Work support device, in-vehicle unit, pallet, work support system, work support method, and program

Abstract

To provide a more advanced support for work performed by a cargo handling vehicle by detecting obstacles over a wide area around the cargo handling vehicle during the cargo transport.SOLUTION: An in-vehicle device 20 that supports work by a forklift 90 having claws 91 for holding a pallet 50 includes a pallet detection unit 22 that detects the presence or absence of the pallet 50 held by the claws 91, and a first determination unit 23 that determines whether to select a first measurement result by a vehicle-side sensor 30 provided on the forklift 90 or a second measurement result by a pallet-side sensor 53 provided on the pallet 50. When the pallet detection unit 22 detects the pallet 50, the first determination unit 23 selects the second measurement result.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work support device, an in-vehicle unit, a pallet, a work support system, a work support method, and a program. [Background technology]

[0002] Forklifts are cargo handling vehicles used to transport cargo in many logistics sites. Collisions with forklifts can cause accidents that damage cargo, equipment, buildings, etc. As a means for preventing collisions with cargo handling vehicles, a method has been proposed in which a distance measuring sensor is attached to the cargo handling vehicle to measure the distance to surrounding obstacles (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-016202 A Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional methods, if the sensor is covered by the load during transport, the distance cannot be measured. In consideration of this situation, the sensor is often attached to the base of the forklift's tines. This type of attachment is effective when a highly directional sensor is used, since it can measure the distance in the direction of the tip of the tines regardless of whether there is a load or not. However, when a sensor that can measure a wide range is used, there is a concern that the measurement range will be narrowed because the tines will be covered by the pallet during transport.

[0005] The present invention provides a work assistance device, an in-vehicle unit, a pallet, a work assistance system, and a program that are capable of measuring the presence or absence of obstacles over a wide area even when carrying luggage. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the work support device according to the present invention has the following features. A work support device that supports work by a loading vehicle having a holding unit that holds a pallet, a pallet detection unit that detects the presence or absence of the pallet held by the holding unit; a first determination unit that determines whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; the first determination unit selects the second measurement result when the palette detection unit detects the palette. Work support equipment.

[0007] In order to achieve the above-mentioned object, the vehicle-mounted unit according to the present invention has the following features. The above-mentioned work support device mounted on a loading vehicle; The first distance measuring sensor connected to the work support device; An on-board unit equipped with

[0008] In order to achieve the above-mentioned object, the pallet according to the present invention has the following features. The second distance measurement sensor; a second communication unit that transmits a second measurement result by the second distance measuring sensor to the work support apparatus in response to a connection request from the work support apparatus; A palette with.

[0009] In order to achieve the above-mentioned object, the work support system according to the present invention has the following features. The above-mentioned vehicle-mounted unit; The above-mentioned palette; A work support system equipped with

[0010] In order to achieve the above-mentioned object, the task support method according to the present invention has the following features. A work support method for supporting work by a loading vehicle having a holding unit for holding a pallet, comprising: Detecting the presence or absence of the pallet held by the holding unit; determining whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; selecting the second measurement result when the pallet is detected; A work assistance method using a work assistance device.

[0011] In order to achieve the above-mentioned object, the program according to the present invention has the following features. A program for supporting work by a loading vehicle having a holding unit for holding a pallet, detecting the presence or absence of the pallet held by the holding unit; determining whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; selecting the second measurement result when the pallet is detected; A program that causes a computer to execute the following. Effect of the Invention

[0012] According to the present invention, it is possible to measure the presence or absence of obstacles over a wide range even when carrying luggage.

