Cargo handling system

Abstract

Provided is a cargo handling system capable of saving manpower while achieving cost reduction. A cargo handling system (100) is provided with a monitoring unit (40) that is provided at a position different from that of an industrial vehicle (1) in a work site (110) and monitors the state of the work site (110). Therefore, the state of the work field (110) can be monitored without providing an excessive performance monitoring unit in each industrial vehicle (1). The cargo handling system (100) is provided with a reading unit (31, 45) for reading the identification information giving unit (28). Therefore, the reading units (31, 45) can read identification information for identifying at least one of the cargo (W) and the tray (PT). The industrial vehicle (1) performs work on the basis of the identification information read by the reading units (31, 45). Therefore, the industrial vehicle (1) can work without identifying the pallet (PT) by an operator.

Description

Technical Field

[0001] The present disclosure relates to a cargo handling system. Background Art

[0002] As an existing cargo handling system, there is a cargo handling system described in Patent Document 1, for example. This existing cargo handling system is a system in which an industrial vehicle such as a forklift performs cargo loading and unloading operations on a transport vehicle. The cargo handling system has a distance measuring device as a ground device. The cargo handling system measures the distance of a pallet on a cargo platform, and based on the distance information, sends a command related to cargo loading and unloading to the industrial vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-195215 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In the above-mentioned existing cargo handling system, it is sometimes not possible to fully understand what cargo handling operations are to be performed only by ground equipment. In this case, the on-site operator needs to make various judgments. Alternatively, it is necessary to install high-performance detection equipment on each industrial vehicle, which increases the cost.

[0008] The present disclosure is made to solve the above-mentioned problems, and an object thereof is to provide a cargo handling system that can achieve cost reduction and labor saving.

[0009] Solutions for solving problems

[0010] The cargo loading and unloading system involved in one aspect of the present disclosure is a cargo loading and unloading system in which an industrial vehicle performs cargo loading and unloading operations on a transport vehicle, and comprises: an industrial vehicle; a work site for the industrial vehicle to perform cargo loading and unloading operations; a monitoring unit, which is arranged at a position different from the industrial vehicle in the work site and monitors the status of the work site; a pallet on which cargo is loaded; an identification information imparting unit, which is arranged on the pallet and imparts identification information for identifying at least one of the cargo and the pallet; and a reading unit, which reads the identification information imparting unit, and the industrial vehicle performs operations based on the identification information read by the reading unit.

[0011] The cargo handling system includes a monitoring unit that is disposed in a different position from the industrial vehicle in the work area and monitors the state of the work area. Therefore, the state of the work area can be monitored without providing a monitoring unit with excess performance on each industrial vehicle. Here, an identification information assigning unit that assigns identification information for identifying at least one of the cargo and the pallet is provided on the pallet. In addition, the cargo handling system includes a reading unit that reads the identification information assigning unit. Therefore, the reading unit can read the identification information for identifying at least one of the cargo and the pallet. In addition, the industrial vehicle performs operations based on the identification information read by the reading unit. Therefore, the industrial vehicle can perform operations without the operator identifying the pallet. Based on the above, it is possible to achieve manpower saving in the cargo handling system while achieving cost reduction.

[0012] Alternatively, the identification information providing unit includes identification information for identifying the pallet, and the industrial vehicle performs one of the unloading operation and the loading operation based on the fork width and the cargo loading and unloading position of the industrial vehicle determined based on at least one of the identification information and the monitoring result of the monitoring unit. In this case, the industrial vehicle can adjust the fork width or move to the cargo loading and unloading position without relying on the judgment of the operator.

[0013] Alternatively, the industrial vehicle may automatically adjust the fork width when the determined fork width is different from the current fork width. In this case, the industrial vehicle can adjust the fork width without depending on the adjustment by the operator.

[0014] Alternatively, the cargo handling system may further include a notification unit for notifying information in the work area, and when it is determined that there is cargo on the cargo platform of the transport vehicle in the work area, the notification unit notifies that the cargo can be unloaded. In this case, the cargo handling system can easily determine the content of the cargo handling operation according to the condition of the cargo platform of the transport vehicle.

[0015] Alternatively, the cargo handling system further comprises: an input unit that allows an operator to input information in the work area; a notification unit that notifies information in the work area; and an instruction unit that sends an instruction to the industrial vehicle, and even if the notification unit notifies that unloading can be performed, when a loading instruction is input to the input unit, the instruction unit also instructs at least one of the industrial vehicle and the other vehicle to detect a pallet provided with an identification information assigning unit that assigns identification information to a loading object from the storage location. In this case, even if the cargo handling system automatically notifies that unloading operation is to be performed, the operation content can be changed to loading operation according to the intention of the operator in the work area.

[0016] Alternatively, the cargo loading and unloading system further comprises: a notification unit that notifies information in the work area; and an instruction unit that sends instructions to the industrial vehicle, and when it is determined that there is no cargo on the cargo bed of the transport vehicle in the work area, the notification unit notifies that loading can be carried out, and the instruction unit instructs at least one of the industrial vehicle and the other vehicles to search from the storage place for a pallet provided with an identification information assigning unit that assigns identification information to the loading object.

[0017] Alternatively, the monitoring unit may include at least one of an image acquisition unit that acquires an image and a distance measurement unit that measures the distance to an object. In this case, the monitoring unit can determine the state of the cargo bed of the transport vehicle and the state of the surroundings of the transport vehicle from both the image and the distance to the object.

[0018] The identification information providing unit may include at least one of a two-dimensional code and an RFID. In this case, the identification information providing unit can easily provide the identification information to the tray.

[0019] Effects of the Invention

[0020] According to the present disclosure, it is possible to provide a cargo handling system capable of achieving manpower saving while achieving cost reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 1 is a side view showing an example of an industrial vehicle of the cargo handling system according to the present disclosure.

[0022] Figure 2 is a top view showing an example of a cargo handling system.

[0023] Figure 3 This is a front view showing an example of a cargo handling system.

[0024] Figure 4 This is a schematic diagram showing the configuration of a monitoring unit of an industrial vehicle.

[0025] Figure 5 It is a block diagram showing the block configuration of the cargo handling system.

[0026] Figure 6 This is an image showing a situation when the determination unit makes a determination using artificial intelligence.

[0027] Figure 7 This is a flowchart showing an example of the processing content of the cargo handling system.

[0028] Figure 8 This is a flowchart showing an example of the processing content of the cargo handling system.

[0029] Fig. 9This is a flowchart showing an example of the processing content of the cargo handling system.

[0030] Fig.10 This is a flowchart showing an example of the processing content of the cargo handling system.

[0031] Fig.11 This is a flowchart showing an example of the processing content of the cargo handling system.

[0032] Fig.12 This is a flowchart showing an example of the processing content of the cargo handling system.

[0033] Fig.13 This is a flowchart showing an example of the processing content of the cargo handling system.

[0034] Fig.14 This is a flowchart showing an example of the processing content of the cargo handling system.

[0035] Fig.15 This is a flowchart showing an example of the processing content of the cargo handling system.

[0036] Fig.16 This is a flowchart showing an example of the processing content of the cargo handling system.

[0037] Fig.17 This is a flowchart showing an example of the processing content of the cargo handling system.

[0038] Fig.18 This is a flowchart showing an example of the processing content of the cargo handling system.

[0039] Fig.19 This is a flowchart showing an example of the processing content of the cargo handling system.

[0040] Fig. 20 This is a flowchart showing an example of the processing content of the cargo handling system.

[0041] Fig.21 This is a flowchart showing an example of the processing content of the cargo handling system.

[0042] Fig. 22 This is a flowchart showing an example of the processing content of the cargo handling system.

[0043] Fig.23 This is a flowchart showing an example of the processing content of the cargo handling system.

