Automatic position controller of cargo handling equipment in industrial vehicles, automatic position control method of cargo handling equipment and industrial vehicles

摘要

PROBLEM TO BE SOLVED: To provide an automatic position control device for a cargo handling device in an industrial vehicle, the industrial vehicle and an automatic position control method for the cargo handling device allowing to reduce a load acting on an operator when handing a cargo.;SOLUTION: A forklift 1 comprises a lock-on system 61 for automatically positioning a fork. As an operation manner of the lock-on system 61, at first an image recognizing processing section 72 matches an image taken by a camera 19 and image-recognizes a mark placed on an object to be handled. A mark position calculating section 75 calculates coordinates I, J of the mark in the image coordinate system and a D value. On the basis of these values, a real coordinate position calculating section 77 calculates a camera coordinate OC in the real coordinates of the camera 19. On the basis of the camera coordinate OC and predetermined known information, a shift value calculating section 78 calculates a vector FP as a shift value between the fork and the target point. A cargo handling control section 50 drives cylinders 8b, 11 so as to make the vector FP '0' and moves the fork.;COPYRIGHT: (C)2003,JPO