later together with the guide video.

[0065] In step S16, the display control unit 43 causes the guide video to be displayed on the display screen 42. The display control unit 43 causes the guide video based on the video captured by the imaging unit 41 to be displayed in real time on the display screen 42. The worker can position the tip of the first arm 23 at an appropriate clamping position by operating the loading vehicle 10 while watching the guide video.

[0066] When the worker rotates the second arm 24 with the tip of the first arm 23 positioned at an appropriate clamping position, the tip of the second arm 24 is positioned at an appropriate clamping position. Therefore, the worker can properly clamp the workpiece W with the clamp unit 16. As described above, the operation assistance program 45 is a program that causes the display control unit 43 to function as a program for creating a guide video and displaying the guide video on the display screen 42.

[0067] Next, an example of a guide video will be described. 7 and 8, a guide display 51 is displayed in the guide video 50. In the first embodiment, the guide display 51 includes an arm display 52.

[0068] The arm display 52 is a display indicating the position of the tip of the first arm 23. That is, the arm display 52 indicates the position of the first pad 28. The arm display 52 is, for example, a display extending in a straight line. In detail, the arm display 52 extends in a straight line in the longitudinal direction of the first pad 28. In the first embodiment, the arm display 52 is a straight line extending and overlapping the first hinge 29. Therefore, it can be said that the arm display 52 indicates the position of the first hinge 29. The arm display 52 extends from edge to edge of the guide image 50.

[0069] In the first embodiment, there is a reference position of the arm display 52 in the guide image 50. The reference position is, for example, the position of the arm display 52 when the clamp unit 16 is in a normal state. The display control unit 43 stores position information indicating the reference position. The position information can also be said to be information indicating the position of the tip of the first arm 23 when the clamp unit 16 is in a normal state.

[0070] When clamp unit 16 rotates from the normal state, the positional relationship between first arm 23 and imaging unit 41 changes. That is, when clamp unit 16 rotates from the normal state, the position of the tip of first arm 23 changes. Therefore, when clamp unit 16 is rotating from the normal state, it is necessary to change the position of arm indicator 52 from the reference position.

[0071] The display control unit 43 can calculate the position of the tip of the first arm 23 based on the position information and the rotation angle of the clamp unit 16. In addition, when the clamp unit 16 rises and falls on the mast 15, the positional relationship between the first arm 23 and the imaging unit 41 changes. Even in this case, the display control unit 43 can calculate the position of the tip of the first arm 23 by acquiring the up and down position of the clamp unit 16. Therefore, even if the positional relationship between the first arm 23 and the imaging unit 41 changes due to the driving of the clamp unit 16, the display control unit 43 can superimpose the arm display 52 at an appropriate position on the image based on the position information. In the first embodiment, the tip of the first arm 23 is reflected in the image, but even if the tip of the first arm 23 is not reflected in the image, the display control unit 43 can superimpose the arm display 52 at an appropriate position on the image as long as the display control unit 43 stores the position information.

[0072] 7, in the first embodiment, when the clamp unit 16 is in the normal state, the display control unit 43 creates the guide image 50 so that the arm display 52 is located in the center of the guide image 50. This is because, in the first embodiment, when the clamp unit 16 is in the normal state, the imaging unit 41 captures the image so that the first pad 28 is located in the center of the imaging range. When the clamp unit 16 is in the normal state, the arm display 52 is a straight line extending in the vertical direction.

[0073] 8, when the clamp unit 16 is rotated from the normal state, the display control unit 43 rotates the arm display 52 according to the rotation angle of the clamp unit 16. That is, the arm display 52 rotates according to the rotation angle of the clamp unit 16. When the clamp unit 16 is rotated from the normal state, the arm display 52 becomes a straight line inclined from the vertical direction according to the rotation angle of the clamp unit 16.

[0074] By looking at arm display 52, the worker can grasp the inclination of clamp unit 16 relative to workpiece W. This allows the worker to adjust the rotation angle of clamp unit 16. Thus, in the first embodiment, arm display 52 indicates the position of the tip of first arm 23 and the rotation angle of clamp unit 16. Arm display 52 may include an indication that indicates the rotation angle of clamp unit 16 numerically.

