Conveyance system

Abstract

To prevent an operator who operates a manned conveyance vehicle from falling asleep by using an unmanned flying body, in a conveyance system including the manned conveyance vehicle and the unmanned flying body.SOLUTION: A conveyance system S includes a manned conveyance vehicle 1 and an unmanned flying body 2. The unmanned flying body 2 includes: an imaging part 25 for imaging a face of an operator O who is operating the manned conveyance vehicle 1; and a warning part 26 for giving a warning to the operator O who is operating the manned conveyance vehicle 1 based on the drowsiness degree, using a drowsiness determination part 35 for determining the drowsiness degree of the operator O based on the face image of the operator O by the imaging part 25.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a transport system equipped with a manned transport vehicle and an unmanned aerial vehicle. [Background technology]

[0002] A manned guided vehicle (e.g., a forklift) used in a facility such as a factory or a warehouse is configured to run and operate when an operator boards and operates the vehicle. The forklift is also configured to perform loading and unloading operations for picking up and placing cargo using forks.

[0003] A transport system is known that is configured to guide a manned transport vehicle operated by an operator using an unmanned aerial vehicle that can stop in the air (see Patent Document 1, etc.).

[0004] In the transportation system, the unmanned aerial vehicle is equipped with a projector that projects a guidance image onto a road surface. The guidance image, for example, displays an arrow pointing to a specific direction and is projected onto the road surface in front of the manned transport vehicle. This allows an operator operating the manned transport vehicle to be guided to a loading position by checking the guidance image.

[0005] However, in conventional transport systems, there is a problem in that it is not possible to prevent the operator operating the manned transport vehicle from falling asleep. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-52629 A Summary of the Invention [Problem to be solved by the invention]

[0007] Therefore, the problem that the present invention aims to solve is to provide a transport system that includes a manned guided vehicle and an unmanned aerial vehicle, which can prevent an operator who operates the manned guided vehicle using the unmanned aerial vehicle from falling asleep. [Means for solving the problem]

[0008] In order to solve the above problems, the transportation system of the present invention is a transportation system equipped with a manned transport vehicle and an unmanned aerial vehicle, in which the unmanned aerial vehicle is equipped with a photographing unit that photographs the face of an operator operating the manned transport vehicle, and an alarm unit that alerts the operator operating the manned transport vehicle based on his level of drowsiness using a drowsiness determination unit that determines the operator's level of drowsiness based on the facial image of the operator captured by the photographing unit.

[0009] Preferably, when the degree of drowsiness is equal to or higher than a predetermined level, the alarm unit issues an alarm to those around the manned guided vehicle in addition to the operator.

[0010] Moreover, it is preferable that the alarm unit issues an alarm using any one or a combination of sound, light, and water.

[0011] In addition, the unmanned aerial vehicle may be equipped with a projection unit that projects an image onto the passageway, and the alarm unit may project an alarm image from the projection unit to issue an alarm to those around the manned guided vehicle.

[0012] The unmanned aerial vehicle may also be configured to travel along a guideway that guides the travel of a manned guided vehicle. Effect of the Invention

[0013] The transport system according to the present invention is a transport system equipped with a manned transport vehicle and an unmanned air vehicle, and the unmanned air vehicle can effectively prevent the operator operating the manned transport vehicle from falling asleep. [Brief description of the drawings]

[0014] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 1 is a block diagram showing a transport system. [Diagram 5] FIG. 4 is a schematic diagram showing the eye portion of a face image. [Figure 6] FIG. 4 is a flowchart showing a control procedure for preventing drowsiness at the wheel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of a transport system according to the present invention will be described with reference to the drawings.

[0016] The configuration of the transport system will be described with reference to FIGS.

[0017] 1 to 4, the transport system S includes a manned transport vehicle 1 that an operator O boards and operates. The manned transport vehicle 1 is configured to travel and operate when the operator O boards and operates it. In this embodiment, the manned transport vehicle 1 is a counterbalance type forklift, and is configured to be able to travel the vehicle body and raise and lower the forks when the operator O boards and operates it.

[0018] The transport system S comprises a plurality of shelves R installed in a facility such as a factory or warehouse. The shelves R have a plurality of steps in the height direction and are configured so that luggage L can be stored at a predetermined position on the steps. The manned transport vehicle 1 performs loading and unloading by placing and picking up luggage L at a predetermined position on the shelves R. The shelves R are arranged at intervals of a predetermined width so that the manned transport vehicle 1 can travel and perform loading and unloading, and an aisle P is formed between each shelf R (FIGS. 1 and 3).

