Weight change system

Abstract

To assist an operator to carefully perform a cargo handling operation in a cargo handling operation with no autonomous control.SOLUTION: A weight change system S is used for a fork lift 1, and comprises a weight change part, a weight determination part, and a change command part. The weight change part changes weights of a pedal and a lever of the fork lift 1 or a weight of any one thereof. A cargo handling position specification part specifies whether a cargo handling position, that is both or any one of a cargo pick-up position and a cargo drop-off position, is a specific position CP or in a specific area CE. The weight determination part determines to increase the weights of the pedal and the lever or the weight of any one thereof when the cargo handling position is the specific position CP or in the specific area CE. The change command part controls the weight change part according to determination of the weight determination part, and changes the weights of the pedal and the lever or the weight of any one thereof.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a weight changing system for changing the weight of a pedal and / or lever of a forklift. [Background technology]

[0002] Patent Document 1 discloses a work control system for a forklift truck. This system includes a memory unit and an on-board controller. The memory unit pre-stores the height and inclination of the shelves at the loading and unloading positions. When the driver performs a lift operation or tilt operation, the on-board controller raises, lowers, or tilts the forks according to the stored height and inclination. This allows the system to easily perform loading and unloading operations regardless of the height or inclination of the loading and unloading positions.

[0003] Incidentally, if the inclination and height of the loading and unloading positions are predetermined, the work can be performed using, for example, an unmanned forklift capable of autonomous loading and unloading operations. On the other hand, if the loading and unloading positions are on the bed of a truck, the height of the bed varies depending on the type of truck, and the inclination of the bed may be unstable depending on the inclination of the truck's stopping position. Therefore, systems such as those described in Patent Document 1 cannot be used for loading and unloading positions that are not fixed, such as trucks. Furthermore, loading and unloading operations onto the bed of a truck often require packing as many loads as possible by minimizing the space between loads. Ultimately, loading and unloading operations at such carefully required loading and unloading positions require the driver to perform the operations carefully. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 08-091798 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, the problem to be solved by the present invention is to provide a system that assists the driver in carefully performing loading and unloading operations that do not rely on autonomous control. [Means for solving the problem]

[0006] In order to solve the above problem, the weight change system according to the present invention comprises: A weight change system for use in a forklift, comprising: a weight changing unit that changes the weight of a pedal and / or lever of the forklift; a loading position specifying unit that specifies whether a loading position, which is both or either of a loading position and a loading position, is within a specific position or a specific area; a weight determination unit that determines to increase the weight of the pedal and / or the lever when the loading position is within a specific position or a specific area; and a change command unit that controls the weight change unit to change the weight of the pedal and / or lever according to the determination by the weight determination unit.

[0007] The weight change system preferably comprises: Further provided is a loading position camera that photographs the loading position and generates a loading position image, The loading position specifying unit specifies whether the loading position is at a specific position or within a specific area based on the loading position image.

[0008] The weight change system preferably comprises: Further comprising a storage unit for storing a loading and unloading schedule, The loading schedule includes loading locations, The loading / unloading position specifying unit refers to the loading / unloading position in the loading / unloading schedule and specifies whether the loading / unloading position is in a specific position or within a specific area.

[0009] The weight change system preferably comprises: a storage unit that stores the driver's skill score; a skill score acquisition unit that identifies a driver and acquires a skill score of the identified driver, The weight determination unit determines to further increase the weight of the pedal and / or lever when the loading position is within a specific position or a specific area and the acquired skill score of the driver is less than a predetermined skill score.

[0010] The weight change system preferably comprises: The vehicle further includes a change notice unit that notifies the driver that the weight of the pedal and / or lever will be changed.

[0011] In order to solve the above problems, the forklift according to the present invention comprises: The weight change system is any one of those described above.

