Conveying system

Abstract

To prevent an operator who operates a manned conveyance vehicle from falling asleep by using an unmanned flying body, in a conveyance system including the manned conveyance vehicle and the unmanned flying body.SOLUTION: A conveyance system S includes a manned conveyance vehicle 1 and an unmanned flying body 2. The unmanned flying body 2 includes: an imaging part 25 for imaging a face of an operator O who is operating the manned conveyance vehicle 1; a drowsiness determination part 35 for determining the drowsiness degree of the operator O based on the face image of the operator O by the imaging part 25; an age determination part 36 for determining the age of the operator O based on the face image of the operator O by the imaging part 25; and a warning part 26 for giving a warning to the operator O who is operating the manned conveyance vehicle 1 based on the drowsiness degree.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a transportation system including a manned transport vehicle and an unmanned aerial vehicle.

Background Art

[0002] A manned transport vehicle (e.g., a forklift) used inside facilities such as factories and warehouses is configured to run and operate by an operator boarding and operating it. Further, the forklift is configured to perform a loading and unloading operation for loading and unloading goods using forks.

[0003] And there is known a transportation system configured to guide a manned transport vehicle operated by an operator using an unmanned aerial vehicle capable of hovering in the air (see Patent Document 1, etc.).

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

[0005] By the way, in the conventional transportation system, there has been a problem that it is impossible to prevent an operator operating the manned transport vehicle from falling asleep.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0008] To solve the above problems, the present invention provides a transport system comprising a manned transport vehicle and an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes a camera unit that photographs the face of an operator operating the manned transport vehicle, a sleepiness determination unit that determines the degree of sleepiness of the operator based on the face image of the operator taken by the camera unit, and an age determination unit that determines the age of the operator based on the face image of the operator taken by the camera unit, and an alarm unit that alerts the operator operating the manned transport vehicle based on the degree of sleepiness and age.

[0009] Preferably, the alarm unit sounds an alarm not only to the operator but also to those around the manned transport vehicle when the level of drowsiness is above a predetermined level and the age is below a predetermined age.

[0010] Furthermore, it is desirable that the alarm unit emits sound, light, and / or a combination thereof as an alarm.

[0011] Furthermore, the unmanned aerial vehicle may be equipped with a projection unit that projects images onto the walkway, and the alarm unit may project an alarm image from the projection unit to alert the area around the manned transport vehicle.

[0012] Furthermore, the unmanned aerial vehicle may be configured to travel along a taxiway used to guide the movement of a manned transport vehicle. [Effects of the Invention]

[0013] The transport system according to the present invention is a transport system comprising a manned transport vehicle and an unmanned aerial vehicle, wherein the unmanned aerial vehicle can effectively prevent the operator of the manned transport vehicle from falling asleep. [Brief explanation of the drawing]

[0014] [Figure 1] Perspective view showing the conveying system. [Figure 2] Side view showing the conveying system. [Figure 3] Plan view showing the conveying system. [Figure 4] Block diagram showing the conveying system. [Figure 5] Schematic diagram showing the eye part of the face image. [Figure 6] The whole face image, where (A) shows an operator in their 30s and (B) shows an operator in their 60s. Schematic diagram. [Figure 7] Flowchart showing the control procedure for preventing drowsiness.

Embodiments for Carrying out the Invention

[0015] Hereinafter, embodiments of the conveying system according to the present invention will be described based on the drawings.

[0016] Based on FIGS. 1 to 6, the configuration of the conveying system will be described.

[0017] As shown in FIGS. 1 to 4, the conveying system S includes a manned transport vehicle 1 on which an operator O rides and operates. The manned transport vehicle 1 is configured to travel and operate when the operator O rides and operates it. In the present embodiment, the manned transport vehicle 1 is a counterbalanced forklift, and is configured to be able to travel the vehicle body and raise and lower the fork when the operator O rides and operates it.

[0018] The conveying system S includes a plurality of shelves R installed in facilities such as factories and warehouses. The shelf R has a plurality of stepped portions in the height direction, and is configured to be able to store the load L at a predetermined position of the stepped portion. The manned transport vehicle 1 performs cargo handling by loading and unloading the load L at a predetermined position of the shelf R. The shelves R are arranged at intervals of a predetermined width so that the manned transport vehicle 1 can travel and perform cargo handling, and a passage P is formed between each shelf R (FIGS. 1, 3).

