Forklift operation support system

Abstract

To provide a forklift work assistance system capable of reducing power consumption of a battery of a forklift.SOLUTION: This forklift work assistance system comprises: a forklift 100; and an unmanned flying object 200. The forklift 100 includes a power generation unit 131 that generates power using renewable energy, a power conversion unit 132 that converts the power generated by the power generation unit 131 into charging power, a power transmission unit 133 configured such that the unmanned flying object 200 can be disposed, and a control unit. The unmanned flying object 200 includes a flying object control unit, and a flying object battery serving as a flight power source. The power conversion unit 132 supplies the charging power to the unmanned flying object 200 disposed in the power transmission unit 133, and charges the flying object battery under control of the control unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a forklift work support system including a forklift and an unmanned aerial vehicle that supports the work of the forklift.

Background Art

[0002] As a conventional forklift work support system, for example, the system described in Patent Document 1 is known. The system described in Patent Document 1 is composed of a forklift equipped with an in-vehicle monitor and an unmanned aerial vehicle equipped with a camera. When the rise of the fork is detected, the unmanned aerial vehicle flies from the forklift and images the situation around the fork with the camera. Since the captured image is displayed on the in-vehicle monitor, the operator of the forklift can check the situation around the fork from the in-vehicle monitor.

[0003] In the system described in Patent Document 1, power supply to the unmanned aerial vehicle is performed by a power supply device provided in the forklift. The power supply device is electrically connected to the battery that is the power source of the forklift and receives power supply from the battery. Therefore, in the system described in Patent Document 1, the power consumption of the battery increases, and as a result, the number of times the battery is charged increases, leading to the possibility of battery deterioration.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a forklift work support system capable of reducing the power consumption of the battery of the forklift.

Means for Solving the Problem

[0006] To solve the above problems, the forklift work support system according to the present invention is a forklift work support system including a forklift and an unmanned aerial vehicle that supports the work of the forklift, wherein the forklift has a power generation unit that generates electricity using renewable energy, a power conversion unit that converts the generated power of the power generation unit into a predetermined charging power, a power transmission unit that is connected to the power conversion unit and is configured such that the unmanned aerial vehicle can be disposed thereon, and a control unit that controls the power conversion unit, wherein the unmanned aerial vehicle has a flight control unit that controls the flight of the unmanned aerial vehicle, and a flight body battery that serves as a power source for flight, wherein the power conversion unit supplies the charging power to the unmanned aerial vehicle disposed on the power transmission unit under the control of the control unit to charge the flight body battery.

[0007] According to this configuration, since the flight body battery is charged using the generated power obtained by using renewable energy, the power consumption of the forklift battery can be reduced. Further, since the power generation using renewable energy generates almost no carbon dioxide (CO2), it also contributes to the prevention of global warming.

[0008] In the forklift work support system, the forklift includes a storage battery connected to the power conversion unit, and the power conversion unit is configured to perform, under the control of the control unit, a storage battery charging operation of supplying the charging power to the storage battery to charge the storage battery, and a storage battery discharging operation of discharging the storage battery and supplying the discharged power of the storage battery to the flight body battery.

[0009] In the forklift work support system, When the charge level of the aircraft battery becomes equal to or less than a predetermined first threshold value during the flight of the unmanned aircraft, the flight control unit transmits a charging preparation command to the control unit and returns the unmanned aircraft to the power transmission unit. The control unit that has received the charging preparation command can be configured to charge the aircraft battery after detecting that the unmanned aircraft has returned to the power transmission unit.

[0010] In the forklift work support system, The forklift includes A cargo handling device including forks, A cargo handling lever configured to be operable by an operator of the forklift, And a cargo handling control mechanism that operates the cargo handling device in response to an operation of the cargo handling lever. The cargo handling control mechanism Operates the cargo handling device when the cargo handling lever is displaced from the neutral position and stops the operation of the cargo handling device when the cargo handling lever returns to the neutral position. The control unit When the unmanned aircraft is disposed at the power transmission unit and the charge level of the aircraft battery is equal to or less than a predetermined second threshold value, the control unit can be configured to charge the aircraft battery after detecting that the cargo handling lever is in the neutral position.

[0011] In the forklift work support system, The forklift includes An accelerator configured to be operable by an operator of the forklift, And a travel control mechanism that controls the travel speed of the forklift according to an operation amount of the accelerator. The control unit When the unmanned aircraft is disposed at the power transmission unit and the charge level of the aircraft battery is equal to or less than a predetermined second threshold value, the control unit can be configured to charge the aircraft battery after detecting that the operation amount of the accelerator is zero.

[0012] In the forklift work support system, The power generation unit can be configured to include at least one of a solar power generation device that generates the generated electric power and a wind power generation device that generates the generated electric power.

