JP2007084162A - Cargo handling supporting device of fork lift - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cargo handling supporting device of a fork lift capable of making accurate and easy positioning of a fork or a pallet on the fork in association with the cargo handling. <P>SOLUTION: The fork lift 10 having a pair of forks 15 arranged able to rise and fall along a mast 13 installed on the fork lift body 11 is furnished with a camera 21 to photograph ahead of the fork, and near the driver seat 17, is equipped with a display device 22 having a display screen 22a to display the photographed image of the camera 21, whereby a reduced scale image of a fork section image 34 or a pallet line image 36 is prepared and displayed in the screen 22a upon being superposed on the photographed image of the camera 21. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a cargo handling work support device in an industrial vehicle such as a forklift.

Various devices for facilitating unloading and loading work at a high place have been proposed as load handling work support devices for forklifts.
In Patent Document 1, a lift bracket 4 is provided on a mast 2, 3 on a vehicle body 1 so as to be movable up and down, and a pair of left and right forks 5 are attached to the lift bracket 4, and an electronic camera for monitoring the front of the lift bracket 4. A monitoring device 12 is provided. A display device 13 for copying the monitoring information obtained by the monitoring device 12 is mounted in the operator cab 9, and a fork positioning cross mark m is displayed on the screen 13 a of the display device 13. The mark m is composed of a vertical axis m1 passing through the substantially central portion between the two forks 5 projected on the screen 13a and a horizontal axis m2 passing through the same height position as the horizontal portion 5a of the two forks 5. Both the forks 5 are positioned in the left-right direction with respect to the axis m1, and the both forks 5 are positioned in the up-down direction with respect to the horizontal axis m2.

Accordingly, the driver operates the cargo handling lever and the like while visually observing the display device 13 and moves the fork 5 up and down to position the mark m at the center of the pallet P, whereby the tip of the fork 5 is inserted into the insertion port Pa of the pallet P. It can be inserted.
JP 2001-206696 A (page 3-4, FIGS. 1 and 4)

  However, in the above-mentioned Patent Document 1, when the mark m is positioned at the center of the pallet P, the center position of the pallet P is not specified on the screen and has to be relied on by the driver's intuition. There is a risk of becoming. Even if the mark m can be positioned at the center of the pallet P, the driver cannot check the actual insertion position of the fork on the screen. Furthermore, in the technique of Patent Document 1, there is a problem that it can be handled at the time of unloading due to its configuration but cannot be handled at the time of loading.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a cargo handling work support device in a forklift capable of accurately and easily positioning a fork or a pallet on the fork accompanying a cargo handling work. It is in.

In order to achieve the above object, the invention according to claim 1 is a forklift having a pair of forks provided so as to be movable up and down along a mast provided on a vehicle body, and provided with a camera for photographing the front of the fork on the forklift. A display device having a display screen for displaying a photographed image of the camera is provided in the vicinity of the driver's seat of the forklift, a scale image representing at least a part of the fork or a loading pallet on the fork is created, and the scale image is displayed on the camera. It is characterized by being superimposed on the photographed image and displayed on the display screen.
According to the first aspect of the present invention, the scale image representing at least a part of the fork or the loading pallet on the fork is superimposed and displayed on the photographed image of the camera of the display device. It is only necessary to align the scale image with the photographed image. Accordingly, the positioning in the cargo handling operation of the forklift can be performed with the same feeling as actually observing the cargo handling object while viewing the display screen of the display device, and can be performed accurately and easily.

According to a second aspect of the present invention, in the cargo handling work support device for a forklift according to the first aspect, the scale image representing a part of the fork is a pair of cross-sectional images proportional to a vertical cross section of the fork. .
According to the second aspect of the present invention, the driver has a baggage placed on the pallet while looking at the display screen, and can easily perform positioning by simply aligning the pair of fork cross-sectional images with the fork insertion port of the pallet. It can be carried out.

