Cargo handling support systems, cargo handling vehicles, and servers

Abstract

This technology provides the ability to identify the location information of cargo placed by cargo handling vehicles in loading areas where no sensors are installed. [Solution] The cargo handling support system comprises a cargo handling vehicle and a server. The cargo handling vehicle comprises a sensor 38, a detection unit 52 that performs detection processing based on the output of the sensor 38 for detecting cargo placement by the cargo handling vehicle, and a cargo handling vehicle-side transmission unit that, when cargo placement is detected, transmits cargo handling vehicle information, including information about the location of the cargo handling vehicle at the time of detection, to the server. The server comprises a server-side receiving unit that receives cargo handling vehicle information transmitted from the cargo handling vehicle, and a identification unit that identifies the location information of the placed cargo based on the cargo handling vehicle information.

Description

Technical Field

[0004] , ,

[0001] The present disclosure relates to a cargo handling support system, a cargo handling vehicle, and a server.

Background Art

[0002] Cargo handling vehicles such as forklifts used for cargo handling work are known. Recently, cargo handling vehicles capable of unmanned (automatic) driving have become widespread.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] One of the cargo handling operations by a cargo handling vehicle is to move the cargo from the truck bed to the storage location. As an operation method, there is a bucket relay method in which the cargo is moved from the truck bed to a temporary storage area by a cargo handling vehicle, and another cargo handling vehicle moves from the temporary storage area to the storage location. In this case, it is necessary to provide the position information of the cargo temporarily stored in the temporary storage area to another cargo handling vehicle. For this purpose, it is necessary to install a sensor for specifying the position information of the temporarily stored cargo in the temporary storage area. However, since the temporary storage area is frequently changed according to the convenience of the user, it may be impossible to install the sensor in time, or it may be impossible to install the sensor in the temporary storage area in the first place.

[0005] Such problems occur not only when moving the cargo by the bucket relay method, but also when it is necessary to specify the position information of the cargo placed by the cargo handling vehicle in a storage area where no sensor is installed.

[0006] This disclosure is made in view of these circumstances, and one exemplary objective of a certain aspect thereof is to provide a technology that can identify the location information of cargo placed by a cargo handling vehicle in a cargo storage area where no sensors are installed. [Means for solving the problem]

[0007] To solve the above problems, a cargo handling support system in one aspect of the present disclosure comprises a cargo handling vehicle and a server. The cargo handling vehicle comprises a sensor, a detection unit that performs detection processing based on the output of the sensor for detecting cargo placement by the cargo handling vehicle, and a cargo handling vehicle-side transmission unit that, when cargo placement is detected, transmits cargo handling vehicle information to the server, including information about the position of the cargo handling vehicle at the time of detection. The server comprises a server-side receiving unit that receives cargo handling vehicle information transmitted from the cargo handling vehicle, and an identification unit that identifies the position information of the placed cargo based on the cargo handling vehicle information.

[0008] Another aspect of the present disclosure is a cargo handling vehicle. This cargo handling vehicle is a vehicle that can communicate with a server and includes a sensor, a detection unit that performs detection processing based on the output of the sensor for detecting cargo being placed by the cargo handling vehicle, and a cargo handling vehicle side transmission unit that, when cargo placement is detected, transmits cargo handling vehicle information to the server, which includes information about the position of the cargo handling vehicle at the time the cargo placement was detected, and is used by the server to identify the position information of the placed cargo.

[0009] A further aspect of this disclosure is a server. This server is capable of communicating with a cargo handling vehicle and includes a receiving unit that receives cargo handling vehicle information, which includes information about the location of the cargo handling vehicle when a cargo is detected based on the output of a sensor in the cargo handling vehicle, and a identifying unit that identifies the location information of a cargo that has been placed based on the cargo handling vehicle information.

[0010] Furthermore, any combination of the above components, or any substitution of the components or expressions of this disclosure between methods, apparatus, systems, etc., is also valid as a form of this disclosure. [Effects of the Invention]

[0011] According to this disclosure, it is possible to provide a technology that can identify the location information of cargo placed by cargo handling vehicles in a cargo storage area where no sensors are installed. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic diagram showing a cargo handling support system according to an embodiment. [Figure 2] This is a block diagram showing the control configuration of the first cargo handling vehicle in Figure 1. [Figure 3] This block diagram shows the functions and configuration of the server in Figure 1. [Figure 4] This is a block diagram showing the control configuration of the second cargo handling vehicle in Figure 1. [Figure 5] Figure 1 is a sequence diagram illustrating an example of a series of processes performed by the cargo handling support system. [Modes for carrying out the invention]

[0013] Preferred embodiments will be described below with reference to the drawings. These embodiments are illustrative and not limiting to the disclosure, and not all features or combinations thereof described in the embodiments are necessarily essential to the disclosure. The same or equivalent components, members, and processes shown in each drawing will be denoted by the same reference numerals, and redundant descriptions will be omitted where appropriate.