[0044] Description of Reference Numerals

[0045] 1…industrial vehicle; 28…identification information assigning unit; 31, 45…reading unit; 40…monitoring unit; 41…image acquiring unit; 42…distance measuring unit; 43…display unit (notification unit); 44…terminal (input unit); 61…judgment unit; 62…instruction unit; 100…cargo loading and unloading system. DETAILED DESCRIPTION

[0046] Figure 1 1 is a side view showing an example of an industrial vehicle 1 according to the present disclosure. The industrial vehicle 1 is a vehicle for loading and unloading cargo W from a transport vehicle. A forklift is used as the industrial vehicle 1. The type of forklift is not particularly limited, and may be any of a reach type and a counterweight type. Figure 1 As shown, the industrial vehicle 1 includes a travel device 2 , a cargo handling device 3 disposed in front of the travel device 2 and having a fork 13 , and a travel control unit that controls the travel of the industrial vehicle 1 .

[0047] The travel device 2 includes a vehicle body 4, front wheels 5 as a pair of driving wheels arranged at the front of the vehicle body 4, and rear wheels 6 as a pair of steering wheels arranged at the rear of the vehicle body 4. A cab 7 composed of a frame including a head guard is provided on the vehicle body 4. A lifting operation lever for operating a lifting cylinder 14, a tilting operation lever for operating a tilting cylinder 15, a steering gear for steering the industrial vehicle 1, and the like are arranged in the cab 7. In addition, the travel device 2 includes a travel motor for rotating the front wheels 5 and a steering motor for steering the rear wheels 6 by rotating a handle shaft of the industrial vehicle 1. In the industrial vehicle 1, the travel motor rotates the front wheels 5, and the steering motor steers the rear wheels 6, so that the travel device 2 realizes travel.

[0048] The cargo handling device 3 includes a mast 11 mounted on the front of the vehicle body 4, a pair of forks 13 mounted on the mast 11 via a lifting bracket 12 and holding the cargo W, a lifting cylinder 14 for raising and lowering the forks 13, and a tilting cylinder 15 for tilting the mast 11. The forks 13 are mounted so as to protrude forward from the lifting bracket 12.

[0049] Next, refer to Figure 2 to Figure 5 The configuration of the cargo handling system 100 will be described. Figure 2 is a top view of cargo handling system 100 . Figure 3 is a front view of the cargo handling system 100 . Figure 4 It is a schematic diagram of an industrial vehicle 1 . Figure 5 is a block diagram of the cargo handling system 100. Figure 2 and Figure 3As shown, the cargo handling system 100 includes the above-mentioned industrial vehicle 1, the transport vehicle 20, the work site 110, the above-ground equipment 70, and the server 60. The cargo handling system 100 is a system for the industrial vehicle 1 to perform cargo handling operations on the transport vehicle 20.

[0050] like Figure 5 As shown, the industrial vehicle 1 includes a control unit 30, a reader 31, an input unit 32, and a monitoring unit 80. The control unit 30 is a device that controls the entire industrial vehicle 1. The control unit 30 is composed of a CPU, a RAM, a ROM, an input and output interface, etc. The control unit 30 includes a calculation unit 33 that performs various calculations and a communication unit 34 that performs communication. The communication unit 34 can communicate with the ground device 70 and the server 60. The reader 31 is a machine that can read various information. The reader 31 can read identification information from the identification information providing units 27 and 28 described later. The reader 31 can include an image acquisition unit such as a camera, an RFID reader that reads an RFID (radio frequency identification) tag, etc. As the image acquisition unit for the reader 31, the image acquisition unit 81 of the monitoring unit 80 described later can be used. There is no particular limitation on where the reader 31 is set on the industrial vehicle 1, as long as it is set at a position where the identification information providing units 27 and 28 can be read. The RFID reader of the reading unit 31 may be installed, for example, at a location such as the fork 13 where the identification information providing unit 28 of the pallet PT can be easily read (see Figure 4 The input unit 32 is a device capable of inputting various information to the industrial vehicle 1. The input unit 32 includes various switches, a touch panel, and the like. The monitoring unit 80 will be described in detail later.

[0051] like Figure 2 As shown in FIG. 2 , the transport vehicle 20 includes a travel portion 21 and a cargo platform 22 for loading cargo W. In this embodiment, a truck is used as the transport vehicle 20. Figure 3 As shown, the cargo platform 22 includes a bottom 23, a top 24, and a pair of wings 26. The pair of wings 26 opens and closes the side portions of the cargo platform 22. The wings 26 are opened and closed using the top 24 as a hinge. On the bottom 23 of the cargo platform 22, a pallet PT on which cargo W is placed is placed.

[0052] An identification information assigning unit 27 for assigning identification information for identifying the transport vehicle 20 is provided on the cargo platform 22. An identification information assigning unit 28 for assigning identification information for identifying the cargo W placed on the pallet PT is provided on the pallet PT. As the identification information assigning units 27 and 28, for example, a medium that can be read based on an image can be used. For example, a two-dimensional code can be used as the identification information assigning units 27 and 28. As the two-dimensional code, for example, a QR code (registered trademark), a bar code, etc. can be used. Alternatively, as the identification information assigning units 27 and 28, a medium that can be read by a reading device can be used. For example, as a medium that can be read by a reading device, an RFID tag, etc. can be used. The identification information assigning units 27 and 28 are provided by a reading unit 31 (refer to Figure 5 ) and at least one of the reading units 45 of the ground device 70.

[0053] The identification information providing unit 27 of the transport vehicle 20 may include information on where the transport vehicle 20 comes from, where it is going, information on the driver, etc. as identification information. The identification information providing unit 28 of the pallet PT may include information on the owner / type / weight of the cargo W, the pallet hole size of the pallet PT, information on where the cargo W / pallet PT comes from, where it is going, etc. as identification information.

[0054] like Figure 2 As shown, the work area 110 has a parking area E1, a waiting place E2, a home position E3, and a transfer position E4. The parking area E1 is an area for the transport vehicle 20 to park. The industrial vehicle 1 performs an unloading operation of unloading the cargo W loaded on the cargo platform 22 of the transport vehicle 20 parked in the parking area E1. In addition, the industrial vehicle 1 performs a loading operation of loading the cargo W onto the cargo platform 22 of the transport vehicle 20 parked in the parking area E1. In addition, in the following description, when it is only expressed as "cargo loading and unloading operation", it is assumed that no distinction is made between "unloading operation" and "loading operation", and any operation is applicable. The waiting place E2 is an area for the transport vehicle 20 to wait. At the waiting place E2, the transport vehicle 20 waits until the parking area E1 becomes available for parking. The home position E3 is an area where the industrial vehicle 1 waits when not performing cargo loading and unloading operations.

[0055] The transfer position E4 is a position for transfer between the processes of cargo loading and unloading operations. The next process is performed on the pallet PT and cargo W placed at the transfer position E4 in the previous process. Here, the unloading process of unloading the pallet PT and cargo W from the transport vehicle 20 is performed. When the industrial vehicle 1A unloads the pallet PT and cargo W from the transport vehicle 20, it places the pallet PT and cargo W at the transfer position E4. Other vehicles 1B perform a transportation process of lifting the pallet PT and cargo W placed at the transfer position E4 and transporting them from the transfer position E4 to a storage place. In addition, the vehicle 1B performing the transportation process may be an industrial vehicle such as a forklift, or may be another vehicle such as an AMR (autonomous mobile robot). In addition, the industrial vehicle 1A may place the pallet PT directly at the transfer position E4, or may hand over the pallet PT to a vehicle 1B such as an AMR waiting at the transfer position E4. In this way, the transfer position E4 transfers the unloading process and the transportation process. Furthermore, after placing the pallet PT and the cargo W at the transfer position E4, the industrial vehicle 1A performing the unloading process may return to the operation of unloading other pallets PT and cargo W, or may wait until the transfer position E4 is vacant. When the previous pallet PT and cargo W are placed at the transfer position E4, the industrial vehicle 1A performing the unloading process waits to place the pallet PT and cargo W at the transfer position E4 before the pallet PT and cargo W are transported. When the pallet PT and cargo W are placed at the transfer position E4, the vehicle 1B performing the transporting process lifts and transports the pallet PT and cargo W. When the pallet PT and cargo W are not placed at the transfer position E4, the vehicle 1B performing the transporting process waits until the pallet PT and cargo W are placed.

