Cargo handling system

Abstract

To provide a cargo handling system capable of suppressing the occurrence of cargo collapsing.SOLUTION: A cargo handling system 20 comprises: a cargo posture acquisition unit 31 constituting a first detection unit that detects a cargo M on a pallet 10 held by a fork 11 of a forklift 1 as a cargo posture together with the pallet 10 by using a camera 21 before a cargo handling operation is started; a cargo posture abnormality determination unit 32 that determines whether the cargo posture detected by the first detection unit is abnormal; an operation state information acquisition unit 34 constituting a second detection unit that detects an operation state by using the camera 21, a microphone 22, and an accelerometer 23 after the start of the cargo handling operation; and an operation state abnormality determination unit 35 that determines whether the operation state detected by the second detection unit is abnormal.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a cargo handling system. [Background technology]

[0002] For example, Patent Document 1 describes a system in which, based on multiple sensors attached to the tip and base ends of the forks of a forklift, the presence or absence of forward / backward inclination and height deviation of the forks relative to the direction in which the forks are inserted into the fork insertion holes of a pallet is detected, an operating mode for correcting the inclination and height of the forks is determined, and the forks are operated according to the operating mode to insert them into the fork insertion holes of the pallet. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-8367 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the loads on the pallet are shifted sideways, the adjacent loads may interfere with each other, causing the loads on the pallet to collapse. Even if the load collapse is unlikely to occur before the loading and unloading operation, a situation that leads to the load collapse may occur during the loading and unloading operation.

[0005] An object of the present invention is to provide a cargo handling system capable of suppressing the occurrence of cargo collapse. [Means for solving the problem]

[0006] (1) One aspect of the present invention is a loading and unloading system that performs loading and unloading operations using a forklift, and includes a first detection unit that uses at least one type of sensor to detect a package shape of a load on a pallet held by the forks of the forklift together with the pallet before loading and unloading operations begin, and a first abnormality judgment unit that determines whether the package shape detected by the first detection unit is abnormal.After loading and unloading operations begin, a second detection unit that detects a work status using multiple types of sensors, and a second abnormality judgment unit that determines whether the work status detected by the second detection unit is abnormal.

[0007] In such a loading and unloading system, before loading and unloading work is started, at least one type of sensor is used to detect the shape of the luggage on the pallet held by the forks together with the pallet, and it is determined whether the shape of the luggage is abnormal. If it is determined that the shape of the luggage is abnormal, the loading and unloading work is stopped or an action is taken to avoid the luggage from falling, thereby preventing the occurrence of luggage falling due to interference between adjacent luggage, etc. After loading and unloading work is started, multiple types of sensors are used to detect the work situation, and it is determined whether the work situation is abnormal. If it is determined that the work situation is abnormal, it is possible to prevent the occurrence of luggage falling due to a situation that leads to luggage falling, such as luggage being dragged, by stopping the loading and unloading work or taking an action to avoid the luggage from falling.

[0008] (2) In the above (1), one type of sensor may be a camera that captures images of the pallet and the package. In this configuration, the use of the camera makes it possible to easily and inexpensively detect the state of the package, including the package and the pallet.

[0009] (3) In the above (1) or (2), the multiple types of sensors may include a camera that captures images of the pallet and the cargo, a microphone that collects sounds around the forklift, and a vibration sensor that measures vibrations applied to the forks. In this configuration, the use of the camera, microphone, and vibration sensor makes it possible to detect abnormalities in the work situation that may lead to cargo collapse, such as dragging of cargo and collisions between cargo during loading and unloading work, over a wide area with high accuracy.

[0010] (4) In any of the above (1) to (3), the loading and unloading system may further include a storage unit that stores modeling data that associates the operation data of the forklift by the operator with the information on the shape of the package detected by the first detection unit and the information on the working situation detected by the second detection unit when the loading and unloading work is performed by manually operating the forklift, and the first abnormality determination unit may use the modeling data stored in the storage unit to determine whether the shape of the package detected by the first detection unit is abnormal, and the second abnormality determination unit may use the modeling data stored in the storage unit to determine whether the working situation detected by the second detection unit is abnormal. In such a configuration, by using the modeling data that associates the operation data of the forklift by the operator with the information on the shape of the package detected by the first detection unit and the information on the working situation detected by the second detection unit when operating the forklift, it is determined whether the shape of the package and the working situation are abnormal based on the results of modeling the abnormality recognition and judgment of the actual operator. Therefore, the presence or absence of abnormality in the shape of the package and the working situation can be appropriately determined.