[0014] Figure 1 is a schematic diagram showing a cargo handling support system 1 according to an embodiment. The cargo handling support system 1 comprises a server 10, a first cargo handling vehicle 20A, and a second cargo handling vehicle 20B. The number of the first cargo handling vehicle 20A and the second cargo handling vehicle 20B is not limited to the one shown in the figure, but may be two or more. When the first cargo handling vehicle 20A and the second cargo handling vehicle 20B are not specifically distinguished or are referred to collectively, they are called "cargo handling vehicle 20".

[0015] The handling vehicle 20 is a vehicle that performs handling operations, that is, loading, transporting, and unloading. "Loading" refers to lifting a load from the floor, ground, loading platform, etc. "Unloading" refers to placing a load on the floor, ground, loading platform, etc.

[0016] In this embodiment, the handling vehicle 20 is a forklift and includes a vehicle body 22 with two wheels attached to the front and rear, and a pair of left and right forks (holding parts) 24 extending forward of the vehicle body 22.

[0017] The handling vehicle 20 may be a handling vehicle that can only be manually (human-operated) driven, or a handling vehicle that can only be autonomously (automatically) driven, or a handling vehicle that can switch between human driving and autonomous driving, that is, a handling vehicle that can perform both human driving and autonomous driving.

[0018] The first handling vehicle 20A moves a load from a truck bed, etc. to the unloading area 4 and unloads the load at the unloading area 4. The second handling vehicle 20B picks up the load at the unloading area 4 and moves to another location such as a storage location.

[0019] The unloading area 4 may be an indoor area, for example, an area inside a building such as a warehouse, or an outdoor area. No sensor for specifying the position information of the unloaded load is installed in the unloading area 4.

[0020] The server 10 is an information processing device. The server 10 may be installed inside a building having the unloading area 4 or a storage location, or may be installed at a remote location, for example, a data center.

[0021] When the first handling vehicle 20A unloads a load at the unloading area 4, it transmits information for specifying the position information of the unloaded load, which is information regarding the first handling vehicle 20A itself that unloaded the load (hereinafter referred to as "handling vehicle information"), to the server 10. The handling vehicle information includes at least information regarding the position of the first handling vehicle 20A when the load was unloaded.

[0022] Server 10 identifies (estimates) the location information of the stored cargo based on the cargo handling vehicle information transmitted from the first cargo handling vehicle 20A. Server 10 generates a cargo retrieval instruction including the identified location information and transmits it to the second cargo handling vehicle 20B.

[0023] The second loading vehicle 20B, in accordance with the loading instructions, picks up the cargo placed in loading area 4 and moves it to the storage location.

[0024] The above describes the overall configuration of the cargo handling support system 1. Next, we will explain the first cargo handling vehicle 20A in detail.

[0025] Figure 2 is a block diagram showing the control configuration of the first cargo handling vehicle 20A. The first cargo handling vehicle 20A further comprises a fork drive mechanism 26, a fluid pressure circuit 28, a drive unit 30, an operation unit 32, a display unit 34, a position measuring device 36, a sensor 38, a communication unit 40, and a control unit 42.

[0026] The fork drive mechanism 26 includes a lifting cylinder 44, a front and rear cylinder 46, and a tilting cylinder 48. However, the lifting cylinder 44, the front and rear cylinder 46, and the tilting cylinder 48 are piston cylinders driven by fluid pressure (e.g., hydraulic pressure).

[0027] The lifting cylinder 44 raises or lowers the fork 24 by supplying and discharging working fluid. The front and rear cylinders 46 move the fork 24 forward or backward by supplying and discharging working fluid. The tilting cylinder 48 tilts the fork 24, that is, tilts it forward or backward, by supplying and discharging working fluid.

[0028] The fluid pressure circuit 28 controls the supply and discharge of working fluid to the lifting cylinder 44, the front and rear cylinders 46, and the tilting cylinder 48 under the control of the control unit 42. This causes the fork 24 to move up and down, forward and backward, and tilt.

