Cargo handling system and method for controlling the cargo handling system

Abstract

To prevent a forklift from running unnecessarily and to avoid delays in cargo handling operations when proper cargo handling operations cannot be performed at a cargo handling location.SOLUTION: A cargo handling system S comprises a forklift 1 operated by an operator O, a display unit 11 that shows information about a cargo handling location W where loading / unloading work should be performed, and a small unmanned flying object 2 capable of hovering and having an imaging unit 22. The unmanned flying object 2 is configured to photograph the cargo handling location W with the imaging unit 22 and obtain a captured image so that it can be determined whether or not appropriate cargo handling work can be performed at the cargo handling location W.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a loading and unloading system in which a forklift performs loading and unloading work with the assistance of an unmanned aerial vehicle, and a method for controlling the loading and unloading system. [Background technology]

[0002] It is known that in facilities such as warehouses and factories, an operator operates a forklift to transport cargo using the forklift. A management device registers and stores a cargo handling schedule for multiple cargo handling operations, and a display unit provided on the forklift displays the address of the cargo handling location where the cargo handling operation is to be performed (for example, see Patent Document 1).

[0003] The loading and unloading work includes unloading work, in which cargo placed in a specified area or on a shelf, etc. is removed, and placing work, in which cargo is placed in a specified area or on a shelf, etc. An operator who operates a forklift checks the address of the loading and unloading location displayed on the display unit, and drives to the loading and unloading location to perform the loading and unloading work.

[0004] However, there are cases where another forklift is mistakenly performing loading and unloading work, or the loading location is registered incorrectly, and therefore there is no cargo at the loading location where the cargo should be picked up, or there is another cargo at the loading location where the cargo should be placed, and therefore even if the forklift moves to the loading location displayed on the display unit, it may not be able to perform the appropriate loading and unloading work. This causes a problem of unnecessary forklift movements and delays in loading and unloading work. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2004-189430 A Summary of the Invention [Problem to be solved by the invention]

[0006] In view of the above problems, the problem that the present invention aims to solve is to prevent a forklift from traveling unnecessarily and thus a delay in loading and unloading operations when appropriate loading and unloading operations cannot be performed at a loading and unloading site. [Means for solving the problem]

[0007] In order to solve the above problems, the loading and unloading system according to the present invention includes a forklift operated by an operator, a display unit that displays loading and unloading information including the loading and unloading work and the loading and unloading location, and a small unmanned aerial vehicle that can stop in the air and has a photographing unit. The unmanned aerial vehicle is configured to photograph the loading and unloading location with the photographing unit to obtain a photographed image so that it can be determined whether or not appropriate loading and unloading work can be performed at the loading and unloading location.

[0008] Preferably, the display unit is configured to display a photographed image so that an operator can determine, based on the photographed image, whether or not appropriate loading and unloading work can be performed at the loading and unloading site.

[0009] The loading and unloading system may also include a determination unit that determines whether or not appropriate loading and unloading work can be performed at the loading and unloading site based on the captured image, and a notification unit that notifies an operator of the result of the determination by the determination unit.

[0010] The loading system preferably includes an additional imaging unit attached to a shelf or ceiling for imaging the loading area.

[0011] Also, preferably, the unmanned aerial vehicle is configured to be mounted on and powered by a forklift.

[0012] In addition, in the control method for a loading and unloading system according to the present invention, the loading and unloading system includes a forklift operated by an operator, a display unit that displays loading and unloading information including the loading and unloading work and the loading and unloading location, and a small unmanned aerial vehicle that can stop in the air and has a photographing unit. The control method includes the steps of displaying the loading and unloading information on the display unit, stopping the unmanned aerial vehicle in the air at the loading and unloading location, and photographing the loading and unloading location with the photographing unit of the unmanned aerial vehicle to obtain the photographed image. Then, based on the photographed image, it is determined whether loading and unloading work can be performed at the loading and unloading location. Effect of the Invention

[0013] The present invention makes it possible to eliminate wasteful work (not to run the forklift unnecessarily) when it is not possible to carry out appropriate loading and unloading work at the loading and unloading site by grasping the situation at the loading and unloading site in advance. This also makes it possible to quickly take the next action and to prevent the loading and unloading work from being delayed. [Brief description of the drawings]

[0014] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a block diagram showing the configuration of a loading and unloading system. [Figure 4] FIG. 4 is a diagram showing a display image displayed on a display unit. [Diagram 5] FIG. 11 is a flow chart showing the operation of carrying out loading and unloading work. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a cargo handling system and a control method for the cargo handling system according to the present invention will be described with reference to the drawings.