[0011] (5) In any of the above (1) to (4), the cargo handling system may further include an avoidance plan creation unit that creates avoidance plan data for avoiding cargo collapse when the first abnormality determination unit determines that the packaging form is abnormal or when the second abnormality determination unit determines that the work situation is abnormal, and a cargo handling control unit that controls the forklift to perform cargo handling work in accordance with the avoidance plan data created by the avoidance plan creation unit. In this configuration, when the packaging form or work situation is determined to be abnormal, avoidance plan data for avoiding cargo collapse is created, and the forklift is controlled to perform cargo handling work in accordance with the avoidance plan data. Therefore, the occurrence of cargo collapse is automatically suppressed.

[0012] (6) In the above (5), the cargo handling system may further include an avoidance possibility determination unit that determines whether or not the collapse of the cargo can be avoided when the first abnormality determination unit determines that the packaging form is abnormal or when the second abnormality determination unit determines that the work situation is abnormal, and the avoidance plan creation unit creates avoidance plan data when the avoidance possibility determination unit determines that the collapse of the cargo can be avoided, and the cargo handling control unit may control the forklift to stop the cargo handling work when the avoidance possibility determination unit determines that the collapse of the cargo cannot be avoided. In this configuration, when the packaging form or work situation is determined to be abnormal, the avoidance plan data is created when it is determined that the collapse of the cargo can be avoided, and the forklift is controlled to stop the cargo handling work when it is determined that the collapse of the cargo cannot be avoided. In this way, the avoidance plan data is created as needed, so that it is not necessary to create the avoidance plan data unnecessarily. Therefore, the processing can be simplified.

[0013] (7) In the above (5) or (6), the loading and unloading system may further include a storage unit that stores modeling data that associates the forklift operation data by the operator with the information on the shape of the package detected by the first detection unit and the information on the work situation detected by the second detection unit when the loading and unloading work is performed by manually operating the forklift, and the avoidance feasibility determination unit may use the modeling data stored in the storage unit to determine whether or not the collapse of the package is avoidable. In this configuration, by using the modeling data that associates the forklift operation data by the operator with the information on the shape of the package detected by the first detection unit and the information on the work situation detected by the second detection unit when operating the forklift, it is determined whether or not the collapse of the package is avoidable based on the results of modeling the actual operator's recognition of abnormalities and judgment. Therefore, it is possible to appropriately determine whether or not the collapse of the package is avoidable.

[0014] (8) In (5) or (6) above, the loading and unloading system further includes a memory unit that stores modeling data that associates forklift operation data by an operator with information on the packaging shape detected by the first detection unit and information on the work situation detected by the second detection unit when loading and unloading work is performed by manually operating the forklift, and the avoidance plan creation unit may create avoidance plan data using the information on the packaging shape detected by the first detection unit and the modeling data stored in the memory unit when it is determined that the cargo collapse is avoidable when the first abnormality judgment unit judges that the packaging shape is abnormal, and may create avoidance plan data using the information on the work situation detected by the second detection unit and the modeling data stored in the memory unit when it is determined that the cargo collapse is avoidable when the second abnormality judgment unit judges that the work situation is abnormal. In this configuration, avoidance plan data is created using modeling data that correlates the forklift operation data by the operator with the package shape information detected by the first detection unit and the work situation information detected by the second detection unit when the forklift is operated, and avoidance plan data based on the results of modeling the actual operator's recognition of abnormalities and judgments can be obtained. Therefore, the occurrence of cargo collapse can be appropriately suppressed. Effect of the Invention

[0015] According to the present invention, the occurrence of cargo collapse can be suppressed. [Brief description of the drawings]