[0029] The first cargo handling vehicle 20A is equipped with one or more appropriate sensors (not shown) that determine the position of the forks 24 in the height (lifting) direction, the front-rear direction, and the tilting direction.

[0030] The drive unit 30 drives the first cargo handling vehicle 20A under the control of the control unit 42. More specifically, the drive unit 30 controls the movement, braking, and steering of the first cargo handling vehicle 20A. Movement means that the first cargo handling vehicle 20A moves forward or backward. Braking means that the first cargo handling vehicle 20A slows down or stops. Steering means that the direction of travel of the first cargo handling vehicle 20A is changed.

[0031] The control unit 32 is an operating means that the driver performs various operations, for example, during manned (manual) operation. The control unit 32 includes, for example, a steering wheel, pedals, levers, various buttons, etc., and outputs operation signals to the control unit 42 according to the content of these operations. The control unit 42 controls the operation of the fluid pressure circuit 28 and, consequently, the forks 24, and controls the driving operation of the drive unit 30 and, consequently, the first cargo handling vehicle 20A, according to the operation signals.

[0032] The display unit 34 is a display device such as a liquid crystal display or an organic EL display. The display unit may also be a touch panel that serves as part of the operation unit 32. The display unit may include indicator lights such as lamps and may also include an audio output unit such as a speaker.

[0033] The position measuring device 36 measures the position of the first cargo handling vehicle 20A itself in the loading area 4, more specifically, the position of a reference part of the first cargo handling vehicle 20A. The reference part may be a predetermined part of the vehicle body 22. The specific configuration of the position measuring device 36 is not particularly limited and may be configured using known or future available position measuring technologies.

[0034] For example, the position measurement device 36 may utilize SLAM (Simultaneous Localization and Mapping) technology, which simultaneously performs self-position estimation and environmental map creation. Specifically, it may utilize Visual SLAM technology, which grasps its own position and orientation and the positional information of surrounding objects in three dimensions from video data obtained from a camera, or LiDAR SLAM technology, which uses two-dimensional or three-dimensional LiDAR.

[0035] For example, the position measurement device 36 may utilize GNSS (Global Navigation Satellite System). In addition, indoors where GNSS radio waves are difficult to reach, indoor positioning (indoor mapping) technologies using, for example, Wi-Fi, beacons, RFID, IMES, UWB, geomagnetic fields, sound waves, visible light, etc. may be used. Alternatively, a sensor that measures the direction of travel (such as an inertial measuring device) and a distance sensor may be used to measure the position by sequentially accumulating the direction and distance traveled in a short period of time.

[0036] Sensor 38 is provided to detect when cargo is placed on the first cargo handling vehicle 20A. Therefore, sensor 38 should be designed and selected according to the method of detecting cargo placement. A specific example of sensor 38 will be described later.

[0037] The communication unit 40 is a communication device capable of sending and receiving various types of information with the server 10. The communication unit 40 may also be capable of sending and receiving various types of information with the second cargo handling vehicle 20B.

[0038] The control unit 42 is shown in terms of its functional blocks. Each block shown here can be implemented in hardware terms by a processor such as a computer's CPU (Central Processing Unit) and memory such as ROM (Read Only Memory) and RAM (Random Access Memory), and in software terms by a computer program. It will be understood by those skilled in the art that the control unit 42 can be implemented in various ways by a combination of hardware and software. The same applies to the control unit 62 of the server 10 and the control unit 142 of the second cargo handling vehicle 20B.

[0039] The control unit 42 includes a detection unit 52, a transmission unit 54, a fork control unit 56, and a travel control unit 58. The fork control unit 56 controls the operation of the fluid pressure circuit 28 and, consequently, the fork 24. The travel control unit 58 controls the travel operation of the drive unit 30 and, consequently, the body 22 of the first cargo handling vehicle 20A.

[0040] The detection unit 52 performs a detection process to detect loading by the first cargo handling vehicle 20A based on the output of the sensor 38 at a predetermined period (for example, a 20ms period). The first to third detection methods will be described below as specific examples.

[0041] The first detection method will now be described. When a load is placed on the vehicle, the load is no longer applied to the forks 24, and the pressure of the working fluid in the lifting cylinder 44 decreases. Therefore, by checking the pressure in the lifting cylinder 44 at predetermined intervals, it is possible to detect when a load has been placed on the vehicle. In the first detection method, the sensor 38 is a sensor capable of detecting the pressure in the lifting cylinder 44, typically a pressure sensor installed inside the lifting cylinder 44. The detection unit 52 checks the output of the sensor 38 at predetermined intervals, and if the pressure in the lifting cylinder 44 indicated by the output of the sensor 38 falls below a predetermined threshold, it detects that a load has been placed on the vehicle. Note that, in order to control the lifting of the vehicle by the lifting cylinder 44, the first cargo handling vehicle 20A is usually equipped with a sensor to detect the pressure in the lifting cylinder 44. Therefore, when this detection method is adopted, a dedicated sensor for detecting a load has been placed on the vehicle is not required.