According to a third aspect of the present invention, there is provided a cargo handling work support device for a forklift according to the first aspect, wherein both lower ends of the loading pallet on which a scale image representing a part of the loading pallet on the fork is placed. This is characterized in that a pair of left and right line images composed of a vertical line corresponding to the side surface position and a horizontal line corresponding to the bottom surface position are shown.
According to the third aspect of the present invention, the corner of the loading pallet is shown, so that the driver can align the line image with the luggage storage shelf while looking at the display screen, Direction alignment can be easily performed.

According to a fourth aspect of the present invention, in the cargo handling work support device for a forklift according to any one of the first to third aspects, the scale image includes a distance from the center between the forks to the fork and from the camera to the fork. And the distance from the camera to the object to be photographed.
According to the fourth aspect of the present invention, the scale image is scale-converted in accordance with the actual size centered on the camera in accordance with the photographed image of the camera, so that accurate image display is possible.

According to a fifth aspect of the present invention, in the cargo handling work support device for a forklift according to any one of the first to fourth aspects, a frame indicating a safe range for positioning the scale image is displayed on the display screen. Features.
According to the fifth aspect of the present invention, positioning can be performed more safely and reliably only by aligning the frame indicating the safe range with the captured image on the display screen. Note that the frame indicating the safe range indicates a limit range of variation in the scale image when taking into account measurement errors such as forklifts and pallets, positional deviation, and the like. Further, the driver can visually determine on the display screen whether or not the alignment has been properly performed.

According to a sixth aspect of the present invention, in the forklift work support device for a forklift according to any one of the second to fifth aspects, a discriminating means is provided for discriminating whether the load handling work performed by the forklift is a loading work or a loading work. The display controller selectively displays the pair of cross-sectional images or the pair of line images on a display screen on which a photographed image of the camera is displayed according to the type of cargo handling work determined by the determining means. To do.
According to the sixth aspect of the present invention, since it is possible to determine whether the loading operation or the loading operation is performed by the determining means and to switch the display screen, the work support for both the loading operation and the loading operation can be performed with one forklift. Can be efficient.

A seventh aspect of the present invention is the cargo handling work support device for a forklift according to the sixth aspect, further comprising a detecting means for detecting a distance from the camera to a front luggage storage shelf, and based on a signal from the detecting means. The display controller calculates the position and size of the scale image at the distance, and superimposes and displays the image on the camera-captured image on the display device.
According to the seventh aspect of the present invention, by providing the detecting means for detecting the distance, the distance between the fork and the luggage storage shelf is recognized, and the position and size of the scale image are accurately displayed according to the distance. And fork alignment accuracy can be improved.

The invention described in claim 8 is characterized in that in the cargo handling work support device for a forklift according to any one of claims 3 to 7, a pallet selection switch capable of switching a scale image according to a pallet size is provided.
According to the eighth aspect of the present invention, since the pallet selection switch is provided, even if the pallet size is different, it can be dealt with only by switching.

  According to the present invention, the fork or the pallet on the fork can be accurately and easily positioned on the display screen.

(First embodiment)
Hereinafter, a cargo handling work support device in a forklift according to a first embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the forklift 10 is a reach type forklift, and a pair of left and right outer masts 12 are provided in front of the vehicle body 11, and the outer mast 12 is disposed so as to be movable in the front-rear directions a and b via wheels (not shown). ing. Here, the direction in which the forklift 10 travels is defined as the front-rear direction, the direction perpendicular thereto is defined as the left-right direction, and the direction perpendicular thereto is defined as the up-down direction. A pair of left and right inner masts 13 are provided inside the outer mast 12, and the inner mast 13 is disposed so as to be vertically movable along the outer mast 12. A lift bracket 14 is attached to the inner mast 13 so as to be movable up and down, and a pair of left and right forks 15 is provided on the lift bracket 14. In this embodiment, the mast structure is a full-free type. When the fork 15 is raised above a predetermined lifting height, the inner mast 13 and the fork 15 move up and down while maintaining a certain positional relationship. Below that, the inner mast 13 is stationary and only the fork 15 moves up and down.