[0016] [Figure 1] 1 is a side view showing a forklift to which a cargo handling system according to an embodiment of the present invention is applied. [Diagram 2] 1 is a block diagram showing a configuration of a loading and unloading system according to an embodiment of the present invention; [Diagram 3] FIG. 1 is a front view showing a state in which packages on adjacent pallets are interfering with each other. [Figure 4] 3 is a flowchart showing the procedure of a packaging style determination process executed by a controller shown in FIG. 2. [Diagram 5] 3 is a flowchart showing the procedure of a work situation determination process executed by a controller shown in FIG. 2. [Figure 6] 3 is a flowchart showing a procedure of a avoidance plan creation process executed by an avoidance plan creation unit of the controller shown in FIG. 2. [Figure 7] 3 is a flowchart showing a procedure of a cargo handling control process executed by a cargo handling control section of the controller shown in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0018] Fig. 1 is a side view showing a forklift to which a cargo handling system according to an embodiment of the present invention is applied. In Fig. 1, the forklift 1 is, for example, a countertop forklift. The forklift 1 is equipped with a traveling device 2 and a cargo handling device 3.

[0019] The traveling device 2 has a body 4, front wheels 5 which are a pair of left and right drive wheels arranged at the front of the body 4, and rear wheels 6 which are a pair of left and right steered wheels arranged at the rear of the body 4.

[0020] The loading and unloading device 3 has a mast 7 attached to the front end of the vehicle body 4, a pair of left and right forks 11 attached to the mast 7 via lift brackets 8 so as to be able to be raised and lowered and which hold a pallet 10, a lift cylinder 12 which raises and lowers the forks 11 via the lift brackets 8, and a tilt cylinder 13 which tilts the mast 7.

[0021] The pallet 10 is, for example, a flat pallet made of plastic or wood. The pallet 10 has a square or approximately square shape in a plan view. Items M are loaded on the pallet 10. The pallet 10 is provided with a pair of left and right fork holes 10a (see FIG. 3) into which forks 11 are inserted.

[0022] Fig. 2 is a block diagram showing the configuration of a loading and unloading system according to one embodiment of the present invention. In Fig. 2, the loading and unloading system 20 of this embodiment is a system that controls the forklift 1 so that the forklift 1 performs loading and unloading work by automatic operation. Here, the loading and unloading system 20 performs a loading and unloading work. The loading and unloading work is a sequence of operations in which the forks 11 are inserted into the fork holes 10a of a pallet 10 loaded with cargo M (hereinafter sometimes referred to as a loaded pallet 10M), the forks 11 are raised to lift the loaded pallet 10M, and the loaded pallet 10M is pulled out.

[0023] The cargo handling system 20 is mounted on the forklift 1. The cargo handling system 20 includes a camera 21, a microphone 22, an accelerometer 23, a memory unit 24, an alarm device 25, and a controller 26.

[0024] The camera 21 is an image sensor that captures an image of the pallet 10 and cargo M (loaded pallet 10M) in front of the forklift 1 and acquires captured image data. The loaded pallet 10M in front of the forklift 1 also includes the loaded pallet 10M held by the forks 11. The camera 21 is attached to the mast 7, for example.

[0025] The microphone 22 is a sound collection sensor that collects sounds around the forklift 1 and obtains collected sound data. The microphone 22 is attached to the mast 7, for example.

[0026] The accelerometer 23 is a vibration sensor that measures the acceleration of the forklift 1 to detect vibrations acting on the forks 11 of the forklift 1 and acquire vibration data. The accelerometer 23 is attached to the forks 11, for example.

[0027] The memory unit 24 stores modeling data that associates operation data of the forklift 1 by the operator with image data of the loaded pallet 10M acquired by the camera 21, sound collection data acquired by the microphone 22, and vibration data acquired by the accelerometer 23 when loading and unloading work is performed by manually operating the forklift 1. The modeling data is data that is modeled by deep learning or the like using data collected in advance that is related to human recognition, judgment, and operation of various loading styles and work situations.

[0028] The alarm 25 is a device that issues an alarm to those in the vicinity by sounding an alarm or the like when there is a possibility that the luggage M on the pallet 10 may collapse.

[0029] The controller 26 is composed of a CPU, RAM, ROM, an input / output interface, etc. The controller 26 has a packaging style information acquisition unit 31, a packaging style abnormality determination unit 32, an avoidance feasibility determination unit 33, a work status information acquisition unit 34, a work status abnormality determination unit 35, an avoidance feasibility determination unit 36, an avoidance plan creation unit 37, and a loading and unloading control unit 38.