[0013] The forklift work support system, includes a plurality of the forklifts and one of the unmanned aerial vehicles, The flight control unit, communicates with the control unit of the forklift to identify the forklift at the closest position, When the charge level of the flight body battery becomes equal to or less than a predetermined threshold during flight, the unmanned aerial vehicle can be configured to return to the power transmission unit of the forklift at the closest position.

[0014] The forklift work support system, includes one of the forklifts and a plurality of the unmanned aerial vehicles, The power transmission unit is configured such that two or more of the unmanned aerial vehicles can be arranged, The power conversion unit can be configured to simultaneously charge the flight body batteries of the two or more unmanned aerial vehicles under the control of the control unit.

Effect of the Invention

[0015] According to the present invention, it is possible to provide a forklift work support system capable of reducing the power consumption of the forklift battery.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0017] Hereinafter, embodiments of the forklift work support system according to the present invention will be described with reference to the accompanying drawings.

[0018] [First Embodiment] Fig. 1 shows the forklift work support system according to the first embodiment of the present invention. The forklift work support system according to this embodiment includes a forklift 100 and an unmanned aerial vehicle 200 that supports the work of the forklift 100.

[0019] The forklift 100 is a counterbalanced battery forklift and includes a vehicle body 110, a cargo handling device 120, and a power generation mechanism 130.

[0020] The vehicle body 110 includes a vehicle body frame 111, a pair of left and right front wheels 112A and rear wheels 112B, a driver's seat 113, a head guard 114, an accelerator 115A and a brake 115B, a steering wheel 116, a cargo handling lever (tilt lever 117A and lift lever 117B), and a display unit 118.

[0021] The vehicle body frame 111 constitutes the framework of the vehicle body 110, and front wheels 112A and rear wheels 112B are provided at the lower part. Inside the vehicle body frame 111, a battery BT1 which is the power source of the forklift 100 and electric motors (in this embodiment, a traveling motor M1, a steering motor M2, and a handling motor M3) driven by the power of the battery BT1 are accommodated. In the forklift 100, the front wheel 112A is a drive wheel driven by the traveling motor M1, and the rear wheel 112B is a steering wheel steered by the steering motor M2.

[0022] The driver's seat 113 and the head guard 114 are provided at the upper part of the vehicle body frame 111. The driver's seat 113 is the seat for the operator, and the head guard 114 is a protective frame for protecting the operator in the driver's seat 113 from falling loads and the like. An accelerator 115A and a brake 115B are provided at the lower front part of the driver's seat 113, and the accelerator 115A and the brake 115B are connected to the front wheel 112A via a traveling control mechanism including the traveling motor M1.

[0023] The accelerator 115A is an accelerator pedal configured to be operable when the operator in the driver's seat 113 steps on it with the foot. When the accelerator 115A is in the on state (the pedal is depressed state), it accelerates the traveling of the vehicle body 110 according to the depression amount of the pedal (accelerator opening), while when it switches from the on state to the off state (the pedal is not depressed state), it generates a weak regenerative brake to decelerate the vehicle body 110.

[0024] The brake 115B is a brake pedal configured to be operable when the operator in the driver's seat 113 steps on it with the foot. When the brake 115B is in the on state (the pedal is depressed state), it generates a regenerative brake stronger than the regenerative brake of the accelerator 115A to decelerate the vehicle body 110, while when it is in the off state (the pedal is not depressed state), it does not generate a regenerative brake.

[0025] The steering wheel 116 is provided in front of the driver's seat 113. The steering wheel 116 is connected to the rear wheels 112B via a steering control mechanism including a steering motor M2. The operator can change the direction of the rear wheels 112B according to the rotation direction by rotating the steering wheel 116. A forward / backward lever for switching the traveling of the vehicle body 110 between forward and backward is provided at the lower part of the steering wheel 116. When the accelerator 115A is turned on with the forward / backward lever tilted forward, the vehicle body 110 moves forward, and when the accelerator 115A is turned on with the forward / backward lever tilted backward, the vehicle body 110 moves backward.

[0026] The handling levers (tilt lever 117A and lift lever 117B) are provided in front of the driver's seat 113. The handling levers are connected to the handling device 120 via a handling control mechanism including a handling motor M3 and a hydraulic device (not shown). The operator can operate the handling device 120 by operating the handling levers.

[0027] The display unit 118 is provided in front of the driver's seat 113 (for example, on the dashboard). The display unit 118 includes display means configured to be visible to the operator and operation means configured to be operable by the operator. The display means is constituted by, for example, a liquid crystal display, and displays a screen showing the remaining amount of the battery BT1, the traveling speed, etc., or a setting screen for performing various settings of the forklift 100. The operation means includes a plurality of operation buttons. The operator can perform various settings displayed on the setting screen by operating the plurality of operation buttons.