  The forklift 10 is provided with a cargo handling work support device 20 that assists the positioning operation of the fork 15 in a cargo handling work at a high place (above a predetermined lifting height). The cargo handling work refers to a loading operation for carrying out the luggage stored in the storage shelf and a loading work for storing the received luggage in the storage shelf. The cargo handling work support device 20 includes a camera 21 that photographs the front mounted on a connecting member 18 that connects the left and right inner masts 13 below the fork 15. The camera 21 is an electronic camera composed of a CCD image sensor. The camera 21 is arranged with the lens surface facing the front of the fork, and can take a picture of the cargo handling work area in front of the fork. A photographed image display device 22 is attached to the driver's seat 17 behind the vehicle body 11 at a position where the driver can easily see it. On the display screen 22a of the display device 22, an image in front of the fork taken by the camera 21 during the cargo handling operation is shown.

Although not shown, the driver's seat 17 is provided with a steering handle and a handling lever for cargo handling, and can be operated by the driver.
In FIG. 1, a storage shelf 30 for storing luggage W is installed in front of the forklift 10. The storage shelf 30 is composed of a column 31 erected vertically from the road surface and a beam 32 installed between the pair of columns, and the space surrounded by the column 31 and the beam 32 stores the luggage W. The shelf front 33 is formed. In the shelf front 33, a luggage W and a pallet P for loading the luggage W are stored. Therefore, during the cargo handling operation, the storage shelf 30 or the luggage W and the pallet P stored in the storage shelf 30 are photographed by the camera 21 and displayed on the display device 22 as a photographed image in front of the fork.

  FIG. 2 is a block diagram showing an electrical configuration of the cargo handling work support device 20. An image taken by the camera 21 is input to the display controller 23 and subjected to various processes, and then displayed on the display device 22. The display controller 23 has various control functions, arithmetic functions, and memory functions. The display controller 23 is attached to the vehicle body 11 and displays a scaled image superimposed on the captured image in accordance with the cargo handling operation. The scale image will be described later in detail.

  The pallet sensor 24 is attached to the lower end portion of the lift bracket 14, and in this case, the pallet sensor 24 is disposed with its light receiving surface facing forward using an optical sensor. (Refer to FIG. 5) The pallet sensor 24 corresponds to a discriminating means for discriminating whether the cargo handling operation performed by the fork 15 is a cargo taking operation or a cargo placing operation, and detects the presence or absence of the pallet P on the fork 15. This detection signal is input to the display controller 23, and the display controller 23 displays a scale image on the display device 22 corresponding to each cargo handling operation. The pallet selection switch 25 is a changeover switch provided in the driver's seat 17 (not shown). A plurality of types of pallet sizes are stored in advance in the display controller 23, and the driver performs selection setting of the pallet selection switch 25 according to the size size of the pallet P used for the cargo handling work before the cargo handling work is performed. .

Next, creation of scale image data will be described.
In creating scale image data, the following information is previously input to the display controller 23 as setup parameters.
(1) Fork external parameters (fork cross-sectional shape, fork length, pitch between forks)
(2) Pallet external parameters (pallet fork insertion side cross-sectional shape)
(3) Camera parameters (camera mounting position, focal length)

As shown in FIGS. 3 to 5, at the time of loading operation, the fork 15 is made to face the fork insertion end face Pb of the pallet P of the cargo W stored in the storage shelf 30, and the fork 15 is aligned. . A fork insertion port Pa is formed on both sides of the fork insertion end face Pb. A vertical plane including the fork insertion end face Pb is defined as a virtual plane S.
For example, the projection point on the virtual plane S of the center point of the vertical section of the thickest portion of the fork 15 is A, the coordinates of the point A are X, Y, and Z with the optical center of the camera 21 as the origin O. Display in 3D coordinates. Here, with the origin O as the center, the vertical axis is the Y axis, the longitudinal direction is the Z axis, and the horizontal direction is the X axis. The coordinates of the origin O are (0, 0, 0), and the coordinates of the point A are represented by (x, y, z).