[0013] The present invention has been briefly described above. Furthermore, the details of the present invention will be further clarified by reading the following description of the preferred embodiment of the present invention (hereinafter, referred to as "embodiment") with reference to the accompanying drawings. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a work support system according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a side view showing an example of the appearance of a forklift truck and a load during operation. [Diagram 3] FIG. 3 is a side view showing an example of the positional relationship between the vehicle-side sensor and the forklift. [Figure 4A] FIG. 4A is a schematic diagram showing the measurement area of ​​the vehicle-side sensor when no pallet is mounted, as viewed from above. [Figure 4B] FIG. 4B is a schematic diagram showing the measurement area of ​​the vehicle-side sensor when no pallet is mounted, as viewed from the side. [Diagram 5] FIG. 5 is a front view showing the positional relationship between the pallet and the tines of the forklift when the pallet is loaded, as viewed from the front of the forklift. [Figure 6A] FIG. 6A is a schematic diagram showing the measurement area of ​​the vehicle-side sensor when a pallet is loaded, as viewed from above. [Figure 6B] FIG. 6B is a schematic diagram showing the measurement area of ​​the vehicle-side sensor when a pallet is loaded, as viewed from the side. [Figure 7] FIG. 7 is a perspective view of a pallet according to the embodiment. [Figure 8A] FIG. 8A is a schematic diagram showing the measurement area of ​​the pallet side sensor when the pallet is mounted, as viewed from above. [Figure 8B] FIG. 8B is a schematic diagram showing the measurement area of ​​the pallet side sensor when the pallet is mounted, as viewed from the side. [Figure 9] FIG. 9 is a flowchart showing an example of a work support operation of the vehicle-mounted device according to the embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of the operation of the pallet side unit according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0016] Fig. 1 is a block diagram showing an example of the configuration of a work support system 1 that supports work by a cargo handling vehicle such as a forklift. Fig. 2 shows the appearance of a forklift 90 in operation and an example of a load. In Fig. 2, the left side represents the forward direction of the forklift 90, and the right side represents the backward direction.

[0017] As shown in Fig. 2, the forklift 90 has a plurality of (two in this embodiment) claws 91 (holding parts that are part of the cargo handling vehicle) that protrude long from the vehicle body forward of the driver's seat, and a backrest 92. The claws 91 and the backrest 92 are supported by the mast 93 in a state in which they can be raised and lowered in the vertical direction along the mast 93, and are attached to the vehicle body. In addition, the forklift 90 can drive the positions of the claws 91 and the backrest 92 in the vertical direction by driving a predetermined lifting mechanism. Furthermore, the forklift 90 is provided with a drive mechanism that changes the inclination angle of the mast 93 that supports the claws 91 and the backrest 92, and the tilt angles of the claws 91 and the backrest 92 can be adjusted.

[0018] Meanwhile, various luggage (cargo) 100 to be transported by a forklift 90 are generally stored while placed on a pallet 50, which is a platform placed on the ground 98. Therefore, when actually transporting this luggage 100, the forklift 90 advances toward the pallet 50 with the claws 91 moved downward as shown in FIG. 2, so that the claws 91 pass through the inside of the pallet 50. When the forklift 90 lifts the claws 91 upward in this state, the luggage 100 placed on the pallet 50 can be lifted together with the pallet 50. Then, by moving the forklift 90 with the luggage 100 and pallet 50 lifted, the luggage 100 and pallet 50 can be transported.

[0019] Incidentally, at work sites where forklifts are used to transport cargo, such as within a factory site or in a warehouse, accidents frequently occur in which the forklift 90 comes into contact with obstacles around the forklift 90 during work, causing damage to the obstacles. The obstacles are, for example, cargo that is not to be transported or the walls of a warehouse.

[0020] In actual work of this kind, the fork 91 protruding from the body of the forklift 90 is in the blind spot of the mast 93 of the forklift 90 and the load 100, making it difficult for the driver to check the area around the tips of the fork 91.

[0021] Even under such circumstances, it is up to the driver to take measures to prevent the tip of the claw 91 or the front end of the load 100 from contacting the obstacle 101. However, in a busy work site, it is difficult to pay sufficient attention to the time-consuming checking work, and there is a risk of human error.

[0022] The work support system 1 shown in Fig. 1 has a work support function that helps prevent the forklift 90 from coming into contact with an obstacle when working with the forklift 90. In this embodiment, a sensor attached to the body of the forklift 90 and a sensor attached to the pallet 50 are used to obtain information necessary for work support. Returning to Fig. 1, the work support system 1 will be described in detail below.

[0023] The work assistance system 1 includes an on-vehicle unit 10 mounted on a forklift 90, and a pallet 50 for transporting luggage. The on-vehicle unit 10 includes an on-vehicle device 20, which is an example of a work assistance device, and a vehicle-side sensor 30.