[0056] In addition, the loading process of loading the pallet PT and the cargo W onto the transport vehicle 20 is performed at the transfer position E4. After the other vehicle 1B performs the transport process of placing the pallet PT and the cargo W from the storage place to the transfer position E4, the industrial vehicle 1A lifts the pallet PT and the cargo W at the transfer position E4 and loads them onto the cargo platform 22 of the transport vehicle 20.

[0057] The above-ground equipment 70 is installed at a position different from the industrial vehicle 1 and the transport vehicle 20 in the work site 110. The above-ground equipment 70 is not mounted on the industrial vehicle 1 and the transport vehicle 20, but is installed as a device on the equipment side. The above-ground equipment 70 includes a monitoring unit 40 and a control unit 50.

[0058] The control unit 50 is a device for controlling the entire ground equipment 70. The control unit 50 is composed of a CPU, a RAM, a ROM, and an input / output interface. The control unit 50 can be placed in a position in the work area 110 that does not hinder the cargo loading and unloading operation. Figure 5As shown, the control unit 50 includes a calculation unit 51 for performing various calculations and a communication unit 52 for performing communication. The communication unit 52 can communicate with the industrial vehicle 1 and the server 60.

[0059] like Figure 5 As shown, the ground equipment 70 includes a display unit 43, a terminal 44, and a reading unit 45. The display unit 43 is a device that receives display information from the control unit 50 and displays it in the work area 110. As the display unit 43, a monitor, a touch panel, etc. can be used. Although the display unit 43 only needs to be set at the position of the control unit 50 (see Figure 2 and Figure 3 ), but can be set at any position in the work area 110. The display unit 43 can visually display information such as whether the cargo loading and unloading operation can be started, paused, or the operation is completed. The display unit 43 functions as a notification unit for notifying information in the work area 110. The terminal 44 is a machine that allows operators in the work area 110 to input information. The terminal 44 sends input information to the control unit 50. As the terminal 44, a dedicated operation terminal, a tablet computer, a smart phone, etc. can be used. The terminal 44 can accept button operations for indicating the start of automatic driving and the resumption of automatic driving. As buttons that the terminal 44 can accept, for example, there can be cited a "start unloading operation" button for starting an unloading operation, a "start loading operation" button for starting a loading operation, a "loading operation" switch button for switching to a loading operation, a "unloading operation" switch button for switching to an unloading operation, and a "operation completion" button indicating that the cargo loading and unloading operation is completed. Although the terminal 44 only needs to be set at the position of the control unit 50 (refer to Figure 2 and Figure 3 ), but can be set at any position in the work site 110.

[0060] The reading unit 45 is a machine that can read various information. The reading unit 45 can read identification information from the identification information providing units 27 and 28. The reading unit 45 can include an image acquisition unit such as a camera, an RFID reader that reads an RFID tag, and the like. As an image acquisition unit for the reading unit 45, the image acquisition unit 41 of the monitoring unit 40 described later can be used. There is no particular limitation on where the reading unit 45 is set on the industrial vehicle 1, as long as it is set at a position where the identification information providing units 27 and 28 can be read. The RFID reader of the reading unit 45 can also be set in a state that an operator of the work site 110 can carry it with him.

[0061] Next, the monitoring unit 40 of the ground equipment 70 and the monitoring unit 80 of the industrial vehicle 1 are described. The monitoring unit 40 of the ground equipment 70 is a device that monitors at least one of the cargo platform 22 of the transport vehicle 20 parked in the parking area E1 and the surroundings of the cargo platform 22 parked in the parking area E1. The monitoring unit 40 has an image acquisition unit 41 that acquires an image and a distance measurement unit 42 that measures the distance to an object. The monitoring unit 40 has a monitoring area DE. The monitoring area DE includes the parking area E1, the waiting area E2, and the starting position E3. In the present embodiment, the cargo loading and unloading system 100 has a pair of monitoring units 40. One monitoring unit 40 monitors the side of one side of the transport vehicle 20. The other monitoring unit 40 monitors the side of the other side of the transport vehicle 20. The position of the monitoring unit 40 is not particularly limited, but Figure 3 As shown, the image acquisition unit 41 is set at a position separated from the ground and upward so as to be able to monitor the entire side of the transport vehicle 20 and the surroundings of the transport vehicle 20. The image acquisition unit 41 is a device for acquiring an image in the monitoring area DE. The image acquisition unit 41 is composed of, for example, a camera. The distance measurement unit 42 is a device for measuring the distance to an object existing in the monitoring area DE. The distance measurement unit 42 is composed of, for example, a 3D laser radar (LiDAR) or the like.

[0062] In addition, the monitoring unit 40 of the ground equipment 70 can monitor the state of the transfer position E4. The monitoring unit 40 can monitor whether the pallet PT and the cargo W are placed or not placed at the transfer position E4. In addition, the monitoring unit 40 can monitor whether there are obstacles other than the pallet PT and the cargo W at the transfer position E4. Examples of such objects include operators and other objects other than the pallet PT.

[0063] like Figure 4 and Figure 5 As shown in FIG. 1 , the monitoring unit 80 of the industrial vehicle 1 includes an image acquisition unit 81 for acquiring an image and a distance measurement unit 82 for measuring the distance to an object. The monitoring unit 80 includes a monitoring area DEa. Figure 4 As shown in (a), the monitoring unit 80 may be provided at the front side of the industrial vehicle 1. In this case, the monitoring area DEa is set toward the front of the industrial vehicle 1. Figure 4 As shown in (b), the monitoring unit 80 may be provided on the side of the industrial vehicle 1. In this case, the monitoring area DEa is set toward the side of the industrial vehicle 1. In addition, the configuration of the monitoring unit 80 is not limited to Figure 4The structure shown. The image acquisition unit 81 and the distance measuring unit 82 do not need to be provided at the same time, and either one of them may be omitted. In addition, the positions of the image acquisition unit 81 and the distance measuring unit 82 are not particularly limited. In addition, the image acquisition unit 81 and the distance measuring unit 82 may be oriented in different directions from each other. For example, the distance measuring unit 82 may also be provided at the rear of the industrial vehicle 1 to monitor obstacles behind. In addition, the image acquisition unit 81 and the distance measuring unit 82 may be used differently depending on the object to be monitored. For example, the image acquisition unit 81 may detect the pallet PT, and the distance measuring unit 82 may detect obstacles such as people.

[0064] The monitoring unit 80 of the industrial vehicle 1 can monitor the state of the transfer position E4. The monitoring unit 80 can monitor whether the goods W and the pallet PT are placed or not placed at the transfer position E4. In addition, the monitoring unit 80 can monitor whether there are obstacles other than the goods W and the pallet PT at the transfer position E4. Figure 4 When the monitoring unit 80 is disposed on the front side of the industrial vehicle 1 as in (a), the monitoring unit 80 can monitor the transfer position E4 in front. Figure 4 When the monitoring unit 80 is provided on the side of the industrial vehicle 1 as in (b), the monitoring unit 80 can monitor the transfer position E4 on the side.

[0065] The transfer position E4 may be monitored by both the monitoring unit 40 and the monitoring unit 80, or by either one of them. When the monitoring unit 40 of the above-ground equipment 70 monitors the transfer position E4, the monitoring unit 80 of the industrial vehicle 1 may be omitted.

[0066] The server 60 performs various information processing in the cargo handling system 100 and accumulates various information. The server 60 may be set in the work site 110 or outside the work site 110. As the server 60, a cloud server or the like may be used. Figure 5 As shown, the server 60 includes a determination unit 61 and an instruction unit 62. The determination unit 61 determines the state of the cargo platform 22 and the state of the surroundings of the cargo platform 22 based on the information obtained by the monitoring unit 40. In addition, the determination unit 61 uses artificial intelligence to make a determination. Artificial intelligence learns based on data that binds the past monitoring information of the monitoring unit 40 with the state corresponding to the data. For example, artificial intelligence learns based on the image data obtained by the monitoring unit 40. Thus, the instruction unit 62 sends an instruction to the industrial vehicle 1 based on the determination result of the determination unit 61. However, there is no particular limitation on where the determination unit 61 and the instruction unit 62 are set in the cargo handling system 100, and they can be set in the control unit 50 or in a ground device 70 different from the control unit 50.