[0075] 7 and 8, in the first embodiment, the guide display 51 includes an edge display 53. The edge display 53 is a display that indicates the position of an edge of the workpiece W. The edge display 53 is, for example, a display that extends in a straight line. The edge display 53 extends while overlapping the edge of the workpiece W. Therefore, the edge display 53 can be said to be a display that emphasizes the edge of the workpiece W.

[0076] In the first embodiment, the edge display 53 is a straight line that overlaps the edge detected by the edge detection unit. The display control unit 43 overlaps the edge display 53 on the edge detected by the edge detection unit. The display control unit 43 may overlap the edge display 53 on some of the edges detected by the edge detection unit, or may overlap the edge display 53 on all of the edges.

[0077] In the first embodiment, since the workpiece W is a roll, in the image captured by the imaging unit 41, one workpiece W has a plurality of straight edges. When the workpiece W is placed vertically, the workpiece W has a left edge and a right edge. In the first embodiment, the display control unit 43 creates the guide image 50 by superimposing an edge display 53 on the left edge of the two edges. This is because, in the first embodiment, when the clamp unit 16 clamps a vertically placed workpiece W, the first arm 23 is the arm located on the left side of the clamp unit 16. For example, when the first arm 23 is the arm located on the right side of the clamp unit 16, the display control unit 43 superimposes the edge display 53 on the right edge.

[0078] When the workpiece W is placed horizontally, the workpiece W has an upper edge and a lower edge. In the first embodiment, the display control unit 43 creates the guide image 50 by superimposing the edge display 53 on the lower edge of the two edges. This is because, in the first embodiment, when the clamp unit 16 clamps the horizontally placed workpiece W, the first arm 23 is the arm located on the lower side of the clamp unit 16. For example, when the first arm 23 is the arm located on the upper side of the clamp unit 16, the display control unit 43 superimposes the edge display 53 on the upper edge. In this way, the display control unit 43 superimposes the edge display 53 on the edge corresponding to the first arm 23 of the two edges.

[0079] The display control unit 43 is not limited to overlaying the edge display 53 only on the edge corresponding to the first arm 23, and may overlay the edge display 53 on both edges. Normally, even if two edge displays 53 are displayed in the guide video 50, the worker can grasp one of the edge displays 53 corresponding to the first arm 23.

[0080] The display control unit 43 may overlay the edge display 53 on the edge of the two edges that is closer to the arm display 52. ​​When edges are detected for multiple workpieces W, the display control unit 43 may overlay the edge display 53 on all edges, or may overlay the edge display 53 on one edge that is closest to the arm display 52.

[0081] Next, a clamping operation by an operator as an action of the first embodiment will be described with reference to FIGS. 9 and 10, the worker approaches the loading vehicle 10 to the workpiece W while watching the guide image 50. At this time, the worker approaches the loading vehicle 10 to the workpiece W so that the arm display 52 and the edge display 53 overlap. In other words, the worker approaches the loading vehicle 10 to the workpiece W so that the tip of the first arm 23 and the edge of the workpiece W are aligned.

[0082] As shown in FIG. 11 , the worker brings the tip of the first arm 23 into contact with the workpiece W with the arm display 52 and the edge display 53 overlapping. At this time, the tip of the first arm 23 is positioned at an appropriate clamping position for the workpiece W. Next, the worker rotates the second arm 24. As a result, the tip of the second arm 24 is positioned at an appropriate clamping position for the workpiece W. In this way, the worker can properly clamp the workpiece W by the clamp unit 16 by aligning the tip of the first arm 23 with the edge of the workpiece W in the guide image 50.

[0083] Next, a description will be given of the reason why the clamp unit 16 can properly clamp the workpiece W by aligning the tip of the first arm 23 with the edge of the workpiece W. In a situation where the clamp unit 16 properly clamps the workpiece W, the axis of the workpiece W is located between the tip of the first arm 23 and the tip of the second arm 24.

[0084] In the first embodiment, when the tip of the first arm 23 and the edge of the workpiece W are aligned in the image captured by the imaging unit 41 and when the tip of the first arm 23 is in contact with the workpiece W, the first arm 23 is positioned at an appropriate clamping position.