[0042] A second detection method will now be described. When a load is placed on the fork, it will no longer be in contact with the upper surface of the fork 24. Therefore, by checking whether or not the load is in contact with the upper surface of the fork 24 at predetermined intervals, it is possible to detect when a load has been placed on the fork. In this second detection method, the sensor 38 is a contact sensor placed on the upper surface of the fork 24. The contact sensor may be a touch sensor that mechanically detects contact, a pressure sensor, or any other type of sensor. The detection unit 52 checks the output of the sensor 38 at predetermined intervals, and detects when the contact state indicated by the output of the sensor 38 switches from contact to non-contact.

[0043] A third detection method will now be described. When a load is placed on the forks 24, the load will no longer be present on the forks 24. Therefore, by checking whether or not a load is present on the forks 24 at predetermined intervals, the presence of a load can be detected. In the third detection method, the sensor 38 may be a camera. The detection unit 52 detects the presence of a load by analyzing the image captured by the camera (hereinafter referred to as the camera image IMG) using known techniques. Specifically, the detection unit 52 analyzes the camera image IMG at predetermined intervals and detects the presence of a load when the camera image IMG changes from a state in which a load can be confirmed to be present on the forks 24 to a state in which a load cannot be confirmed to be present on the forks 24 (i.e., a state in which there is no load). In addition, for example, the sensor 38 may be a distance measuring sensor, an infrared sensor, or other sensors.

[0044] The transmitting unit 54 transmits data to the server 10 via the communication unit 40. When the transmitting unit 54 detects that the first cargo handling vehicle 20A has placed cargo, it transmits "cargo handling vehicle information" to the server 10. In addition, the transmitting unit 54 may transmit "cargo placement operation information" indicating the cargo placement operation to the server 10. The timing at which the transmitting unit 54 transmits this information is not particularly limited, but typically it transmits it without delay once the first cargo handling vehicle 20A has placed cargo.

[0045] First, let's explain the "Cargo Handling Vehicle Information."

[0046] The "cargo handling vehicle information" includes "information regarding the position of the first cargo handling vehicle 20A" when the placement of cargo by the first cargo handling vehicle 20A is detected.

[0047] "Information regarding the position of the first cargo handling vehicle 20A" refers to, but is not limited to, the position information of the reference portion of the first cargo handling vehicle 20A in the planar direction, as measured by the position measuring device 36 when the loading of cargo by the first cargo handling vehicle 20A is detected.

[0048] Incidentally, when loading, transporting, and placing cargo using the first cargo handling vehicle 20A, which is a forklift, the cargo is generally placed on a pallet. In this case, the cargo is no longer on the forks 24 when the first cargo handling vehicle 20A has been moved backward to a certain extent after the cargo has been placed. Therefore, when the third detection method is adopted, the cargo is placed by the first cargo handling vehicle 20A before it is detected by the detection unit 52. For this reason, the "information regarding the position of the first cargo handling vehicle 20A" when the third detection method is adopted may be a corrected version of the planar position information of the first cargo handling vehicle 20A measured by the position measuring device 36 when the cargo is placed by the first cargo handling vehicle 20A. For example, the "information regarding the position of the first cargo handling vehicle 20A" when the third detection method is adopted may be position information obtained by moving forward a predetermined distance (e.g., 1 m) from the planar position information measured by the position measuring device 36. Note that the correction of the position information when the third detection method is adopted may be performed by the server 10, specifically the identification unit 66 described later.

[0049] Furthermore, the "cargo handling vehicle information" may include information regarding the height position of the forks 24 when the loading of cargo by the first cargo handling vehicle 20A is detected. For example, the information regarding the height position of the forks 24 may be the distance traveled in the height direction from the lowest position of the forks 24, which is used as the reference height. This allows for cases where cargo is placed in a position away from the floor or ground, such as on a cargo rack 6.