[0024] The vehicle-mounted device 20 includes a control unit 21, a pallet detection unit 22, a first determination unit 23, a power supply unit 25, an alarm unit 26, and a first communication unit 27. The control unit 21 is an arithmetic processing device (computer) that mainly controls the vehicle-mounted device 20. The control unit 21 reads out various programs stored in a memory (not shown) and causes each unit of the vehicle-mounted device 20 to execute a predetermined process.

[0025] The pallet detection unit 22 detects the presence or absence of a pallet 50 held by the claws 91 of the forklift 90. Specifically, the pallet detection unit 22 receives a first measurement result indicating the distance to the pallet 50 from the vehicle-side sensor 30, which will be described later, and detects the presence or absence of the pallet 50.

[0026] The first determination unit 23 determines whether to select a first measurement result by the vehicle-side sensor 30 provided on the forklift 90 or a second measurement result by a pallet-side sensor 53 provided on the pallet 50, which will be described later. In particular, the first determination unit 23 selects the second measurement result when the pallet detection unit 22 detects the pallet 50. The details of the selection determination will be described later.

[0027] The second judgment unit 24 judges the possibility of contact between the forklift 90 and an obstacle present at the work site based on the measurement result (the first measurement result or the second measurement result) selected by the first judgment unit 23. The alarm unit 26 issues an alarm when the possibility of contact with an obstacle is equal to or greater than a predetermined value. The alarm unit 26 may be a display that displays an alarm, or a speaker that issues an alarm sound.

[0028] The first communication unit 27 is capable of wireless communication with the pallet side sensor 53 of the pallet 50, and functions as a transmitting / receiving unit that transmits and receives data. As will be described later, when there is a response from the pallet side sensor 53 to a connection request from the first communication unit 27, the first communication unit 27 and the pallet side sensor 53 are connected.

[0029] The power supply unit 25 supplies power to the vehicle-side sensor 30 to activate the vehicle-side sensor 30 .

[0030] The vehicle-side sensor 30 is an example of a first distance measurement sensor provided on the forklift 90. The vehicle-side sensor 30 is a sensor capable of measuring obstacles around the forklift 90, and obtains a first measurement result as a measurement result of the obstacle. A specific installation mode of the vehicle-side sensor 30 will be described later.

[0031] The pallet 50 includes a control unit 51, a power supply unit 52, a pallet side sensor 53, a measurement unit 54, and a second communication unit 55. Hereinafter, the control unit 51, the power supply unit 52, the pallet side sensor 53, the measurement unit 54, and the second communication unit 55 may be collectively referred to as a pallet side unit. The control unit 51 is an arithmetic processing device (computer) that mainly controls the pallet 50. The control unit 51 reads out various programs stored in a memory (not shown), and causes each of the power supply unit 52, the pallet side sensor 53, the measurement unit 54, and the second communication unit 55 to execute a predetermined process.

[0032] The power supply unit 52 receives power from a power supply device 70 installed at the work site, enabling the startup of the pallet 50. The pallet side sensor 53 is an example of a second distance measurement sensor. The pallet side sensor 53 is a sensor capable of measuring obstacles around the pallet 50. The measurement unit 54 holds a second measurement result which is the measurement result of the obstacle by the pallet side sensor 53. The second communication unit 55 transmits the second measurement result to the vehicle-mounted device 20 in response to a connection request from the vehicle-mounted device 20 described later.

[0033] Note that LiDAR (Light Detection and Ranging) utilizing the phase difference of light, RADAR (Radio Detection and Ranging) using radio waves, and ultrasonic sensors using ultrasonic waves can be used as the vehicle-side sensor 30 and the pallet-side sensor 53. However, the vehicle-side sensor 30 and the pallet-side sensor 53 are not limited to those described above as long as they can acquire the distance to an obstacle or the like.

[0034] Fig. 3 is a side view showing an example of the positional relationship between the vehicle-side sensor 30 and the forklift 90. Fig. 4A is a schematic diagram showing the measurement area A1 of the vehicle-side sensor 30 when the pallet 50 is not loaded, as viewed from above. Fig. 4B is a schematic diagram showing the measurement area A1 of the vehicle-side sensor 30 when the pallet 50 is not loaded, as viewed from the side.