  The camera 21 is disposed on the center line m between the pair of forks 15, and the origin O exists on the center line m. The distance in the X direction from the origin O to the projection point A is x. The distance in the Y direction from the origin O to the projection point A is y, and the distance in the Z direction from the origin O to the projection point A is z. x, y, and z can be obtained from the setup parameters described above. The distance L between the front end of the fork 15 and the fork insertion end face Pb is 200 mm, which is a distance that a normal driver approaches when aligning the fork 15 in a cargo handling operation, and is handled as a fixed value input during setup. The distance L can be appropriately set between 200 mm and 300 mm.

Next, when the point A coordinates (x, y, z) are converted to the screen coordinates (Nx, Ny) on the display screen, they can be obtained by the following equation.
Nx = (f / z) × Kh × x (1)
Ny = (f / z) × Kv × y (2)
Where f: focal length of the camera Kh: number of pixels per unit length in the horizontal direction on the camera imaging surface Kv: number of pixels per unit length in the vertical direction on the camera imaging surface

  Therefore, in order to superimpose and display the scale image of the vertical cross section of the fork 15 on the image captured by the camera 21, the vertical cross sectional shape of the fork 15 is projected onto the virtual plane S including the fork insertion end face Pb of the pallet P. The coordinates (x, y) of the respective points around the pair of rectangular cross sections may be converted into screen coordinates (Nx, Ny) using the above equations (1) and (2) and superimposed on the captured image. . A calculation program including the above expressions (1) and (2) is input to the display controller 23 in advance, and a captured image of the fork insertion end face Pb of the pallet P is displayed on the display device 22 and at the same time, the calculation process is performed. And a pair of fork cross-sectional images is displayed as a scale image.

FIG. 6 shows a display image of the display device 22 at the time of unloading work, and a photographed image in front of the fork photographed by the camera 21 is displayed on the display screen 22a. A load W stored in the shelf opening 33 of the storage shelf 30 and an end surface Pb of the pallet P for loading the load W are displayed. Fork insertion ports Pa are formed on both sides of the end surface Pb. Yes. Then, a pair of fork cross-sectional images 34 are displayed on a reduced scale so as to be superimposed on the photographed image. The fork cross-sectional image 34 displays the thickest part in the vertical cross section of the fork 15.
A square frame 35 as a frame indicating a safe range for positioning the fork cross-sectional image 34 is superimposed and displayed on the periphery of the pair of fork cross-sectional images 34. This square frame 35 indicates the limit range of variation of the pair of fork cross-sectional images 34 when the measurement error and positional deviation of each parameter are taken into consideration. The display controller 23 calculates and displays the measurement error of each parameter, positional deviation, and the like.
The driver can position the fork 15 accurately and easily by aligning the fork cross-sectional image 34 or the square frame 35 on the display screen 22a so as to be within the fork insertion port Pa of the pallet P. . FIG. 6 shows a state where both the fork cross-sectional image 34 and the square frame 35 are within the fork insertion port Pa of the pallet P.