[0050] The position of the load relative to the position of the first cargo handling vehicle 20A may differ depending on whether the load is placed with the forks 24 moved further forward relative to the vehicle body 22 or with the forks 24 moved further backward relative to the vehicle body 22. Therefore, the "cargo handling vehicle information" may include information regarding the longitudinal position of the forks 24 relative to the vehicle body 22 when the loading by the first cargo handling vehicle 20A is detected. This allows for a more accurate identification of the position of the loaded load. For example, the information regarding the longitudinal position of the forks 24 relative to the vehicle body 22 may be the longitudinal distance between the reference part of the first cargo handling vehicle 20A and the reference part of the forks 24, or it may be the longitudinal movement distance of the forks 24 from the reference position when the forks 24 are moved to their furthest rear position.

[0051] Next, we will explain the "loading operation information."

[0052] The "loading operation information" may include operation information for the forks 24 of the first cargo handling vehicle 20. The operation of the forks 24 includes raising and lowering the forks 24, moving the forks 24 forward and backward, and tilting the forks 24. The operation information for the forks 24 includes the sequence of operations of the forks 24 and the amount of operation for each operation. The amount of operation is the amount of raising and lowering (lift amount) for raising and lowering the forks 24, the amount of forward and backward movement (reach amount) for moving the forks 24 forward and backward, and the tilt angle for tilting the forks 24.

[0053] Furthermore, the "loading operation information" may also include information on the driving operation of the first cargo handling vehicle 20A. The driving operation of the first cargo handling vehicle 20A includes forward and backward (translational) movement of the first cargo handling vehicle 20A and turning of the first cargo handling vehicle 20A. Note that the driving operation of the first cargo handling vehicle 20A can also be considered as the driving operation of the vehicle body 22 of the first cargo handling vehicle 20A. The driving operation information of the first cargo handling vehicle 20A includes the sequence of driving operations of the vehicle body 22 of the first cargo handling vehicle 20A and the amount of movement in each operation. The amount of movement is the distance traveled if it is forward and backward movement of the vehicle body 22 of the first cargo handling vehicle 20A, and the turning angle if it is turning of the vehicle body 22 of the first cargo handling vehicle 20A. The amount of movement may also include the speed of movement of the vehicle body 22 of the first cargo handling vehicle 20A for forward and backward movement and the turning speed of the vehicle body 22 of the first cargo handling vehicle 20A for turning.

[0054] Preferably, the "loading operation information" includes both the operation information of the forks 24 of the first loading vehicle 20 and the driving operation information of the first loading vehicle 20A. In this case, the loading operation information includes the order of operations and the amount of operation in each operation. The order of operations may be a mix of the operations of the forks 24 and the driving operation of the vehicle body 22.

[0055] An example of "load placement operation information" is shown below. Note that the load is already being held by fork 24 at point A1. A1. Tilt the fork 24 5° backward. A2. Move the first cargo handling vehicle 20A forward 5m at a speed of 10km / h. A3. Turn the first loading vehicle 20A clockwise by 90° at a speed of 10 km / h, drawing a circle with a turning radius of 0.2 m. A4. Move the first loading vehicle 20A forward 3m at a speed of 10km / h. A5. Turn the first loading vehicle 20A 90° counterclockwise at a speed of 10 km / h, drawing a circle with a turning radius of 0.2 m. A6. Tilt the fork 24 forward by 5°. A7. Raise fork 24 by 1 meter. A8. Move the first loading vehicle 20A forward by 1 meter at a speed of 2 km / h. A9. Lower the fork 24 by 20 cm.

[0056] The above is a detailed description of the configuration of the first cargo handling vehicle 20A. Next, we will explain the server 10 in detail.

[0057] Figure 3 is a block diagram showing the functions and configuration of server 10. Server 10 includes a communication unit 60 and a control unit 62. The communication unit 60 is a communication device capable of sending and receiving various information between the first cargo handling vehicle 20A and the second cargo handling vehicle 20B.

[0058] The control unit 62 includes a receiving unit 64, a specifying unit 66, a transmitting unit 68, an instruction generation unit 70, and a location information storage unit 72. The receiving unit 64 receives cargo handling vehicle information transmitted from the first cargo handling vehicle 20A.

[0059] The identification unit 66 identifies the position information in the planar direction of the cargo placed by the first cargo handling vehicle 20A based on the position information of the first cargo handling vehicle 20A included in the cargo handling vehicle information, and registers it in the position information storage unit 72.

[0060] The specific unit 66 may identify the position information of the reference portion of the fork 24 based on information regarding the position of the first cargo handling vehicle, and use this as the position information of the load. The reference portion of the fork 24 may be the central portion of the fork 24.

