Cargo Handling System

Abstract

To achieve efficiency of cargo handling operations.SOLUTION: A cargo handling system 1 comprises a cargo handling vehicle 20 operated by an operator, and a control server 30. A working area 10 of the cargo handling vehicle 20 includes: a travel area 52 where the operator makes the cargo handling vehicle 20 travel; and a cargo handling area 55 where the operator makes the cargo handling vehicle 20 perform the cargo handling while the operator receives an assistance of an expert remotely. Imaging means for imaging the cargo handling vehicle 20 is provided in at least one of the cargo handling vehicle 20 and the cargo handling area 55. The control server 30 detects that the cargo handling vehicle 20 enters the cargo handling area 55 from the travel area 52 based on image information acquired by the imaging means.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cargo handling system. [Background technology]

[0002] Generally, cargo handling operations using cargo handling vehicles such as forklifts are carried out by a driver (operator) driving (operating) each vehicle individually. In recent years, there have been proposals to improve work efficiency by introducing unmanned vehicles (see, for example, Patent Document 1), but complicated cargo handling operations still require the use of manned vehicles. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6284212 Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention has been made in view of the above circumstances, and has as its object to improve the efficiency of cargo handling operations. [Means for solving the problem]

[0005] The cargo handling system according to the present invention comprises: A cargo handling vehicle operated by an operator and a control means, the working area of ​​the cargo handling vehicle includes a first area in which the operator drives the cargo handling vehicle, and a second area in which the operator controls the cargo handling vehicle to handle cargo while receiving assistance from a remote auxiliary means; At least one of the cargo handling vehicle and the second area is provided with an imaging means for imaging the cargo handling vehicle, the assistant means is an expert who is more skilled in operating the cargo handling vehicle than the operator, The control means is configured to detect that the cargo handling vehicle has entered the second area from the first area based on the image information acquired by the imaging means, and notify the auxiliary means. [Effects of the Invention]

[0006] According to the present invention, the efficiency of cargo handling operations can be improved. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a diagram showing a cargo handling system according to an embodiment; [Figure 2] 1 is a block diagram showing a schematic control configuration of a cargo handling system according to an embodiment. [Figure 3] 4 is a flowchart showing the flow of cargo handling processing according to the embodiment. [Figure 4] 10 is a timing chart showing an example of movement timing of a plurality of cargo handling vehicles in cargo handling processing according to the embodiment. [Figure 5] 10A and 10B are diagrams for explaining image processing of a pallet in the cargo handling process according to the embodiment. [Figure 6] 10 is a timing chart showing another example of the movement timing of a plurality of cargo handling vehicles in the cargo handling process according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0009] [Loading system configuration] FIG. 1 is a diagram showing a cargo handling system 1 according to this embodiment. As shown in this figure, the cargo handling system 1 is a system in which multiple (three in this embodiment) cargo handling vehicles 20 load cargo L from a loading area 51 in a work area 10 onto multiple transport vehicles (e.g., trucks) T in a parking area 54. The cargo L in this embodiment is, although not particularly limited to, at least one load placed on a pallet (loading platform) 70.

[0010] The work area 10 of the cargo handling system 1 includes a cargo receiving area 51, a travel area 52, a loading area 53, and a parking area 54. Of these, the receiving area 51 is, for example, a warehouse, and is an area where a large number of articles L are stored and kept. In the receiving area 51 of this embodiment, an article receiving operation by the article handling vehicle 20 is carried out. The travel area 52 is an area between the receiving area 51 and the loading area 53 (an area connecting the receiving area 51 and the loading area 53), and is an area where the cargo handling vehicle 20 travels. The travel area 52 may partially overlap with the receiving area 51 and the loading area 53. The loading area 53 is an area where the loading operation of loading the load L onto the loading platform of the transport vehicle T is carried out by the loading vehicle 20. The parking area 54 is an area where the transport vehicle T is parked, and partially overlaps with the loading area 53.

[0011] In the work area 10, the cargo receiving area 51 and the cargo loading area 53 form a cargo handling area 55 where cargo handling by the cargo handling vehicle 20 is carried out. In this specification, "cargo handling" by the cargo handling vehicle 20 refers to the taking, loading, unloading, etc., of cargo L performed by the cargo handling vehicle 20, and in this embodiment refers to the operations of the cargo handling vehicle 20 performed in the cargo handling area 55. Furthermore, "cargo handling work" by the cargo handling vehicle 20 includes not only cargo handling but also the operations of the cargo handling vehicle 20 associated therewith (traveling for cargo handling, transporting the cargo L, etc.).