Also during loading work, a scale image can be created and displayed in the same manner as described above. FIG. 7 shows a display image of the display device 22 at the time of loading work, and an empty shelf front 33 of the storage shelf 30 is displayed on the display screen 22a as a photographed image in front of the fork photographed by the camera 21. Then, a pair of left and right line images 36 showing the corners at both lower ends of the loading pallet P placed on the fork and including a vertical line 36a corresponding to the side surface position and a horizontal line 36b corresponding to the bottom surface position are reduced in scale. Is displayed.
A pair of corner frames 37 composed of vertical lines 37 a and horizontal lines 37 b as frames indicating a safe range for positioning the line image 36 are displayed in a superimposed manner on the periphery of the pair of line images 36. The corner frame 37 indicates a limit range of variation of the pair of line images 36 when the measurement error of each parameter or the positional deviation is taken into consideration.
The driver positions the pallet P on the fork accurately and easily by aligning the line image 36 or the corner frame 37 on the display screen 22a so as to be accommodated in the shelf opening 33 of the storage shelf 30. Can do. FIG. 7 shows a state where both the line image 36 and the corner frame 37 are within the shelf front 33 of the storage shelf 30.

The operation of the cargo handling work support device in the forklift having the above configuration will be described.
First, at the time of unloading work at a high place, the driver operates the operation lever or the like installed in the driver's seat 17 to level the fork 15 and then lifts and lowers the fork 15 to load the load W and the pallet P. Is opposed to the shelf opening 33 of the storage shelf 30. On the display device 22 installed in the driver's seat 17, as shown in FIG. 8, the baggage W photographed by the camera 21, the fork insertion end face Pb of the pallet P and the photographed images of the pair of left and right forks 15 are superimposed. A fork cross-sectional image 34 is displayed. In this case, the fork cross-sectional image 34 is displayed above the fork insertion end face Pb of the pallet P.

The driver lowers the fork 15 while looking at the display screen 22a, and aligns the fork cross-sectional image 34 in the vertical direction so as to be within the fork insertion port Pa. On the display screen 22a, the fork 15 and the fork cross-sectional image 34 remain fixed and do not move, and the shelf opening 33 and the fork insertion port Pa of the luggage W and the pallet P move upward. Then, when the fork insertion port Pa reaches the position indicated by the phantom line, the alignment ends. (In FIG. 8, the positions of the luggage W and the pallet P at this time are indicated by virtual lines.)
Next, the fork 15 is inserted into the fork insertion port Pa of the pallet P by moving the vehicle body 11 and the masts 12 and 13 forward. Then, after raising the fork 15 slightly and lifting the load W, the vehicle body 11 is moved backward and the fork 15 is lowered.
If a square frame 35 is displayed around the fork cross-sectional image 34 as a reduced scale image, the vertical alignment may be performed so that the square frame 35 is within the fork insertion port Pa.

  Further, in loading work at a high place, the driver operates the operation lever or the like installed in the driver's seat 17 to raise and lower the fork 15 to store the luggage W and the pallet P placed on the fork 15. It is made to oppose the empty shelf front 33 of the storage shelf 30 for doing. On the display device 22 installed in the driver's seat 17, a pair of left and right line images 36 are displayed so as to be superimposed on captured images such as the shelf opening 33 captured by the camera 21 and the lower surface Pc of the pallet P. The driver moves the fork 15 up and down while looking at the display screen 22a, and aligns the pair of left and right line images 36 in the vertical direction so as to fit in the shelf opening 33 of the storage shelf 30. On the display screen 22a, the lower surface Pc of the pallet P and the pair of left and right line images 36 remain fixed and do not move, and the shelf front 33 of the storage shelf 30 moves in the vertical direction.

Next, the vehicle body 11 and the masts 12 and 13 are moved forward to allow the fork 15 to enter the shelf front 33 in which the luggage W is stored. Then, after the fork 15 is lowered and the luggage W and the pallet P are placed in the shelf opening 33, the vehicle body 11 and the masts 12, 13 are moved backward.
If a corner frame 37 is displayed around the line image 36 as a reduced scale image, the vertical alignment may be performed so that the corner frame 37 fits in the shelf front 33.