[0061] More specifically, if the position information for the first cargo handling vehicle 20A is the position information for the reference part of the vehicle body 22 of the first cargo handling vehicle 20A, the position information for the reference part of the fork 24 and, consequently, the position information for the load is determined by considering the distance from the reference part of the vehicle body 22 to the reference part of the fork 24. The distance from the reference part of the vehicle body 22 of the first cargo handling vehicle 20A to the reference part of the fork 24 may be a predetermined distance, or it may be determined from the cargo handling vehicle information if it includes information on the longitudinal position of the fork 24 relative to the vehicle body 22.

[0062] If the cargo handling vehicle information includes information regarding the height position of the forks 24, the identification unit 66 identifies the position information of the load in the height direction based on that information, with respect to a predetermined reference surface such as the floor. In this case, the identification unit 66 registers the identified position information of the load in the height direction in the position information storage unit 72, in association with the position information of the load in the planar direction.

[0063] The instruction generation unit 70 generates a cargo retrieval instruction that includes location information of the stored cargo identified by the identification unit 66.

[0064] If the cargo handling vehicle information includes loading operation information for the first cargo handling vehicle 20A, the instruction generation unit 70 may generate a loading instruction that includes loading operation information in addition to the loading position information. The loading operation information retains the same amount of movement as the loading operation information, but reverses the order and direction of the multiple operations included in the loading operation information. By loading the cargo using the same operations as the loading operation which was performed without problems, it is expected that the cargo can be loaded safely.

[0065] An example of loading operation information is shown below. This loading operation information is based on the loading operation information A1 to A9 described above. More specifically, each operation B1 to B9 is the reverse of the order and direction of each operation A1 to A9 described above. In other words, each operation B1 to B9 corresponds to each operation A9 to A1. B1. Raise the fork 24 by 20cm. B2. Move the second loading vehicle 20B in reverse by 1 meter at a speed of 2 km / h. B3. Lower fork 24 by 1 meter. B4. Tilt the fork 24 5° backward. B5. Turn the second loading vehicle 20B clockwise by 90° at a speed of 10 km / h, drawing a circle with a turning radius of 0.2 m. B6. Move the second loading vehicle 20B forward 3 meters at a speed of 10 km / h. B7. Turn the second loading vehicle 20B 90° counterclockwise at a speed of 10 km / h, drawing a circle with a turning radius of 0.2 m. B8. Move the second loading vehicle 20B in reverse for 5 meters at a speed of 10 km / h. B9. Tilt the fork 24 forward by 5°.

[0066] The forward, reverse, and turning speeds should preferably be the same as those used for loading, considering the loading speed, but slower speeds than those used for loading are also acceptable.

[0067] The transmitting unit 68 transmits data to the second cargo handling vehicle 20B via the communication unit 60. The transmitting unit 68 transmits the cargo handling instruction generated by the instruction generation unit 70 to the second cargo handling vehicle 20B.

[0068] The above is the detailed configuration of server 10. Next, we will explain the second cargo handling vehicle 20B in detail.

[0069] Figure 4 is a block diagram showing the control configuration of the second cargo handling vehicle 20B. The second cargo handling vehicle 20B further comprises a fork drive mechanism 26, a fluid pressure circuit 28, a drive unit 30, an operation unit 32, a display unit 34, a position measuring device 36, a communication unit 40, and a control unit 142.

[0070] The fork drive mechanism 26, fluid pressure circuit 28, drive unit 30, operation unit 32, display unit 34, position measuring device 36, and communication unit 40 are configured in the same way as those of the first cargo handling vehicle 20A.

[0071] The control unit 142 includes a receiving unit 144, a load handling unit 146, a fork control unit 156, and a travel control unit 158. The fork control unit 156 controls the operation of the fluid pressure circuit 28 and, consequently, the forks 24. The travel control unit 158 ​​controls the travel operation of the drive unit 30 and, consequently, the body 22 of the second cargo handling vehicle 20B. The receiving unit 84 receives load handling instructions from the server 10.

[0072] When the second cargo handling vehicle 20B is operating unmanned, the cargo retrieval unit 146 controls the second cargo handling vehicle 20B via the fork control unit 156 and the travel control unit 158 ​​to retrieve the cargo at the location indicated in the cargo retrieval instruction. In this case, if the cargo retrieval instruction includes cargo retrieval operation information, the cargo retrieval unit 146 operates the second cargo handling vehicle 20B via the fork control unit 156 and the travel control unit 158 ​​according to the cargo retrieval operation information.