[0035] The vehicle-side sensors 30 are installed at the bases of the claws 91, and have a measurement area A1 in the horizontal and vertical directions centered on each vehicle-side sensor 30, in which the presence or absence of an obstacle 101 and the distance to the obstacle 101 can be measured. Although only the vehicle-side sensor 30 installed on the left claw 91 is illustrated in Fig. 4A, in reality, the vehicle-side sensors 30 are installed on both the left and right claws 91.

[0036] In this embodiment, in order to prevent a situation in which the vehicle-side sensor 30 is covered by the luggage loaded on the pallet 50 during luggage transport and the distance to the obstacle 101 cannot be measured, the vehicle-side sensor 30 is attached to the base of the claw 91 of the forklift 90. If the sensor is attached to the tip of the claw 91, it may be prone to hitting obstacles, causing frequent breakdowns, and wiring is difficult. By attaching the sensor to the base of the claw 91, the occurrence of breakdowns is suppressed and wiring is also easy. Since the vehicle-side sensor 30 can detect the obstacle 101, unexpected situations such as contact accidents can be prevented.

[0037] 5 is a front view showing the positional relationship between the pallet 50 and the claws 91 of the forklift 90 as viewed from the front of the forklift 90 (the left side in FIGS. 2 and 3) when the pallet 50 is being loaded. The claws 91 are inserted into insertion holes 58 provided in the pallet 50, and the vehicle-side sensor 30 can measure obstacles through the insertion holes 58.

[0038] Fig. 6A is a schematic diagram showing the measurement area A2 of the vehicle-side sensor 30 when the pallet 50 is mounted, as viewed from above. In Fig. 6A, only the vehicle-side sensor 30 provided on the left claw 91 is illustrated, but as described above, in reality, the vehicle-side sensor 30 is provided on both the left and right claws 91. Fig. 6B is a schematic diagram showing the measurement area A2 of the vehicle-side sensor 30 when the pallet 50 is mounted, as viewed from the side. Since the measurement area A2 when the pallet is mounted is blocked by the pallet 50 and the luggage 100, the measurable range is significantly narrowed compared to the measurement area A1 when the pallet is not mounted, and the ability of the vehicle-side sensor 30 to detect an obstacle 101 is reduced.

[0039] Therefore, in this embodiment, in addition to the vehicle-side sensor 30 of the forklift 90, a pallet-side sensor 53 that is previously provided on the pallet 50 is used. By using the pallet-side sensor 53 while the forklift 90 is carrying the pallet 50, a significant narrowing of the measurable range is prevented.

[0040] Fig. 7 is a perspective view of a pallet 50 according to an embodiment. The pallet 50 has a main body having a rectangular outer shape in a plan view, and is equipped with a power supply unit 52 and a pallet side sensor 53 at the center of a side of the rectangle, i.e., on a part of the side. Note that although the control unit 51, the second communication unit 55, and the measurement unit 54 are not shown in Fig. 7, they can be disposed, for example, inside the main body of the pallet 50, at a position that avoids the space into which the claws 91 are inserted. Furthermore, the pallet side unit may be such that all of the units including the pallet side sensor 53 are housed in a single housing and attached, for example, to the side of the main body of the pallet 50.

[0041] When the pallet 50 is placed near a power supply device 70 provided at a work site, for example, the power supply unit 52 receives power wirelessly from the power supply device 70 and activates the pallet side sensor 53. The pallet side sensor 53 measures obstacles around the pallet 50 from the side of the pallet 50 body. The power supply unit 52 and the pallet side sensor 53 may be provided, for example, on multiple sides of the pallet 50 body. In particular, by providing the pallet side sensor 53 on each of the four sides, even if the claw 91 is inserted from any side of the pallet 50, a wide range of measurement can be performed by the pallet side sensor 53 provided on the other three sides. However, the mounting location of the power supply unit 52 and the pallet side sensor 53 is not limited to the side of the pallet 50 body.

[0042] FIG. 8A is a schematic diagram showing the measurement area A3 of the pallet side sensor 53 when the pallet 50 is mounted, as viewed from above. FIG. 8B is a schematic diagram showing the measurement area A3 of the pallet side sensor 53 when the pallet 50 is mounted, as viewed from the side. However, FIG. 8B shows only the measurement area A3 by the pallet side sensor 53 provided at the front end of the pallet 50. When the pallet detection unit 22 of the vehicle-mounted device 20 detects the pallet 50, the first judgment unit 23 selects the second measurement result by the pallet side sensor 53, not the first measurement result by the vehicle side sensor 30. Therefore, the vehicle-mounted device 20 can use the measurement result in the measurement area A3 of the pallet side sensor 53 as shown in FIG. 8A and FIG. 8B.