[0028] The handling device 120 includes a mast 121, a lift bracket 122, forks 123, a backrest 124, a tilt cylinder 125, and a lift cylinder 126.

[0029] The mast 121 is provided on the front side of the vehicle body 110 and is configured to raise and lower the fork 123. The mast 121 of this embodiment includes an outer mast and an inner mast. The outer mast includes a pair of left and right guide rails extending in the vertical direction and a cross beam connecting the upper ends of the guide rails. The inner mast is provided inside the guide rails of the outer mast and moves up and down along the guide rails of the outer mast.

[0030] The lift bracket 122 supports the fork 123 and is configured to move up and down along the mast 121. The lift bracket 122 of this embodiment is attached to one end of the lift chain and moves up and down along the inner mast while being suspended by the lift chain. The other end of the lift chain is attached to the lower part of the outer mast via a chain wheel provided on the upper part of the lift cylinder 126. The fork 123 is a pair of left and right L-shaped arms and is provided on the front surface of the lift bracket 122. The backrest 124 is a frame for preventing the load loaded on the fork 123 from collapsing backward and is provided on the upper part of the lift bracket 122. When the mast 121 (inner mast) moves up and down, the lift bracket 122, the fork 123, and the backrest 124 also move up and down.

[0031] The tilt cylinder 125 is a hydraulic cylinder for tilting the mast 121 in the front-rear direction. In this embodiment, when the tilt lever 117A is tilted forward, the tilt cylinder 125 extends and the mast 121 tilts forward, and when the tilt lever 117A is tilted backward, the tilt cylinder 125 contracts and the mast 121 tilts backward. When the tilt lever 117A is returned to the neutral position (a position where neither forward nor backward tilting is performed), the tilting of the mast 121 stops.

[0032] The lift cylinder 126 is a hydraulic cylinder for raising and lowering the mast 121. In this embodiment, when the lift lever 117B is tilted forward, the lift cylinder 126 contracts and the inner mast descends, and when the lift lever 117B is tilted backward, the lift cylinder 126 extends and the inner mast ascends. When the lift lever 117B is returned to the neutral position (a position where it is neither tilted forward nor backward), the raising and lowering of the inner mast stops.

[0033] As shown in FIG. 2, the power generation mechanism 130 includes a power generation unit 131, a power conversion unit 132, a power transmission unit 133, a storage battery BT2, a position detection unit 134, and a control unit 135. Note that the power generation mechanism 130 of this embodiment is provided on the head guard 114, but is not limited thereto. At least a part of the components of the power generation mechanism 130 may be provided at a location other than the head guard 114 (for example, inside the vehicle body frame 111).

[0034] The power generation unit 131 is a solar power generation device configured to generate electricity using solar energy, which is a renewable energy. The solar power generation device includes a solar panel (solar cell) that generates generated electric power and outputs it to the power conversion unit 132 when sunlight is irradiated on the irradiation surface. The power generation unit 131 may include an angle adjustment means for adjusting the angle of the irradiation surface with respect to the installation surface of the solar panel (in this embodiment, the upper surface of the head guard 114). When the angle adjustment means is provided, it is preferable to adjust the angle of the irradiation surface so that the reflected light of the solar panel does not interfere with the cargo handling work of the forklift 100 or the like.

[0035] The power conversion unit 132 is connected to the power generation unit 131, the power transmission unit 133, and the storage battery BT2. The power conversion unit 132 of this embodiment includes a pair of terminals T1, T1', a pair of terminals T2, T2', and a pair of terminals T3, T3'. The terminals T1, T1' are connected to the positive and negative electrodes of the power generation unit 131, the terminals T2, T2' are connected to the input ends of the power transmission unit 133, and the terminals T3, T3 are connected to the positive and negative electrodes of the storage battery BT2.

[0036] The power conversion unit 132 performs a power conversion operation under the control of the control unit 135. The power conversion unit 132 of the present embodiment performs the following first operation, second operation (battery charging operation), and third operation (battery discharging operation) as power conversion operations. The power conversion unit 132 during the first operation converts the DC power generated input to terminals T1 and T1' into AC power (AC charging power) and outputs it from terminals T2 and T2'. The power conversion unit 132 during the second operation converts the DC power generated input to terminals T1 and T1' into a predetermined DC power (DC charging power) and outputs it from terminals T3 and T3'. The power conversion unit 132 during the third operation converts the DC discharging power of the battery BT2 input to terminals T3 and T3' into AC power (AC charging power) and outputs it from terminals T2 and T2'. The power conversion unit 132 of the present embodiment is composed of a DC / AC inverter and a DC / DC converter because the power transmission unit 133 transmits AC power. When the power transmission unit 133 transmits DC power, the power conversion unit 132 can be composed of only a DC / DC converter.