[0016] First, each component of the cargo handling system according to this embodiment will be described with reference to Figs. 1 to 4.

[0017] The cargo handling system S includes a forklift 1 on which an operator O rides. The forklift 1 is configured to be operated by the operator O operating operating parts such as a handle and an accelerator provided in the driver's seat. In this embodiment, the forklift 1 is a counterbalance type forklift, and is configured to be able to travel the vehicle body and raise and lower the forks.

[0018] The forklift 1 is equipped with a position detection unit 10. The position detection unit 10 is composed of a laser sensor, a GPS sensor, an electromagnetic induction sensor, etc., and is capable of detecting the position of the forklift 1.

[0019] In the loading and unloading system S, a plurality of shelves R are installed in a facility such as a factory or a warehouse. As shown in FIG. 1, the shelves R have a plurality of steps in the height direction and are configured to store luggage L at predetermined positions on the steps. As shown in FIGS. 1 and 2, the loading and unloading system S has an area A defined as a loading area for loading and unloading luggage L. A forklift 1 performs loading and unloading work of loading and unloading luggage L in predetermined positions on the area A or the shelves R. The loading and unloading work includes loading and unloading work of taking luggage L out of a predetermined area A or shelf R in the facility, and loading and unloading work of placing luggage L in a predetermined area A or shelf R in the facility.

[0020] The cargo handling system S is equipped with a small unmanned aerial vehicle 2 that can stop in the air. The unmanned aerial vehicle 2 is an unmanned rotorcraft called a drone, and is capable of flying to a predetermined position, hovering, and stopping in the air by rotating rotors provided at the tip of each of multiple arms.

[0021] As shown in Fig. 2, the forklift 1 is equipped with a power supply unit 12 provided on the upper surface of a head guard that protects the head of an operator O. The power supply unit 12 is configured so that the unmanned aerial vehicle 2 is on standby to receive power. The power supply unit 12 has an electrode at a portion where the unmanned aerial vehicle 2 is grounded, and is configured to supply power to the unmanned aerial vehicle 2 via the electrode. The power supply method does not have to be a contact type, but may be a non-contact type.

[0022] 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 is capable of detecting the position of the unmanned aerial vehicle 2.

[0023] 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. The unmanned aerial vehicle 2 is configured to fly to a predetermined loading location W based on detection by the position detection unit 20 and control by the flight control unit 21, and to hover at the loading location W and stop in the air.

[0024] The unmanned aerial vehicle 2 is equipped with a photographing unit 22. The photographing unit 22 has a function of photographing images while flying and hovering in the air, and is configured to obtain photographed images. The photographing unit 22 may be equipped with a wide-angle lens that widens the photographing area, or may have a zoom function.

[0025] The loading and unloading system S is equipped with a management device 3 for controlling various functions of the forklift 1 and the unmanned aerial vehicle 2. The management device 3 is, for example, a server computer. The forklift 1, the unmanned aerial vehicle 2, and the management device 3 each have the function of wirelessly transmitting and receiving information, and the various functions of the forklift 1 and the unmanned aerial vehicle 2 are controlled based on command signals transmitted by the management device 3.

[0026] The management device 3 includes a storage unit 30. The storage unit 30 stores a facility map M based on the locations of shelves R installed within the facility, sections A defined within the facility, packages L placed within the facility, and the like.

[0027] Furthermore, the storage unit 30 stores tasks T to be performed by the forklift 1 as a loading and unloading schedule J. The tasks T include loading and unloading information such as the loading and unloading work (picking up or placing) performed by the forklift 1 and the loading and unloading location W. The loading and unloading schedule J includes a plurality of tasks T, such as task T1 to pick up the luggage L from the loading and unloading location W set on a predetermined shelf R, task T2 to place the luggage L at the loading and unloading location W set on a predetermined shelf R, task T3 to place the luggage L at the loading and unloading location W set on a predetermined section A, and task T4 to pick up the luggage L from the loading and unloading location W set on a predetermined section A, set in a predetermined order.