[0043] As shown in Fig. 8A, the pallet side sensors 53 are provided on three sides of the pallet 50 body, and are not blocked by the pallet 50 or the cargo 100. Therefore, the measurable range is not significantly narrowed as in Fig. 6A and Fig. 6B, and a wide measurement area A3 is secured. This makes it possible to prevent a decrease in the ability to detect the obstacle 101.

[0044] 9 is a flowchart showing an example of a work support operation of the vehicle-mounted device 20 according to the embodiment. When the forklift 90 is started by turning on the ignition switch or the like (step S1), the vehicle-side sensor 30 is also started (step S2). The pallet detection unit 22 determines whether the forklift 90 is carrying a pallet 50 (step S3). If the forklift 90 is not carrying a pallet 50 (No in step S3), the first determination unit 23 sets the vehicle-side sensor 30 to be used for detecting the obstacle 101 (step S4). As a result, the vehicle-mounted device 20 uses the first measurement result by the vehicle-side sensor 30.

[0045] If a pallet 50 is loaded (Yes in step S3), the first communication unit 27 transmits a connection request to the pallet side sensor 53 (step S5). Specifically, the first communication unit 27 transmits a connection request to the second communication unit 55 of the pallet 50, and the pallet side sensor 53 receives the connection request.

[0046] The first communication unit 27 judges whether or not a response to the connection request is received from the pallet side sensor 53 via the second communication unit 55 (step S6). If there is no response (No in step S6), the first judgment unit 23 sets the vehicle side sensor 30 to be used for detecting the obstacle 101 (step S4). If there is a response (Yes in step S6), the first communication unit 27 connects to the pallet side sensor 53 (step S7).

[0047] The first determination unit 23 sets the pallet side sensor 53 to be used for detecting the obstacle 101 (step S8). As a result, the vehicle-mounted device 20 uses the second measurement result by the pallet side sensor 53.

[0048] Thereafter, the first determination unit 23 continues to determine whether the radio wave strength between the pallet side sensor 53 and the vehicle side sensor 53 is less than a predetermined threshold (step S9), and while the radio wave strength is equal to or greater than the threshold (No in step S9), continues to use the pallet side sensor 53 to detect the obstacle 101. On the other hand, when the radio wave strength becomes less than the threshold (Yes in step S9), the first determination unit 23 sets the vehicle side sensor 30 to be used to detect the obstacle 101 (step S4).

[0049] As a specific example, assume that the use of the pallet 50 is finished and the forklift 90 moves away from the pallet 50. In this case, the distance between the vehicle-mounted device 10 and the pallet 50 increases, and the strength of the radio waves received by the vehicle-mounted device 10 from the pallet-side sensor 53 of the pallet 50 weakens. Therefore, when the radio wave strength falls below a predetermined threshold, the sensor to be used is switched from the pallet-side sensor 53 to the vehicle-side sensor 30. Then, the process returns to step S3, and the pallet detection unit 22 again determines whether the forklift 90 is carrying the pallet 50.

[0050] According to the vehicle-mounted device 20 of the embodiment, while the forklift 90 is carrying the pallet 50, the pallet-side sensor 53 provided on the pallet 50 is used instead of the vehicle-side sensor 30 attached to the forklift 90 (steps S7, S8). This allows the pallet-side sensor 53 to detect obstacles over a wide area around the forklift 90 during luggage transportation, thereby providing more advanced support for the work performed by the forklift 90.

[0051] The vehicle-mounted device 20 also includes a second judgment unit 24 that judges the possibility of contact between the forklift 90 and the obstacle 101 based on the measurement result (the first measurement result or the second measurement result) selected by the first judgment unit 23. The vehicle-mounted device 20 also includes an alarm unit 26 that issues an alarm when the possibility of contact between the forklift 90 and the obstacle 101 is equal to or greater than a predetermined value as a result of judgment by the second judgment unit 24. As a result, when the possibility of contact with the obstacle 101 is equal to or greater than the predetermined value, the alarm unit 26 issues an alarm, alerting the driver, etc., and making it possible to more reliably prevent contact with the obstacle 101.