[0085] Here, when the arrangement of the imaging unit 41 is changed, the positional relationship between the first arm 23 and the imaging unit 41 changes. Therefore, the display content of the guide display 51, for example, the appropriate position of the arm display 52, may also change depending on the arrangement of the imaging unit 41. In this regard, in the first embodiment, in guiding the first arm 23 to an appropriate clamping position, the position at which the arm display 52 is superimposed on the image is set corresponding to the arrangement of the imaging unit 41. In other words, it can be said that the arm display 52 is set corresponding to the arrangement of the imaging unit 41 so that the clamp unit 16 can appropriately clamp the workpiece W by aligning the arm display 52 with the edge of the workpiece W.

[0086] The arrangement of the imaging unit 41 is not limited to the arrangement shown in the first embodiment, and may be any arrangement. The operation support system 40 can support the operator by displaying an appropriate guide display 51 (specifically, an arm display 52) according to the arrangement of the imaging unit 41.

[0087] Next, the effects of the first embodiment will be described. (1-1) The display control unit 43 creates a guide image 50 in which a guide display 51 for guiding the clamp position of the first arm 23 with respect to the workpiece W is superimposed on the image captured by the imaging unit 41. The display control unit 43 causes the guide image 50 to be displayed on the display screen 42.

[0088] According to the above configuration, the worker can understand the appropriate clamping position of the first arm 23 with respect to the workpiece W from the guide display 51. The worker can align the first arm 23 with the appropriate clamping position by operating the loading vehicle 10 while watching the guide image 50. This allows the worker to appropriately clamp the workpiece W with the clamp unit 16. Therefore, work efficiency is improved.

[0089] (1-2) The guide display 51 includes an arm display 52 that indicates the position of the first pad 28. According to the above configuration, the arm indicator 52 makes it easy for the worker to grasp the position of the first pad 28. The worker can align the first pad 28 to an appropriate clamp position by operating the cargo handling vehicle 10 while looking at the arm indicator 52.

[0090] (1-3) In the guide image 50, the arm display 52 extends linearly in the longitudinal direction of the first pad 28. According to the above configuration, the worker can easily visually recognize the arm indicator 52 compared to, for example, a case where the arm indicator 52 is dot-shaped. Also, when clamping the workpiece W by aligning the direction in which the edge of the workpiece W extends with the longitudinal direction of the first pad 28 as in the first embodiment, the linear arm indicator 52 and the edge are aligned to be aligned. In this case, it is easy to align the first arm 23 to an appropriate clamping position.

[0091] (1-4) The display control unit 43 rotates the arm display 52 in accordance with the rotation angle of the clamp unit 16. According to the above configuration, the worker can easily grasp the rotation angle of the clamp unit 16 from the arm display 52. ​​The worker can adjust the rotation angle of the clamp unit 16 so that it is appropriate for the workpiece W by operating the loading vehicle 10 while watching the guide image 50.

[0092] (1-5) The first arm 23 is a fixed arm whose position is fixed. The second arm 24 is a rotatable movable arm. According to the above configuration, since the position of first arm 23 is fixed, the position of first arm 23 does not change unless clamp unit 16 moves. Therefore, unless clamp unit 16 moves, there is no need to change the position of arm indicator 52 according to the position of first arm 23. Therefore, it is possible to simplify arm indicator 52.

[0093] (1-6) The guide display 51 includes an edge display 53 that indicates the position of an edge on the workpiece W. According to the above configuration, the edge indication 53 makes it easy for the worker to grasp the position of the edge of the workpiece W. The worker can align the first arm 23 with the edge indication 53 by operating the loading vehicle 10, thereby aligning the first arm 23 with an appropriate clamping position.

[0094] (1-7) Edge display 53 is a straight line that overlaps an edge detected by display control unit 43 that includes an edge detection unit. According to the above configuration, compared to when the edge indication 53 is a dot, for example, the operator can easily visually recognize the edge indication 53. Therefore, it is easy to align the first arm 23 with an appropriate clamping position.