[0037] The power transmission unit 133 is configured such that the unmanned aerial vehicle 200 can be placed thereon and is capable of supplying power (wireless power supply in this embodiment) to the placed unmanned aerial vehicle 200. The power transmission unit 133 of the present embodiment includes a power transmission coil having one end connected to terminal T2 and the other end connected to terminal T2', and a coil case that houses the power transmission coil. An arrangement surface on which the unmanned aerial vehicle 200 is arranged is formed on the coil case. Further, the power transmission unit 133 is provided with a sensor for detecting that the unmanned aerial vehicle 200 is arranged, and a detection signal of the sensor is output to the control unit 135.

[0038] The battery BT2 includes at least one secondary battery configured to be chargeable and dischargeable, and a battery management system that manages the charge amount and the like of the secondary battery. As the secondary battery, for example, a lithium-ion secondary battery is used, but a secondary battery other than a lithium-ion secondary battery may be used.

[0039] The position detection unit 134 is a device that uses a satellite positioning system such as GPS and is configured to be able to acquire the position information of the forklift 100. The position information includes, for example, latitude information and longitude information. The position detection unit 134 outputs the acquired position information to the control unit 135. Note that if the forklift 100 is separately provided with means for acquiring its own position, the position detection unit 134 may not be necessary.

[0040] The control unit 135 is configured to control the power conversion unit 132. The control unit 135 includes, for example, a processing unit that controls the first to third operations of the power conversion unit 132 and a storage unit configured by a memory or the like. The control unit 135 may be configured by a digital circuit using, for example, a microcontroller or a DSP, or may be configured by a circuit combining a digital circuit and an analog circuit. Further, the control unit 135 can calculate the own position of the forklift 100 based on the position information acquired by the position detection unit 134.

[0041] As shown in FIG. 3, the unmanned aerial vehicle 200 includes a main body unit 210, a rotary wing 220, legs 230, a work support unit 240, and a control mechanism 250. The unmanned aerial vehicle 200 is, for example, a drone.

[0042] The main body unit 210 includes a fuselage that houses the aircraft battery BT3 and a plurality (four in this embodiment) of arms that extend radially from the fuselage. A rotary wing 220 is provided at the upper end of each arm, and a pair of legs 230 and a work support unit 240 that extend downward are provided at the lower part of the fuselage.

[0043] The work support unit 240 is configured to support the handling work and / or the traveling work of the forklift 100. The work support unit 240 of the present embodiment includes an imaging device, shoots a video during flight with the imaging device, and displays it on the display unit 118 of the forklift 100, thereby supporting the handling work and / or the traveling work of the forklift 100. Further, the work support unit 240 of the present embodiment may include a projection device that projects a guiding image (for example, an arrow indicating the traveling direction) on the road surface on which the forklift 100 travels.

[0044] The control mechanism 250 includes a position information acquisition unit 251, an airframe drive unit 252, an airframe control unit 253, an airframe power reception unit 254, an airframe power conversion unit 255, and an airframe battery BT3. In the present embodiment, the airframe power reception unit 254 is provided at the lower end of the leg portion 230, and the other configurations of the control mechanism 250 are provided in the main body portion 210.

[0045] The position information acquisition unit 251 is a device that uses a satellite positioning system such as GPS, and is configured to be able to acquire the position information of the unmanned aerial vehicle 200. The position information includes, for example, latitude information, longitude information, and altitude information. The position information acquisition unit 251 outputs the acquired position information to the airframe control unit 253.

[0046] The airframe drive unit 252 is configured to rotate the rotary wings 220 under the control of the airframe control unit 253. The airframe drive unit 252 of the present embodiment includes four electric motors for rotating the four rotary wings 220. For example, when the rotational speeds of the four electric motors are made the same, the unmanned aerial vehicle 200 hovers. When the rotational speeds of the four electric motors are simultaneously increased by the same degree from that state, the unmanned aerial vehicle 200 ascends. When the rotational speeds of the four electric motors are changed at different rates, the traveling direction of the unmanned aerial vehicle 200 can be changed.

[0047] The flight control unit 253 is configured to control the flight body drive unit 252 and the flight body power conversion unit 255. The flight control unit 253 includes, for example, a processing unit that controls the flight body drive unit 252 and the flight body power conversion unit 255, and a storage unit configured by a memory or the like. The flight control unit 253 may be configured by a digital circuit using, for example, a microcontroller, a DSP, or the like, or may be configured by a circuit combining a digital circuit and an analog circuit. Further, the flight control unit 253 can calculate the self-position of the unmanned aerial vehicle 200 based on the position information acquired by the position information acquisition unit 251.