[0012] In order to solve the above problem, a weight change program according to the present invention includes: A program used in a weight change system including a weight change unit that changes the weight of a pedal and / or lever of a forklift, and a computer, On the computer, Identifying whether a loading location, which is a pick-up location and / or a deposit location, is at a specific location or within a specific area; determining that the weight of the pedal and / or lever is increased when the loading position is at a specific position or within a specific area; The weight changing unit is controlled in accordance with the determined weight to change the weight of the pedal and / or the lever. [Effects of the Invention]

[0013] The weight change system according to the present invention can assist the driver in carefully performing cargo handling operations that require careful handling. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram showing a loading and unloading operation related to a weight change system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a side view of the forklift shown in FIG. 1. [Figure 3] FIG. 1 is a block diagram of a weight change system. [Figure 4] FIG. 1 is a flow diagram illustrating the operation of the weight modification system. [Figure 5] FIG. 10 is a block diagram of a weight change system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the weight change system according to the present invention will be described with reference to the accompanying drawings. The weight change system S according to this embodiment is configured to change the weight of both the pedal and the lever, but this is merely an example, and the weight change system according to the present invention may be configured to change the weight of either the pedal or the lever.

[0016] 1 is a diagram showing a cargo handling operation related to the weight change system S according to this embodiment. As shown in FIG. 1, a forklift 1 is configured to transport a cargo W between a first shelf R1, a second shelf R2, and a truck T in accordance with a cargo handling schedule received from a management device 4.

[0017] As shown in Fig. 1, in this embodiment, the position of the first storage space of the second shelf R2 (i.e., the position of the upper surface of the first shelf SP) is set as a specific position CP. Since it is planned that the first shelf SP of the second shelf R2 will be filled with cargoes W up to the limit of the number that can be placed thereon, the driver H needs to pack the cargoes W tightly. Therefore, the position of the first storage space of the second shelf R2 is set as a specific position CP because it is a position where the driver H needs to carefully perform the cargo placement operation.

[0018] Also, as shown in FIG. 1 , in this embodiment, the stopping area of ​​the truck T is set as a specific area CE. The driver H is instructed to always pack the load W tightly when placing the load on the bed of the truck T. Furthermore, the area where the truck T stops is an unpaved area, and for example, on a rainy day, the ground may become muddy, causing the truck T to tilt and the bed to become uneven. Therefore, the driver H needs to carefully remove the load from the bed of the truck T. Therefore, this stopping area is set as a specific area CE because it is an area where the driver H needs to carefully perform the loading and unloading operations.

[0019] <Forklift configuration> 2 is a side view of a forklift 1 equipped with a weight change system S. The forklift 1 is a battery-powered counter-load forklift. The forklift 1 is equipped with a plurality of wheels 10, a vehicle body 11, a driver's seat 12, a head guard 13, pedals 14, a lever 15, left and right masts 16, left and right forks 17, a speaker 19 (see FIG. 3), a weight change unit 21 (see FIG. 3), a face camera 22, and a control unit 30 (see FIG. 3). The system equipped with the speaker 19, weight change unit 21, face camera 22, and control unit 30 is the weight change system S according to this embodiment.

[0020] A plurality of wheels 10 are provided on all four sides of a vehicle body 11. A driver's seat 12 is provided on the vehicle body 11, and a head guard 13 is provided above the driver's seat 12.

[0021] The pedals 14 include an accelerator pedal, a brake pedal, and an inching pedal, and are provided below the driver's seat 12. In the present invention, the "pedals" may include at least one of the accelerator pedal, the brake pedal, and the inching pedal, but may not include all of these pedals.

[0022] The lever 15 has a lift lever and a tilt lever, and is provided in front of the driver's seat 12. The lever 15 may have a slide lever for sliding the fork 17 left and right. The "lever" in the present invention may have at least one lever such as a lift lever and a tilt lever, and does not necessarily have to have all of these levers.

[0023] The left and right forks 17 are configured to be able to be raised and lowered via the left and right masts 16, and the operator H operates a lift lever to raise and lower the forks 17 to perform cargo handling work.

[0024] The speaker 19 emits a warning voice to notify the driver H of a weight change, which will be described later. For example, if the weight of the pedal 14 and the lever 15 is to be increased, the warning voice may be something like, "This is a specific loading position. The weight of the pedal 14 and the lever 15 will be increased."