[0073] When the second cargo handling vehicle 20B is being operated by a person, the cargo handling unit 146 assists the driver of the second cargo handling vehicle 20B by displaying the cargo location information and cargo handling operation information included in the cargo handling instructions on the display unit 34.

[0074] As a variation, instead of the server 10 generating the unloading operation information based on the unloading operation information, the second cargo handling vehicle 20B may generate the unloading operation information based on the unloading operation information. In this case, the server 10 sends an unloading instruction including the unloading operation information to the second cargo handling vehicle 20B. When the receiving unit 144 of the second cargo handling vehicle 20B receives the unloading instruction, the unloading unit 146 generates the unloading operation information based on the unloading operation information included in the unloading instruction.

[0075] The above describes the basic configuration of the cargo handling support system 1. Next, we will explain its operation. Figure 5 is a sequence diagram illustrating an example of a series of processes performed by the cargo handling support system 1.

[0076] The detection unit 52 of the first cargo handling vehicle 20A performs a detection process to detect cargo placement by the first cargo handling vehicle 20A at predetermined intervals (S10). If cargo placement is not detected (N in S10), the process waits for a predetermined time and then returns to the beginning of S10. If cargo placement is detected (Y in S10), the transmission unit 54 of the first cargo handling vehicle 20A transmits cargo handling vehicle information to the server 10 (S12). The cargo handling vehicle information includes at least information about the position of the cargo handling vehicle when cargo placement is detected.

[0077] The receiving unit 64 of the server 10 receives cargo handling vehicle information transmitted from the first cargo handling vehicle 20A (S14). The identification unit 66 of the server 10 identifies the cargo location information based on the cargo handling vehicle information (S16). The instruction generation unit 70 of the server 10 generates a cargo retrieval instruction (S18). The transmitting unit 68 of the server 10 transmits the cargo retrieval instruction to the second cargo handling vehicle 20B (S20).

[0078] The receiving unit 84 of the second cargo handling vehicle 20B receives a cargo retrieval instruction (S22). The second cargo handling vehicle 20B retrieves the cargo according to the cargo retrieval instruction (S24). The second cargo handling vehicle 20B moves the retrieved cargo to the storage location.

[0079] Next, the effects of the embodiment will be explained. According to the embodiment, the location information of the cargo placed in the first cargo handling vehicle 20A can be identified based on the location information of the first cargo handling vehicle 20A measured by the position measuring device 36 mounted on the first cargo handling vehicle 10A. Therefore, the location information of the placed cargo can be identified in a cargo storage area 4 where no sensors are installed.

[0080] Furthermore, according to the embodiment, the cargo handling vehicle information may include information regarding the height position of the forks 24 when the cargo is detected. In this case, it is also permissible for the cargo to be placed in a position away from the floor or ground, such as on a cargo rack.

[0081] Furthermore, according to the embodiment, the cargo handling vehicle information may include information regarding the longitudinal position of the forks 24 relative to the vehicle body 22 when a cargo is detected. In this case, the position of the placed cargo can be identified more accurately.

[0082] Furthermore, according to this embodiment, the second cargo handling vehicle 20B can perform a loading operation based on loading operation information. In this case, it is expected that loading can be performed safely by using the same operation as loading, which was performed without problems. In addition, if a skilled driver operates the first cargo handling vehicle 20A with a driver to load the cargo into the loading area 4, and the second cargo handling vehicle 20B unmanned to load the cargo, the loading operation based on the skilled driver's loading operation can be made to be performed by the unmanned second cargo handling vehicle 20B.

[0083] The present disclosure has been described above based on embodiments. These embodiments are illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of their components and processing processes, and that such modifications are also within the scope of the present disclosure. Such modifications will be described below.

[0084] (Variation 1) In this embodiment, the "information regarding the position of the first cargo handling vehicle 20A" included in the cargo handling vehicle information was the planar position information of the reference portion of the first cargo handling vehicle 20A measured by the position measuring device 36 when the loading of cargo by the first cargo handling vehicle 20A was detected. However, the "information regarding the position of the first cargo handling vehicle 20A" may also include position information in the height direction. In other words, the "information regarding the position of the first cargo handling vehicle 20A" may be three-dimensional position information. The position information in the height direction is also measured by the position measuring device 36. According to this modified example, if there is a difference in height within the loading area 4, for example, if there is a raised platform within the loading area 4 and cargo is loaded on that platform, this is also permissible.

[0085] (Modification 2) The cargo handling vehicle 20 is not limited to a forklift, as long as it can hold a load with forks 24 or an equivalent holding device and move; for example, it may be an automated guided vehicle (AGV).