The cargo handling work support device for a forklift according to this embodiment has the following effects.
(1) The driver only needs to align the scale images (the pair of cross-sectional images 34 or the pair of line images 36) superimposed on the captured image of the camera while looking at the display device 22. Therefore, the positioning in the cargo handling work at the high place of the forklift 10 can be performed with the same feeling as actually observing the storage shelf 30 or the luggage W while viewing the display screen 22a of the display device 22. Can be done easily.
(2) During the loading operation, the driver can easily position the fork by aligning the fork cross-sectional image 34 on the display screen 22a in the vertical direction so as to be within the fork insertion port Pa of the pallet P. Can be done. Further, the driver can visually determine on the display screen 22a whether or not the alignment has been properly performed.
(3) During the loading operation, the driver positions the pallet P on the fork by aligning the line image 36 on the display screen 22a in the vertical direction so as to be stored in the shelf opening 33 of the storage shelf 30. Can be done easily. Further, the driver can visually determine on the display screen 22a whether or not the alignment has been properly performed.
(4) When the square frame 35 or the corner frame 37 indicating the safety range is displayed around the pair of fork cross-sectional images 34 or the pair of line images 36, the square frame 35 or the corner frame 37 is displayed respectively. Since the vertical alignment is performed so as to be accommodated in the fork insertion port Pa or the shelf opening 33, the positioning can be reliably performed.
(5) Since the pair of fork cross-sectional images 34 or the pair of line images 36 are scale-converted according to the actual dimensions centered on the camera 21 according to the captured image of the camera, accurate image display is possible.
(6) Since the pallet sensor 24 automatically recognizes the presence / absence of the load W on the fork 15, it is possible to determine whether it is a loading operation or a loading operation, and the display screen 22 a can be automatically switched. Therefore, it is possible to support both loading and unloading work efficiently.
(7) Since the pallet selection switch 25 is provided, even if the pallet size is different, it can be dealt with only by switching.

(Second Embodiment)
Next, a cargo handling work support device in a forklift according to a second embodiment will be described with reference to FIG.
In this embodiment, in the first embodiment, a sensor for detecting the distance from the camera to the luggage storage shelf is added.
Therefore, here, for convenience of explanation, a part of the reference numerals used in the previous explanation is used in common, the explanation of the common configuration is omitted, and only the changed part is explained.

As shown in FIG. 9, a distance sensor 51 is newly provided and connected to the display controller 23. The distance sensor 51 corresponds to detection means for detecting the distance in the Z direction from the camera 21 to the front storage shelf 30. The distance sensor 51 is provided in the vicinity of the camera 21 and uses, for example, a laser distance meter. Based on the distance signal from the distance sensor 51, the display controller 23 calculates the position and size of the scaled image at that distance, and displays it superimposed on the camera-captured image on the display device 22.
In the first embodiment, the distance L between the fork 15 and the front storage shelf 30 has been described as a fixed value input at the time of setup. However, in this embodiment, the distance between the fork 15 and the front storage shelf 30 depends on the distance. Thus, the scale image can be displayed with high accuracy. Accordingly, by providing the distance sensor 51, even if the fork 15 moves to the storage shelf 30 side, the display position of the scale screen is corrected according to the change in distance, so that accurate alignment can be performed.

The cargo handling work support device for a forklift according to this embodiment has the following effects.
In addition, since the effects (1) to (7) of the first embodiment are common, they are omitted, and other effects are described.
(1) The scale image can be accurately displayed according to the distance between the fork 15 and the front storage shelf 30, and the scale screen can be displayed according to the change in distance even if the fork 15 moves to the storage shelf 30 side. Since the position is corrected, accurate alignment can be performed.