[0025] The weight change unit 21 changes the weight when operating the lever 15 and the pedal 14 based on commands from a change command unit 307 (see FIG. 3), which will be described later. The weight change unit 21 has a pedal weight change unit that changes the weight of the pedal 14, and a lever weight change unit that changes the weight of the lever 15. Note that if the weight change unit 21 is configured to change the weight of either the pedal 14 or the lever 15, it will have either a pedal weight change unit or a lever weight change unit.

[0026] The pedal weight change unit changes the weight of the pedal 14 when the driver H presses it down, based on a command from the change command unit 307. The pedal weight change unit is configured by, for example, a device that can adjust the weight by hydraulic pressure or a device that can adjust the weight by a spring.

[0027] Furthermore, for example, the pedal weight change unit may be an assist device that assists the depression force of the pedal 14. In this case, the pedal weight change unit may adjust the assist force based on a command from the change command unit 307, and may substantially change the weight of the pedal 14 when the driver H depresses it.

[0028] Alternatively, the pedal weight change unit may be configured to change the magnitude of the power or braking force of each device responsive to the amount of depression force of the pedal 14, for example, based on a command from the change command unit 307. In this way, the pedal weight change unit effectively changes the weight of the pedal 14.

[0029] The lever weight changing section is configured by, for example, a device that can adjust the weight of the lever 15 by hydraulic pressure, or a device that can adjust the weight of the lever 15 by a spring.

[0030] Furthermore, for example, the lever weight change unit may be an assist device that assists in the operation according to the weight of the lever 15. In this case, the lever weight change unit may adjust the assist force based on a command from the change command unit 307, and may substantially change the weight of the lever 15 when the driver H operates it.

[0031] Alternatively, the lever weight change unit may be configured to change the magnitude of the power of each device responsive to the amount of operation of the lever 15, for example, based on a command from the change command unit 307. In this way, the lever weight change unit effectively changes the weight of the lever 15.

[0032] The face camera 22 is disposed on the underside of the head guard 13, and takes an image of the driver H to generate a face image. The generated face image is transmitted to the control unit 30.

[0033] The control unit 30 is configured by a computer arranged inside the vehicle body 11, and has an arithmetic unit, a storage device, and a memory. The storage device stores a weight change program that causes the computer to function as a skill score acquisition unit 302, a loading position identification unit 303, a weight determination unit 305, a change notice unit 306, and a change command unit 307, which will be described later.

[0034] <Functional configuration of the weight change system> Next, we will explain the functional configuration of the weight change system S. As shown in Figure 3, the control unit 30 has a memory unit 301, a skill score acquisition unit 302, a loading position identification unit 303, a weight determination unit 305, a change notice unit 306, and a change command unit 307.

[0035] The storage unit 301 stores a facial image of the driver H and a skill score corresponding to the facial image, linked to the driver H. The skill score is a score related to the driver H's skills in loading and unloading work, and this skill may include, for example, all or any of skills related to driving the forklift 1, skills related to loading and unloading work, and skills related to loading and unloading work. The skill score may be a score calculated by a specific test, a score based on the driver H's own evaluation, or a score calculated based on the driver H's years of experience.

[0036] The memory unit 301 also stores a cargo handling schedule transmitted from the management device 4. However, the method by which the memory unit 301 stores the cargo handling schedule is not limited to this. For example, the memory unit 301 may store a cargo handling schedule input by the driver H. The cargo handling schedule includes each cargo pick-up position and each cargo deposit position (hereinafter collectively referred to as "loading position") related to multiple cargo handling operations. The memory unit 301 also stores a specific position CP (in this embodiment, the position of the storage space on the first level of the second shelf R2) and a specific area CE (in this embodiment, the stopping area of ​​truck T).

[0037] The skill score acquisition unit 302 refers to the facial image generated by the face camera 22, identifies the facial image of the driver H stored in the storage unit 301, and acquires the skill score corresponding to the facial image from the storage unit 301. The acquired skill score is transmitted to the weight determination unit 305.

[0038] Note that the method for acquiring the skill score by the skill score acquisition unit 302 is not limited to this. For example, the skill score acquisition unit 302 may acquire the skill score of the driver H by receiving the skill score input by the driver H. In this case, the weight change system S further includes an input device.