[0048] The flight body power receiving unit 254 is configured to be able to receive the power transmitted from the power transmission unit 133. The flight body power receiving unit 254 of the present embodiment includes a power receiving coil that enables power supply by electromagnetic induction with the power transmission coil of the power transmission unit 133. Note that the power supply between the power transmission unit 133 and the flight body power receiving unit 254 is not limited to the electromagnetic induction method, and any power supply method can be adopted, and the configurations of the power transmission unit 133 and the flight body power receiving unit 254 can be appropriately changed according to the adopted power supply method.

[0049] The flight body power conversion unit 255 is connected to the flight body power receiving unit 254 and the flight body battery BT3, and performs a power conversion operation under the control of the flight control unit 253. The flight body power conversion unit 255 of the present embodiment charges the flight body battery BT3 by converting the AC power (AC charging power) supplied from the flight body power receiving unit 254 into DC power and supplying it to the flight body battery BT3. The flight body power conversion unit 255 is composed of, for example, a rectifier circuit and a DC / DC converter.

[0050] The flight body battery BT3 includes at least one secondary battery configured to be chargeable and dischargeable, and a battery management system that manages the charge amount of the secondary battery and the like. As the secondary battery, for example, a lithium-ion secondary battery is used, but a secondary battery other than the lithium-ion secondary battery may be used. The battery management system transmits information regarding the charge amount of the secondary battery, that is, the charge amount of the flight body battery BT3, to the flight control unit

[0051] Next, the charging control of the flight control unit 253 regarding the charging of the aircraft battery BT3 and the charging control of the control unit 135 of the forklift 100 will be described.

[0052] During the flight of the unmanned aircraft 200, the flight control unit 253 checks the state of charge (SOC) of the aircraft battery BT3 at a predetermined cycle. The state of charge of the aircraft battery BT3 is, for example, set such that the fully charged state of the aircraft battery BT3 is 100% of the state of charge, and the fully discharged state of the aircraft battery BT3 is 0% of the state of charge.

[0053] When the state of charge of the aircraft battery BT3 becomes equal to or lower than a preset first threshold value, the flight control unit 253 transmits a charging preparation command to the control unit 135 and acquires position information of the forklift 100 (information regarding the self-position of the forklift 100) from the control unit 135. The first threshold value can be appropriately set or changed in the unmanned aircraft 200. Based on the position information of the unmanned aircraft 200 and the position information of the forklift 100, the flight control unit 253 returns the unmanned aircraft 200 to the power transmission unit 133 of the forklift 100.

[0054] The control unit 135 that has received the charging preparation command determines whether the unmanned aircraft 200 is arranged at the power transmission unit 133. When the unmanned aircraft 200 is arranged at the power transmission unit 133, the control unit 135 controls the power conversion unit 132 to output AC charging power to the power transmission unit 133. Note that the control unit 135 generates AC charging power based on the generated power of the power generation unit 131 when the power generation unit 131 is capable of generating power, and generates AC charging power based on the discharge power of the storage battery BT2 when the power generation unit 131 is not capable of generating power (for example, at night or on cloudy days).

[0055] The AC charging power output to the power transmission unit 133 is transmitted to the aircraft power receiving unit 254, converted into DC power by the aircraft power conversion unit 255, and supplied to the aircraft battery BT3. Thereby, the aircraft battery BT3 is charged.

[0056] In the above description, the charging control of the control unit 135 when receiving a charging preparation command has been explained. However, the control unit 135 may also perform charging control even when not receiving a charging preparation command. FIG. 4(A) shows a flowchart of a charging start determination process when the unmanned aerial vehicle 200 mainly performs cargo handling work support, and FIG. 4(B) shows a flowchart of a charging start determination process when the unmanned aerial vehicle 200 mainly performs traveling work support.

[0057] As shown in FIG. 4(A), when the unmanned aerial vehicle 200 mainly performs cargo handling work support, the control unit 135 that has started the charging start determination process makes a first determination as to whether the unmanned aerial vehicle 200 is placed on the power transmission unit 133 (S101).

[0058] When the unmanned aerial vehicle 200 is placed on the power transmission unit 133 (YES in S101), the control unit 135 acquires information on the charge level of the flight body battery BT3 from the flight control unit 253, and makes a second determination as to whether the charge level of the flight body battery BT3 is equal to or less than a preset second threshold value (S102). The second threshold value can be appropriately set or changed in the forklift 100.