[0067] The determination unit 61 performs determinations related to cargo loading and unloading operations. Specifically, the determination unit 61 determines whether there is a transport vehicle 20 in the parking area E1 and the waiting area E2. The determination unit 61 determines the position of the transport vehicle 20 in each area E1 and E2. The determination unit 61 determines the open and closed state of the wing 26 of the transport vehicle 20. The determination unit 61 determines whether there is an obstacle on the cargo platform 22. The determination unit 61 determines the height of the cargo platform of the transport vehicle 20. In addition, in the following description, these determinations of the states related to the transport vehicle 20 are sometimes referred to as "determination of the state of the transport vehicle 20". In addition, the determination unit 61 determines whether there are obstacles (operators, etc.) around the transport vehicle 20. The determination unit 61 can use both image data and distance data to determine these determination contents, but it can also use artificial intelligence and the like to determine only based on image data. The instruction unit 62 instructs the industrial vehicle 1 on the operation contents of cargo loading and unloading operations based on these determination results. The instruction unit 62 instructs the placement location of the cargo, the loading / unloading sequence, the number of cargo, etc. In addition, when the determination unit 61 determines that there is a person around the cargo platform 22, the command unit 62 sends a stop command to the industrial vehicle 1. The determination unit 61 also determines information related to the operation status of the cargo loading and unloading operation. For example, the determination unit 61 determines whether the cargo loading and unloading operation can be started or whether the cargo loading and unloading operation is completed.

[0068] The determination unit 61 can make determinations related to cargo loading and unloading operations based on the identification information read by the reading units 31 and 45. The instruction unit 62 can send instructions to the industrial vehicle 1A based on the identification information read by the reading units 31 and 45. The determination unit 61 determines the fork width of the fork 13 of the industrial vehicle 1A and the cargo loading and unloading position based on at least one of the identification information and the monitoring results of the monitoring units 40 and 80, and determines whether to perform unloading operations or loading operations. The instruction unit 62 can instruct one of the unloading operation and the loading operation together with the fork width and the cargo loading and unloading position of the industrial vehicle 1A determined based on at least one of the identification information and the monitoring results of the monitoring units 40 and 80. As a result, the industrial vehicle 1 performs one of the unloading operation and the loading operation in combination with the fork width and the cargo loading and unloading position of the industrial vehicle 1A determined based on at least one of the identification information and the monitoring results of the monitoring units 40 and 80.

[0069] When the determination unit 61 determines that there is cargo W on the cargo platform 22 of the transport vehicle 20 in the work area 110, the determination unit 61 may determine that unloading is possible. The determination unit 61 determines whether there is cargo W on the cargo platform 22 of the transport vehicle 20 in the work area based on the identification information read by the reading unit. The instruction unit 62 may instruct the display unit 43 of the ground equipment 70 to display that unloading is possible. Thus, when it is determined that there is cargo W on the cargo platform 22 of the transport vehicle 20 in the work area 110, the display unit 43 notifies that unloading is possible. Even if the display unit 43 notifies that unloading is possible, when a loading instruction is input to the terminal 44, the instruction unit 62 may instruct at least one of the industrial vehicle 1A and the other vehicle 1B to search for a pallet PT provided with an identification information assigning unit 28 for assigning identification information to a loading object from the storage location. In addition, when the determination unit 61 determines that there is no cargo W on the cargo platform 22 of the transport vehicle 20 in the work site 110, the determination unit 61 may determine that loading is possible. The command unit 62 may instruct the display unit 43 of the ground equipment 70 to display that loading is possible. Thus, when it is determined that there is no cargo W on the cargo platform 22 of the transport vehicle 20 in the work site 110, the display unit 43 notifies that loading is possible. In addition, the command unit 62 may instruct at least one of the industrial vehicle 1A and the other vehicle 1B to search for the pallet PT provided with the identification information assigning unit 28 that assigns identification information to the loading object from the storage place.

[0070] exist Figure 2 In the example shown, the command unit 62 commands another vehicle 1B to search for a pallet PT provided with a loading object identification information assigning unit 28 from the storage location. As the identification information of the loading object, for example, information on the destination can be cited. For example, it is assumed that there are pallets PT containing identification information of "to destination A", "to destination B", and "to destination C" in the storage location. When the identification information of the loading object is "to destination A", the other vehicle 1B searches for a pallet PT having the identification information of "to destination A". The other vehicle 1B loads the pallet PT of "to destination A" at the transfer location E4. At this time, the industrial vehicle 1 may read the identification information of the transfer location E4 using the reading unit 31, and after confirming that the destination is "to destination A" and is correct, perform the loading operation. In this way, the destination of the pallet PT can be double-checked using the reading unit 31. In addition, the industrial vehicle 1 itself may search for a pallet PT provided with a loading object identification information assigning unit 28 at the storage location.

[0071] For example, the determination unit 61 can determine the destination based on the identification information of the pallet PT. The instruction unit 62 indicates the place where the cargo W is placed. In addition, the determination unit 61 determines the shape of the pallet PT based on the pallet hole size included in the identification information, and the instruction unit 62 indicates the optimal fork width. The server 60 can manage which type of cargo W is loaded on which transport vehicle 20 and how much based on the identification information of the transport vehicle 20 and the identification information of the pallet PT. The determination unit 61 can determine which transport vehicle 20 is parked based on the identification information of the transport vehicle 20 in the parking area E1, and determine the cargo W based on the managed information. Then, the instruction unit 62 indicates the unloading destination and causes the industrial vehicle 1 to drive automatically. In addition, the instruction unit 62 indicates the designated pallet cargo, the placement location, the loading order, and the number and causes the industrial vehicle 1 to drive automatically.

[0072] Moreover, the determination unit 61 can determine whether the next process can be executed based on the information obtained by the monitoring units 40 and 80. The determination unit 61 determines that the next process can be executed based on the arrival of the object at the transfer position E4. When the pallet PT as the object arrives at the transfer position E4, the determination unit 61 determines that the next conveying process of the unloading process can be executed for the vehicle 1B that performs the conveying process. At this time, the instruction unit 62 instructs the vehicle 1B to perform the conveying process of the pallet PT and the goods W to the transfer position E4, and causes the vehicle 1B to drive automatically. In addition, the timing of executing the next conveying process of the unloading process can also be based on the industrial vehicle 1A reporting to the server 60 that the unloading is completed. In addition, when the vehicle 1B such as the AMR as the object arrives at the transfer position E4, the determination unit 61 determines that the next unloading process can be executed from the conveying process for the industrial vehicle 1A that performs the unloading process. At this time, the command unit 62 instructs the industrial vehicle 1A to perform the unloading process of the vehicle 1B such as AMR that unloads the pallet PT and the goods W from the transport vehicle 20 and transfers the pallet PT and the goods W to the transfer position E4, and the industrial vehicle 1A is automatically driven. In addition, when the pallet PT as the object reaches the transfer position E4, the determination unit 61 determines that the loading process next to the transport process can be performed for the industrial vehicle 1A.

[0073] The determination unit 61 can determine that the next process can be performed based on the disappearance of the object existing in the transfer position E4 from the transfer position E4. When the pallet PT as the object disappears from the transfer position E4, the determination unit 61 determines that the next unloading process / loading process of the conveying process can be performed for the industrial vehicle 1A that performs the unloading process / loading process. When the obstacle as the object disappears from the transfer position E4, the determination unit 61 determines that the next unloading process / loading process of the conveying process can be performed for the industrial vehicle 1A. At this time, the instruction unit 62 instructs to perform the next unloading process / loading process and makes it automatically driven.