[0012] Furthermore, each of the areas 51-54 of the cargo handling system 1 is divided into a plurality of work lines (three in this embodiment) corresponding to a plurality of cargo handling vehicles 20 (first cargo handling vehicle 20a-third cargo handling vehicle 20c). Below, each of the areas 51-54 and their equipment (first photographing camera 61 and second photographing camera 62 described below) may be described with the suffixes "a"-"c" corresponding to each cargo handling vehicle 20. In the cargo handling system 1, it is only necessary to associate a plurality of transport vehicles T with a plurality of cargo handling vehicles 20 that handle cargo therefor, and the areas 51 to 54 do not have to be partitioned to correspond to a plurality of work lines. For example, cargo L may be carried out from one warehouse (loading area 51) to a plurality of transport vehicles T, and a plurality of travel areas 52 may overlap each other.

[0013] FIG. 2 is a block diagram showing a schematic control configuration of the cargo handling system 1. As shown in FIG. As shown in this figure, the cargo handling system 1 includes a first photographing camera 61, a second photographing camera 62, a plurality of cargo handling vehicles 20, and a control server 30.

[0014] The first photographing camera 61 is provided in each loading area 51, acquires images of the loading vehicle 20 in that loading area 51, and outputs the images to the control server 30. However, there may be only one first photographing camera 61 in the entire loading area 51, as long as it is possible to detect which of the multiple loading vehicles 20 is the vehicle from the acquired image. The second photographing camera 62 is provided in each loading area 53, acquires images of the cargo handling vehicle 20 in that loading area 53, and outputs the images to the control server 30. However, there may be only one second photographing camera 62 in the entire loading area 53, as long as it is possible to detect which of the multiple cargo handling vehicles 20 is identified from the acquired image.

[0015] The cargo handling vehicle 20 is a vehicle capable of transporting cargo, lifting and lowering cargo, and handing over cargo, for example, a forklift that can travel on roads without using rails or the like. The cargo handling vehicle 20 is configured to be capable of being manually driven (operated) by an operator (worker) directly on board, or remotely driven (operated) from a distance. In this embodiment, the operator on board the cargo handling vehicle 20 is a person (including a beginner) who is not skilled in operating the cargo handling vehicle 20. Specifically, each cargo handling vehicle 20 includes a drive unit 21 , an operation unit 22 , a display unit 28 , a position measurement device 23 , a photographing unit 24 , a communication unit 25 , a memory unit 26 , and a control unit 27 .

[0016] The drive unit 21 includes a travel motor, a steering motor, and a cargo handling motor (all not shown), which are various drive sources of the cargo handling vehicle 20. The travel motor drives the drive wheels among the wheels. The steering motor rotates the steering wheels among the wheels (performs a steering operation). The cargo handling motor is a drive source that causes a holding unit (e.g., a fork) that holds the cargo L to perform various operations such as lifting, lowering, and tilting. The operation unit 22 is an operating means for the driver to perform various operations. The operation unit 22 includes, for example, a steering wheel, pedals, cargo handling levers (including a lift lever, tilt lever, and reach lever), various buttons, etc., and outputs operation signals to the control unit 27 according to the operation content of these. The display unit 28 is, for example, a liquid crystal display, an organic electroluminescence display, or other display. The display unit 28 displays various information based on a display signal input from the control unit 27.

[0017] The position measurement device 23 measures at least the position of the cargo handling vehicle 20 itself in the travel area 52. The position measurement device 23 of this embodiment is equipped with an optical sensor, and measures the position of the cargo handling vehicle 20 by detecting reflectors (markers) placed at various locations in the travel area 52 with the optical sensor and comparing the detected reflectors with preset reflector placement information. However, the position measurement device 23 is not limited to the above configuration as long as it can measure the position of the cargo handling vehicle 20 using various sensors mounted on the cargo handling vehicle 20. For example, it may be a device that uses a travel distance sensor and a sensor that measures the travel direction (such as an inertial measurement unit) to measure the position by sequentially integrating the traveled distance and direction over a very short period of time.

