Cargo handling system, cargo handling supporting method, and cargo handling supporting program

Abstract

To suitably support an automatic operation of a cargo handling vehicle.SOLUTION: A cargo handling system 1 comprises a cargo handling vehicle 20 capable of automatically operating. A control part 27 of the cargo handling vehicle 20 determines whether or not the cargo handling vehicle 20 can execute automatically a prescribed work, brings the operation of the cargo handling vehicle 20 to a stop and notifies an operator of the fact when it is determined that the cargo handling vehicle 20 cannot execute the prescribed work automatically, and makes the cargo handling vehicle 20 execute the prescribed work under the supervision of the operator after the control part notifies the operator of the fact.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a cargo handling system, a cargo handling support method, and a cargo handling support program. [Background technology]

[0002] 2. Description of the Related Art In recent years, cargo handling vehicles such as forklifts used for cargo handling work have become increasingly automated (unmanned) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-195195 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there are still many technical challenges to be overcome in automating cargo handling vehicles. For example, when the information available for a task is not highly accurate, it is difficult to accurately mechanically determine whether the task has been completed.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide suitable support for automatic driving of loading / unloading vehicles. [Means for solving the problem]

[0006] The cargo handling system according to the present invention comprises: An autonomously operable loading and unloading vehicle; A determination means for determining whether the loading vehicle can automatically perform a predetermined task; a first control means for stopping the operation of the cargo handling vehicle and notifying an operator when the determination means determines that the cargo handling vehicle cannot automatically perform the predetermined task; a second control means for causing the loading vehicle to perform the predetermined work under the supervision of the operator after the first control means has notified the operator; Equipped with. Effect of the Invention

[0007] According to the present invention, automatic driving of a loading vehicle can be favorably supported. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a schematic control configuration of a cargo handling system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram for explaining an imaging section according to the embodiment. [Diagram 3] FIG. 2 is a diagram for explaining a weight sensor according to the embodiment. [Figure 4] 1 is a diagram for explaining a fork tip sensor according to an embodiment of the present invention; [Diagram 5] 5 is a flowchart showing a procedure of a loading and unloading support process according to the embodiment. [Figure 6] 11 is a diagram for explaining the loading and unloading support process according to the embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0010] [Loading system configuration] FIG. 1 is a block diagram showing a schematic control configuration of a cargo handling system 1 according to this embodiment. As shown in Figure 1, the loading and unloading system 1 uses at least one loading and unloading vehicle 20 to perform loading and unloading operations (such as loading and unloading, transporting, stowing, picking, sorting, arranging cargo, and other operations incidental thereto) in a work area such as a warehouse. Specifically, the cargo handling system 1 includes at least one cargo handling vehicle 20 and a management device 40.

[0011] The loading vehicle 20 is a vehicle that performs loading and unloading work, such as a forklift that can travel on the road without using rails or the like. The loading and unloading vehicle 20 holds a load L or a pallet P with a pair of left and right forks 12 to perform various loading and unloading work (see FIG. 3, etc.). The loading and unloading vehicle 20 is an automated guided forklift (AGF) that can operate automatically (unmanned), and operates based on operation commands from a management device 40. However, the loading and unloading vehicle 20 of this embodiment is a so-called semi-automatic machine that can be switched between manual operation (manned operation) in which an operator rides on board and drives (or remotely controlled) and automatic operation.

[0012] Specifically, the loading vehicle 20 is equipped with a vehicle body drive unit 21, a fork drive unit 28, an operation unit 22, a display unit 23, a communication unit 24, a position measurement device 25, an imaging unit 31, a weight sensor 32, a fork tip sensor 33, a memory unit 26, and a control unit 27.

[0013] The vehicle body drive unit 21 includes a travel motor and a steering motor (both not shown) which are drive sources for the vehicle body of the loading vehicle 20. The travel motor drives the drive wheels among the wheels. The steering motor rotates (steers) the steered wheels among the wheels. Note that the drive source is not limited to a motor, and may be an internal combustion engine or the like.