[0074] In addition, the determination unit 61 can determine whether there is an object at the transfer position E4 by analyzing the image information or distance information from the monitoring unit 40, 80. In this case, the determination unit 61 can store the position information of the transfer position E4 in advance. However, when the monitoring unit 40, 80 itself has a computing unit, the monitoring unit 40, 80 itself can determine whether the object is a pallet PT or an obstacle, and determine whether it exists. In this case, the monitoring unit 40, 80 can store the position information of the transfer position E4 in advance. The monitoring unit 40, 80 can also generate judgment information indicating the content and existence of the object and send it to the control unit 50, 30. In this case, the determination unit 61 of the server 60 can make a judgment by referring to the judgment information only, so the calculation load can be reduced. In addition, the monitoring unit 40, 80 can reduce the communication load by sending only the judgment information instead of sending the image information and distance information to the control unit 50, 30 (and further to the server 60) regarding the judgment of whether the next process can be performed by monitoring the transfer position E4.

[0075] For example, Figure 6 As shown, the determination unit 61 uses the learned artificial intelligence to determine the number of pallets on the cargo platform 22 by known techniques based on the image data of the cargo platform 22 from the monitoring unit 40. The instruction unit 62 sends the result of the number determination to the industrial vehicle. Thus, the industrial vehicle 1 that performs automatic driving can determine the workload of loading and unloading. In addition, if there is a stack of pallets PT, the determination unit 61 can determine which of the upper and lower pallets PT is to be loaded and unloaded. In addition, by using the determination technology of the pallet PT based on artificial intelligence, the determination unit 61 can determine the presence or absence of people, the presence or absence of the transport vehicle 20, the position of the transport vehicle 20, the height of the cargo platform, etc. based on the image data.

[0076] Next, refer to Figure 7 to Figure 23, an example of the processing content of the cargo handling system 100 is described. In this flowchart, the operation content of "transportation vehicles, people, other vehicles", "industrial vehicles", "ground equipment", and "server" are recorded in parallel. First, refer to Figure 7 to Figure 13 , for industrial vehicles 1( Figure 2 The processing content of cargo loading and unloading operations (unloading operations or loading operations) performed by automatic driving of an industrial vehicle 1A) in the present invention is described.

[0077] At the beginning Figure 7 In the processing state shown, the transport vehicle 20 is parked at the waiting place E2 (step S10). In addition, the industrial vehicle 1 is waiting at the starting position E3 (step S100). The monitoring unit 40 of the ground device 70 sends the monitoring result to the server 60 (step S200). The determination unit 61 of the server 60 determines whether there is a transport vehicle 20 in the parking area E1 (step S400). In the case of determining that there is, the determination unit 61 repeats step S400 again. In the case of determining that there is no, the instruction unit 62 performs a display instruction to the display unit 43 of the ground device 70 (step S410). The display unit 43 displays the meaning that the transport vehicle 20 can move to the parking area E1 to the driver (step S210). In addition, in the case where it is determined in step S400 that there is a transport vehicle 20 in the parking area E1, the display unit 43 can display the meaning that it cannot move to the parking area E1. The transport vehicle 20 moves to the parking area E1 at any timing after the display (step S20).

[0078] The monitoring unit 40 sends the monitoring result to the server 60 (step S220). The determination unit 61 determines whether the position of the transport vehicle 20 in the parking area E1 is OK (step S420). If it is determined that there is a problem (NG), the determination unit 61 repeats step S420 again. If it is determined that it is OK, the instruction unit 62 issues a display instruction to the display unit 43 (step S430). The display unit 43 displays to the driver of the transport vehicle 20 that the position of the transport vehicle 20 in the parking area E1 is OK (step S230). In addition, if it is determined that the position is NG in step S420, the display unit 43 can display that the position is NG. After this display, the transport vehicle 20 completes parking (step S30).

[0079] like Figure 8As shown, the reading unit 45 of the ground device 70 reads the identification information of the identification information giving unit 27 of the transport vehicle 20, and sends the reading result to the server 60 (step S240). The determination unit 61 determines the transport vehicle information related to the transport vehicle 20 based on the reading result (step S440). The instruction unit 62 instructs the machine in the system to output the transport vehicle information (step S445). As the transport vehicle information, for example, information such as "where to come from" and "destination to go" can be included. The instruction unit 62 outputs the transport vehicle information to the operator or driver by causing the display unit 43 of the ground device 70 to display the transport vehicle information. The transport vehicle 20 opens the wing 26 at any timing after parking (step S40). The monitoring unit 40 sends the monitoring result to the server 60 (step S250). The determination unit 61 determines whether the wing 26 of the transport vehicle 20 is open (step S450). If it is determined to be closed, the determination unit 61 repeats step S450 again. If it is determined that the wing 26 is open, the command unit 62 issues a display command to the display unit 43 of the ground equipment 70 (step S460). The display unit 43 displays to the driver of the transport vehicle 20 that the wing 26 is open (step S260). In addition, if it is determined that the wing 26 is closed in step S450, the display unit 43 may display to indicate that the wing 26 is closed.

[0080] like Fig. 9As shown, the monitoring unit 40 sends the monitoring result (step S270). The determination unit 61 determines various conditions related to the determination of the state of the transport vehicle 20, and determines whether the state of the transport vehicle 20 can be determined (step S470). Here, the determination unit 61 determines the height of the cargo platform 22 from the ground, the number / size of pallets on the cargo platform 22, the presence / size of pallets at the transfer position E4, the position of pallets, whether there is cargo collapse, etc. Obstacles such as people retreat from the surroundings of the transport vehicle 20 at any timing after the wing 26 is opened (step S50). If it cannot be determined, the determination unit 61 repeats step S470 until it can be determined. The monitoring unit 40 sends the monitoring result to the server 60 (step S280). The determination unit 61 determines whether there are obstacles around the transport vehicle 20 and whether there is a possibility of cargo collapse (step S480). Here, the determination unit 61 determines the presence of people, the presence of other forklifts, the presence of AMR, obstacles, whether there is cargo collapse, etc. If it is determined that there is an obstacle or there is a possibility of cargo collapse, the instruction unit 62 issues a display instruction to the display unit 43 of the ground equipment 70 (step S490). The display unit 43 displays to the driver of the transport vehicle 20 that there is an obstacle or there is a possibility of cargo collapse (step S290). In addition, it is also possible to wait for the obstacle to retreat and the possibility of cargo collapse to disappear by repeating step S480 again after the display of step S290. In addition, if it is determined in step S480 that there is neither an obstacle nor the possibility of cargo collapse, step S490 is omitted.

[0081] like Fig.10 As shown, the industrial vehicle 1 determines whether it is in a state where it can be driven automatically (step S102). If it is not in a state where it can be driven automatically, step S102 is repeated. If it is in a state where it can be driven automatically, the industrial vehicle 1 notifies the server 60 of this intention (step S104). On the other hand, the determination unit 61 determines whether the industrial vehicle 1 can be driven automatically (step S500). After receiving the notification of step S104, the determination unit 61 determines that it can be driven automatically in step S500. At this time, the determination unit 61 notifies the ground equipment 70 of the determination result of whether it can be driven automatically (step S502). In addition, when the determination unit 61 determines that it can be driven automatically, it determines whether the industrial vehicle 1 is performing "unloading operation" or "loading operation". Here, since there is a pallet PT on the cargo platform 22 of the transport vehicle 20, it is assumed that it is determined to be performing "unloading operation" for the following description. However, when there is no pallet PT on the cargo platform 22, the determination unit 61 can determine that it is performing "loading operation".

[0082] The ground device 70 refers to the determination result notified in step S502 and determines whether the industrial vehicle 1 can be driven automatically (step S300). In addition, when automatic driving is not possible, the ground device 70 determines the cause of the error that hinders automatic driving and the countermeasures for eliminating the error. When it is determined in step S300 that automatic driving is not possible, the cause of the error and the countermeasures for eliminating the error are displayed on the display unit 43 (step S302). After the display of step S302, the server 60 repeats the processing from step S500 again. When it is determined in step S300 that automatic driving is possible, the ground device 70 notifies the industrial vehicle 1 that automatic driving is possible (step S304). At this time, the ground device 70 sends the data required for the unloading operation to the industrial vehicle 1.