[0030] The packaging style information acquisition unit 31 acquires image data from the camera 21 as information on the packaging style of the loaded pallet 10M before loading and unloading work is started. The packaging style of the loaded pallet 10M includes not only the packaging style of the loaded pallet 10M to be unloaded, but also the packaging style of loaded pallets 10M adjacent to the loaded pallet 10M to be unloaded (see FIG. 3). The packaging style information acquisition unit 31 cooperates with the camera 21 to constitute a first detection unit that detects the cargo M on the pallet 10 held by the forks 11 of the forklift 1 together with the pallet 10 as a packaging style using at least one type of sensor before loading and unloading work is started.

[0031] The packaging style abnormality determination unit 32 uses the modeled data stored in the memory unit 24 to determine whether the packaging style of the loaded pallet 10M acquired by the packaging style information acquisition unit 31 is abnormal. A state in which the packaging style of the loaded pallet 10M is abnormal is a state in which there is a possibility of cargo collapse due to interference between adjacent packages M in the left-right direction, etc. The packaging style abnormality determination unit 32 constitutes a first abnormality determination unit that determines whether the packaging style detected by the first detection unit is abnormal.

[0032] When the packaging abnormality determination unit 32 determines that the packaging shape of the loaded pallet 10M is abnormal, the avoidance feasibility determination unit 33 uses the modeling data stored in the memory unit 24 to determine whether the collapse of the cargo is avoidable.

[0033] After starting loading and unloading work, the work status information acquisition unit 34 acquires image data from the camera 21, sound collection data from the microphone 22, and vibration data from the accelerometer 23 as information on the work status. The work status information acquisition unit 34 cooperates with the camera 21, the microphone 22, and the accelerometer 23 to constitute a second detection unit that detects the work status using multiple types of sensors after starting loading and unloading work.

[0034] The work situation abnormality determination unit 35 determines whether the work situation acquired by the work situation information acquisition unit 34 is abnormal, using the modeled data stored in the memory unit 24. An abnormal work situation is a state in which there is a possibility of cargo collapse occurring due to a situation that leads to cargo collapse, such as dragging of luggage M, collision of luggage M with other luggage M, lifting of adjacent luggage M, etc. The work situation abnormality determination unit 35 constitutes a second abnormality determination unit that determines whether the work situation detected by the second detection unit is abnormal.

[0035] When the work situation abnormality determination unit 35 determines that the work situation is abnormal, the avoidance feasibility determination unit 36 ​​uses the modeling data stored in the memory unit 24 to determine whether or not the collapse of the cargo is avoidable.

[0036] When the avoidance feasibility determination units 33, 36 determine that the collapse of the cargo is avoidable, the avoidance plan creation unit 37 creates avoidance plan data for avoiding the collapse of the cargo, using the image data of the camera 21, the sound collection data of the microphone 22, the vibration data of the accelerometer 23, and the modeling data stored in the storage unit 24. The avoidance plan data will be described in detail later.

[0037] When the avoidance feasibility determination units 33, 36 determine that the cargo collapse is avoidable, the cargo handling control unit 38 controls the traveling devices 2 and the cargo handling devices 3 to carry out the cargo handling operation in accordance with the avoidance plan data created by the avoidance plan creation unit 37. When the avoidance feasibility determination units 33, 36 determine that the cargo collapse is not avoidable, the cargo handling control unit 38 controls the traveling devices 2 and the cargo handling devices 3 to stop the cargo handling operation and controls the alarm 25 to issue an alarm.

[0038] 4 is a flowchart showing the procedure of the packaging style determination process executed by the controller 26. This process is executed by the packaging style information acquisition unit 31, the packaging style abnormality determination unit 32, and the avoidance feasibility determination unit 33. This process is executed when the forklift 1 reaches a position in front of the loaded pallet 10M and before starting loading and unloading work.

[0039] In Fig. 4, the controller 26 first acquires image data from the camera 21 (step S101). Next, the controller 26 judges whether the packaging style of the current loaded pallet 10M is normal or not based on the image data from the camera 21 (step S102). For example, as shown in Fig. 3, when a load M on a pallet 10 interferes with a load M on an adjacent pallet 10 (see A in the figure), the packaging style is abnormal.