[0019] The conveying system S includes an unmanned aerial vehicle 2 that can be stopped in the air. The unmanned aerial vehicle 2 is called a drone and is configured to fly to a predetermined in-air stop position by the rotation of rotors provided on the tip sides of a plurality of arms and to be able to hover at the predetermined in-air stop position.

[0020] The conveying system S includes a management device 3 for controlling the unmanned aerial vehicle 2 (Fig. 4). The management device 3 includes a storage unit 30. The storage unit 30 stores a map M composed of shelves R and passages P installed in the facility, packages L arranged in the facility, and the like.

[0021] Furthermore, the storage unit 30 stores a cargo handling task T performed by the manned transport vehicle 1 as a cargo handling schedule J. That is, the cargo handling schedule J includes a plurality of cargo handling tasks T such as a task T1 of picking up a package L from a predetermined location on a predetermined shelf R, a task T2 of placing a package L at a predetermined location on a predetermined shelf R, a task T3 of placing a package L at a shipping location, and a task T4 of picking up a package L from a receiving location, which are set in a predetermined order. Also, the cargo handling task T includes position information of the package L and cargo handling (picking up or placing) information for the package L.

[0022] The management device 3 includes a cargo handling instruction unit 34, and the cargo handling instruction unit 34 is configured to display the cargo handling task T of the cargo handling schedule J transmitted from the storage unit 30 on a display unit 11 provided in the driver's seat of the manned transport vehicle 1.

[0023] The display unit 11 is composed of, for example, a touch panel display. The cargo handling instruction unit 34 displays the cargo handling task T that the manned transport vehicle 1 should perform on the display unit 11. The operator O operates the manned transport vehicle 1 to perform cargo handling according to the cargo handling task T displayed on the display unit 11. When the cargo handling task T is completed, the operator O presses an end button displayed on the display unit 11, and an end signal is transmitted to the cargo handling instruction unit 34. The cargo handling instruction unit 34 is configured to display the next cargo handling task T that the manned transport vehicle 1 should perform on the display unit 11 when it receives the end signal.

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

[0025] The management device 3 includes a guideway generation unit 31. Based on the vehicle position D1 information of the manned transport vehicle 1 transmitted from the position detection unit 10, the facility map M transmitted from the storage unit 30, and the cargo handling task T of the cargo handling schedule J transmitted from the storage unit 30, the guideway generation unit 31 generates a virtual guideway 4 between the vehicle position D1 and the cargo handling position D2 of the manned transport vehicle 1. The cargo handling position D2 is the position on the passage P where the manned transport vehicle 1 picks up and places cargo in the cargo handling task T (Figure 3).

[0026] As shown in Figure 3, the guideway generation unit 31 is configured to generate a virtual guideway 4 that connects, for example, a vehicle position D1 and a cargo handling position D2 on a passage P. The guideway 4 is set, for example, to minimize the travel distance of the manned transport vehicle 1. In this embodiment, as shown in Figure 3, the guideway 4 is composed of a first straight section 41, a bend 40, and a second straight section 42.

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

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

[0029] The position determination unit 32 is further configured to determine the aerial hovering position for the unmanned aerial vehicle 2 on the taxiway 4. The position determination unit 32 is configured to hover at a position on the taxiway 4 that is a certain distance away from the vehicle position D1 of the manned transport vehicle 1 in the forward direction of the manned transport vehicle 1. Therefore, as the manned transport vehicle 1 approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 moves away from the manned transport vehicle 1, so that the distance between the manned transport vehicle 1 and the unmanned aerial vehicle 2 remains constant.

[0030] The unmanned aerial vehicle 2 is equipped with a memory unit 22. The memory unit 22 stores guidance images 200. The guidance images 200 consist of, for example, arrows for guiding the manned transport vehicle 1 to the loading / unloading position D2, and the direction of the arrows is configured to differ depending on the loading / unloading position D2 (Figures 1 and 3).