[0083] like Fig.11 As shown, when the industrial vehicle 1 receives the notification of step S304, the industrial vehicle 1 enters the standby state of automatic driving (step S106). The ground device 70 prepares to start the automatic driving by displaying the button "Start unloading operation" in the terminal and starting to accept the press (step S306). In addition, the ground device 70 displays "unloading operation can be started" on the display unit 43 (step S308). At any timing after this processing, the operator confirms the display of "unloading operation can be started" (step S60). Here, it is assumed that the operation on site is not unloading operation but loading operation. At this time, the operator has the intention of loading operation instead of unloading operation. Therefore, the operator operates the terminal 44 and presses the switch button to switch to "loading operation" (step S62). When the button is pressed, the ground device 70 notifies the server 60 that the button has been pressed (step S310). The server 60 notifies the industrial vehicle 1 of the cancellation of the automatic driving standby state in response to the switching of the cargo loading and unloading operation (step S504 ). As a result, the industrial vehicle 1 cancels the automatic driving standby state (step S108 ).

[0084] like Fig.12As shown, the server 60 accepts the change of the cargo loading and unloading operation from "unloading operation" to "loading operation" (step S506). The determination unit 61 determines whether the industrial vehicle 1 can be driven automatically (step S508). The determination unit 61 notifies the ground equipment 70 of the determination result of whether the industrial vehicle 1 can be driven automatically (step S510). The ground equipment 70 refers to the determination result notified in step S510 and determines whether the industrial vehicle 1 can be driven automatically (step S312). In addition, when the automatic driving cannot be performed, the ground equipment 70 determines the cause of the error that hinders the automatic driving and the countermeasures for eliminating the error. When it is determined in step S312 that the automatic driving cannot be performed, the cause of the error and the countermeasures for eliminating the error are displayed on the display unit 43 (step S314). After the display of step S314, the server 60 repeats the processing from step S508 again. When it is determined in step S312 that the automatic driving can be performed, the ground equipment 70 notifies the industrial vehicle 1 that the automatic driving can be performed (step S316). At this time, the above-ground equipment 70 transmits data required for the loading operation to the industrial vehicle 1 .

[0085] like Fig.13 As shown, when the industrial vehicle 1 receives the notification of step S316, the industrial vehicle 1 enters the standby state of automatic driving (step S110). The ground device 70 prepares to start the automatic driving by displaying the button "Start loading operation" in the terminal and starting to accept the press (step S318). In addition, the ground device 70 displays "Loading operation can be started" on the display unit 43 (step S320). At any timing after this process, the operator confirms the display of "Loading operation can be started" (step S64). The operator operates the terminal 44 and presses the button "Start loading operation" (step S66). When the button is pressed, the ground device 70 notifies the server 60 that the button has been pressed (step S322). The server 60 notifies the industrial vehicle 1 that the loading operation can be performed (step S512). The ground device 70 notifies the surrounding operators or drivers by displaying the meaning of starting the automatic driving on the display unit 43 (step S324). Based on the above, the processing of the pre-stage before the industrial vehicle 1 starts the automatic driving is completed.

[0086] Next, refer to Figures 14 to 20 , the processing contents of the cargo handling system 100 in the cargo handling operation are described. In addition, the cargo handling operation here is set to be any one of the unloading operation and the loading operation. Fig.14As shown, the industrial vehicle 1 starts automatic cargo loading and unloading operation (step S112). The industrial vehicle 1 moves to the front of the first pallet PT (step S116). The industrial vehicle 1 moves to the cargo loading and unloading position instructed by the server 60. In the case of unloading operation, the industrial vehicle 1 moves to the front of the first pallet PT in the cargo platform 22 of the conveying vehicle 20. In the case of loading operation, the industrial vehicle 1 moves to the front of the transfer position E4. Next, the industrial vehicle 1 uses the reading unit 31 to read the identification information of the identification information giving unit 28 of the pallet PT, and sends the identification information to the server 60 (step S118). The server 60 determines the pallet information of the cargo loading and unloading object by comparing the registration data on the cloud with the received identification information (step S514). The server 60 determines the information of the owner of the pallet PT carrying the cargo W, the type of cargo, the size of the pallet hole, where it comes from, and the destination.

[0087] like Fig.15 As shown, the determination unit 61 of the server 60 determines whether the determined pallet information is correct (step S516). For example, the determination unit 61 compares the identification information of the transport vehicle 20 and the identification information of the pallet PT to determine whether the information from where and the destination are correct. The determination unit 61 notifies the ground device 70 of the determination result (step S518). The ground device 70 determines whether the cargo can be loaded and unloaded based on the determination result (step S326). In addition, if the cargo cannot be loaded and unloaded, the ground device 70 determines the cause of the error that hinders the cargo loading and unloading and the countermeasures for eliminating the error. If it is determined that the cargo cannot be loaded and unloaded, the ground device 70 displays the cause and countermeasures for the inability to load and unload cargo on the display unit 43 (step S328). Then, the server 60 repeats the process from step S516 again. On the other hand, in step S326, if the ground device 70 determines that the cargo can be loaded and unloaded, it notifies the industrial vehicle 1 of this intention (step S330). At this time, the above-ground equipment 70 receives the fork width adjustment instruction information and the like from the command unit 62 of the server 60 in advance, and notifies the industrial vehicle 1 of the instruction information.

[0088] like Fig.16As shown, the industrial vehicle 1 adjusts the fork width in accordance with the pallet hole size of the pallet PT (step S119). The industrial vehicle 1 can adjust the fork width based on the pallet hole size of the identification information of the pallet PT. Alternatively, the industrial vehicle 1 can also adjust the fork width based on the image analysis of the pallet hole size of the pallet PT by the monitoring unit 80. In this way, the industrial vehicle 1 can perform cargo loading and unloading operations based on the fork width of the industrial vehicle 1 determined based on at least one of the identification information and the monitoring result of the monitoring unit 80. In addition, the industrial vehicle 1 automatically adjusts the fork width when the determined fork width is different from the current fork width. The industrial vehicle 1 picks up the first pallet PT (step S120). Next, the industrial vehicle 1 places the cargo at the cargo loading and unloading position (step S122). When the industrial vehicle 1 is unloading, the industrial vehicle 1 places the cargo at the transfer position E4. When loading, the industrial vehicle 1 places the cargo on the cargo platform 22. When the cargo is placed, the industrial vehicle 1 waits in a state where the fork is pulled out from the pallet PT and notifies the server 60 of the completion (step S124). The command unit 62 of the server 60 issues a transport command to another vehicle 1B such as another forklift or AMR (step S520). As a result, the other vehicle 1B performs a transport operation (step S68). In the case of unloading operation, the other vehicle 1B retrieves the first pallet PT from the transfer position E4. In the case of loading operation, the other vehicle 1B places the second pallet PT at the transfer position E4.

[0089] like Fig.17 As shown, the monitoring unit 40 of the ground equipment 70 sends the monitoring result to the server 60 (step S332). The determination unit 61 of the server 60 determines whether the cargo loading and unloading of the second pallet PT can be performed (step S522). In the case of unloading operation, the next cargo loading and unloading can be performed after the first pallet PT is moved from the transfer position E4. In the case of loading operation, the next cargo loading and unloading can be performed after the second pallet PT is set at the transfer position E4. If it is determined that it cannot be performed, the determination unit 61 repeats step S522 again. If it is determined that it can be performed, the instruction unit 62 issues an instruction to the industrial vehicle 1 indicating the intention to load and unload cargo (step S524). The industrial vehicle 1 picks up the second pallet PT (step S126). Then, the industrial vehicle 1 places the cargo at the cargo loading and unloading position (step S128). When the cargo is placed, the industrial vehicle 1 waits in a state where the fork is pulled out from the pallet PT, and notifies the server 60 of the completion (step S130).