[0014] The fork driving unit 28 is a driving source that operates the pair of forks 12. The fork driving unit 28 of this embodiment includes a tilt cylinder 281, a lifting cylinder 282, and a reach cylinder 283 that tilt, lift, and move the pair of forks 12 forward and backward (extend and retract) relative to the vehicle body. These cylinders are piston cylinders driven by liquid pressure (e.g., hydraulic pressure). The tilt cylinder 281 tilts a mast (not shown) that supports the pair of forks 12 in the front-rear direction of the vehicle body. The lifting cylinder 282 raises and lowers the pair of forks 12 along the mast. Two lifting cylinders 282 are provided on the left and right sides of the vehicle body corresponding to the pair of forks 12. The reach cylinder 283 moves the pair of forks 12 forward and backward (extends and retracts) in the front and rear directions of the vehicle body (approximately perpendicular to the mast).

[0015] The operation unit 22 is an operation means by which the driver performs various operations during manned (manual) driving. The operation unit 22 includes, for example, a steering wheel, pedals, levers, various buttons, etc., and outputs operation signals to the control unit 27 according to the contents of these operations. The display unit 23 is, for example, a liquid crystal display, an organic electroluminescence display, or other display, and displays various information based on a display signal input from the control unit 27. The display unit 23 may be a touch panel that also serves as part of the operation unit 22, or may include a speaker capable of displaying (outputting) audio. The communication unit 24 is a communication device capable of transmitting and receiving various types of information between the management device 40 and other cargo handling vehicles 20 and the like.

[0016] The position measurement device 25 measures the position of the cargo handling vehicle 20 itself. The specific configuration of the position measurement device 25 is not particularly limited, and may be, for example, a device that utilizes GNSS (GNSS satellite positioning system), SLAM (Simultaneous Localization and Mapping) technology, indoor positioning (indoor mapping) technology, or other technology.

[0017] The photographing unit 31 is a camera that photographs the area in front of the cargo handling vehicle 20, acquires image information, and outputs the acquired information to the control unit 27. As shown in FIG. 2, for example, three photographing units 31 in this embodiment are arranged in the center and one on each side of the front of the vehicle body (driver's seat), and each is installed facing forward. Each photographing unit 31 is capable of changing its up-down orientation so that the load L (pallet P) can be captured within the angle of view in response to the elevation of the forks 12. The positions and number of photographing units 31 are not particularly limited to those in this embodiment.

[0018] 3, the weight sensors 32 are individually disposed on the upper surfaces of the pair of forks 12, and measure the weight applied to each fork 12. The weight sensors 32 output the acquired weight values ​​to the control unit 27. As shown in FIG. 4, the fork tip sensors 33 are disposed individually at the tips of the pair of forks 12, and acquire distance information in the forward and backward directions along the forks 12.

[0019] The storage unit 26 is a memory configured, for example, by a RAM (Random Access Memory) or a ROM (Read Only Memory), and stores various programs and data, and also functions as a work area for the control unit 27. The storage unit 26 in this embodiment stores a program for executing a cargo handling support process (see FIG. 5) described later. The control unit 27 is configured with, for example, a CPU (Central Processing Unit) and controls the operation of each part of the cargo handling vehicle 20. Specifically, the control unit 27 operates each part based on a control command from the management device 40 or the operation content of the operation unit 22, deploys a program pre-stored in the memory unit 26, and executes various processes in cooperation with the deployed program.

[0020] The management device 40 centrally controls the cargo handling system 1 and is configured to be able to control the operation of the cargo handling vehicle 20. The management device 40 may be a terminal device such as a personal computer, a smartphone, or a tablet terminal, or may be configured with these and a server, etc. Specifically, the management device 40 includes an operation unit 41 , a display unit 42 , a communication unit 44 , a storage unit 46 , and a control unit 47 .

[0021] The operation unit 41 is an operation means through which an operator performs various operations to operate the management device 40, and includes, for example, a pointing device such as a mouse and a keyboard. The display unit 42 is, for example, a liquid crystal display, an organic electroluminescence display, or another display. The display unit 42 displays various information based on a display signal input from the control unit 47. The display unit 42 may be a touch panel that also serves as at least a part of the operation unit 41. The communication unit 44 is a communication device capable of transmitting and receiving various types of information to and from each loading vehicle 20 .