[0018] The photographing unit 24 photographs an image in front of the cargo handling vehicle 20. More specifically, the photographing unit 24 is capable of acquiring an image including depth (distance) information, and in this embodiment is an RGB-D camera (depth camera) that can acquire an image including three-dimensional point cloud data. In other words, the photographing unit 24 is capable of acquiring three-dimensional information and an RGB image (two-dimensional image). The imaging unit 24 may be any unit capable of acquiring a two-dimensional image of the imaging target and a three-dimensional image including depth information. That is, the imaging unit 24 may be provided with a means for acquiring a two-dimensional image of the imaging target and a means for acquiring a three-dimensional image separately.

[0019] The communication unit 25 is a communication device capable of transmitting and receiving various information to and from the control server 30. The communication unit 25 is also capable of communicating with the control server 30. The storage unit 26 is a memory configured by a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and stores various programs and data, and also functions as a work area for the control unit 27. The control unit 27 is configured with a CPU (Central Processing Unit) and the like, and controls the operation of each part of the cargo handling vehicle 20. Specifically, the control unit 27 operates the drive unit 21 based on the operation content of the operation unit 22, deploys a program stored in advance in the memory unit 26, and executes various processes in cooperation with the deployed program.

[0020] The control server 30 centrally controls the cargo handling system 1. The control server 30 may be configured from a terminal device and a cloud server. Specifically, the control server 30 includes an operation unit 31 , a display unit 32 , a remote control unit 33 , a communication unit 34 , a storage unit 36 ​​, and a control unit 37 .

[0021] The operation unit 31 is an operation means by which an operator performs various operations to operate the control server 30, and includes, for example, pointing devices such as a mouse and a keyboard. The display unit 32 is, for example, a liquid crystal display, an organic electroluminescence display, or another display. The display unit 32 displays various information based on display signals input from the control unit 37, and in this embodiment, displays images captured by the photographing unit 24 of the cargo handling vehicle 20 and the first and second photographing cameras 61 and 62 in the work area 10. The display unit 32 may be a touch panel that also serves as part of the operation unit 31.

[0022] The remote control unit 33 is used to operate multiple cargo handling vehicles 20 from the control server 30. The remote control unit 33 includes, for example, a steering wheel, pedals, cargo handling levers (including lift levers, tilt levers, and reach levers), various buttons, etc., and outputs operation signals according to the operation content of these to the control unit 37. Note that the remote control unit 33 may be any unit that can remotely control multiple cargo handling vehicles 20, and may be configured independent of the control server 30, for example. The remote control unit 33 may also include a touch panel or a game controller (mainly consisting of a cross key and buttons).

[0023] The communication unit 34 is a communication device capable of transmitting and receiving various information to and from a plurality of cargo handling vehicles 20. The communication unit 34 is also capable of communicating with a plurality of cargo handling vehicles 20. The storage unit 36 ​​is a memory configured by a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and stores various programs and data, and also functions as a work area for the control unit 37. The control unit 37 is configured with a CPU (Central Processing Unit) and the like, and controls the operation of each unit of the control server 30. Specifically, the control unit 37 deploys a program stored in advance in the storage unit 36 ​​based on the operation content of the operation unit 31 and executes various processes in cooperation with the deployed program.

[0024] [Load handling system operation] Next, the operation of the cargo handling system 1 when a cargo handling process is performed in which a plurality of cargo handling vehicles 20 load cargo L from the cargo receiving area 51 onto a plurality of transport vehicles T and carry them out will be described. FIG. 3 is a flowchart showing the flow of this cargo handling process, and FIG. 4 is a timing chart showing an example of the movement timing of a plurality of cargo handling vehicles 20 in the cargo handling process. The cargo handling process is executed by the control unit 37 of the control server 30 reading and deploying a corresponding program from the storage unit 36. This cargo handling process may be executed when the fact that the transport vehicle T has stopped in the parking area 54 is detected by a detection means such as the second photographing camera 62, or when the control server 30 is notified by an operation of the driver of the transport vehicle T, etc. Here, operators with little experience in operating cargo handling vehicles 20 individually drive multiple cargo handling vehicles 20, and one expert who is more skilled in operating cargo handling vehicles 20 than the operators remotely monitors the work content of each operator from a control server room (monitoring room).