[0090] like Fig.18As shown, the monitoring unit 40 of the ground equipment 70 sends the monitoring result to the server 60 (step S334). The determination unit 61 of the server 60 determines whether the cargo loading and unloading of the last pallet PT can be performed (step S522). In the case of unloading operation, the last cargo loading and unloading can be performed after the "predetermined number-1" pallet PT is moved from the transfer position E4. Or, the last cargo loading and unloading can be performed when the pallet on the cargo platform 22 disappears. In the case of loading operation, the last cargo loading and unloading can be performed after the last pallet PT is set at the transfer position E4. Or, the last cargo loading and unloading can be performed when the number of pallets on the cargo platform 22 reaches "predetermined number-1". If it is determined that it cannot be performed, the determination unit 61 repeats step S526 again. If it is determined that it can be performed, the instruction unit 62 issues an instruction to the industrial vehicle 1 indicating the intention to load and unload cargo (step S527). The industrial vehicle 1 picks up the last pallet PT (step S132). Next, the industrial vehicle 1 places the cargo at the cargo loading and unloading position (step S134). When the cargo is placed, the industrial vehicle 1 waits at the start position after pulling out the fork from the pallet PT, and notifies the server 60 of the completion (step S136).

[0091] like Fig.19 As shown, the monitoring unit 40 of the ground device 70 sends the monitoring result to the server 60 (step S336). The judgment unit 61 of the server 60 determines whether the cargo loading and unloading operation is completed (step S528). The judgment unit 61 of the server 60 notifies the ground device 70 of the judgment result (step S530). The ground device 70 determines whether the cargo loading and unloading operation is completed based on the judgment result (step S338). In the case where the cargo loading and unloading operation is not completed, the ground device 70 determines the cause of the error that hinders the completion of the cargo loading and unloading operation and the countermeasures for eliminating the error. In the case where it is determined in step S338 that the cargo loading and unloading operation is not completed, the cause of the error and the countermeasures for eliminating the error are displayed on the display unit 43 (step S340). After the display of step S340, the server 60 repeats the processing from step S528 again.

[0092] If it is determined in step S338 that the cargo loading and unloading operation is completed, Fig. 20As shown, the ground device 70 receives the "job completed" button (step S342). The ground device 70 displays the meaning of "job completed" on the display unit 43 (step S344). At any timing after this process, the operator confirms the display of "job completed" (step S70). The operator operates the terminal 44 and presses the "job completed" button (step S72). When the button is pressed, the ground device 70 notifies the server 60 that the button has been pressed (step S346). Since the job has been completed, the server 60 notifies the industrial vehicle 1 and the transport vehicle 20 of the meaning of the end processing of the cargo loading and unloading operation (step S532). As a result, the industrial vehicle 1 performs the automatic driving end processing (step S138). In addition, the driver of the transport vehicle 20 closes the wing 26 and moves from the parking area E1 (step S74).

[0093] Next, refer to Figure 21 to Figure 23 , the processing of pausing when an obstacle enters the vicinity of the transport vehicle 20 or there is a possibility of cargo collapse during the automatic driving of the industrial vehicle 1 is described. Fig.21 As shown, the monitoring unit 40 sends the monitoring result to the server 60 (step S348). The determination unit 61 determines whether there are obstacles around the transport vehicle 20 and whether there is a possibility of cargo collapse (step S540). If it is determined that there are no obstacles and there is no possibility of cargo collapse, the process ends. Figure 21 to Figure 23 The processing is repeated in step S348. When it is determined that there is an obstacle or there is a possibility of cargo collapse, the command unit 62 issues a display command to the display unit 43 of the ground equipment 70 (step S550). The display unit 43 displays to the working vehicle that there is an obstacle or there is a possibility of cargo collapse (step S349). In addition, the command unit 62 issues a command to the industrial vehicle 1 to pause (step S560). At any timing during this period, the working vehicle removes the obstacle (step S80).

[0094] like Fig. 22 As shown, the monitoring unit 40 sends the monitoring result to the server 60 (step S350). The determination unit 61 determines whether the obstacle around the transport vehicle 20 has disappeared and the possibility of the cargo collapse has disappeared (step S570). When it is determined that there is an obstacle and there is a possibility of the cargo collapse, the determination unit 61 repeats step S570. When it is determined that the obstacle has disappeared and the possibility of the cargo collapse has disappeared, the instruction unit 62 issues a display instruction to the display unit 43 of the ground device 70 (step S580). The display unit 43 displays to the work vehicle that the obstacle has disappeared and the possibility of the cargo collapse has disappeared (step S360).

[0095] like Fig.23 As shown, the determination unit 61 determines whether the industrial vehicle 1 can be driven automatically (step S590). If it is determined that the industrial vehicle 1 cannot be driven automatically, the determination unit 61 repeats step S590. If it is determined that the industrial vehicle 1 can be driven automatically, the command unit 62 notifies the industrial vehicle 1 and the ground device 70 that the industrial vehicle 1 can be driven automatically (step S600). In addition, in step S600, the command unit 62 sends the command data required for automatic driving to the industrial vehicle 1. After receiving the notification, the industrial vehicle 1 enters the standby state for automatic driving (step S170). The ground device 70 prepares to start the automatic driving by displaying the button "Start automatic driving" in the terminal and starting to accept the button being pressed (step S370). At an arbitrary timing after this process, the operator presses the button (step S90). The ground device 70 determines whether the button is pressed (step S380). If it is determined that the button is not pressed, the ground device 70 repeats step S380. If it is determined that the button is pressed, the ground device 70 notifies the industrial vehicle 1 that the button is pressed (step S390). The industrial vehicle 1 resumes automatic driving based on the instruction data received in step S600 (step S180). Figure 21 to Figure 23 The shown processing ends.

[0096] Next, the operation and effects of the cargo handling system 100 according to the present embodiment will be described.

[0097] The cargo handling system 100 includes a monitoring unit 40 which is provided at a position different from the industrial vehicle 1 in the work site 110 and monitors the state of the work site 110. Therefore, the state of the work site 110 can be monitored without providing a monitoring unit with excessive performance in each industrial vehicle 1. In the present embodiment, although the industrial vehicle 1 has a monitoring unit 80, the monitoring unit 80 does not need to be high-performance / high-cost to the extent that it can automatically drive by itself, and a monitoring unit with suppressed cost can be used. Alternatively, the monitoring unit 80 can be omitted from the industrial vehicle 1. In the work site 110, since a plurality of industrial vehicles 1 work, if a high-performance monitoring unit is provided in each industrial vehicle 1, the monitoring unit is required to be the same as the number of industrial vehicles 1. In the present embodiment, a low-cost monitoring unit 80 can be used according to the number of industrial vehicles 1, or the monitoring unit 80 can be omitted, so that the cost of the entire cargo handling system 100 can be greatly reduced. Here, the identification information providing unit 28 is provided on the pallet PT, and the identification information providing unit 28 provides identification information for identifying at least one of the cargo W and the pallet PT. In addition, the cargo handling system 100 includes reading units 31 and 45 for reading the identification information providing unit 28. Therefore, the reading units 31 and 45 can read the identification information for identifying at least one of the cargo W and the pallet PT. In addition, the industrial vehicle 1 performs operations based on the identification information read by the reading units 31 and 45. Therefore, the industrial vehicle 1 can perform operations without the operator identifying the pallet PT. Based on the above, the cargo handling system 100 can achieve labor saving while achieving cost reduction.

[0098] The identification information providing unit 28 may include identification information for identifying the pallet PT, and the industrial vehicle 1 may perform one of the unloading operation and the loading operation based on the fork width and the cargo loading and unloading position of the industrial vehicle 1 determined based on at least one of the identification information and the monitoring result of the monitoring unit 40. In this case, the industrial vehicle 1 can adjust the fork width or move to the cargo loading and unloading position without relying on the judgment of the operator.

[0099] The industrial vehicle 1 may automatically adjust the fork width when the determined fork width is different from the current fork width. In this case, the industrial vehicle 1 can adjust the fork width without depending on the adjustment by the operator.

[0100] The cargo handling system 100 may further include a display unit 43 for notifying information in the work area 110, and when it is determined that there is cargo W on the cargo platform 22 of the transport vehicle 20 in the work area 110, the display unit 43 notifies that the cargo can be unloaded. In this case, the cargo handling system 100 can easily determine the content of the cargo handling operation according to the condition of the cargo platform 22 of the transport vehicle 20.