[0059] When the charge level of the flight body battery BT3 is equal to or less than the second threshold value (YES in S102), the control unit 135 acquires information on the operation amounts of the tilt lever 117A and the lift lever 117B from the sensors provided on the cargo handling levers (tilt lever 117A and lift lever 117B), and makes a third determination as to whether the cargo handling levers are in the neutral position (S103). When the cargo handling levers are in the neutral position (YES in S103), the control unit 135 starts charging the flight body battery BT3. In this way, by starting the charging of the flight body battery BT3 when the cargo handling levers are in the neutral position, the flight body battery BT3 can be charged when the forklift 100 is not performing cargo handling work (when the unmanned aerial vehicle 200 does not need to support cargo handling work). When the forklift 100 is performing cargo handling work (however, YES in S101 and S102), the operator can start charging the flight body battery BT3 by returning the cargo handling levers to the neutral position once.

[0060] As shown in FIG. 4(B), when the unmanned aircraft 200 mainly performs traveling work support, the control unit 135 makes a determination of S103' instead of making a determination of S103 as the third determination. The control unit 135 acquires information regarding the operation amount (accelerator opening) of the accelerator 115A from the accelerator sensor provided in the accelerator 115A, and makes a third determination as to whether or not the operation amount of the accelerator 115A is zero (S103'). When the operation amount of the accelerator 115A is zero (YES in S103'), the control unit 135 starts charging the aircraft battery BT3. In this way, by starting the charging of the aircraft battery BT3 when the operation amount of the accelerator 115A is zero, the aircraft battery BT3 can be charged when the forklift 100 is not traveling (when the unmanned aircraft 200 does not need to perform traveling work support). When the forklift 100 is traveling (however, YES in S101 and S102), the operator can start charging the aircraft battery BT3 by setting the operation amount of the accelerator 115A to zero.

[0061] In FIGS. 4(A) and 4(B), the first determination to the third determination may be made in a different order or may be made simultaneously. Also, whether the control unit 135 executes the charging start determination process shown in FIG. 4(A) or the charging start determination process shown in FIG. 4(B) can be appropriately set or changed, for example, on the display unit 118 of the forklift 100.

[0062] Ultimately, according to the forklift work support system according to the first embodiment, since the aircraft battery BT3 is charged using the generated electric power utilizing solar energy which is renewable energy, the power consumption of the battery BT1 which is the power source of the forklift 100 can be reduced. Also, power generation using solar energy hardly generates carbon dioxide (CO2), which also leads to the prevention of global warming.

[0063] [Second Embodiment] FIG. 5 shows a forklift work support system according to the second embodiment of the present invention.

[0064] The forklift work support system according to this embodiment includes N forklifts 100 (100-1 to 100-N), where N is an integer of 2 or more, and one unmanned aerial vehicle 200 that supports the work of the N forklifts 100. The forklift 100 and the unmanned aerial vehicle 200 have the same configuration as in the first embodiment. However, the flight control unit 253 of the unmanned aerial vehicle 200 executes a process for identifying the forklift 100 at the closest position.

[0065] When the charge level of the flight body battery BT3 becomes equal to or lower than a preset first threshold value, the flight control unit 253 acquires the position information of each forklift 100 (information regarding the self-position of each forklift 100) from the N forklifts 100, identifies the forklift 100 at the closest position from the unmanned aerial vehicle 200, transmits a charging preparation command to the control unit 135 of the identified forklift 100, and causes the power transmission unit 133 of the identified forklift 100 to return the unmanned aerial vehicle 200.

[0066] The control unit 135 that has received the charging preparation command controls the power conversion unit 132 to output AC charging power to the power transmission unit 133 in the same manner as in the first embodiment. The AC charging power output to the power transmission unit 133 is transmitted to the flight body power receiving unit 254, converted into DC power by the flight body power conversion unit 255, and supplied to the flight body battery BT3. Thereby, the flight body battery BT3 is charged.

[0067] According to the forklift work support system according to the second embodiment, it has the same effects as in the first embodiment, and further, the work of N forklifts 100 can be supported by one unmanned aerial vehicle 200.

[0068] [[ID=id18]][Third Embodiment] FIG. 6 shows a forklift work support system according to the third embodiment of the present invention.

[0069] The forklift work support system according to this embodiment includes one forklift 100 and N (where N is an integer of 2 or more) unmanned aerial vehicles 200 (200-1 to 200-N) that support the work of the forklift 100.

[0070] The power transmission unit 133 of the forklift 100 is configured to be large enough to accommodate N unmanned aerial vehicles 200. The other configurations of the forklift 100 and the configurations of the unmanned aerial vehicles 200 are the same as those in the first embodiment.