[0019] The transport system S includes an unmanned aerial vehicle 2 capable of stopping in the air. The unmanned aerial vehicle 2 is called a drone, and is configured to fly to a predetermined stopping position in the air by rotating rotors provided at the tip of each of a number of arms, and to hover at the predetermined stopping position in the air.

[0020] The transport system S includes a management device 3 for controlling the unmanned aerial vehicle 2 (FIG. 4). The management device 3 includes a memory unit 30. The memory unit 30 stores a map M including shelves R and aisles P installed within a facility, luggage L placed within the facility, and the like.

[0021] Furthermore, the storage unit 30 stores the loading and unloading tasks T to be performed by the manned guided vehicle 1 as a loading and unloading schedule J. That is, the loading and unloading schedule J has a plurality of loading and unloading tasks T set in a predetermined order, such as task T1 of picking up the luggage L from a predetermined location on a predetermined shelf R, task T2 of placing the luggage L at a predetermined location on a predetermined shelf R, task T3 of placing the luggage L at a shipping location, task T4 of picking up the luggage L from a receiving location, etc. Also, the loading and unloading tasks T include position information of the luggage L and loading and unloading (picking up or placing) information for the luggage L.

[0022] The management device 3 is equipped with a loading / unloading instruction unit 34, which is configured to display the loading / unloading tasks T of the loading / unloading schedule J transmitted from the memory unit 30 on a display unit 11 provided in the driver's seat of the manned guided vehicle 1.

[0023] The display unit 11 is configured, for example, with a touch panel display. The loading / unloading instruction unit 34 displays the loading / unloading task T to be performed by the manned guided vehicle 1 on the display unit 11. The operator O operates the manned guided vehicle 1 to perform loading / unloading in accordance with the loading / unloading task T displayed on the display unit 11. When the loading / unloading task T is completed, the operator O presses an end button displayed on the display unit 11, and an end signal is sent to the loading / unloading instruction unit 34. When the loading / unloading instruction unit 34 receives the end signal, it is configured to display the loading / unloading task T to be performed next by the manned guided vehicle 1 on the display unit 11.

[0024] The manned guided vehicle 1 is equipped with a position detection unit 10. The position detection unit 10 is configured with a laser sensor, a GPS sensor, an electromagnetic induction sensor, etc. The position detection unit 10 is configured to detect a vehicle position D1 of the manned guided vehicle 1.

[0025] The management device 3 includes a taxiway generating unit 31. The taxiway generating unit 31 generates a virtual taxiway 4 between the vehicle position D1 of the manned guided vehicle 1 and a loading position D2 based on information on the vehicle position D1 of the manned guided vehicle 1 transmitted from the position detecting unit 10, the facility map M transmitted from the memory unit 30, and the loading task T of the loading schedule J transmitted from the memory unit 30. The loading position D2 is a position on the passage P where the manned guided vehicle 1 picks up and places a load in the loading task T (FIG. 3).

[0026] 3, the taxiway generating unit 31 is configured to generate a virtual taxiway 4 that connects, for example, a vehicle position D1 and a loading position D2 on a passage P. The taxiway 4 is set, for example, so as to minimize the travel distance of the manned guided vehicle 1. In this embodiment, as shown in FIG. 3, the taxiway 4 is configured with a first straight section 41, a bent section 40, and a second straight section 42.

[0027] The unmanned aerial vehicle 2 is equipped with a position detection unit 20. The position detection unit 20 is composed of a GPS sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, an air pressure sensor, a compass, an acceleration sensor, etc., and can detect the position of the unmanned aerial vehicle 2.

[0028] The unmanned aerial vehicle 2 is equipped with a flight control unit 21. The flight control unit 21 is configured to control the rotation of the rotor blades. Based on the detection result of the position detection unit 20 and the control of the flight control unit 21, the unmanned aerial vehicle 2 can fly to a predetermined air stop position on the taxiway 4 and hover so as to stop in the air at the air stop position.

[0029] The location determination unit 32 is further configured to determine a hovering position on the taxiway 4 where the unmanned aerial vehicle 2 will hover. The location determination unit 32 is configured to stop in the air at a position on the taxiway 4 that is a fixed distance away from the vehicle position D1 of the manned guided vehicle 1 in the forward direction of the manned guided vehicle 1. Therefore, when the manned guided vehicle 1 approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 moves away from the manned guided vehicle 1, so that the distance between the manned guided vehicle 1 and the unmanned aerial vehicle 2 becomes constant.