[0101] The cargo handling system 100 may further include a terminal 44 for the operator to input information in the work site 110. Even if the display unit 43 notifies that unloading is possible, when a loading instruction is input to the terminal 44, the command unit 62 instructs at least one of the industrial vehicle 1 and the other vehicle to search for the pallet PT provided with the identification information assigning unit that assigns identification information to the loading object from the storage location. In this case, even if the cargo handling system 100 automatically notifies that unloading is possible, the operation content can be changed to loading according to the intention of the operator in the work site 110.

[0102] The cargo loading and unloading system 100 may further include a display unit 43 for notifying information in the work area 110. When it is determined that there is no cargo W on the cargo platform 22 of the transport vehicle 20 in the work area 110, the display unit 43 notifies that loading can be performed, and the command unit 62 instructs at least one of the industrial vehicle 1 and other vehicles to search from the storage place for a pallet PT provided with an identification information assigning unit 28 for assigning identification information to the loading object.

[0103] The monitoring unit 40 may include at least one of an image acquisition unit 41 that acquires an image and a distance measurement unit 42 that measures the distance to an object. In this case, the monitoring unit 40 can determine the state of the cargo bed 22 of the transport vehicle 20 and the state of the surroundings of the transport vehicle 20 based on both the image and the distance to the object.

[0104] The identification information providing unit 28 may include at least one of a two-dimensional code and an RFID. In this case, the identification information providing unit 28 can easily provide the identification information to the tray.

[0105] The present invention is not limited to the above-described embodiments.

[0106] For example, Figure 2 and Figure 3 The example shown is an example of the configuration of a work site or a cargo handling system, and may be modified as appropriate. Figure 7 to Figure 23 The flowchart shown is merely an example of the process and can be modified as appropriate.

[0107] The gist of the present disclosure is as shown in the following [1] to [8].

[0108] [Solution 1]

[0109] A cargo loading and unloading system is a cargo loading and unloading system in which an industrial vehicle loads and unloads cargo to a transport vehicle, and has:

[0110] said industrial vehicle;

[0111] A work area for the industrial vehicles to carry out cargo loading and unloading operations;

[0112] A monitoring unit, which is provided in the work site at a position different from the industrial vehicle and monitors the state of the work site;

[0113] A pallet, which carries goods;

[0114] an identification information imparting unit provided on the pallet and imparting identification information for identifying at least one of the cargo and the pallet; and

[0115] a reading unit that reads the identification information providing unit,

[0116] The industrial vehicle performs work based on the identification information read by the reading unit.

[0117] [Solution 2]

[0118] The cargo handling system according to solution 1, wherein:

[0119] The identification information providing unit includes the identification information for identifying the tray.

[0120] The industrial vehicle performs one of an unloading operation and a loading operation based on a fork width and a cargo loading and unloading position of the industrial vehicle determined based on at least one of the identification information and a monitoring result of the monitoring unit.

[0121] [Solution 3]

[0122] The cargo handling system according to scheme 2, wherein:

[0123] The industrial vehicle automatically adjusts the fork width when the determined fork width is different from a current fork width.

[0124] [Solution 4]

[0125] The cargo handling system according to any one of schemes 1 to 3, wherein:

[0126] The device further comprises: a notification unit configured to notify information in the work site; and

[0127] a determination unit that determines whether the cargo is present on a cargo bed of a transport vehicle in the work area based on the identification information read by the reading unit,

[0128] When it is determined that the cargo is present on the cargo bed of the transport vehicle in the work area, the notification unit notifies that unloading of the cargo is possible.

[0129] [Solution 5]

[0130] The cargo handling system according to any one of schemes 1 to 4, wherein:

[0131] It also includes: an input unit that allows an operator to input information in the work field;

[0132] a notification unit configured to notify information in the work site; and

[0133] an instruction unit, which sends instructions to the industrial vehicle,

[0134] Even if the notification unit notifies that the unloading can be carried out, when a loading instruction is input to the input unit, the command unit also instructs at least one of the industrial vehicle and the other vehicle to search from the storage place for the pallet provided with the identification information assigning unit having identification information for assigning the loading object.

[0135] [Solution 6]

[0136] The cargo handling system according to any one of schemes 1 to 5, wherein:

[0137] The device further comprises: a notification unit configured to notify information in the work site;

[0138] a determination unit that determines whether the cargo is present on a cargo bed of a transport vehicle in the work area based on the identification information read by the reading unit; and

[0139] an instruction unit, which sends instructions to the industrial vehicle,

[0140] When it is determined that the cargo is not present on the cargo bed of the transport vehicle in the work area, the notification unit notifies that loading is possible,

[0141] The command unit commands at least one of the industrial vehicle and the other vehicle to search, from a storage location, for the pallet provided with the identification information providing unit that provides identification information of a loading object.

[0142] [Solution 7]

[0143] The cargo handling system according to any one of schemes 1 to 6, wherein:

[0144] The monitoring unit includes at least one of an image acquisition unit that acquires an image and a distance measurement unit that measures a distance to an object.

[0145] [Scheme 8]

[0146] The cargo handling system according to any one of schemes 1 to 7, wherein:

[0147] The identification information providing unit includes at least one of a two-dimensional code and an RFID.

Claims

1. A cargo loading and unloading system is a cargo loading and unloading system in which an industrial vehicle loads and unloads cargo to a transport vehicle, characterized in that: have: said industrial vehicle; A work area for the industrial vehicles to carry out cargo loading and unloading operations; a monitoring unit, which is disposed in the work site at a position different from that of the industrial vehicle and monitors the state of the work site; A pallet, which carries goods; an identification information imparting unit, which is provided on the pallet and imparts identification information for identifying at least one of the goods and the pallet; as well as a reading unit configured to read the identification information providing unit, The industrial vehicle performs work based on the identification information read by the reading unit.

2. The cargo handling system according to claim 1, wherein: The identification information providing unit includes the identification information for identifying the tray. The industrial vehicle performs one of an unloading operation and a loading operation based on a fork width and a cargo loading and unloading position of the industrial vehicle determined based on at least one of the identification information and a monitoring result of the monitoring unit.

3. The cargo handling system according to claim 2, wherein: The industrial vehicle automatically adjusts the fork width when the determined fork width is different from a current fork width.

4. The cargo handling system according to any one of claims 1 to 3, wherein: The device further comprises: a notification unit configured to notify information in the work site; as well as a determination unit that determines whether the cargo is present on a cargo bed of a transport vehicle in the work area based on the identification information read by the reading unit, When it is determined that the cargo is present on the cargo bed of the transport vehicle in the work area, the notification unit notifies that unloading of the cargo is possible.

5. The cargo handling system according to any one of claims 1 to 4, wherein: It also includes: an input unit that allows an operator to input information in the work field; a notification unit configured to notify information in the work site; and an instruction unit, which sends instructions to the industrial vehicle, Even if the notification unit notifies that the unloading can be carried out, when a loading instruction is input to the input unit, the command unit also instructs at least one of the industrial vehicle and the other vehicle to search from the storage place for the pallet provided with the identification information assigning unit having identification information for assigning the loading object.

6. The cargo handling system according to any one of claims 1 to 5, wherein: The device further comprises: a notification unit configured to notify information in the work site; a determination unit that determines whether the cargo is present on a cargo bed of a transport vehicle in the work area based on the identification information read by the reading unit; as well as an instruction unit, which sends instructions to the industrial vehicle, When it is determined that the cargo is not present on the cargo bed of the transport vehicle in the work area, the notification unit notifies that loading is possible, The command unit commands at least one of the industrial vehicle and the other vehicle to search, from a storage location, for the pallet provided with the identification information providing unit that provides identification information of a loading object.

7. The cargo handling system according to any one of claims 1 to 6, wherein: The monitoring unit includes at least one of an image acquisition unit that acquires an image and a distance measurement unit that measures a distance to an object.

8. The cargo handling system according to any one of claims 1 to 7, wherein: The identification information providing unit includes at least one of a two-dimensional code and an RFID.

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