[0052] Furthermore, when the first communication unit 27 issues a connection request and there is a response from the pallet side sensor 53, it is possible to connect to the pallet side sensor 53 (steps S5 to S7). As a result, when there is a response from the pallet side sensor 53, it connects to that pallet side sensor 53, so that it is possible to reduce unnecessary communication when the pallet 50 is not present.

[0053] Furthermore, when the first communication unit 27 is capable of communicating with multiple pallet side sensors 53 of multiple pallets 50, it may connect to the pallet side sensor 53 of the pallet 50 at a position selected based on the radio wave strength of the communication. For example, the first communication unit 27 may connect to the pallet side sensor 53 with the strongest radio wave strength. This allows a reliable connection to be made to the pallet side sensor 53 of the pallet 50 held by the forklift 90.

[0054] However, since radio wave strength fluctuates from moment to moment, it is also possible to make a judgment not based on a single measurement, but by sampling several times (for example, 10 samples at 100 msec intervals) and then collectively judging the results of the sampling.

[0055] Furthermore, the selection of the pallet 60 to connect to may be determined not based on a specific threshold value of radio wave strength, but based on a relative evaluation among the multiple pallet-side sensors 53 of the multiple pallets 50. For example, assume that there are three pallets 50 responding to a connection request, pallet A, pallet B, and pallet C, and the radio wave strengths of each are -92 dBm (decibels per milliwatt) for pallet A, -80 dBm for pallet B, and -95 dB for pallet C. In this case, the vehicle-mounted device 20 may connect to pallet B, which has the strongest radio wave strength. Note that this radio wave strength is negative, so the smaller the absolute value, the stronger the radio wave strength.

[0056] 10 is a flowchart showing an example of the operation of the pallet side unit according to the embodiment. The control unit 51 determines whether or not a power supply device 70 is present near the pallet 50 (step S11). If present (Yes in step S11), the power supply unit 52 receives power from the power supply device 70 and performs charging (step S12).

[0057] If there is no power supply device 70 near the pallet 50 (No in step S11), the control unit 51 sets the pallet side unit to standby mode (step S13) and continues to determine whether a connection request in step S5 has been received from the vehicle-mounted device 20 (step S14).

[0058] If the second communication unit 55 does not receive a connection request from the vehicle-mounted device 20 (No in step S14), the control unit 51 again determines whether or not the power supply unit 70 is present near the pallet 50 (step S11). If the second communication unit 55 receives a connection request from the vehicle-mounted device 20 (Yes in step S14), the second communication unit 55 responds to the connection request (step S15), and the control unit 51 activates the pallet side sensor 53 (step S16). The second communication unit 55 transmits a second measurement result by the pallet side sensor 53 to the vehicle-mounted device 20 (step S17).

[0059] The pallet 50 according to the embodiment includes a pallet side sensor 53 and a second communication unit 55 that transmits a second measurement result by the pallet side sensor 53 to the vehicle-mounted device 20 in response to a connection request from the vehicle-mounted device 20. As a result, while the forklift 90 is carrying the pallet 50, the pallet side sensor 53 transmits the second measurement result to the vehicle-mounted device 20 (steps S14 to S17). Therefore, when transporting luggage, the vehicle-mounted device 20 can detect obstacles around the forklift 90 over a wide range, thereby providing more advanced support for the work performed by the forklift 90.

[0060] In the embodiment, the pallet detection unit 22 determines whether or not a pallet 50 is loaded based on the output of the vehicle-side sensor 30, but the determination of the presence or absence of a pallet is not limited to this. For example, the presence or absence of a pallet 50 may be determined based on the image recognition results of an image captured by a camera capable of capturing an image of the scene in front of the vehicle including the tips of the claws 91. As an example, a ToF (Time Of Flight) camera using infrared light can be used as the camera.

[0061] In the embodiment, the load holding portion is the claws 91 of a forklift 90, but may be an attachment such as a clamp.

[0062] In the embodiment, the first judgment unit 23 and the second judgment unit 24 constituting the work support device are provided in the vehicle-mounted device 20, but at least one of the first judgment unit 23 and the second judgment unit 24 may be provided in another device. For example, at least one of the first judgment unit 23 and the second judgment unit 24 may be provided in the pallet 50, or may be provided in another independent communication device capable of communicating with the vehicle-mounted device 20 and the pallet 50.