[0040] At this time, the threshold value used to judge whether the packaging style is abnormal is calculated from the modeling data stored in the storage unit 24. For example, as shown in Fig. 3, when the amount of protrusion d of the cargo M from the pallet 10 is equal to or greater than the threshold value, it is judged that the packaging style is abnormal because there is a risk of the cargo collapsing.

[0041] When the controller 26 determines that the packaging style of the current loaded pallet 10M is normal, it determines whether the packaging style has been determined to be abnormal a predetermined number of times (step S103). The predetermined number of times is one or more times. When the controller 26 determines that the packaging style has been determined to be abnormal a predetermined number of times, it ends this process. When the controller 26 determines that the packaging style has not been determined to be abnormal a predetermined number of times, it executes the above step S101 again.

[0042] When the controller 26 determines in step S102 that the current packed pallet 10M has an abnormal packing state, it uses the modeling data stored in the memory unit 24 to determine whether or not it is possible to prevent the load from collapsing (step S104).

[0043] When the controller 26 determines that the collapse of the cargo can be avoided, it outputs a message to the effect that the avoidance plan is to be carried out (step S105) and executes the above-mentioned step S103. When the controller 26 determines that the collapse of the cargo cannot be avoided, it outputs a message to the effect that the cargo handling work is to be stopped (step S106) and ends this process.

[0044] Here, the packaging style information acquisition unit 31 executes steps S101 and S103. The packaging style abnormality determination unit 32 executes step S102. The avoidance feasibility determination unit 33 executes steps S104 to S106.

[0045] 5 is a flowchart showing the procedure of the work status determination process executed by the controller 26. This process is executed by the work status information acquisition unit 34, the work status abnormality determination unit 35, and the avoidance feasibility determination unit 36. This process is executed when loading and unloading work is started.

[0046] 5, the controller 26 first acquires image data from the camera 21, collected sound data from the microphone 22, and vibration data from the accelerometer 23 (step S111). Next, the controller 26 determines whether the current work situation is normal based on the image data from the camera 21, collected sound data from the microphone 22, and vibration data from the accelerometer 23 (step S112).

[0047] For example, when luggage M is being dragged, the dragging state is not only captured in the captured image, but also generates sounds and vibrations due to the dragging, and it is comprehensively determined from the image data, collected sound data, and vibration data that this is an abnormal situation that could lead to the collapse of the cargo. Therefore, even if the dragging of luggage M is not detected from the image data due to a blind spot of the camera 21, for example, the dragging of luggage M may be detected from the collected sound data and vibration data. At this time, the threshold value used to determine an abnormality in the work situation is also calculated from the modeling data stored in the memory unit 24.

[0048] When the controller 26 determines that the current work status is normal, it determines whether the loading and unloading work is completed (step S113). When the controller 26 determines that the loading and unloading work is completed, it ends this process. When the controller 26 determines that the loading and unloading work is not completed, it executes the above step S111 again.

[0049] When the controller 26 determines in step S112 that the current work situation is abnormal, it uses the model data stored in the memory unit 24 to determine whether or not it is possible to prevent the load from shifting (step S114).

[0050] When the controller 26 determines that the collapse of the cargo can be avoided, it outputs a message to the effect that the avoidance plan is to be carried out (step S115) and executes the above-mentioned step S113. When the controller 26 determines that the collapse of the cargo cannot be avoided, it outputs a message to the effect that the cargo handling work is to be stopped (step S116) and ends this process.

[0051] Here, the work status information acquisition unit 34 executes steps S111 and S113. The work status abnormality determination unit 35 executes step S112. The avoidance feasibility determination unit 36 ​​executes steps S114 to S116.

[0052] 6 is a flowchart showing the procedure of the avoidance plan creation process executed by the avoidance plan creation unit 37 of the controller 26. This process is executed when the above-mentioned packaging style determination process and work status determination process are executed.

[0053] 6, the controller 26 first determines whether to execute the avoidance plan based on the above steps S105 and S115 (step S121). When the controller 26 determines to execute the avoidance plan, the controller 26 acquires image data from the camera 21, collected sound data from the microphone 22, and vibration data from the accelerometer 23 (step S122).