[0030] The unmanned aerial vehicle 2 includes a memory unit 22. The memory unit 22 stores a guidance image 200. The guidance image 200 is configured, for example, with an arrow for guiding the manned guided vehicle 1 to the loading position D2, and is configured so that the direction of the arrow differs depending on the loading position D2 (FIGS. 1 and 3).

[0031] The unmanned aerial vehicle 2 is equipped with a projection unit 23. The projection unit 23 is composed of, for example, a projector, and can project a guidance image 200 stored in a memory unit 22 onto an aisle P of a facility (FIGS. 1 to 3).

[0032] The management device 3 includes a projection instruction unit 33. The projection instruction unit 33 is configured to determine a guidance image 200 to be projected on the road surface P according to the taxiway 4 from the taxiway generation unit 31 and the position of the unmanned aerial vehicle 2 detected by the position detection unit 20, and to send a projection instruction to the projection unit 23 of the unmanned aerial vehicle 2.

[0033] The operator O can visually view the guidance image 200 projected onto the aisle P, drive the manned guided vehicle 1 along the guidance image 200 to the loading position D2, and operate the manned guided vehicle 1 in accordance with the loading task T displayed on the display unit 11 to perform loading work on the luggage L.

[0034] The unmanned aerial vehicle 2 is equipped with an imaging unit 25 having a CCD image sensor, a CMOS image sensor, etc. The imaging unit 25 is configured to continuously capture images of the face of the operator O who drives the manned guided vehicle 1 by driving the imaging unit 25 so that the imaging direction is always facing the operator O based on the position of the manned guided vehicle 1 from the position detection unit 10 and the position of the unmanned aerial vehicle 2 from the position detection unit 20.

[0035] The management device 3 also includes a drowsiness determination unit 35. The drowsiness determination unit 35 is configured to determine the drowsiness level (for example, levels 1 to 5) of the operator O based on the face image data of the operator O acquired by the imaging unit 25.

[0036] Using NEDO's evaluation method, drowsiness level 1 would be "not sleepy at all," drowsiness level 2 would be "slightly sleepy," drowsiness level 3 would be "sleepy," drowsiness level 4 would be "quite sleepy," and drowsiness level 5 would be "very sleepy."

[0037] As shown in Fig. 5, the drowsiness determination unit 35 is configured to recognize the positions of the outer canthus E3 and the inner canthus E4 and measure the horizontal distance P2 of the eyes. Based on the horizontal distance P2 of the eyes of the operator O, the drowsiness determination unit 35 calculates five levels of vertical distance P1 of the eyes from the vertical distance P1 of the eyes when the eyes are most open to the vertical distance P1 of the eyes when the eyes are most closed, and stores the vertical distance P1 of the eyes in association with the degree of drowsiness (levels 1 to 5). The drowsiness determination unit 35 determines that the operator O is not drowsy when the drowsiness degree is level 1, where the eyes are most open, and determines that the operator O is drowsy when the drowsiness degree is level 2 to 5, where the eyes are closed.

[0038] The drowsiness determination unit 35 is configured to recognize the positions of the apex of the lower eyelid E1 and the apex of the upper eyelid E2 and measure the vertical distance P1 between the eyes. The drowsiness determination unit 35 is configured to determine the drowsiness level from the vertical distance P1 between the eyes measured from the face image captured by the imaging unit 25, based on the stored relationship between the vertical distance P1 between the eyes and the drowsiness level. In other words, the drowsiness determination unit 35 is configured to determine the drowsiness level based on the degree to which the eyes of the operator O are closed.

[0039] The unmanned aerial vehicle 2 is equipped with an alarm unit 26. The alarm unit 26 is configured to issue an alarm to the operator O and workers around the manned guided vehicle 1 based on the drowsiness level from the drowsiness determination unit 35.

[0040] The alarm unit 26 may be an audio device configured to emit a sound as an alarm. The volume of the sound may be changed depending on the level of drowsiness. Moreover, the alarm unit 26 may be configured to be a lighting device and to emit light as an alarm. The intensity of the light may be changed according to the level of drowsiness. The alarm unit 26 may be configured to emit water as an alarm, with the strength of the water being changed according to the level of drowsiness.