[0022] The storage unit 46 is a memory configured by, for example, a random access memory (RAM) or a read only memory (ROM), and stores various programs and data, and also functions as a working area for the control unit 47. The control unit 47 is configured with, for example, a CPU (Central Processing Unit) and controls the operation of each unit of the management device 40. Specifically, the control unit 47 deploys a program pre-stored in the storage unit 46 based on the operation content of the operation unit 41 and executes various processes in cooperation with the deployed program.

[0023] [Loading support processing] Next, the operation of the cargo handling vehicle 20 when performing the cargo handling support process will be described. FIG. 5 is a flowchart showing the procedure of the cargo handling support process, and FIG. 6 is a diagram for explaining the cargo handling support process.

[0024] The cargo handling support process is a process in which the cargo handling vehicle 20 performs a predetermined cargo handling operation unmanned (automatically) while receiving support from the operator of the management device 40 as necessary. The cargo handling support process is executed by the control unit 27 of the cargo handling vehicle 20 reading out a predetermined program from the memory unit 26 and developing it based on an execution command from the management device 40.

[0025] 5, when the cargo handling support process is executed, the control unit 27 of the cargo handling vehicle 20 executes a predetermined cargo handling operation. In this case, for example, the operation is assumed to be to pick up the cargo L (pallet P) and transport it to a predetermined position.

[0026] During the loading and unloading operation, the control unit 27 judges whether or not there is a problem with the loading and unloading state (operation state) (step S1). Here, "there is a problem with the loading / unloading state" means that there is a risk of the work failing, and it is difficult for the machine (loading vehicle 20) to determine whether the work has been completed. This difficulty depends on, for example, variations in control accuracy and detection accuracy, insufficient information, damage caused when the work fails, etc. In other words, the determination in step S1 is whether the loading / unloading vehicle 20 can automatically perform the specified work, in other words, whether an operator (human) needs to determine whether the work has been completed. As a specific method of determination, for example, the following can be mentioned.

[0027] <Method Example 1: Determining Load Uniformity> For example, if the load L on the forks 12 is unevenly positioned, it is determined that there is a problem with the load handling state (see FIG. 3). Specifically, when the left and right weight difference is equal to or greater than a predetermined threshold, the control unit 27 determines that there is a bias in the placement of the load L. The left and right weight difference is obtained from the measurement values ​​of the two weight sensors 32 arranged on the pair of forks 12, or from the pressures of the two lifting cylinders 282 on the left and right that lift the pair of forks 12.

[0028] <Method Example 2: Fork contact detection during loading> Alternatively, if there is a risk that the tips of the forks 12 may come into contact with an obstacle when picking up the load, it is determined that there is a problem with the load handling state (see FIG. 4). Specifically, with the forks 12 facing holes (fork pockets) H of the pallet P at the time of loading (before the forks 12 are inserted), the control unit 27 uses the fork tip sensor 33 to measure the distance D1 in the front-rear direction between the forks 12 and a front obstacle B (wall, inner wall of the pallet, etc.) in front of them. Then, when the difference between the measured distance D1 and the planned reach amount of the forks 12 at the time of loading is equal to or less than a predetermined threshold, the control unit 27 determines that there is a risk that the tips of the forks 12 will come into contact with the front obstacle B. The planned reach amount of the forks 12 is the amount by which the forks 12 are extended forward at the time of loading, for example, the reach amount up to the maximum extension state.

[0029] <Method Example 3: Determining whether cargo is in contact when being picked up> Alternatively, if there is a risk that the load L may come into contact with the ceiling or the like when being picked up, it is determined that there is a problem with the load handling state (see FIG. 6). Specifically, when picking up a load, the control unit 27 has the loading vehicle 20 face the load L (pallet P) and captures the load L and an upper obstacle C (load shelf, ceiling, etc.) above it within the angle of view using the capture unit 31. Then, based on the captured image, the control unit 27 calculates the vertical distance D2 between the load L and the upper obstacle C. If the calculated distance D2 is equal to or less than a predetermined threshold, the control unit 27 determines that there is a risk that the load L will come into contact with the upper obstacle C.