[0025] As shown in Figure 3, when the loading and unloading process is executed, the control unit 37 of the control server 30 first sets the travel area 52 and the loading area 55 (loading area 51, loading area 53) based on the operation of the operator or an expert (step S1). In this step, the operator specifies the stopping positions, etc., on the cargo unloading area 51 side and the loading area 53 side in the corresponding traveling area 52 for each cargo handling vehicle 20, and sets the traveling route of the cargo handling vehicle 20 as the route between these stopping positions.

[0026] Next, when loading and unloading operations are started by the multiple loading and unloading vehicles 20 (step S2), the control unit 37 instructs each operator to have the multiple loading and unloading vehicles 20 enter the loading and unloading area 55 at different times (step S3). Specifically, the control unit 37 predicts the timing of entry into the loading area 55 based on the position and speed of each loading vehicle 20. The position and speed of the loading vehicle 20 are obtained from information that the loading vehicle 20 measures its own position using its position measuring device 23 and transmits to the control server 30. If the predicted entry timings of multiple loading vehicles 20 overlap, the control unit 37 causes the display unit 28 of the loading vehicle 20 to output visual or audio instructions regarding changes to the speed, route, or entry timing to the operator of the corresponding loading vehicle 20 so that the multiple loading vehicles 20 enter each loading area 55 at different times, as shown in FIG. 4 (for example, "Slow down your speed to ** km or less," "Arrive at the loading area in ** minutes," etc.). As a result, the multiple cargo handling vehicles 20 perform cargo handling at different times in the cargo handling area 55. This reduces the burden on skilled personnel who support the operator's operations in the cargo handling area 55.

[0027] Next, as shown in FIG. 3, the control unit 37 determines whether any of the cargo handling vehicles 20 has entered the cargo handling area 55 (the cargo receiving area 51, the cargo loading area 53) from the travel area 52 (step S4). Here, the control unit 37 detects the entry of each loading vehicle 20 into the loading area 51 or the loading area 53 by image processing of the images from the first photographing camera 61 installed in the loading area 51 and the second photographing camera 62 installed in the loading area 53 (or by the operator's visual inspection through the display unit 32). Then, when it is determined that none of the cargo handling vehicles 20 has entered the cargo handling area 55 (step S4; No), the control unit 37 repeats step S4.

[0028] Furthermore, if it is determined in step S4 that any of the cargo handling vehicles 20 has entered the cargo handling area 55 (step S4; Yes), the control unit 37 notifies the skilled worker that the cargo handling vehicle 20 has entered the cargo handling area 55 from the traveling area 52 (step S5). The manner of this notification is not particularly limited, and for example, a notification image (or sound) may be output on the display unit 32, or a rotating light installed in the waiting area of ​​the skilled worker may be turned on.

[0029] Next, the control unit 37 causes the display unit 32 to display camera footage of the loading area 55 into which the loading vehicle 20 has entered (step S6). The camera footage (image) displayed here may include at least one of images captured by the photographing cameras 61, 62 installed in the loading area 55 and images captured by the photographing unit 24 mounted on the loading vehicle 20.

[0030] The skilled worker then assists the operator as necessary while watching the displayed camera image, and the operator performs cargo handling in the cargo handling area 55 with the assistance of the skilled worker (step S7). Here, "assistance" by the skilled worker to the operator includes at least one of monitoring, advice, and remote control. Specifically, this includes monitoring the work content through camera footage, giving advice (assistance) on the work through a call (conversation) with the operator through the communication units 25 and 34, and remotely operating the cargo handling vehicle 20 by the remote control unit 33. Of these, remote operation is performed by switching the cargo handling vehicle 20 from manual operation at the request of the operator (or at the discretion of the skilled worker), and the skilled worker operating the remote control unit 33 while watching the camera footage.