[0041] The control procedure for preventing drowsiness at the wheel will be described with reference to FIG.

[0042] The photographing unit 25 of the unmanned aerial vehicle 2 sequentially photographs the face of the operator O of the manned guided vehicle 1, and the drowsiness determination unit 35 acquires facial image data (step S1). The drowsiness determination unit 35 determines the drowsiness level of the operator O based on the facial image of the operator O, and determines whether or not the operator O is drowsy (step S2). If the drowsiness determination unit 35 determines the drowsiness level to be level 1, it is determined that the operator O is not drowsy, and if the drowsiness determination unit 35 determines the drowsiness level to be levels 2 to 5, it is determined that the operator O is drowsy.

[0043] If the drowsiness determination unit 35 determines that the operator O is not drowsy (Level 1), the process returns to step S1, and the photographing unit 25 of the unmanned aerial vehicle 2 sequentially photographs the face of the operator O of the manned guided vehicle 1, and the drowsiness determination unit 35 acquires facial image data. If the drowsiness determination unit 35 determines that the operator O is drowsy (Levels 2 to 5), it determines which of Levels 2 to 5 the drowsiness level is (Step S3).

[0044] In the case of drowsiness levels of levels 2 and 3, the operator O is judged to be lightly dozing, and since there is a high possibility that the operator O will wake up if an alarm is issued to the operator O, an alarm is issued only to the operator O (step S4). In the case of drowsiness levels of levels 4 and 5, the operator O is judged to be deeply dozing, and since there is a high possibility that the operator O will wake up if an alarm is issued to the operator O, an alarm is issued to the workers around the manned guided vehicle 1 in addition to the operator O (step S5).

[0045] When the alarm unit 26 consists of an acoustic device, the acoustic device is equipped with a directional sound generating unit, and when warning only the operator O, a sound is emitted locally toward the operator O, and when warning workers around the manned guided vehicle 1 in addition to the operator O, a sound is emitted over a wide area toward the operator O.

[0046] Furthermore, when the alarm unit 26 is composed of a lighting device, the lighting device is provided with a light generating unit having directionality, and when warning only the operator O, light is emitted locally toward the operator O, and when warning workers around the manned guided vehicle 1 in addition to the operator O, light is emitted over a wide range toward the operator O. Furthermore, the lighting device may issue a warning by flashing light.

[0047] In addition, when the alarm unit 26 consists of a water-discharging device, the water-discharging device is equipped with a directional water injection unit, and when warning only the operator O, water is sprayed locally toward the operator O, and when warning workers around the manned guided vehicle 1 in addition to the operator O, water is sprayed over a wide area toward the operator O.

[0048] In addition, the alarm unit 26 may use the projection unit 25 to display a large alarm image (for example, an alarm message such as "The driver of this forklift is asleep! Be careful!") in the aisle P around the manned transport vehicle 1, thereby alerting workers around the manned transport vehicle 1 that the operator O operating the manned transport vehicle 1 is asleep.

[0049] Then, the dozing prevention control of steps S1 to S5 is repeatedly performed so as to successively determine whether the operator O is dozing and to issue an alarm.

[0050] Although the preferred embodiments of the present invention have been described above, the configuration of the present invention is not limited to these embodiments. For example, the following modifications are possible.

[0051] In the above embodiment, the unmanned aerial vehicle 2 is configured to travel along a taxiway 4 for guiding the travel of the manned guided vehicle 1, but it may also be configured to photograph the operator O of the manned guided vehicle 1 at any time and along any route without traveling along the taxiway 4.

[0052] In the above embodiment, the drowsiness determination unit 35 determines the drowsiness level based on the degree to which the eyes of the operator O are closed, but may be configured to determine the drowsiness level based on the head angle, facial expression, or fluctuation in opening and closing of the eyelids of the operator O. In addition, the drowsiness determination unit 35 may be configured to store a facial image of the operator O when he is not drowsy, and to determine the drowsiness level by comparing the stored facial image of the operator O with the facial image of the operator O acquired by the imaging unit 25.

[0053] In the above embodiment, the alarm unit 26 is composed of either an audio device, a lighting device, or a water-discharging device, but these may be selectively combined, or the unmanned aerial vehicle 2 may be equipped with all of them.