[0028] The management device 3 is equipped with a cargo handling management unit 31, which is configured to display the tasks T to be performed by the forklift 1 on a display unit 11 provided in the driver's seat of the forklift 1 based on the cargo handling schedule J transmitted from the memory unit 30.

[0029] The display unit 11 is configured, for example, with a touch panel display. As shown in Fig. 4, the cargo handling management unit 31 transmits cargo handling information, such as the cargo handling work and the address of the cargo handling place W, for the task T to be performed by the forklift 1 to the display unit 11 and controls the display unit 11 to display the information in the first area 11a.

[0030] The cargo handling management unit 31 also transmits the loading location W where the loading work in task T will be performed to the flight control unit 21 and the photographing unit 22 of the unmanned aerial vehicle 2, and controls the unmanned aerial vehicle 2 to fly to the loading location W and stop in the air, and to photograph the loading location W with the photographing unit 22 while stopping in the air. The cargo handling management unit 31 then controls the second area 11b of the display unit 11 to display the photographed image of the loading location W acquired by the photographing unit 22.

[0031] An end button 110 is displayed in the third area 11c of the display unit 11. The operator O drives the forklift 1 to the loading and unloading location W and performs the loading and unloading work according to the loading and unloading information of the task T displayed in the first area 11a of the display unit 11. The operator O presses the end button 110 when the loading and unloading work is completed.

[0032] In addition, the operator O is also configured to press the end button 110 when he or she checks the loading and unloading work displayed in the first area 11a of the display unit 11 and the captured image displayed in the second area 11b of the display unit 11 and determines that the loading and unloading work cannot be performed at the loading and unloading location W.

[0033] Therefore, in the case of unloading work, when there is a baggage L at the loading location W, the unloading work can be performed, so the operator O does not press the end button 110, but on the other hand, when there is no baggage L at the loading location W, the unloading work cannot be performed, so the operator O presses the end button 110. Also, in the case of putting work, when there is a baggage L at the loading location W, the putting work cannot be performed, so the operator O presses the end button 110, but on the other hand, when there is no baggage L at the loading location W, the unloading work can be performed, so the operator O does not press the end button 110.

[0034] When the loading / unloading operation is completed or when the operator O recognizes that the loading / unloading operation cannot be performed and presses the end button 110, an end signal is transmitted from the display unit 11 to the loading / unloading management unit 31. When the loading / unloading management unit 31 receives the end signal, the loading / unloading information of the task T to be performed next by the forklift 1 is displayed in the first area 11a of the display unit 11.

[0035] The management device 3 may also include a determination unit 32 that determines whether or not a specified loading and unloading operation can be performed at the loading and unloading location W. The determination unit 32 is configured to receive loading and unloading operation information from the loading and unloading management unit 31 and to receive captured images from the photographing unit 22. The determination unit 32 recognizes whether or not baggage L is present at the loading and unloading location W, based on the arithmetic processing information stored in the memory unit 30, and determines whether or not loading and unloading operations such as picking up and placing the baggage can be performed.

[0036] As shown in FIG. 2, the loading system S may include a plurality of additional photographing units 4 attached to shelves R, a ceiling, or the like. The plurality of additional photographing units 4 are capable of photographing a specified loading location W. As a result, even if the unmanned aerial vehicle 2 cannot fly to the loading location W or cannot stop in the air at the loading location W, for example, the loading location W can be photographed by the additional photographing units 4 to obtain a photographed image. In addition, the display unit 11 may alternate between the photographed image taken by the photographing unit 22 and the photographed image taken by the additional photographing units 4, thereby allowing each photographed image to be mutually complemented.

[0037] The memory unit 30 stores a reference image corresponding to each loading location W, and the determination unit 32, for example, compares the reference image with the photographed image acquired by the photographing unit 22 and recognizes whether or not luggage L is present at the loading location W based on the difference between the images. Then, the determination unit 32 determines whether or not loading work such as picking up and placing luggage can be performed depending on the presence or absence of luggage L. Note that the determination unit 32 is not limited to the above-mentioned determination method, and can employ publicly known techniques related to various algorithms.

[0038] The forklift 1 also includes a notification unit 13 that notifies the operator O of the determination result by the determination unit 32. The notification unit 13 can notify the operator O of the determination result in text on the display unit 11 or in voice via a speaker.