[0039] Also, for example, if the driver H has an ID card on which the skill score is stored, the weight change system S may further include an ID card reader, and the skill score acquisition unit 302 may identify the skill score of the driver H by referring to the information on the ID card. If the skill score acquisition unit 302 is configured not to acquire the skill score by referring to a facial image, the weight change system S may not include the face camera 22.

[0040] The loading / unloading position specifying unit 303 refers to the loading / unloading schedule and specifies whether the next loading / unloading position is within a specific position CP or a specific area CE.

[0041] When the loading position specifying unit 303 specifies that the next loading position is within a specific position CP or a specific area CE, the weight determination unit 305 determines to increase the weight of the pedal 14 and / or the lever 15. Furthermore, when the loading position is within the specific position CP or the specific area CE and the acquired skill score of the driver H is less than a predetermined skill score, the weight determination unit 305 determines to further increase the weight of the pedal 14 and the lever 15. The predetermined skill score may be set to exceed the skill score of a driver H who is inexperienced in operating the forklift 1, for example. In this way, the weight determination unit 305 can determine to further increase the weight of the pedal 14 and the lever 15 when the driver H is inexperienced in operating the forklift 1.

[0042] When the weight determination unit 305 determines that the weights of the pedal 14 and the lever 15 should be increased, the change notification unit 306 notifies the driver H of the change in the weights of the pedal 14 and the lever 15 by voice via the speaker 19. In this way, the change notification unit 306 makes the driver H aware of the change in the weights of the pedal 14 and the lever 15.

[0043] The change command unit 307 controls the weight change unit 21 to change the weight of the pedal 14 and the lever 15 in accordance with the determination by the weight determination unit 305. In this way, the weight change system S can assist the driver H to carefully perform loading and unloading work. Furthermore, when the loading and unloading position does not require careful loading and unloading operations, the weight change system S does not increase the weight of the pedal 14 and the lever 15, thereby allowing the driver H to operate the pedal 14 and the lever 15 quickly.

[0044] <Weight change system flow> Next, the operation of the weight change system S according to this embodiment will be explained again with reference to the flow chart of FIG.

[0045] (1) First, the weight change system S photographs the driver H to generate a facial image, identifies the driver H from this facial image (see S1 in Figure 4), and obtains the skill score of the identified driver H (see S2 in Figure 4).

[0046] (2) Next, the weight change system S refers to the schedule and determines to increase the weight of the pedal 14 and the lever 15 when the next loading position is within a specific position CP or a specific area CE (Yes in S4 in Figure 4) (see S5 in Figure 4).

[0047] (3) Next, when the skill score of the driver H is less than a predetermined skill score (Yes in S6 in FIG. 4), the weight change system S determines to further increase the weight of the pedal 14 and the lever 15 (see S7 in FIG. 4). On the other hand, when the skill score of the driver H is equal to or greater than the predetermined skill score (No in S6 in FIG. 4), the weight change system S does not further increase the weight of the pedal 14 and the lever 15 (proceed to S8 in FIG. 4).

[0048] (4) When the weight change system S determines to increase the weight of the pedal 14 and the lever 15, it notifies the driver H that the weight of the pedal 14 and the lever 15 will be increased (see S8 in Figure 4), and increases the weight of the pedal 14 and the lever 15 (see S9 in Figure 4).

[0049] In this way, the weight change system S increases the weight of the pedal 14 and lever 15 when loading and unloading work is performed at a specific position CP or within a specific area CE, thereby assisting in careful operation for loading and unloading work that requires caution, and allowing for quick operation for normal loading and unloading work.

[0050] Moreover, the weight change system S makes the weight of the pedal 14 and the lever 15 heavier for the driver H with a low skill score, thereby enabling the driver H to operate the pedal 14 and the lever 15 more carefully than a non-inexperienced driver H. In this way, the weight change system S makes the weight of the pedal 14 and the lever 15 heavier only for the inexperienced driver H, enabling the non-inexperienced driver H to operate the pedal 14 and the lever 15 more quickly than a non-inexperienced driver H.

[0051] Although one embodiment of the weight change system according to the present invention has been described above, the present invention is not limited to the above embodiment. The weight change system according to the present invention may be implemented, for example, by each of the following modifications or by combining the modifications.