[0063] Here, features of the embodiments of the work support device, the in-vehicle unit, the pallet, the work support method, and the program according to the present invention will be briefly summarized and listed in the following [1] to [9].

[0064] [1] A work support device (vehicle-mounted device 20) that supports work by a loading vehicle (forklift 90) having a holding portion (claw 91) that holds a pallet (50), a pallet detection unit (22) for detecting the presence or absence of the pallet held by the holding unit; a first determination unit (23) that determines whether to select a first measurement result by a first distance measuring sensor (vehicle side sensor 30) provided on the loading vehicle or a second measurement result by a second distance measuring sensor (pallet side sensor 53) provided on the pallet, the first determination unit selects the second measurement result when the palette detection unit detects the palette. Work support equipment (onboard equipment 20).

[0065] According to the work support device configured as above in [1], in addition to the distance measurement sensor attached to the cargo handling vehicle, a distance measurement sensor is also provided on the pallet, and the distance measurement sensor on the pallet is used while the cargo handling vehicle is carrying the pallet. This makes it possible to detect obstacles around the cargo handling vehicle over a wide range while transporting luggage, thereby providing more advanced support for the work performed by the cargo handling vehicle.

[0066] [2] a second judgment unit (24) that judges the possibility of contact between the cargo handling vehicle and an obstacle based on the measurement result selected by the first judgment unit; and an alarm unit (26) that issues an alarm when the possibility of contact with the obstacle is equal to or greater than a predetermined value. The work support device according to [1] above.

[0067] According to the work assistance device having the configuration [2] above, when the possibility of contact with an obstacle is equal to or greater than a predetermined value, the warning unit issues a warning, thereby alerting the driver, etc., and making it possible to more reliably prevent contact with the obstacle.

[0068] [3] Further comprising a first communication unit (27) that wirelessly communicates with the second distance measuring sensor; when there is a response from the second distance measuring sensor to the connection request from the first communication unit, connecting to the second distance measuring sensor. The work support device according to the above [1] or [2].

[0069] According to the work assistance device having the configuration [3] above, when there is a response from the second distance measurement sensor, a connection is made to the second distance measurement sensor, thereby making it possible to reduce unnecessary communication when a pallet is not present.

[0070] [4] When the first communication unit is capable of communicating with a plurality of second distance measuring sensors of a plurality of pallets, the first communication unit connects to the second distance measuring sensor of the pallet at a position selected based on the radio wave strength of the communication. The work support device according to [3] above.

[0071] According to the work assistance device having the configuration [4] above, it is possible to reliably connect to the second distance measuring sensor of the pallet held by the loading vehicle.

[0072] [5] A work support device according to any one of [1] to [4] above, which is mounted on a loading vehicle; The first distance measuring sensor connected to the work support device; An in-vehicle unit (10) comprising:

[0073] According to the on-board unit of the configuration [5] above, in addition to the distance measurement sensor installed on the cargo handling vehicle, a distance measurement sensor is also installed on the pallet, and the distance measurement sensor on the pallet is used while the cargo handling vehicle is carrying the pallet. This makes it possible to detect obstacles around the cargo handling vehicle over a wide range while transporting luggage, thereby providing more advanced support for the work performed by the cargo handling vehicle.

[0074] [6] The second ranging sensor; A pallet equipped with a second communication unit (second communication unit 55) that transmits the second measurement result by the second distance measuring sensor to the work support device in response to a connection request from the work support device described in any one of [1] to [4] above.

[0075] According to the pallet of the configuration [6] above, while the loading vehicle is carrying the pallet, the second distance measuring sensor transmits the second measurement result to the work support device. This allows obstacle detection to be performed over a wide range around the loading vehicle while carrying the load, thereby providing more advanced support for the work performed by the loading vehicle.

[0076] [7] The vehicle-mounted unit according to [5] above; The pallet described in [6] above, (1) A work support system equipped with the above.

[0077] According to the work support system configured as above in [7], in addition to the distance measurement sensor attached to the cargo handling vehicle, a distance measurement sensor is also provided on the pallet, and the pallet's distance measurement sensor is used while the cargo handling vehicle is carrying the pallet. This makes it possible to detect obstacles around the cargo handling vehicle over a wide range while transporting luggage, thereby providing more advanced support for the work performed by the cargo handling vehicle.