[0031] When a loading operation is performed in the loading area 51, the position and orientation of the pallet 70 may be calculated from an image of the pallet 70 to assist the loading operation. Specifically, first, the control unit 27 of the cargo handling vehicle 20 operates the photographing unit 24 based on the operation of the operator, and acquires an image of the pallet 70 including depth information (an image including three-dimensional point cloud data). That is, here, a three-dimensional image including depth information and a corresponding RGB image (two-dimensional image) are acquired. The acquired image is stored in the memory unit 26. As a result, an image of the pallet 70 such as that shown in FIG. 5(a) is obtained. Note that it is also possible to periodically acquire images of the area in front of the cargo handling vehicle 20 at a predetermined photographing timing, and detect the pallet 70 from the images. Next, the control unit 27 extracts a portion including the side surface 71 of the pallet 70 as a target region from the acquired image (an RGB image (two-dimensional image) that does not include depth information). This extraction method is not particularly limited, but for example, a neural network trained to identify and output an image portion of a rectangular range that includes an area in which the side surface 71 of the pallet 70 appears from the captured image is used. As a result, a rectangular image portion G that surrounds one side surface 71 of the pallet 70 is extracted. Next, the control unit 27 extracts a local point cloud from the image portion G extracted as the target region. That is, in this step, point cloud data included in the side surface 71 in the image portion G is extracted as depth information. Next, the control unit 27 extracts a plane from the extracted point cloud data. By fitting the plane to the point cloud data included in the side surface 71, a plane portion Ga corresponding to the side surface 71 is obtained as a characteristic portion of the pallet 70, as shown in FIG. 5(b). The orientation of this plane portion Ga determines the posture of the pallet 70. Here, the "characteristic portion" of the pallet 70 refers to the portion related to holding the pallet 70 with the forks. Next, the control unit 27 extracts (detects) two holes 72 from the image portion G of the side surface 71. Here, hole regions Gb corresponding to the holes 72 are extracted as portions of the image portion G that do not include point cloud data. The control unit 27 then determines the positions of the obtained hole regions Gb as positive, and calculates and corrects the position of the entire pallet 70 as necessary. The control unit 27 then calculates the position (e.g., the center position) of each hole region Gb. Then, the control unit 27 determines whether or not the holding unit (for example, a fork) that holds the load L can be inserted into the hole 72, and notifies the operator of the result. This makes it easier to perform the load collection operation even when remotely operated. It is also possible to extract from the image the columnar portions 73 that define the holes 72 on the side surface 71 of the pallet 70, and determine the holes 72 as the portions between them. It is also not necessary to use both the two-dimensional image and the three-dimensional image; it is sufficient if the holes 72 in the pallet 70 are detected based on at least one of them.

[0032] Next, as shown in FIG. 3, the control unit 37 determines whether or not the loading and unloading operation in step S7 has been completed based on the operation of the operator or the skilled person (step S8). Here, the control unit 37 detects that the loading and unloading process in step S7 has ended, for example, when the operator performs a predetermined end operation on the operation unit 22. Then, when it is determined that the loading and unloading process in step S7 has not been completed (step S8; No), the control unit 37 repeats step S8.

[0033] Furthermore, in step S8, if it is determined that the loading and unloading process in step S7 has been completed (step S8; Yes), the control unit 37 determines whether or not to terminate the loading and unloading process (step S9). If it is determined not to terminate the process (step S9; No), the control unit 37 proceeds to the above-mentioned step S3, and travel in the travel area 52 and loading and unloading in the loading and unloading area 55 are repeated. On the other hand, when it is determined that the cargo handling process should be ended, for example, because all the cargoes L have been carried out (step S9; Yes), the control unit 37 ends the cargo handling process.

[0034] [Technical effect of this embodiment] As described above, according to this embodiment, the working area 10 of the loading vehicle 20 includes a travel area 52 in which the operator drives the loading vehicle 20, and a loading area 55 in which the operator causes the loading vehicle 20 to perform loading operations while receiving assistance from a skilled worker remotely. Based on camera images of the loading area 55, it is detected that the loading vehicle 20 has entered the loading area 55, and the skilled worker is notified. That is, an operator drives the cargo handling vehicle 20 in the travel area 52, which is simply a driving area, and an experienced operator assists the operator in the cargo handling area 55, which is relatively difficult to work in. In addition, the experienced operator is promptly notified when the cargo handling vehicle 20 enters the cargo handling area 55. This eases the difficulty of work in the cargo handling area 55, allowing inexperienced operators to work efficiently, so that high-quality work can be performed even when there are few experienced operators. Therefore, the efficiency of cargo handling work can be improved compared to the past.

[0035] According to this embodiment, assistance to the operator from the expert includes telephone calls (advice) and remote operation, which allows the operator to receive assistance according to the situation, allowing the operator to perform the work efficiently and also serving as training for the operator.