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

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

[0033] Operator O can visually observe the guidance image 200 projected onto the passage P, drive the manned transport vehicle 1 along the guidance image 200 to the loading / unloading position D2, and operate the manned transport vehicle 1 according to the loading / unloading task T displayed on the display unit 11 to perform loading / unloading operations on the cargo L.

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

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

[0036] According to NEDO's evaluation method, drowsiness level 1 is "not sleepy at all," drowsiness level 2 is "somewhat sleepy," drowsiness level 3 is "sleepy," drowsiness level 4 is "quite sleepy," and drowsiness level 5 is "very sleepy."

[0037] As shown in Figure 5, the drowsiness determination unit 35 is configured to recognize the positions of the outer canthus E3 and the inner canthus E4 and measure the lateral distance P2 between the eyes. Based on the lateral distance P2 of the operator O's eyes, the drowsiness determination unit 35 calculates five levels of vertical eye distance P1, from the vertical eye distance P1 when the eyes are most open to the vertical eye distance P1 when the eyes are most closed, and stores the relationship between the vertical eye distance P1 and the degree of drowsiness (levels 1 to 5). The drowsiness determination unit 35 then determines that there is no drowsiness at level 1, when the operator O's eyes are most open, and that there is drowsiness at levels 2 to 5, when the operator O's eyes are closed.

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

[0039] Furthermore, the management device 3 includes an age determination unit 36. The age determination unit 36 ​​is configured to determine the age of operator O based on the facial image data of operator O acquired by the imaging unit 25.

[0040] The age determination unit 36 ​​uses the data of the face image OI (Figure 6) acquired by the imaging unit 25 to determine the age of operator O using known image recognition technology. The age determination unit 36 ​​has a relationship database consisting of, for example, the contours of numerous face patterns, the positional relationship of the eyes, nose and mouth, skin color, and other feature points and their ages. It is configured to compare the feature points of each face pattern with the feature points of operator O's face image OI and determine the age of operator O to be the face pattern with the highest number of matching feature points.

[0041] The age determination unit 36, for example, determines that operator O's age is in his 30s in the face image OI of Figure 6(A), and determines that operator O's age is in his 60s in the face image OI of Figure 6(B).

[0042] The unmanned aerial vehicle 2 is equipped with an alarm unit 26. The alarm unit 26 is configured to alert the operator O and workers around the manned transport vehicle 1 based on the degree of drowsiness and age determined by the drowsiness determination unit 35 and the age determination unit 36.

[0043] The alarm unit 26 may consist of an acoustic device and be configured to emit a sound as an alarm. The volume of the sound may be adjusted according to the degree of drowsiness and age. Furthermore, the alarm unit 26 may consist of a lighting device and be configured to emit light as an alarm. The intensity of the light may be adjusted according to the degree of drowsiness and age. Furthermore, the alarm unit 26 may consist of a water discharge device and be configured to emit water as an alarm. The strength of the water discharge may be adjusted according to the degree of drowsiness and age.

[0044] Based on Figure 7, the control procedure for preventing drowsiness will be explained.

[0045] The camera unit 25 of the unmanned aerial vehicle 2 sequentially photographs the face of operator O of the manned transport vehicle 1, and the drowsiness detection unit 35 acquires the face image data (step S1). Based on the face image of operator O, the drowsiness detection unit 35 determines the degree of drowsiness of operator O and determines whether or not operator O is drowsy (step S2). If the drowsiness detection unit 35 determines that the drowsiness level is level 1, it is determined that operator O is not drowsy. If the drowsiness detection unit 35 determines that the drowsiness level is between 2 and 5, it is determined that operator O is drowsy.

[0046] If the drowsiness detection unit 35 determines that operator O is not drowsy (level 1), the process returns to step S1, and the imaging unit 25 of the unmanned aerial vehicle 2 sequentially photographs the face of operator O of the manned transport vehicle 1, and the drowsiness detection unit 35 acquires face image data. If the drowsiness detection unit 35 determines that operator O is drowsy (levels 2 to 5), it determines which level of drowsiness from levels 2 to 5 it is (step S3).

[0047] If the drowsiness determination unit 35 determines that the drowsiness level is 2 or 3 (step S3), and the age determination unit 36 ​​determines that operator O is 40 years of age or older (step S4), the drowsiness level is low and the sleep depth is shallow due to the high age, so there is a high probability that operator O will wake up if an alarm is issued to operator O, and therefore an alarm is issued only to operator O (step S5).