[0095] (1-8) The workpiece W is a roll. The clamp unit 16 clamps the roll. According to the above configuration, the worker can clamp the roll appropriately with the clamp unit 16.

[0096] <Second embodiment> Next, a second embodiment will be described. This operation support system is applied to a cargo handling vehicle and a remote control device. The remote control device is a device for remotely controlling the cargo handling vehicle. In other words, this operation support system is an operation support system for a cargo handling vehicle that is remotely controlled. In the second embodiment, the configuration different from the first embodiment will be mainly described.

[0097] As shown in Fig. 12, in the second embodiment, the loading vehicle 10 is a remote-operated type that is remotely operated by an operator via a remote control device 60. The loading vehicle 10 is configured to be able to communicate with the remote control device 60. In the second embodiment, unlike the first embodiment, the loading vehicle 10 does not include the display screen 42 and the display control unit 43, but includes a transmission unit 61 and a vehicle communication unit 62.

[0098] The transmitter 61 is a communication interface that wirelessly communicates with the remote control device 60. The transmitter 61 is connected to the imaging unit 41 and the drive control unit 36. The transmitter 61 transmits the image captured by the imaging unit 41 to the remote control device 60. The transmitter 61 may transmit information indicating the rotation angle of the clamp unit 16 acquired by the drive control unit 36 ​​and information indicating the pivot angle of the second arm 24 to the remote control device 60. The transmitter 61 may transmit information indicating the up-down position of the clamp unit 16 acquired by the drive control unit 36 ​​to the remote control device 60.

[0099] The vehicle communication unit 62 is a communication interface that wirelessly communicates with the remote operation device 60. The vehicle communication unit 62 is connected to the drive control unit 36. The vehicle communication unit 62 transmits information from the drive control unit 36 ​​to the remote operation device 60 and transmits information from the remote operation device 60 to the drive control unit 36. The vehicle communication unit 62 may also function as the transmission unit 61.

[0100] The remote operation device 60 includes a remote communication unit 63 and a remote control unit 64 . The remote communication unit 63 is a communication interface that wirelessly communicates with the vehicle communication unit 62. The remote communication unit 63 is connected to the remote control unit 64. The remote communication unit 63 transmits information to the vehicle communication unit 62 and receives information from the vehicle communication unit 62.

[0101] The remote control unit 64 controls the remote operation of the loading vehicle 10. The remote control unit 64 is a circuit including, for example, a CPU, a ROM, and the like. The remote control unit 64 communicates with the drive control unit 36 ​​via the remote communication unit 63 and the vehicle communication unit 62 based on the worker's operation of the remote operation device 60. As a result, the drive control unit 36 ​​moves the vehicle body 11 and drives the clamp unit 16 based on the worker's operation of the remote operation device 60. In this way, the loading vehicle 10 is remotely operated by the worker operating the remote operation device 60.

[0102] The remote control device 60 includes a receiving unit 65, a display screen 42, and a display control unit 43. That is, in the second embodiment, instead of the cargo handling vehicle 10, the remote control device 60 includes the display screen 42 and the display control unit 43.

[0103] The receiving unit 65 is a communication interface that wirelessly communicates with the transmitting unit 61. The receiving unit 65 receives the video captured by the imaging unit 41. The receiving unit 65 is connected to the display control unit 43. The receiving unit 65 receives information from the transmitting unit 61. The receiving unit 65 may be realized by the remote communication unit 63. In other words, the remote communication unit 63 may also function as the receiving unit 65.

[0104] The display control unit 43 acquires the video received by the receiving unit 65. The display control unit 43 creates a guide video 50 by overlaying a guide display 51 on the video. The display control unit 43 causes the guide video 50 to be displayed on the display screen 42. The worker remotely operates the loading vehicle 10 while watching the guide video 50. This allows the worker to properly clamp the workpiece W with the clamp unit 16.

[0105] As described above, the remote control device 60 creates the guide video 50 by overlaying the guide display 51 on the image captured by the imaging unit 41, and displays the guide video 50 on the display screen 42, thereby assisting the worker in operating the loading vehicle 10. In the second embodiment, the operation assistance system 40 includes the imaging unit 41 and the transmission unit 61 provided in the loading vehicle 10, and the receiving unit 65, the display screen 42, and the display control unit 43 provided in the remote control device 60.