[0071] According to the forklift work support system according to the third embodiment, it has the same effect as the first embodiment, and further, the forklift 100 can simultaneously charge the flight body batteries BT3 of the N unmanned aerial vehicles 200 (200-1 to 200-N).

[0072] As described above, the embodiments of the forklift work support system according to the present invention have been described, but the present invention is not limited to the above embodiments.

[0073] [Modification Example] FIG. 7 shows a forklift work support system according to a modification example. The forklift work support system according to the modification example includes a forklift 100' and an unmanned aerial vehicle 200 that supports the work of the forklift 100'. The unmanned aerial vehicle 200 has the same configuration as that in the first embodiment.

[0074] The forklift 100' has the same configuration as that in the first embodiment, except that it is provided with a power generation unit 131' instead of the power generation unit 131. The power generation unit 131' is a wind power generation device configured to generate electricity using wind energy. The power generation unit 131' includes a windmill and a generator, and uses wind energy (air resistance during traveling) to rotate the windmill, and transmits the rotational motion of the windmill to the generator to generate electric power.

[0075] The windmill of the power generation unit 131’ is composed of a plurality of plate-shaped blades, and is configured such that the angle of the blades varies according to the traveling state of the forklift 100’. For example, when the forklift 100’ is traveling at a constant speed and accelerating, the angle of the blades is adjusted so that the air resistance is reduced, while when the forklift 100’ is decelerating, it is preferable to adjust the angle of the blades so that the air resistance is increased. For example, the control unit 135 may obtain information regarding the operation amount of the accelerator 115A and the operation amount of the brake 115B from the accelerator sensor provided on the accelerator 115A and the brake sensor provided on the brake 115B, and adjust the angle of the blades of the windmill of the power generation unit 131’. In this modification example, the power generation unit 131’ is provided on the head guard 114, but the installation location of the power generation unit 131’ can be changed. Also, in this modification example, the power generation unit 131’ is provided instead of the power generation unit 131, but both the power generation unit 131 and the power generation unit 131’ may be provided.

[0076] According to the forklift work support system according to the modification example, since the flying body battery BT3 is charged using the generated electric power utilizing wind energy, which is renewable energy, the power consumption of the battery BT1, which is the power source of the forklift 100, can be reduced. Also, power generation using wind energy hardly generates carbon dioxide (CO2), which also leads to the prevention of global warming.

[0077] [Other Modification Examples] The forklift work support system according to the present invention is a forklift work support system including a forklift and an unmanned aerial vehicle that supports the work of the forklift. The forklift includes a power generation unit that generates power using renewable energy, a power conversion unit that converts the generated power of the power generation unit into a predetermined charging power, a power transmission unit that is connected to the power conversion unit and is configured to be able to arrange the unmanned aerial vehicle, and a control unit that controls the power conversion unit. The unmanned aerial vehicle includes a flight control unit that controls the flight of the unmanned aerial vehicle and an airframe battery that serves as a power source for flight. The power conversion unit can appropriately change its configuration as long as it supplies charging power to the unmanned aerial vehicle arranged in the power transmission unit and charges the airframe battery under the control of the control unit.

[0078] For example, in each of the above embodiments, the storage battery BT2 may be removed.

[0079] In each of the above embodiments and modifications, a counterbalance type battery forklift has been described as an example. However, the forklift of the present invention may be another type (for example, a reach type) of battery forklift, an engine forklift other than a battery forklift, or a hybrid forklift including a battery and an engine.

Explanation of reference numerals

[0080] 100, 100' Forklift 110 Vehicle body 111 Vehicle frame 112A Front wheel 112B Rear wheel 113 Driver's seat 114 Head guard 115A Accelerator 115B Brake 116 Steering wheel 117A Tilt lever 117B Lift lever 118 Display unit 120 Cargo handling device 121 Mast 122 Lift bracket 123 Fork 124 Backrest 125 Tilt Cylinder 126 Lift Cylinder 130 Power Generation Mechanism 200 Unmanned Aerial Vehicle 210 Main Body 220 Rotor 230 Legs 240 Work Support Unit 250 Control Mechanism

Claims

1. A forklift operation support system including a forklift and an unmanned aircraft that supports the operation of the forklift, wherein the forklift comprises: a power generation unit that generates power using renewable energy; a power conversion unit that converts the generated power of the power generation unit into a predetermined charging power; a power transmission unit connected to the power conversion unit and configured to be able to accommodate the unmanned aircraft; a control unit that controls the power conversion unit, and wherein the unmanned aircraft comprises: a flight control unit that controls the flight of the unmanned aircraft; an aircraft battery that serves as a power source for flight, and wherein the power conversion unit supplies the charging power to the unmanned aircraft disposed in the power transmission unit under the control of the control unit to charge the aircraft battery, wherein when the charge amount of the aircraft battery becomes equal to or less than a predetermined first threshold value during the flight of the unmanned aircraft, the flight control unit transmits a charging preparation command to the control unit and returns the unmanned aircraft to the power transmission unit, and the control unit that has received the charging preparation command charges the aircraft battery after detecting that the unmanned aircraft has returned to the power transmission unit. A forklift operation support system characterized by the above.