[0036] Furthermore, according to this embodiment, the multiple cargo handling vehicles 20 are scheduled to enter each of the cargo handling areas 55 at different times. That is, the multiple cargo handling vehicles 20 enter one of the cargo handling areas 55 at different times, and the operator receives instructions to enter the other cargo handling area 55 at different times that are different from each other and different from any of the times at which the multiple cargo handling vehicles 20 enter one of the cargo handling areas 55. This allows one skilled worker to assist operators in multiple cargo handling areas 55. In other words, one skilled worker can assist with cargo handling operations by multiple cargo handling vehicles 20.

[0037] Furthermore, according to this embodiment, the holes 72 in the pallet 70 are detected based on an image of the pallet 70, making it easier to carry out the cargo unloading operation. Furthermore, since the holes 72 in the pallet 70 are detected based on at least one of a two-dimensional image and a three-dimensional image of the pallet 70, the robustness of the calculation process can be improved compared to when it is based only on three-dimensional data.

[0038] Furthermore, according to this embodiment, depth information (three-dimensional point cloud data) of the pallet 70 is acquired from the image (three-dimensional image), and a target area including the hole 72 is extracted from the RGB image (two-dimensional image). Then, the position and orientation of the pallet 70 are calculated based on the depth information of this target area. This makes it possible to calculate the position and orientation of the pallet 70 simply by processing the three-dimensional point cloud data for the target region of the acquired image that includes the hole 72. Therefore, compared to processing the three-dimensional point cloud data for the entire acquired image, it is possible to reduce the calculation cost and improve the calculation rate.

[0039] [others] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments (including modifications). For example, in the above embodiment, in step S3 of the cargo handling process, the movements of multiple cargo handling vehicles 20 are scheduled so that they enter each of the cargo handling areas 55 at different times. However, multiple cargo handling vehicles 20 may be instructed to enter the same type of cargo handling area 55 at different times. In other words, as shown in Figure 6, different cargo handling vehicles 20 may enter different cargo handling areas 55 (the receiving area 51 and the loading area 53) at overlapping times. Even in this case, different skilled personnel can assist with cargo handling in the receiving area 51 and the loading area 53, meaning that two skilled personnel can assist with cargo handling operations by multiple cargo handling vehicles 20. Furthermore, multiple cargo handling vehicles 20 may enter the cargo handling area 55 at overlapping times. In this case, the skilled worker may assist the cargo handling vehicles 20 in order, for example, starting with the cargo handling vehicle 20 that entered first.

[0040] Furthermore, in the above embodiment, in step S4 of the cargo handling process, the entry of the cargo handling vehicle 20 from the travel area 52 into the cargo handling area 55 is detected by the first photographing camera 61 or the second photographing camera 62 provided in the work area 10. However, the entry of the cargo handling vehicle 20 into the cargo handling area 55 may be detected by other detection means (for example, an optical sensor) provided in the work area 10, or may be detected based on information acquired by detection means (for example, detection means based on position information, distance information, etc., or the photographing unit 24) provided in the cargo handling vehicle 20, or these may be used in combination.

[0041] Furthermore, in the cargo handling process of the above embodiment, the skilled person waits remotely (in a monitoring room) to assist the operator, but the skilled person may wait near the cargo handling area 55 away from the control server 30. In this case, the assistance provided to the operator by the skilled person includes manual operations performed by the skilled person on board the cargo handling vehicle 20 in place of the operator.

[0042] Furthermore, the work in the cargo handling area 55 may include work that the operator performs alone without assistance. For example, cargo handling onto the transport vehicle T in the loading area 53 may be performed with assistance from an experienced person, while cargo handling on the equipment side (unloading area 51), which is a relatively simple task, may be performed alone (without assistance) by the operator. Furthermore, the transport vehicle T and the cargo handling vehicle 20 do not necessarily have to correspond to each other in the loading area 53. For example, a plurality of cargo handling vehicles 20 may handle cargo for one transport vehicle T.

[0043] In the above embodiment, the cargo handling work is performed by transporting cargo L from the cargo receiving area 51, which is a warehouse, and loading it onto the transport vehicle T in the loading area 53 and carrying it out. However, the cargo handling work managed by the cargo handling system 1 may be any cargo handling work performed in the cargo handling area 55, such as transporting cargo L loaded by the transport vehicle T, unloading it into the warehouse (loading area 51), and carrying it in.