[0030] In step S1, when it is determined that there is no problem with the loading state (step S1; No), the control unit 27 repeats step S1. On the other hand, if it is determined in step S1 that there is a problem with the loading state (step S1; Yes), the control unit 27 stops the operation of the loading vehicle 20 and temporarily halts (interrupts) the loading operation (step S2). Then, the control unit 27 notifies the operator that there is a problem with the loading state by communicating with the management device 40, and requests the operator to check the work state (step S3).

[0031] The operator who receives the confirmation request from the cargo handling vehicle 20 at the management device 40 prepares for the work check and performs a process to receive the request (step S4). Preparation for a work check may involve, for example, having an operator actually go to the site so that he or she can directly and visually inspect the work, or, in the case of remote checking, having the camera image from the loading vehicle 20 output to the display unit 42 of the management device 40. The request reception process is performed by an operator operating the management device 40. When the request reception process is performed, the control unit 47 of the management device 40 outputs to the loading vehicle 20 a response signal in response to the request from the loading vehicle 20.

[0032] When the response signal is received from the management device 40, the loading vehicle 20 makes the status of the work site available for sharing with the operator, and then resumes the work interrupted in step S2 at an operating speed lower than the predetermined speed (step S5). Here, "a state in which the status of the work site can be shared with the operator" means, for example, a state in which, when the operator checks remotely, the camera images of the work status captured by the image capturing unit 31 can be output in real time by the management device 40. In the case of remote operation, the three image capturing units 31 at the center and on the left and right simulate the viewpoint of the operator when actually boarding the vehicle. The orientation of each image capturing unit 31 is automatically adjusted up and down according to the height of the forks 12. Further, the "operation speed lower than a predetermined speed" is an operation speed of the cargo handling vehicle 20 at which the operation can be immediately stopped in the current state by the operator's stopping operation.

[0033] The operator monitors the state of the work of the cargo handling vehicle 20 performed at a low speed (step S6). That is, the work interrupted in step S2 is resumed under the operator's supervision. Then, the operator determines whether or not there is an abnormality in the cargo handling state (work state) (step S7). "There is an abnormality in the loading / unloading condition" refers to a state in which a malfunction has occurred or is highly likely to occur, such as, for example, the placement of the load L being uneven, the tip of the fork 12 contacting the front obstacle B when loading the load, or the load L contacting the upper obstacle C when loading the load. The abnormality determination in step S7 may be performed by both the operator and the cargo handling vehicle 20.

[0034] If an abnormality is found in the loading / unloading state (step S7; Yes), the operator immediately stops the operation of the loading / unloading vehicle 20 to interrupt the work, and switches to a manned operation mode (step S8). After that, the loading / unloading work is continued, for example, by the operator manually driving the loading / unloading vehicle 20 (manned operation).

[0035] On the other hand, if the operator determines in step S7 that there is no abnormality in the loading state (step S7; No), the control unit 27 of the loading vehicle 20 determines whether or not to end the work (step S9). In step S9, if it is determined that the work should not be terminated because the specified work has not yet been completed (step S9; No), the control unit 27 shifts the process to the above-mentioned step S6 and executes the remaining work. Note that, if the work that requires the operator's supervision is completed, the process may shift to step S1. Moreover, when it is determined that the work is to be ended because, for example, all the prescribed work has been completed (step S9; Yes), the control unit 27 ends the cargo handling support process.

[0036] [Technical effect of the present embodiment] As described above, according to this embodiment, when it is determined that the cargo handling vehicle 20 cannot automatically execute a predetermined task, the operation of the cargo handling vehicle 20 is stopped and a notification is given to the operator. Thereafter, the cargo handling vehicle 20 resumes the task under the supervision of the operator. This allows a human to make a judgment even if the work includes elements that are difficult for the loading vehicle 20 to mechanically judge as to whether or not the load L is unevenly arranged, or whether or not the forks 12 can be inserted into the pallet P. In other words, while relying on human judgment for judgments of success or failure that are difficult to perform mechanically, the risk of load collapse and contact accidents can be reduced, while other work can be performed automatically. Therefore, the automatic operation of the loading vehicle 20 can be favorably supported. This also means that the accuracy of automated loading and unloading can be evaluated from a human perspective, reducing the chance of misjudgment and allowing humans to make fine adjustments to the work.