[0054] Next, the controller 26 creates avoidance plan data for avoiding cargo collapse using the image data of the camera 21, the sound collection data of the microphone 22, the vibration data of the accelerometer 23, and the modeling data stored in the storage unit 24 (step S123). Specifically, the controller 26 obtains operation data corresponding to the image data of the camera 21, the sound collection data of the microphone 22, and the vibration data of the accelerometer 23 from the modeling data, and creates control command data for the traveling device 2 and the cargo handling device 3 according to the operation data as the avoidance plan data.

[0055] For example, as shown in Fig. 3, when the second layer of cargo M loaded on the right-side pallet 10 interferes with cargo M loaded on the left-side pallet 10 (see A in the figure), although cargo is normally picked up from left to right, avoidance plan data is created such that the right-side loaded pallet 10M is picked up before the left-side loaded pallet 10M. Also, if it is difficult to pick up the right-side loaded pallet 10M before the left-side loaded pallet 10M, avoidance plan data is created such that the left-side loaded pallet 10M is picked up while shifting it to the left.

[0056] 7 is a flowchart showing the procedure of the cargo handling control process executed by the cargo handling control unit 38 of the controller 26. This process is executed when the above-mentioned packaging style determination process and work status determination process are executed.

[0057] 7, the controller 26 first judges whether or not to stop the loading / unloading operation based on the above steps S106 and S116 (step S131). If the controller 26 judges not to stop the loading / unloading operation, the controller 26 judges whether or not to execute the avoidance plan based on the above steps S105 and S115 (step S132).

[0058] When the controller 26 determines not to execute the avoidance plan, it controls the traveling device 2 and the loading device 3 to perform normal loading and unloading operations (step S133). The normal loading and unloading operations are, for example, operations of picking up cargo in a predetermined order.

[0059] When it is determined that the avoidance plan is to be executed, the controller 26 controls the traveling devices 2 and the loading / unloading devices 3 so as to carry out the loading / unloading operation in accordance with the avoidance plan data created in the above step S123 (step S134).

[0060] When the controller 26 determines in step S131 that the loading / unloading operation is to be stopped, the controller 26 controls the traveling device 2 and the loading / unloading device 3 to forcibly stop the loading / unloading operation (step S135). Then, the controller 26 controls the alarm device 25 to issue an alarm (step S136).

[0061] As described above, in this embodiment, before the loading / unloading operation is started, the camera 21 is used to detect the package shape of the luggage M on the pallet 10 held by the fork 11 together with the pallet 10, and it is determined whether the package shape is abnormal. When it is determined that the package shape is abnormal, the loading / unloading operation is stopped or an action is taken to avoid the luggage collapse, thereby preventing the occurrence of the luggage collapse due to interference between adjacent luggage M. After the loading / unloading operation is started, the camera 21, the microphone 22, and the accelerometer 23 are used to detect the work situation, and it is determined whether the work situation is abnormal. When it is determined that the work situation is abnormal, the loading / unloading operation is stopped or an action is taken to avoid the luggage collapse, thereby preventing the occurrence of the luggage collapse due to a situation that leads to the luggage collapse, such as dragging of the luggage M. Even if an abnormality in the package shape is overlooked in the detection of the package shape in this way, the occurrence of the luggage collapse can be prevented by continuously monitoring the work situation during the loading / unloading operation.

[0062] In addition, in this embodiment, by using the camera 21, the state of packaging including the luggage M and the pallet 10 can be detected easily and inexpensively.

[0063] In addition, in this embodiment, by using the camera 21, microphone 22 and accelerometer 23, abnormalities in the work conditions that can lead to cargo collapse, such as dragging of cargo M and collisions between cargo M during loading and unloading operations, can be detected over a wide area with high accuracy.

[0064] In this embodiment, modeling data is used that correlates the operation data of the forklift 1 by the operator with the image data of the camera 21, the sound collection data of the microphone 22, and the vibration data of the accelerometer 23 detected during the operation of the forklift 1, and based on the modeling results of the actual operator's recognition and judgment of abnormalities, it is possible to determine whether the packaging style and working conditions are abnormal or not. Therefore, it is possible to appropriately determine the presence or absence of abnormalities in the packaging style and working conditions.

[0065] In addition, in this embodiment, when it is determined that the shape of the package or the working situation is abnormal, avoidance plan data for avoiding the collapse of the package is created, and the forklift 1 is controlled to carry out the loading and unloading work in accordance with the avoidance plan data. Therefore, the occurrence of the collapse of the package is automatically suppressed.