2. A forklift operation support system including a forklift and an unmanned aircraft that supports the operation of the forklift, wherein the forklift comprises: a power generation unit that generates power using renewable energy; a power conversion unit that converts the generated power of the power generation unit into a predetermined charging power; a power transmission unit connected to the power conversion unit and configured to be able to accommodate the unmanned aircraft; a control unit that controls the power conversion unit, and wherein the unmanned aircraft comprises: a flight control unit that controls the flight of the unmanned aircraft; an aircraft battery that serves as a power source for flight, and wherein the power conversion unit supplies the charging power to the unmanned aircraft disposed in the power transmission unit under the control of the control unit to charge the aircraft battery, wherein the forklift comprises: a cargo handling device including forks; a cargo handling lever configured to be operable by an operator of the forklift; a cargo handling control mechanism that operates the cargo handling device in response to an operation of the cargo handling lever, and wherein the cargo handling control mechanism: operates the cargo handling device when the cargo handling lever is displaced from a neutral position and stops the operation of the cargo handling device when the cargo handling lever returns to the neutral position, and the control unit When the unmanned aircraft is disposed on the power transmission unit and the charge level of the aircraft battery is equal to or lower than a predetermined second threshold value, charging of the aircraft battery is performed after detecting that the loading lever is in the neutral position. A forklift work support system characterized by the above.

3. A forklift work support system including a forklift and an unmanned aircraft that supports the work of the forklift, wherein the forklift includes a power generation unit that generates power using renewable energy, a power conversion unit that converts the generated power of the power generation unit into a predetermined charging power, a power transmission unit that is connected to the power conversion unit and is configured such that the unmanned aircraft can be disposed thereon, and a control unit that controls the power conversion unit. The unmanned aircraft includes a flight control unit that controls the flight of the unmanned aircraft, and an aircraft battery that serves as a power source for flight. The power conversion unit supplies the charging power to the unmanned aircraft disposed on the power transmission unit under the control of the control unit to charge the aircraft battery. The forklift includes an accelerator that is configured to be operable by an operator of the forklift, and a travel control mechanism that controls the travel speed of the forklift according to the operation amount of the accelerator. The control unit performs charging of the aircraft battery after detecting that the operation amount of the accelerator is zero when the unmanned aircraft is disposed on the power transmission unit and the charge level of the aircraft battery is equal to or lower than a predetermined second threshold value. A forklift work support system characterized by the above.

4. A forklift work support system including a forklift and an unmanned aircraft that supports the work of the forklift, including a plurality of the forklifts and one unmanned aircraft, wherein the forklift includes a power generation unit that generates power using renewable energy, a power conversion unit that converts the generated power of the power generation unit into a predetermined charging power, a power transmission unit that is connected to the power conversion unit and is configured such that the unmanned aircraft can be disposed thereon, and a control unit that controls the power conversion unit. The unmanned aircraft includes a flight control unit that controls the flight of the unmanned aircraft, and an aircraft battery that serves as a power source for flight. The power conversion unit supplies the charging power to the unmanned aircraft disposed on the power transmission unit under the control of the control unit to charge the aircraft battery. The flight control unit communicate with the control unit of the forklift to identify the forklift at the closest position, when the charge level of the aircraft battery during flight drops below a predetermined threshold, return the unmanned aircraft to the power transmission unit of the forklift at the closest position A forklift work support system characterized by the above.

5. The forklift includes a storage battery connected to the power conversion unit, The power conversion unit, under the control of the control unit, performs a storage battery charging operation of supplying the charging power to the storage battery and charging the storage battery, and performs a storage battery discharging operation of discharging the storage battery and supplying the discharging power of the storage battery to the aircraft battery. The forklift work support system according to any one of claims 1 to 4, characterized by the above.

6. The power generation unit includes at least one of a solar power generation device that generates the generated power and a wind power generation device that generates the generated power. The forklift work support system according to any one of claims 1 to 4, characterized by the above.

7. including one forklift and a plurality of unmanned aircraft, the power transmission unit is configured to be able to accommodate two or more unmanned aircraft, the power conversion unit, under the control of the control unit, simultaneously charges the aircraft batteries of the two or more unmanned aircraft. The forklift work support system according to any one of claims 1 to 3, characterized by the above.

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