[0039] When the operator O determines whether or not the loading and unloading work can be performed appropriately, the determination unit 32 may be used as an auxiliary, or only the determination unit 32 may be used so that the operator O does not need to check. If the operator O does not make a determination, the captured image may not be displayed in the second area 11b of the display unit 11 since the operator O does not need to check the captured image.

[0040] Next, the process of operations performed by the cargo handling system S according to this embodiment will be described with reference to FIG.

[0041] Loading information including the loading and unloading work of task T and the address of the loading and unloading location W is displayed in a first area 11a of the display unit 11 that can be confirmed by the operator O who operates the forklift 1 (step S1). At the same time, the unmanned aerial vehicle 2 flies to the loading and unloading location W of task T and stops in the air (step S2). Then, the unmanned aerial vehicle 2 captures an image of the loading and unloading location W with the imaging unit 22 (step S3).

[0042] The second area 11b of the display unit 11 displays a photographed image of the loading location W captured by the photographing unit 22 of the unmanned aerial vehicle 2 (step S4). The operator O checks the content of the loading work of the task T displayed in the first area 11a of the display unit 11 and the photographed image displayed in the second area 11b of the display unit 11, and determines whether loading work can be performed at the loading location W (step S5).

[0043] When the loading and unloading work is unloading, if a baggage L is present in the photographed image, it is determined that the operator O can perform unloading work, and when a baggage L is not present in the photographed image, it is determined that the operator O cannot perform unloading work. Also, when the loading and unloading work is placing a baggage, if a baggage L is present in the photographed image, it is determined that the operator O cannot perform placing work, and when a baggage L is not present in the photographed image, it is determined that the operator O can perform placing work.

[0044] When the operator O determines that the loading and unloading work can be performed at the loading and unloading place W, the forklift 1 travels to the loading and unloading place W and performs the loading and unloading work (step S6). Then, when the loading and unloading work is completed, the operator O presses the end button 110 displayed in the third area 11c of the display unit 11 (step S7). When the end button 110 is pressed, the process is adapted to be executed from step S1 based on the next task T.

[0045] If the operator O determines that the loading and unloading work cannot be performed at the loading and unloading location W, the operator O presses the end button 110 displayed in the third area 11c of the display unit 11 without driving the forklift 1 to the loading and unloading location W (step S8). When the end button 110 is pressed, the process is executed from step S1 based on the next task T according to the loading and unloading schedule J.

[0046] In this embodiment, the operator O judges whether or not the loading and unloading work can be performed at the loading and unloading place W, but the judgment unit 32 may also judge this. If the operator O does not make this judgment, steps S4 and S5 are not performed, and the notification unit 13 notifies the operator O of the judgment result of the judgment unit 32. Then, if it is judged that the loading and unloading work can be performed, the operator O drives the forklift 1 to the loading and unloading place W and performs the loading and unloading work (step S6), and when the loading and unloading work is completed, the operator O presses the end button 110 displayed in the third area 11c of the display unit 11 (step S7), and the process starts from step S1 based on the next task T. On the other hand, if it is judged that the loading and unloading work cannot be performed, step S8 is not performed, and the process starts from step S1 based on the next task T according to the loading and unloading schedule J.

[0047] 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. The forklift 1 may be configured to be operated remotely without an operator O on board. The display unit 11 does not have to be provided in the driver's seat of the forklift 1, and may be provided in a terminal device carried by the operator O. Whether or not loading and unloading work can be performed at the loading and unloading place W may be determined solely by the determination unit 32. In this case, the captured image is displayed on the display unit 11, and the operator O does not need to make a determination. The power supply unit 12 does not have to be provided on the head guard of the forklift 1, and may be provided at a predetermined location such as on the floor or on a shelf within the facility.

[0048] The effects of the present invention will now be described.

[0049] (1) In the present invention, the loading / unloading system S is a small unmanned aerial vehicle 2 capable of hovering in the air and equipped with a photographing unit 22, which is capable of photographing the loading / unloading location W to obtain a photographed image. Then, based on the photographed image, it is possible to determine whether or not appropriate loading / unloading work can be performed at the loading / unloading location W. Therefore, when loading / unloading work cannot be performed at the loading / unloading location W, the operator O does not drive the forklift 1 to the loading / unloading location, and unnecessary travel is suppressed, thereby preventing delays in loading / unloading work.