[0066] In this embodiment, when it is determined that the packaging form or working conditions are abnormal, if it is determined that the collapse of the cargo can be avoided, the forklift 1 is controlled to create avoidance plan data, and if it is determined that the collapse of the cargo cannot be avoided, the forklift 1 is controlled to stop the cargo handling work. In this way, since the avoidance plan data is created as needed, it is not necessary to create the avoidance plan data unnecessarily. Therefore, the processing in the controller 26 can be simplified.

[0067] In addition, in this embodiment, by using modeling data that correlates the operation data of the forklift 1 by the operator with the image data of the camera 21, the sound collection data of the microphone 22, and the vibration data of the accelerometer 23 detected during the operation of the forklift 1, it is possible to determine whether or not the collapse of the luggage M can be avoided based on the results of modeling the abnormality recognition and judgment of the actual operator. Therefore, it is possible to appropriately determine whether or not the collapse of the luggage M can be avoided.

[0068] In addition, in this embodiment, avoidance plan data is created using modeling data that correlates the operation data of the forklift 1 by the operator with the image data of the camera 21, the sound collection data of the microphone 22, and the vibration data of the accelerometer 23 detected during the operation of the forklift 1, thereby obtaining avoidance plan data based on the results of modeling the abnormality recognition and judgment of the actual operator. Therefore, it is possible to appropriately suppress the occurrence of cargo collapse.

[0069] The present invention is not limited to the above embodiment. For example, in the above embodiment, the packaging state of the loaded pallet 10M is detected using the camera 21 before the loading and unloading operation is started, but the present invention is not particularly limited to such a form. For example, a laser sensor such as LiDAR may be used instead of or together with the camera 21 to detect the packaging state of the loaded pallet 10M. In other words, it is sufficient to detect the packaging state of the loaded pallet 10M using at least one type of sensor.

[0070] In addition, in the above embodiment, after the loading and unloading work is started, the work status is detected using the camera 21, the microphone 22 and the accelerometer 23, but this is not limited to a particular form, and the work status can be detected using multiple types of sensors.

[0071] In the above embodiment, the modeling data correlating the operation data of the forklift 1 by the operator with the image data of the camera 21, the sound collection data of the microphone 22, and the vibration data of the accelerometer 23 detected when the forklift 1 is operated is stored in the storage unit 24, but the present invention is not limited to such a form. The storage unit 24 may store modeling data correlating the operation data of the forklift 1 by the operator with any of the image data of the camera 21, the sound collection data of the microphone 22, and the vibration data of the accelerometer 23 detected when the forklift 1 is operated. It is sufficient that the storage unit 24 stores modeling data correlating the operation data of the forklift 1 by the operator with information on the packaging style and the work situation.

[0072] In addition, in the above embodiment, the packing state and working conditions of the loaded pallet 10M are detected, a judgment is made as to whether or not the collapse of the load can be avoided, and avoidance plan data is created using modeled data that models human recognition, judgment, and operation in response to various packing states and working conditions. However, the present invention is not limited to this form, and data that has been formulated into rules in advance may be used instead of data that models human recognition, judgment, and operation.

[0073] In addition, in the above embodiment, cargo unloading work is performed as the cargo handling work, but the cargo handling work is not limited to cargo unloading work, and for example, a so-called cargo placement work may be performed in which another loaded pallet 10M is placed in a position adjacent to an existing loaded pallet 10M.

[0074] In the above embodiment, the loading and unloading work is performed by automatic operation of the forklift 1, but the loading and unloading system of the present invention may be applied to support loading and unloading work by manual operation of the forklift 1, or may be applied to support loading and unloading work by remote control of the forklift 1. In this case, for example, the system may notify and warn of the detection results of the loading shape and working status of the loaded pallet 10M, provide a guide for avoidance operations to avoid load collapse, and instruct to stop work.