[0044] Furthermore, in the above embodiment, the operator on board the cargo handling vehicle 20 is a person (including a beginner) who is not skilled in operating the cargo handling vehicle 20 (in the cargo handling area 55), but the skilled person may be someone who is relatively less skilled in the operation than the skilled person who assists. In other words, the skilled person may be someone who is more skilled in operating the cargo handling vehicle 20 in the cargo handling area 55 than the onboard operator (for example, someone who works faster).

[0045] In the above embodiment, an expert has been described as an assisting means for assisting the operator in operating the cargo handling vehicle 20 in the cargo handling area 55. However, the assisting means according to the present invention is not limited to an expert, and may include, for example, information processing means such as artificial intelligence (AI). That is, for example, information processing means mounted on the control server 30 may recognize the status of the cargo handling vehicle 20 by image processing or the like, and assist the operator via the communication unit 34 or the remote control unit 33.

[0046] Furthermore, the cargo handling vehicle according to the present invention is not limited to a forklift, as long as it is capable of being assisted remotely. Furthermore, the loading platform according to the present invention is not limited to a pallet, but may include a slatted board or the like, as long as it can be used to place a load and be supported by a loading vehicle. In addition, the details shown in the above embodiment can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0047] 1. Cargo handling system 10 Work Area 20 Loading vehicles 24 Photography unit (imaging means) 27 Control Unit 30 Control server (control means) 31 Operation section 32 Display section 33 Remote control unit (remote control means) 34 Communication Department (Communication Means) 37 Control Unit 52 Driving Area (1st Area) 55 Loading area (Second area) 61 First photographing camera (imaging means) 62 Second photographing camera (imaging means) 70 pallets (loading platform) 71 Side 72 Hole 73 Columnar part G Image section Ga plane part Gb pore area L load

Claims

1. A cargo handling vehicle operated by an operator and a control means, the work area of ​​the cargo handling vehicle includes a first area in which the operator drives the cargo handling vehicle, and a second area in which the operator controls the cargo handling vehicle to handle cargo while receiving assistance from a remote auxiliary means; an imaging means for imaging the cargo handling vehicle is provided in at least one of the cargo handling vehicle and the second area; the assistant means is an expert who is more skilled in operating the cargo handling vehicle than the operator, The control means detects that the cargo handling vehicle has entered the second area from the first area based on the image information acquired by the imaging means, and notifies the auxiliary means. Load handling system.

2. The control means includes a communication means that enables communication between the expert and the operator. The cargo handling system according to claim 1.

3. The control means includes a remote operation means that allows the skilled person to operate the cargo handling vehicle remotely. The cargo handling system according to claim 1 or 2.

4. a plurality of the cargo handling vehicles operated by individual operators; the control means issues an instruction to the operator so that the plurality of cargo handling vehicles enter the second area at different times. The cargo handling system according to any one of claims 1 to 3.

5. The first area is an area between two of the second areas and is an area in which the cargo handling vehicle travels. A cargo handling system according to any one of claims 1 to 4.

6. a plurality of the cargo handling vehicles operated by individual operators; The control means The plurality of cargo handling vehicles enter one of the two second areas at different times, and issuing an instruction to the operator so that the plurality of cargo handling vehicles enter the other second area at timings different from each other and different from any timing at which the cargo handling vehicles enter the one second area; The cargo handling system according to claim 5.

7. The loading vehicle is a 2D imaging means for capturing a two-dimensional image of a loading platform having a hole; 3D imaging means for acquiring a three-dimensional image of the loading platform; a detection means for detecting the hole of the loading platform based on at least one of the two-dimensional image and the three-dimensional image; Equipped with A cargo handling system according to any one of claims 1 to 6.

8. the detection means acquires depth information of the loading platform from the three-dimensional image, and calculates the position and attitude of the loading platform based on the depth information; The cargo handling system according to claim 7.

9. A cargo handling system comprising a plurality of cargo handling vehicles operated by individual operators and a control means, the work area of ​​the cargo handling vehicle includes a first area in which the operator drives the cargo handling vehicle, and a second area in which the operator controls the cargo handling vehicle to handle cargo while receiving remote assistance from an auxiliary means; an imaging means for imaging the cargo handling vehicle is provided in at least one of the cargo handling vehicle and the second area; The control means Detecting that the cargo handling vehicle has entered the second area from the first area based on image information acquired by the imaging means, and notifying the auxiliary means; issuing an instruction to the operator so that the plurality of cargo handling vehicles enter the second area at different times; Load handling system.

Images