[0048] Then, in the case of drowsiness levels 4 and 5 (step S3), operator O is determined to be in a deep slumber, and since there is little chance that operator O will wake up even if an alarm is issued to operator O, an alarm is also issued to workers around the manned transport vehicle 1 in addition to operator O (step S6).

[0049] Furthermore, if the drowsiness determination unit 35 determines that the drowsiness level is 2 or 3 (step S3), and the age determination unit 36 ​​determines that operator O is under 40 years old (step S4), although the drowsiness level is low, the depth of sleep is deep because of the young age, so there is little chance that operator O will wake up even if an alarm is issued to operator O. Therefore, an alarm is issued not only to operator O but also to workers around the manned transport vehicle 1 (step S6).

[0050] If the alarm unit 26 consists of an acoustic device, the acoustic device is equipped with a directional sound generating unit, and when alarming only the operator O, the sound is emitted locally towards the operator O, and when alarming not only the operator O but also workers around the manned transport vehicle 1, the sound is emitted over a wide area towards the operator O.

[0051] Furthermore, if the alarm unit 26 consists of a lighting device, the lighting device is equipped with a directional light-emitting unit. When alarming only the operator O, light is emitted locally towards the operator O. When alarming not only the operator O but also workers around the manned transport vehicle 1, light is emitted over a wide area towards the operator O. The lighting device may also alarm by flashing light.

[0052] Furthermore, if the alarm unit 26 consists of a water spraying device, the water spraying device is equipped with a directional water jet. When an alarm is to be issued only to operator O, water is sprayed locally towards operator O. When an alarm is to be issued to workers around the manned transport vehicle 1 in addition to operator O, water is sprayed over a wide area towards operator O.

[0053] Furthermore, the alarm unit 26 may use the projection unit 25 to display a large alarm image (for example, an alarm message such as "The operator of this forklift is asleep! Please be careful!") in the passageway P around the manned transport vehicle 1, thereby alerting workers around the manned transport vehicle 1 that the operator O operating the manned transport vehicle 1 is asleep.

[0054] Then, the drowsiness prevention control in steps S1 to S6 is repeatedly performed to sequentially determine and alert whether operator O is falling asleep.

[0055] Although preferred embodiments of the present invention have been described above, the configuration of the present invention is not limited to these embodiments. For example, it can be modified as follows.

[0056] In the above embodiment, the unmanned aerial vehicle 2 is configured to travel along a taxiway 4 for guiding the movement of the manned transport vehicle 1. However, it may also be configured to photograph the operator O of the manned transport vehicle 1 at any time and along any route without traveling along the taxiway 4.

[0057] In the above embodiment, the drowsiness determination unit 35 determined the degree of drowsiness based on the degree to which operator O's eyes were closed. However, it may also be configured to determine the degree of drowsiness based on the angle of operator O's head, facial expression, or fluctuations in the opening and closing of the eyelids. Alternatively, the drowsiness determination unit 35 may be configured to store a facial image of operator O when he is not drowsy, and then determine the degree of drowsiness by comparing this stored facial image of operator O with the facial image of operator O acquired by the imaging unit 25.

[0058] In the above embodiment, the alarm unit 26 is composed of an acoustic device, a lighting device, or a water spraying device, but these may be selectively combined, or all of them may be provided in the unmanned aerial vehicle 2.

[0059] In the above embodiment, the unmanned aerial vehicle 2 is configured to project a guidance image 200 onto the passage P so that the taxiway 4 can be recognized visually by the operator O. However, it may also be equipped with a sound generating unit (not shown) that emits sounds such as voice, buzzer, or chime, so that the taxiway 4 can be recognized auditorily by the operator O. The sound generating unit is configured to emit voices such as, for example, "Turn left 15m ahead," "Your destination is 30m ahead," or "There is an obstacle ahead. Please be careful."

[0060] The effects of the present invention will be explained.