[0075] In the above embodiment, the sensors such as the camera 21 used to detect the state of the loaded pallet 10M and the working status are mounted on the forklift 1, but the present invention is not limited to this form and the sensors may be installed on the infrastructure side. In this case, the output data of the sensor may be transmitted to the forklift 1 by wireless communication or the like, or the processing of the controller 26 may be executed on the infrastructure side. [Explanation of symbols]

[0076] 1...forklift, 10...pallet, 11...fork, 20...loading system, 21...camera (sensor, first detection unit, second detection unit), 22...microphone (sensor, second detection unit), 23...accelerometer (vibration sensor, sensor, second detection unit), 24...memory unit, 31...packing shape information acquisition unit (first detection unit), 32...packing shape abnormality determination unit (first abnormality determination unit), 33...avoidance feasibility determination unit, 34...work status information acquisition unit (second detection unit), 35...work status abnormality determination unit (second abnormality determination unit), 36...avoidance feasibility determination unit, 37...avoidance plan creation unit, 38...loading control unit, M...baggage.

Claims

1. A loading and unloading system for performing loading and unloading work using a forklift, a first detection unit that detects the cargo on the pallet held by the forks of the forklift as a package shape together with the pallet by using at least one type of sensor before starting the cargo handling operation; a first abnormality determination unit that determines whether the packaging style detected by the first detection unit is abnormal; A second detection unit that detects a work status using a plurality of types of sensors after starting the loading and unloading operation; A loading and unloading system comprising: a second abnormality determination unit that determines whether the work situation detected by the second detection unit is abnormal.

2. 2. The cargo handling system according to claim 1, wherein the one type of sensor is a camera that captures images of the pallet and the cargo.

3. 2. The loading and unloading system according to claim 1, wherein the plurality of types of sensors include a camera for capturing images of the pallet and the luggage, a microphone for collecting sounds around the forklift, and a vibration sensor for measuring vibrations applied to the forks.

4. A storage unit is further provided for storing modeling data that associates operation data of the forklift by an operator with information on the shape of the package detected by the first detection unit and information on the work situation detected by the second detection unit when the loading and unloading work is performed by manually operating the forklift, The first abnormality determination unit determines whether the packaging style detected by the first detection unit is abnormal by using the modeling data stored in the storage unit, The loading and unloading system according to claim 1 , wherein the second abnormality determination unit uses the modeling data stored in the memory unit to determine whether the work situation detected by the second detection unit is abnormal.

5. an avoidance plan creation unit that creates avoidance plan data for avoiding collapse of the packages when the first abnormality determination unit determines that the package shape is abnormal or when the second abnormality determination unit determines that the work situation is abnormal; 2. The loading and unloading system according to claim 1, further comprising a loading and unloading control unit that controls the forklift so as to carry out the loading and unloading operation in accordance with the avoidance plan data created by the avoidance plan creation unit.

6. and an avoidance possibility determination unit that determines whether or not collapse of the luggage can be avoided when the first abnormality determination unit determines that the packaging shape is abnormal or when the second abnormality determination unit determines that the work situation is abnormal, the avoidance plan creation unit creates the avoidance plan data when the avoidance feasibility determination unit determines that the cargo collapse is avoidable, 6. A loading and unloading system according to claim 5, wherein the loading and unloading control section controls the forklift to stop the loading and unloading operation when the avoidance possibility determination section determines that the collapse of the cargo is not avoidable.

7. A storage unit is further provided for storing modeling data that associates operation data of the forklift by an operator with information on the shape of the package detected by the first detection unit and information on the work situation detected by the second detection unit when the loading and unloading work is performed by manually operating the forklift, 7. The cargo handling system according to claim 6, wherein the avoidance feasibility determination unit determines whether or not the collapse of the cargo is avoidable by using the model data stored in the storage unit.

8. A storage unit is further provided for storing modeling data that associates operation data of the forklift by an operator with information on the shape of the package detected by the first detection unit and information on the work situation detected by the second detection unit when the loading and unloading work is performed by manually operating the forklift, 6. The loading and unloading system according to claim 5, wherein the avoidance plan creation unit creates the avoidance plan data using information on the packing shape detected by the first detection unit and the modeling data stored in the memory unit when it is determined that the cargo collapse is avoidable when the first abnormality determination unit determines that the packing shape is abnormal and creates the avoidance plan data using information on the work situation detected by the second detection unit and the modeling data stored in the memory unit when it is determined that the cargo collapse is avoidable when the second abnormality determination unit determines that the work situation is abnormal.

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