[0037] Furthermore, according to this embodiment, when work is resumed under the supervision of the operator, the cargo handling vehicle 20 performs the work at an operating speed lower than the predetermined speed. This allows the operator to carefully determine whether the work was successful or not, and to quickly stop the operation of the cargo handling vehicle 20 if any abnormality is detected.

[0038] Furthermore, according to this embodiment, if there is an imbalance in the arrangement of the load L supported by the forks 12 of the loading vehicle 20, if there is a risk that the forks 12 will come into contact with a front obstacle B when unloading the load, or if there is a risk that the load L will come into contact with an upper obstacle C when unloading the load, it is determined that the loading vehicle 20 cannot automatically perform the work. That is, even when such work as these is included that is difficult to judge whether it has been completed successfully by the cargo handling vehicle 20, it can be preferably executed with the assistance of an operator (human).

[0039] Furthermore, according to this embodiment, the state of the work is photographed by the photographing unit 31 mounted on the cargo handling vehicle 20, and the image is transmitted to the management device 40 and displayed on the display unit . This allows the operator to conveniently monitor the progress of work even from a remote location.

[0040] [others] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments (including modified examples). For example, in the above embodiment, the weight sensor 32 is disposed on each of the pair of left and right forks 12, and the two weight sensors 32 detect the weight balance of the load L in the left and right direction. However, in addition to this, a plurality of weight sensors 32 may be arranged side by side in the front-rear direction on each fork 12 to detect the weight balance of the load L in the front-rear direction.

[0041] Furthermore, the cargo handling vehicle according to the present invention is not limited to a forklift as long as it is capable of automatic operation, and may include, for example, a transport vehicle. In addition, the details shown in the above embodiment can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0042] 1. Cargo handling system 12. Fork 20 Cargo handling vehicles 27 Control unit (determination means, first control means, second control means) 28 Fork drive unit 31 Photography Department 32 Weight Sensor 33 Fork tip sensor 40 Management device (terminal device) 42 Display section 44 Communications Department 47 Control Unit 282 Lifting Cylinder B Front obstacle C. Upper Obstacle D1 Distance D2 distance L load P Palette H hole

Claims

1. An autonomously operable loading and unloading vehicle; A determination means for determining whether the loading vehicle can automatically perform a predetermined task; a first control means for stopping the operation of the loading vehicle and notifying an operator when the determination means determines that the loading vehicle cannot automatically execute the predetermined work; a second control means for causing the loading vehicle to perform the predetermined work under the supervision of the operator after the first control means has notified the operator; A loading and unloading system comprising:

2. The second control means causes the cargo handling vehicle to perform the predetermined task at an operating speed lower than a predetermined speed, and stops the operation of the cargo handling vehicle based on an operation by an operator. A cargo handling system according to claim 1.

3. The determination means determines that the loading vehicle cannot automatically perform the work when the arrangement of the load supported by the forks of the loading vehicle is uneven, when there is a risk that the forks will come into contact with an obstacle when the load is picked up, or when there is a risk that the load will come into contact with an obstacle when the load is picked up. A cargo handling system according to claim 1.

4. A terminal device capable of communicating with the cargo handling vehicle is provided, The loading and unloading vehicle has a photographing unit that photographs the state of work and a communication unit that transmits the photographed image to the terminal device, The terminal device has a display unit that displays the image transmitted from the loading vehicle. A cargo handling system according to claim 1.

5. a determination step of determining whether the loading vehicle can automatically execute a predetermined task; a first control step of stopping the operation of the loading vehicle and notifying an operator when it is determined in the determination step that the loading vehicle cannot automatically perform the predetermined work; a second control step of causing the loading vehicle to perform the predetermined work under the supervision of the operator after the operator is notified in the first control step; A method for assisting loading and unloading, including:

6. Computer, A determination means for determining whether or not the loading vehicle can automatically perform a predetermined task; a first control means for stopping the operation of the loading vehicle and notifying an operator when the determination means determines that the loading vehicle cannot automatically perform the predetermined work; a second control means for causing the loading vehicle to perform the predetermined work under the supervision of the operator after the first control means has notified the operator; A cargo handling assistance program that functions as a

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