[0106] According to the above-described second embodiment, in addition to the effects of the first embodiment, the following effects can be obtained. (2-1) When a worker operates the loading vehicle 10 using the remote control device 60, the worker may not be able to see the loading vehicle 10 directly. In situations where the worker cannot see the loading vehicle 10 directly, it becomes difficult for the worker to clamp the workpiece W with the clamp unit 16. In this regard, according to the second embodiment, the worker can remotely operate the loading vehicle 10 while watching the guide video 50, thereby allowing the worker to properly clamp the workpiece W with the clamp unit 16 even in situations where the loading vehicle 10 cannot be seen directly.

[0107] The first and second embodiments can be modified as follows: The first and second embodiments and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0108] As shown in FIG. 13, the guide display 51 is not limited to a straight line display, and may be, for example, a band-like display. That is, the guide display 51 may be wider than that of the first embodiment. In this modified example, the arm display 52 is displayed so as to cover the first hinge 29, thereby indicating the position of the tip of the first arm 23, that is, the position of the first pad 28. The edge display 53 is displayed so as to cover the edge of the workpiece W, thereby indicating the position of the edge. Even with such a guide display 51, the worker can align the first arm 23 with the edge. That is, the operation support system 40 can support the operation of the loading vehicle 10. Moreover, the arm display 52 is not limited to the display shown in FIG. 13, and may be any display that indicates the position of the tip of the first arm 23. Similarly, the edge display 53 is not limited to the display shown in FIG. 13, and may be any display that indicates the position of the edge of the workpiece W.

[0109] Both the first arm 23 and the second arm 24 may be movable arms. That is, in this modified example, the first arm 23 is rotatable. The drive control unit 36 ​​controls not only the second arm 24 but also the first arm 23. The drive control unit 36 ​​places the first arm 23 in a predetermined initial position before the clamp unit 16 clamps the workpiece W in preparation for the clamp unit 16 to clamp the workpiece W. The initial position is, for example, a neutral position of the first arm 23. The initial position is stored, for example, by the drive control unit 36. The drive control unit 36 ​​stores, for example, a predetermined rotation angle of the first arm 23 as the initial position of the first arm 23.

[0110] Arm display 52 indicates the position of first pad 28 in a situation where first arm 23 is placed at the initial position. That is, in this modified example, the position information recorded by display control unit 43 is information about arm display 52 indicating the position of the tip of first arm 23 in the initial position. Display control unit 43 superimposes arm display 52 indicating the position of the tip of first arm 23 in the initial position on the image based on the position information.

[0111] According to the above modification, even when first arm 23 is a movable arm, arm display 52 allows the operator to align first arm 23, which is located in the initial position, to an appropriate clamping position.

[0112] The guide display 51 may be only the arm display 52. ​​In this case, the worker can grasp the position of the tip of the first arm 23 by looking at the arm display 52 in the guide video 50. When operating the loading vehicle 10, the worker may have difficulty grasping the position of the clamp unit 16. In particular, when the loading vehicle 10 is a manned type as in the first embodiment, the view from the driver's seat 17 is restricted by the mast 15, so that the worker may have difficulty visually recognizing the first arm 23. In this regard, in the first embodiment, the arm display 52 makes it easier for the worker to align the tip of the first arm 23 with the edge of the workpiece W.

[0113] The guide display 51 may be only the edge display 53. In this case, the worker can grasp the position of the workpiece W by looking at the edge display 53 in the guide video 50. This allows the clamping operation to be performed appropriately even in a situation where the position of the workpiece W is difficult to see due to lighting in the workplace, etc.

[0114] The guide image 50 may display text to assist in the operation of the loading vehicle 10. For example, the guide display 51 may be a message that assists in the operation of the loading vehicle 10 so that the tip of the first arm 23 is aligned with the edge of the workpiece W. The worker can properly clamp the workpiece W with the clamp unit 16 by moving the vehicle body 11 closer to the workpiece W in accordance with the guide display 51.