[0052] <Modification> The forklift 1 may be a reach forklift. In this case, the pedal 14 may include a presence pedal. The forklift 1 may also be an engine-powered forklift. In this case, the pedal 14 may include a clutch pedal. Furthermore, if the forklift 1 is a reach forklift, the lever 15 may include an accelerator lever. As described above, the "pedal" in the present invention includes at least one of the pedals, and the "lever" includes at least one of the levers. The weight change system S according to the present invention changes the weight of at least one of the levers and pedals.

[0053] Any of the components of the control unit 30 may be configured, for example, by a server computer provided on the cloud. In this case, the weight change system S changes the weight of the pedal 14 and / or the lever 15 by communicating with the server computer.

[0054] The forklift 1 may be provided with a monitor instead of the speaker 19, and the change notification unit 306 may use this monitor to notify the driver that the weight of the lever 15 and / or the pedal 14 will be changed.

[0055] As shown in FIG. 5, the weight change system S may further include a loading position camera 23 that captures an image of the loading position and generates a loading position image. The loading position identification unit 303 may identify whether the loading position is within a specific position CP or a specific area CE based on the loading position image. In this case, the loading position camera 23 is provided on the forklift 1 and configured to capture at least the image in the direction of travel of the forklift 1. In this case, the loading position identification unit 303 may also include a trained model. In this case, the trained model may be trained in advance using images related to the specific position CP and the specific area CE, such as images of a specific shelf or an image of a truck T, as training data. When a loading position image is input, the trained model may output whether the loading position is within the specific position CP or the specific area CE. The machine learning method for the trained model is not particularly limited, and may be, for example, a learning method using a deep neural network. [Explanation of symbols]

[0056] S Weight Change System H Driver CP specific position CE Specific Area R1 1st shelf R2 2nd shelf T-track 1 forklift 10 wheels 11 Body 12 Driver's seat 13 Head guard 14 pedals 15 Lever 16 Mast 17. Fork 19 Speaker 21 Weight change section 22 Face Camera 23 Loading position camera 30 Control Unit 301 Storage section 302 Skill Score Acquisition Department 303 Cargo handling position identification unit 305 Weight determination unit 306 Change Notice Section 307 Change Order Department 4 Management device

Claims

1. A weight change system for use in a forklift, comprising: a weight changing unit that changes the weight of the pedal and / or lever of the forklift; a loading position specifying unit that specifies whether a loading position, which is both or either of a loading position and a loading position, is within a specific position or a specific area; a weight determination unit that determines to increase the weight of the pedal and / or the lever when the loading position is within the specific position or the specific area; a change command unit that controls the weight change unit in accordance with the determination of the weight determination unit to change the weight of the pedal and / or the lever.

2. A loading position camera is further provided to capture an image of the loading position and generate a loading position image. The weight change system according to claim 1 , wherein the loading position specifying unit specifies whether the loading position is at the specific position or within the specific area based on the loading position image.

3. Further comprising a storage unit for storing a loading and unloading schedule, The loading and unloading schedule includes the loading and unloading location, The weight change system according to claim 1 , wherein the loading position specifying unit specifies whether the loading position is within the specific position or the specific area by referring to the loading position in the loading schedule.

4. a storage unit that stores the driver's skill score; a skill score acquisition unit that identifies the driver and acquires the skill score of the identified driver, The weight change system of claim 1, wherein the weight determination unit determines to further increase the weight of the pedal and / or the lever when the loading position is within the specific position or the specific area and the acquired skill score of the driver is less than a predetermined skill score.

5. The weight change system according to claim 1 , further comprising a change notice unit that notifies the driver that the weight of the pedal and / or the lever will be changed.

6. A forklift truck equipped with the weight changing system according to any one of claims 1 to 5.

7. A program used in a weight change system including a weight change unit that changes the weight of a pedal and / or lever of a forklift, and a computer, The computer, Identifying whether a loading location, which is a pick-up location and / or a deposit location, is at a specific location or within a specific area; determining that the weight of the pedal and / or the lever is increased when the loading position is within the specific position or the specific area; a weight change program that controls the weight change unit in accordance with the determined weight to change the weight of the pedal and / or the lever.

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