[0061] In a transport system S comprising a manned transport vehicle 1 and an unmanned aerial vehicle 2, the unmanned aerial vehicle 2 includes: a camera unit 25 that photographs the face of operator O operating the manned transport vehicle 1; a drowsiness determination unit 35 that determines the degree of drowsiness of operator O based on the face image of operator O taken by the camera unit 25; an age determination unit 36 ​​that determines the age of operator O based on the face image of operator O taken by the camera unit 25; and an alarm unit 26 that alerts operator O operating the manned transport vehicle 1 based on the degree of drowsiness.

[0062] Therefore, by equipping the unmanned aerial vehicle 2 with a camera unit 25 and taking photographs from outside the manned transport vehicle 1, it is not necessary to equip each manned transport vehicle 1 with a camera unit 25, and the configuration for photographing the operator O can be minimized. In addition, since the operator O does not know when the unmanned aerial vehicle 2 will fly in, it is expected that the operator O will operate the manned transport vehicle 1 with a sense of tension. Furthermore, the drowsiness detection unit 35 determines the degree of drowsiness of the operator O, and the age detection unit 36 ​​determines the age of the operator O, so that if the operator O falls asleep, an alarm will be issued to the operator O to wake them up.

[0063] Furthermore, it is desirable that the alarm unit 26 alerts the area around the manned transport vehicle 1 in addition to the operator O when the level of drowsiness is above a predetermined level and the age is below a predetermined age.

[0064] When operator O's level of drowsiness is above a predetermined level, and their age is below a predetermined age, there is a high probability that operator O will not wake up even if an alarm is issued. Therefore, by issuing an alarm to workers around the manned transport vehicle 1, it is possible to prevent workers from colliding with the manned transport vehicle 1 operated by the sleeping operator O.

[0065] Furthermore, the alarm unit 26 is designed to emit sound, light, and / or a combination thereof as an alarm. In this way, the alarm unit 26 can reliably and quickly wake up the sleeping operator O by emitting sound, light, and water.

[0066] Furthermore, the unmanned aerial vehicle 2 may be equipped with a projection unit 23 that projects an image onto the passage P, and the alarm unit 26 may project an alarm image from the projection unit 23 to alert the area around the manned transport vehicle 1. In this way, the projection unit 23 projects an alarm image, which directly and effectively alerts workers around the manned transport vehicle 1 that the operator O of the manned transport vehicle 1 is dozing off.

[0067] Furthermore, the unmanned aerial vehicle 2 is configured to travel along a taxiway 4 that guides the manned transport vehicle 1.

[0068] Therefore, the unmanned aerial vehicle 2 guiding the manned transport vehicle 1 can sequentially and accurately capture images of operator O's face. As a result, the drowsiness detection unit 35 determines the degree of operator O's drowsiness, and the age detection unit 36 ​​determines operator O's age. This allows for a quick and appropriate warning to be issued to operator O if they fall asleep, waking them up. [Explanation of Symbols]

[0069] S Conveyor System O Operator 1 Manned guided vehicle 2 Unmanned aircraft 4 Taxiway 23 Projection section 25 Photography Department 26 Alarm section 35 Sleepiness detection unit 36 Age determination section

Claims

1. In a transport system equipped with a manned transport vehicle and an unmanned aerial vehicle, The aforementioned unmanned aircraft, A camera unit that photographs the face of the operator operating the aforementioned manned transport vehicle, The system includes a sleepiness determination unit that determines the degree of sleepiness of the operator based on a facial image of the operator taken by the camera unit, and an age determination unit that determines the operator's age based on a facial image of the operator taken by the camera unit, and an alarm unit that alerts the operator operating the manned transport vehicle based on the degree of sleepiness and the age. A transport system characterized by the following features.

2. The alarm unit, when the level of drowsiness is above a predetermined level and the age is below a predetermined age, will issue an alarm not only to the operator but also to the area around the manned transport vehicle. The transport system according to feature 1.

3. The alarm unit emits sound, light, and water, or a combination thereof, as the alarm. The transport system according to feature 1.

4. The aforementioned unmanned aerial vehicle is equipped with a projection unit that projects images onto a passageway, The alarm unit is configured to project an alarm image from the projection unit to sound an alarm around the manned transport vehicle. The transport system according to feature 2.

5. The unmanned aerial vehicle is configured to travel along a taxiway for guiding the manned transport vehicle. The transport system according to feature 1.

Images