[0078] [8] A method for supporting work by a loading vehicle having a holding unit for holding a pallet, comprising: Detecting the presence or absence of the pallet held by the holding unit; determining whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; selecting the second measurement result when the pallet is detected; A work assistance method using a work assistance device.

[0079] According to the work support method configured as above in [8], in addition to the distance measurement sensor attached to the cargo handling vehicle, a distance measurement sensor is also provided on the pallet, and the distance measurement sensor on the pallet is used while the cargo handling vehicle is carrying the pallet. This makes it possible to detect obstacles around the cargo handling vehicle over a wide range while transporting luggage, thereby providing more advanced support for the work performed by the cargo handling vehicle.

[0080] [9] A program for supporting work by a loading vehicle having a holding unit for holding a pallet, detecting the presence or absence of the pallet held by the holding unit; determining whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; selecting the second measurement result when the pallet is detected; A program that causes a computer to execute the following.

[0081] According to the program of the configuration of [9] above, in addition to the distance measurement sensor attached to the cargo handling vehicle, a distance measurement sensor is also provided on the pallet, and the pallet's distance measurement sensor is used while the cargo handling vehicle is carrying the pallet. This allows obstacle detection to be performed over a wide range around the cargo handling vehicle while transporting luggage, providing more advanced support for the work of the cargo handling vehicle. [Explanation of symbols]

[0082] 1 Work support system 10 Vehicle-mounted unit 20 Onboard equipment (work support equipment) 21 Control section 22 Palette detector 23 1st Judgment Department 24 Second Judgment Department 25 Power supply unit 26 Alarm section 27 First Communications Department 30 Vehicle side sensor (first distance measuring sensor) 50 pallets 51 Control section 52 Power supply unit 53 Pallet side sensor (second distance sensor) 54 Measurement section 55 2nd Communications Department 70 Power supply 90 Forklift (cargo handling vehicle) 91 Claw (holding part) 92 Backrest 93 Mast 98 Ground 100 Luggage (cargo) 101 Obstacles

Claims

1. A work support device that supports work by a loading vehicle having a holding unit that holds a pallet, a pallet detection unit that detects the presence or absence of the pallet held by the holding unit; a first determination unit that determines whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet, the first determination unit selects the second measurement result when the palette detection unit detects the palette. Work support equipment.

2. a second determination unit that determines a possibility of contact between the cargo handling vehicle and an obstacle based on a measurement result selected by the first determination unit; and an alarm unit that issues an alarm when the possibility of contact with the obstacle is equal to or greater than a predetermined value. The work support device according to claim 1 .

3. a first communication unit that wirelessly communicates with the second distance measuring sensor; when there is a response from the second distance measuring sensor to the connection request from the first communication unit, connecting to the second distance measuring sensor. The work support device according to claim 1 .

4. When the first communication unit is capable of communicating with a plurality of second distance measuring sensors of a plurality of pallets, the first communication unit connects to the second distance measuring sensor of a pallet at a position selected based on radio wave strength of communication. The work support device according to claim 3.

5. The work support device according to any one of claims 1 to 4, which is mounted on a loading vehicle; The first distance measuring sensor connected to the work support device; An on-board unit equipped with

6. The second distance measurement sensor; A pallet comprising: a second communication unit that transmits the second measurement result by the second distance measuring sensor to the work support device in response to a connection request from the work support device according to any one of claims 1 to 4.

7. The vehicle-mounted unit according to claim 5 , A pallet according to claim 6; A work support system equipped with

8. A work support method for supporting work by a loading vehicle having a holding unit for holding a pallet, comprising: Detecting the presence or absence of the pallet held by the holding unit; determining whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; When the pallet is detected, the second measurement result is selected. A work assistance method using a work assistance device.

9. A program for supporting work by a loading vehicle having a holding unit for holding a pallet, detecting the presence or absence of the pallet held by the holding unit; determining whether to select a first measurement result by a first distance measuring sensor provided on the loading vehicle or a second measurement result by a second distance measuring sensor provided on the pallet; selecting the second measurement result if the pallet is detected; A program that causes a computer to execute the following.

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