[0054] In the above embodiment, the unmanned aerial vehicle 2 is configured to project a guidance image 200 onto the passage P so that the operator O can visually recognize the taxiway 4, but may also be configured to include a voice generating unit (not shown) that emits sounds such as voice, buzzer, and chime so that the operator O can hear the taxiway 4. The voice generating unit is configured to emit sounds such as "Turn left 15 m ahead", "Destination 30 m ahead", "There is an obstacle ahead. Please be careful", etc.

[0055] The effects of the present invention will now be described.

[0056] In a transport system S equipped with a manned transport vehicle 1 and an unmanned air vehicle 2, the unmanned air vehicle 2 is equipped with a photographing unit 25 that photographs the face of an operator O operating the manned transport vehicle 1, a drowsiness determination unit 35 that determines the degree of drowsiness of the operator O based on the facial image of the operator O captured by the photographing unit 25, and an alarm unit 26 that issues an alarm to the operator O operating the manned transport vehicle 1 based on the degree of drowsiness.

[0057] Therefore, by providing the image capturing unit 25 on the unmanned aerial vehicle 2 and capturing images from outside the manned guided vehicle 1, it is not necessary to provide an image capturing unit 25 on each manned guided vehicle 1, and the configuration for capturing images of the operator O can be minimized. In addition, since the operator O does not know when the unmanned aerial vehicle 2 will approach, it is expected that the operator O will operate the manned guided vehicle 1 with a sense of tension. In addition, by the drowsiness determination unit 35 determining the degree of drowsiness of the operator O, it is possible to issue an alarm to wake up the operator O when the operator O falls asleep.

[0058] Moreover, it is desirable that the warning unit 26 warns the surroundings of the manned guided vehicle 1 in addition to the operator O when the degree of drowsiness is equal to or higher than a predetermined level.

[0059] If the operator O's level of drowsiness is above a predetermined level, the operator O may not wake up even if an alarm is issued to the operator O. Therefore, by issuing an alarm to workers around the manned transport vehicle 1, it is possible to prevent the workers from colliding with the manned transport vehicle 1 operated by the dozing operator O.

[0060] The alarm unit 26 is adapted to emit any one or a combination of sound, light and water as an alarm. In this way, the alarm unit 26 emits sound, light, and water toward the dozing operator O, thereby waking up the operator O reliably and quickly.

[0061] In addition, the unmanned aerial vehicle 2 may be equipped with a projection unit 23 that projects an image onto the passage P, and the alarm unit 26 may project an alarm image from the projection unit 23 to issue an alarm around the manned guided vehicle 1. In this way, by the projection unit 23 projecting the warning image, it is possible to directly and effectively warn workers around the manned guided vehicle 1 that the operator O of the manned guided vehicle 1 is dozing off.

[0062] In addition, the unmanned aerial vehicle 2 is configured to travel along a taxiway 4 that guides the manned guided vehicle 1.

[0063] Therefore, the unmanned aerial vehicle 2 guiding the manned transport vehicle 1 can sequentially and accurately capture facial images of the operator O, which allows the drowsiness determination unit 35 to determine the degree of drowsiness of the operator O, so that if the operator O falls asleep, an alarm can be quickly sounded to wake up the operator O. [Explanation of symbols]

[0064] S Conveyor System O Operator 1 Manned guided vehicle 2 Unmanned Aerial Vehicles 4 Taxiway 23 Projection section 25 Photography Department 26 Alarm section 35 Drowsiness Judgment Unit

Claims

1. In a transportation system including a manned guided vehicle and an unmanned aerial vehicle, The unmanned aerial vehicle is An imaging unit that images a face of an operator operating the manned guided vehicle; and a warning unit that uses a drowsiness determination unit that determines a drowsiness level of the operator based on a face image of the operator captured by the imaging unit to warn the operator who is operating the manned transport vehicle based on the drowsiness level. A transport system comprising:

2. The alarm unit issues an alarm to the operator and to those around the manned transport vehicle when the drowsiness level is equal to or higher than a predetermined level.

2. The transport system according to claim 1.

3. The alarm unit issues any one or a combination of sound, light, and water as the alarm.

2. The transport system according to claim 1.

4. The unmanned aerial vehicle includes a projection unit that projects an image onto the passageway, The warning unit is configured to project a warning image from the projection unit to warn people around the manned guided vehicle.

3. The transport system according to claim 2.

5. The unmanned aerial vehicle is configured to travel along a guideway for guiding the travel of the manned guided vehicle.

2. The transport system according to claim 1.

Images