The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the gist of the invention. For example, the following modifications may be made.
In the first embodiment, the camera mounting position has been described as a fully free type inner mast. However, when the camera is not the full free type, the camera may be mounted on a lift bracket and moved integrally with the fork. In this case, care must be taken so that the camera does not contact the ground at the lowest position.
In the first embodiment, it has been described that the vertical positioning is performed on the display screen by moving the fork up and down. However, if the fork lift has a left and right shift function of the fork, the fork lifting operation is performed. In addition to the above, a left / right shift operation may be performed to align the vertical and horizontal directions.
In the first embodiment, the fork cross-sectional image showing the thickest portion in the vertical cross section of the fork has been described as the scale image to be superimposed and displayed on the photographed image at the time of unloading work, but the present invention is not limited to this. It may indicate a fork tip instead of a thing.
In the first embodiment, the scale image to be superimposed and displayed on the photographed image at the time of loading work is described as a pair of left and right line images indicating the lower end corner of the pallet. However, the present invention is not limited to this. The outline may be shown, for example, it may be a square outline.
In the second embodiment, the laser distance meter is used as the distance sensor. However, the distance may be measured by a stereo camera using two cameras.

It is a schematic structure figure showing the whole cargo handling work support device composition concerning a 1st embodiment. It is a block diagram which shows the structure of the cargo handling work assistance apparatus which concerns on 1st Embodiment. It is a side view of the fork part at the time of the loading operation concerning a 1st embodiment. FIG. 4 is a sectional view taken along line BB in FIG. 3. It is a front view of the fork part at the time of the loading operation concerning a 1st embodiment. The display image on the display screen at the time of the cargo collection work which concerns on 1st Embodiment is shown. The display image on the display screen at the time of the loading work which concerns on 1st Embodiment is shown. It is explanatory drawing for demonstrating position alignment of the scale image at the time of the cargo taking operation which concerns on 1st Embodiment. It is a block diagram which shows the structure of the cargo handling work assistance apparatus which concerns on 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Forklift 11 Car body 12 Outer mast 13 Inner mast 15 Fork 17 Driver's seat 20 Cargo work support device 21 Camera 22 Display device 22a Display screen 23 Display controller 30 Storage shelf 34 Fork cross-sectional image 36 Line image P Pallet W Luggage

Claims (8)

In a forklift having a pair of forks provided to be movable up and down along a mast provided in a vehicle body,
The forklift is provided with a camera for photographing the front of the fork,
A display device having a display screen for displaying a captured image of the camera is provided in the vicinity of the driver's seat of the forklift,
A cargo handling work support apparatus for a forklift, characterized in that a scale image representing at least a part of a fork or a loading pallet on the fork is created, and the scale image is superimposed on a photographed image of the camera and displayed on the display screen. . 2. The cargo handling work support device for a forklift according to claim 1, wherein the scale image representing a part of the fork is a pair of cross-sectional images proportional to a vertical cross-section of the fork. The scale image representing a part of the loading pallet on the fork is composed of a vertical line corresponding to the side surface position and a horizontal line corresponding to the bottom surface position indicating the corners at the lower ends of the loading pallet placed on the fork. 2. The cargo handling work support device for a forklift according to claim 1, wherein the left and right paired line images are used. The scale image is created based on a distance from a center between forks to the fork, a distance from the camera to the fork, and a distance from the camera to an object to be photographed. The cargo handling work support apparatus in the forklift as described in any one of Claims. The cargo handling work support device for a forklift according to any one of claims 1 to 4, wherein a frame indicating a safe range for positioning the scale image is displayed on the display screen. A display means for determining whether the cargo handling work performed by the forklift is a loading work or a loading work, and a display controller displays a photographed image of the camera according to the type of the cargo handling work determined by the determination means 6. The cargo handling work support device for a forklift according to any one of claims 2 to 5, wherein the pair of cross-sectional images or the pair of line images are selectively displayed on a screen. Detection means for detecting a distance from the camera to a front luggage storage shelf is provided, and based on a signal from the detection means, the display controller calculates the position and size of the scale image at the distance, and 7. The cargo handling work support device for a forklift according to claim 6, wherein the cargo handling work support device is displayed in a superimposed manner on an image captured by a camera on a display device. The cargo handling work support device for a forklift according to any one of claims 3 to 7, further comprising a pallet selection switch capable of switching a scale image according to a pallet size.

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