[0115] The position at which to superimpose the arm display 52 on the image may be determined by image recognition using machine learning. In this case, the tip of the first arm 23 needs to be reflected in the image captured by the imaging unit 41. The display control unit 43 extracts the position of the tip of the first arm 23 from the image, and creates the guide image 50 by superimposing the arm display 52 indicating the position on the image.

[0116] The cargo handling vehicle 10 may be configured to be manned and remotely operable. The loading vehicle 10 is not limited to a roll clamp, and may be a bale clamp, a pallet fork clamp, a grab fork clamp, a drum clamp, a block clamp, or the like.

[0117] The shape of the workpiece W is not limited to a cylindrical shape, and may be, for example, a rectangular parallelepiped or a spherical shape. The shape of the workpiece W is not limited. The technical ideas understood from the above-described embodiment and modified examples will be described below.

[0118] (i) The first arm and the second arm are rotatable movable arms, the loading vehicle is equipped with a drive control unit that controls both arms, the drive control unit positions the first arm at a predetermined initial position before the clamp unit clamps the workpiece, and the arm display may indicate the position of the pad of the first arm when the first arm is positioned at the initial position.

[0119] According to the above configuration, even if the first arm is a movable arm, the operator can align the first arm located at the initial position to an appropriate clamp position by using the arm display. (b) The display screen and the display control unit may be provided in the loading vehicle.

[0120] (c) The loading vehicle may be remotely operated by a remote control device, and the display screen and the display control unit may be provided in the remote control device. [Explanation of symbols]

[0121] 10...loading vehicle, 11...vehicle body, 16...clamp section, 23...first arm, 24...second arm, 28...first pad, 36...drive control section, 40...operation support system, 41...imaging section, 42...display screen, 43...display control section, 45...operation support program, 50...guide image, 51...guide display, 52...arm display, 53...edge display, 60...remote control device, 65...receiving section, W...work.

Claims

1. An operation assistance system for a loading vehicle including a first arm and a second arm, at least one of which is movable, and a clamp unit that clamps a workpiece with both arms, An imaging unit provided in the cargo handling vehicle for imaging a front of the cargo handling vehicle; A display screen; A display control unit that controls the display screen, The display control unit creates a guide image in which a guide display for guiding the clamp position of the first arm with respect to the workpiece is superimposed on the image captured by the imaging unit, and displays the guide image on the display screen. the first arm has a pad at its tip that comes into contact with the workpiece, the guide display includes an arm display indicating a position of the pad, The first arm and the second arm face each other, The pad has a shape having a predetermined width with a longitudinal direction perpendicular to both the opposing direction between the first arm and the second arm and the front-rear direction of the loading vehicle, An operation support system for a loading vehicle, characterized in that the arm display extends linearly in the longitudinal direction in the guide image.

2. The loading vehicle includes a drive control unit that rotates the clamp unit, 2. The operation support system for a cargo handling vehicle according to claim 1, wherein the display control unit rotates the arm display in accordance with a rotation angle of the clamp unit.

3. the first arm is a fixed arm whose position is fixed, 3. The operation assistance system for a cargo handling vehicle according to claim 1, wherein the second arm is a rotatable movable arm.

4. An operation assistance system for a loading vehicle including a first arm and a second arm, at least one of which is movable, and a clamp unit that clamps a workpiece with both arms, An imaging unit provided in the cargo handling vehicle for imaging a front of the cargo handling vehicle; A display screen; A display control unit that controls the display screen, The display control unit creates a guide image in which a guide display for guiding the clamp position of the first arm with respect to the workpiece is superimposed on the image captured by the imaging unit, and displays the guide image on the display screen. The display control unit includes an edge detection unit that detects an edge of the workpiece from the image, 2. A loading vehicle operation support system, comprising: a guide display including an edge display indicating a position of the edge;

5. 5. The operation assistance system for a cargo handling vehicle according to claim 4, wherein the edge display is a straight line overlapping the edge detected by the edge detection unit.

6. The workpiece is a roll, 6. The operation assistance system for a cargo handling vehicle according to claim 1, wherein the clamp unit clamps the roll.

Images