[0050] (2) In addition, the images captured by the unmanned aerial vehicle 2 are displayed on the display unit 11, and the operator O can check the captured images on the display unit 11 to determine whether or not appropriate loading and unloading operations can be performed at the loading and unloading location W.

[0051] (3) The judgment unit 32 is configured to judge whether or not appropriate loading and unloading work can be performed at the loading and unloading location W based on the captured image, and the notification unit 13 is configured to notify the operator O of the judgment result, so that the operator O can know the judgment result without having to judge whether or not appropriate loading and unloading work can be performed at the loading and unloading location W based on the captured image.

[0052] (4) Furthermore, the loading system S can photograph the loading location W with an additional photography unit 4 attached to a shelf R or the ceiling in addition to the photography unit 22 of the unmanned aerial vehicle 2, so that even if the unmanned aerial vehicle 2 cannot fly to the loading location W or cannot stop in the air at the loading location W, for example, the loading location W can be photographed by the additional photography unit 4 to obtain a photographed image. As a result, the operator O can reliably know whether or not appropriate loading work can be performed at the loading location W.

[0053] (5) By mounting the unmanned aerial vehicle 2 on the forklift 1, the distance that the unmanned aerial vehicle 2 flies to the loading and unloading location W is shortened, thereby reducing the consumption of power in the battery mounted on the unmanned aerial vehicle 2. Furthermore, by powering the unmanned aerial vehicle 2 from the forklift 1, it is possible to prevent the power of the battery mounted on the unmanned aerial vehicle 2 from running short. [Explanation of symbols]

[0054] 1. Forklift 2 Unmanned Aerial Vehicles 11 Display section 13. Notification Department 22 Photography Department 32 Judgment section 4 Additional Filming Section S Cargo Handling System W Loading area O Operator R shelf

Claims

1. A forklift operated by an operator; A management device that stores loading / unloading information including loading / unloading operations and loading / unloading locations performed by the forklift; A display unit that displays the loading and unloading information; A small unmanned aerial vehicle capable of stopping in the air and having a photographing unit; A determination unit that determines whether the loading and unloading work can be performed appropriately at the loading and unloading site; a notification unit that notifies the operator of a result of the determination by the determination unit, The unmanned aerial vehicle is configured to fly to the loading and unloading location and acquire a photographed image by the photographing unit so as to determine whether the loading and unloading work can be performed appropriately at the loading and unloading location before the forklift runs to the loading and unloading location, the determination unit is configured to recognize whether or not a load is present at the loading location based on the captured image before the forklift travels to the loading location, and to determine whether or not the loading and unloading operations of picking up and placing the load can be performed depending on the presence or absence of the load at the loading location, The notification unit is configured to notify the operator of the determination result of the determination unit before the forklift travels to the loading and unloading location. A loading and unloading system comprising:

2. The cargo handling system includes an additional photographing unit that is attached to a shelf or a ceiling and photographs the cargo handling location.

2. The loading and unloading system according to claim 1 .

3. The unmanned aerial vehicle is configured to be mounted on the forklift and powered by the forklift.

2. The loading and unloading system according to claim 1 .

4. A method for controlling a loading and unloading system, comprising: The loading and unloading system includes: A forklift operated by an operator; A management device that stores loading / unloading information including loading / unloading operations and loading / unloading locations performed by the forklift; A display unit that displays the loading and unloading information; A small unmanned aerial vehicle capable of stopping in the air and having a photographing unit; A determination unit that determines whether the loading and unloading work can be performed appropriately at the loading and unloading site; a notification unit that notifies the operator of a result of the determination by the determination unit, The control method includes: displaying the loading and unloading information on the display unit; flying the unmanned aerial vehicle to the loading area and stopping the unmanned aerial vehicle in the air at the loading area before the forklift runs to the loading area; A step of photographing the loading and unloading site with the photographing unit of the unmanned aerial vehicle to obtain a photographed image; a step of determining whether or not a load is present at the loading location based on the captured image by the determination unit before the forklift travels to the loading location, and determining whether or not the loading and unloading work of picking up and placing the load can be performed depending on the presence or absence of the load at the loading location; and notifying the operator of the determination result by the determination unit by the notification unit before the forklift travels to the loading and unloading location. A method for controlling a cargo handling system comprising:

Images