[0086] (Variation 3) In this embodiment, the server 10 identifies the location information of the stored cargo, but the cargo handling vehicle 20 may also identify the location information of the stored cargo.

[0087] For example, the first cargo handling vehicle 20A may have the functions of the identification unit 66 and instruction generation unit 70 of the server 10 in this embodiment. In this case, the first cargo handling vehicle 20A only needs to send a cargo handling instruction to the second cargo handling vehicle 20B. In this case, the server 10 is not required.

[0088] For example, the second cargo handling vehicle 20B may have the functions of the identification unit 66 and instruction generation unit 70 of the server 10 in this embodiment. In this case, when the first cargo handling vehicle 20A detects a loading area, it should transmit the cargo handling vehicle information to the second cargo handling vehicle 20B.

[0089] Any combination of the embodiments and modifications described above is also useful as an embodiment of this disclosure. The new embodiments resulting from such combinations possess the combined effects of the respective embodiments and modifications. [Explanation of Symbols]

[0090] 1 Cargo handling support system, 10 Server, 20 Cargo handling vehicles, 20A First cargo handling vehicle, 20B Second cargo handling vehicle, 38 Sensor, 42 Control unit, 52 Detection unit, 54 Transmission unit, 64 Receiving unit, 66 Identification unit, 68 Transmission unit, 70 Instruction generation unit.

Claims

1. Cargo handling vehicles and A server, and equipped with The aforementioned cargo handling vehicle is Sensors and, A detection unit that performs detection processing based on the output of the sensor for detecting loading by the cargo handling vehicle, The system includes a cargo handling vehicle side transmission unit that, when a cargo stowage is detected, transmits cargo handling vehicle information, including information regarding the location of the cargo handling vehicle at the time the cargo stowage was detected, to the server. The aforementioned server, A server-side receiving unit that receives the cargo handling vehicle information transmitted from the cargo handling vehicle, The system includes a unit that identifies the location information of the stored cargo based on the cargo handling vehicle information. Cargo handling support system.

2. The cargo handling vehicle includes a holding section capable of holding and lifting the load, The cargo handling vehicle information includes information regarding the height position of the holding part when the cargo is detected. The cargo handling support system according to claim 1.

3. The cargo handling vehicle includes a holding section that is capable of holding the load and moving back and forth, The cargo handling vehicle information includes information regarding the position of the holding part in the front-rear direction relative to the body of the cargo handling vehicle when the loading is detected. The cargo handling support system according to claim 1.

4. The aforementioned cargo handling vehicle is A holding part capable of holding and raising / lowering the aforementioned load, A fluid pressure cylinder for raising and lowering the holding portion, Includes, The aforementioned sensor is a sensor for detecting the pressure inside the fluid pressure cylinder, The detection unit detects that the load has been placed when the pressure indicated by the output of the sensor falls below a predetermined threshold. The cargo handling support system according to claim 1.

5. The server includes a server-side transmission unit that transmits a cargo retrieval instruction, including location information of the stored cargo, to a cargo handling vehicle other than the cargo handling vehicle. The cargo handling support system according to claim 1.

6. When the cargo handling vehicle-side transmitting unit detects cargo placement, it transmits cargo placement operation information indicating the cargo placement operation to the server. The server-side receiving unit receives the loading operation information transmitted from the loading vehicle, The server-side transmission unit transmits a loading instruction to the other loading vehicle, which further includes loading operation information based on the loading operation information. The cargo handling support system according to claim 5.

7. The aforementioned loading operation information is obtained by reversing the order and direction of multiple operations included in the loading operation information. The cargo handling support system according to claim 6.

8. A cargo handling vehicle capable of communicating with a server, Sensors and, A detection unit that performs detection processing based on the output of the sensor for detecting loading by the cargo handling vehicle, A cargo handling vehicle side transmission unit transmits cargo handling vehicle information, which includes information about the location of the cargo handling vehicle at the time the cargo handling vehicle was detected, to the server, and which is used by the server to identify the location information of the cargo that was placed there. A cargo handling vehicle equipped with the following features.

9. A server capable of communicating with a cargo handling vehicle, A receiving unit that receives cargo handling vehicle information, which includes information about the position of the cargo handling vehicle when a cargo loading is detected based on the output of a sensor in the cargo handling vehicle, transmitted by the cargo handling vehicle when a cargo loading is detected. A unit that identifies the location information of the stored cargo based on the cargo handling vehicle information, A server equipped with the following features.

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