Weight change system

Abstract

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

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a work control system for a forklift truck. This system includes a storage unit and an on-board controller. The storage unit stores in advance the height and inclination of shelf boards of shelves that serve as cargo placement positions and cargo pickup positions. When a driver performs a lift operation or a tilt operation, the on-board controller raises, lowers, and tilts the fork in accordance with the stored height and inclination. Accordingly, this system allows cargo handling work to be easily performed regardless of the height and inclination of the cargo placement positions and cargo pickup positions.

[0003] By the way, if the inclinations and heights of the cargo placement positions and cargo pickup positions are determined in advance, the work can also be performed by, for example, an unmanned forklift capable of autonomously performing cargo handling work. On the other hand, when a truck bed is used as the cargo placement position or cargo pickup position, the height of the truck bed varies depending on the type of truck, and the inclination of the truck bed may also be unstable depending on the inclination of the truck's stopping position. Therefore, in the case of unfixed cargo placement positions and cargo pickup positions such as a truck bed, the system disclosed in Patent Document 1 cannot be used. Furthermore, cargo handling work onto a truck bed often requires loading as much cargo as possible by placing the cargos closely together. In such cargo handling work to cargo pickup positions and cargo placement positions that require caution, it is ultimately necessary for the driver to carefully perform the cargo handling work. [Prior Art Literature] [Patent Literature]

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

[0005] Therefore, the problem that the present invention aims to solve is to provide a system that assists drivers in performing cargo handling operations carefully, even in cargo handling operations that do not rely on autonomous control. [Means for solving the problem]

[0006] To solve the above problems, the weight changing system according to the present invention is A weight change system used in forklifts, A weight adjustment unit for changing the weight of the pedals and levers or either of them of a forklift, A cargo handling location identification unit that identifies whether the cargo handling location, which is both or either the cargo picking location and the cargo placing location, is within a specific location or a specific area, A weight determination unit that determines to increase the weight of the pedal and / or lever when the loading / unloading position is within a specific location or area, The system includes a weight change command unit that controls a weight change unit to change the weight of the pedals and / or levers, according to the determination of a weight determination unit.

[0007] The above weight changing system is preferably, It is further equipped with a cargo handling location camera that photographs the cargo handling location and generates a cargo handling location image. The cargo handling location identification unit determines whether the cargo handling location is within a specific location or area based on the cargo handling location image.

[0008] The above weight changing system is preferably, It also includes a memory unit for storing cargo handling schedules, The cargo handling schedule includes the cargo handling location. The cargo handling location identification unit refers to the cargo handling location in the cargo handling schedule to determine whether the cargo handling location is within a specific location or area.

[0009] The above weight changing system is preferably, A memory unit that stores the driver's skill score, The system further includes a skill score acquisition unit that identifies the driver and acquires the skill score of the identified driver, The weight determination unit determines to further increase the weight of the pedals and / or levers if the loading / unloading position is within a specific location or area, and the acquired driver's skill score is below a predetermined skill score.

[0010] The above weight changing system is preferably, It further includes a change notification unit that informs the driver that the weight of the pedals and / or levers will be changed.

[0011] To solve the above problems, the forklift according to the present invention is It is equipped with one of the weight adjustment systems described above.

[0012] To solve the above problems, the weight changing program according to the present invention is: A program used in a weight change system comprising a weight change unit that changes the weight of the pedals and / or levers of a forklift, and a computer, On the computer, Identifying whether the loading / unloading location, which is either the loading / unloading location or both, is within a specific location or area, When the loading / unloading position is within a specific location or area, it is decided to increase the weight of the pedal and / or lever, or either of them. The weight adjustment mechanism controls the weight adjustment unit according to the determined weight, thereby changing the weight of the pedals and / or levers. [Effects of the Invention]

[0013] The weight changing system according to the present invention can assist drivers in performing cargo handling operations that require careful attention. [Brief explanation of the drawing]

[0014] [Figure 1] It is a diagram illustrating cargo handling work of a weight changing system according to an embodiment of the present invention. [Figure 2] It is a side view of the forklift shown in FIG. 1. [Figure 3] It is a block diagram of the weight changing system. [Figure 4] It is a flow chart illustrating the operation of the weight changing system. [Figure 5] It is a block diagram of a weight changing system according to a modified example. MODE FOR CARRYING OUT THE INVENTION

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

[0016] FIG. 1 is a diagram illustrating cargo handling work of the weight changing system S according to the present embodiment. As shown in FIG. 1, a forklift 1 is configured to convey a load W between a first shelf R1, a second shelf R2, and a truck T in accordance with a cargo handling schedule received from a management device 4.

[0017] As shown in FIG. 1, in the present embodiment, the position of the first-stage storage space of the second shelf R2 (that is, the position of the upper surface of the first-stage shelf board SP) is set as a specific position CP. Since loads W are scheduled to be placed on the first-stage shelf board SP of the second shelf R2 up to the maximum number that can be stored, the driver H needs to pack the loads W tightly. Therefore, the position of the first-stage storage space of the second shelf R2 is a position where the driver H needs to perform loading work carefully, and thus is set as the specific position CP.

[0018] Furthermore, as shown in Figure 1, in this embodiment, the parking area for truck T is designated as a specific area CE. Driver H is instructed to always load cargo W onto the truck bed before loading. Also, the area where truck T parks is an unpaved area, and for example, on rainy days, the muddy ground may cause truck T to tilt and the cargo bed to be uneven. Therefore, driver H needs to carefully unload cargo from the truck bed. For this reason, this parking area is designated as a specific area CE because it is an area where driver H needs to carefully load and unload cargo.

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

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

[0021] Pedal 14 has an accelerator pedal, a brake pedal, and an inching pedal, and is located below the driver's seat 12. In this invention, "pedal" only needs to have at least one pedal such as an accelerator pedal, a brake pedal, and an inching pedal, and does not need to have all of these pedals.

[0022] Lever 15 has a lift lever and a tilt lever and is located in front of the driver's seat 12. Lever 15 may also have a slide lever for sliding the fork 17 left and right. The “lever” in this invention only needs to have a lift lever and at least one lever such as a tilt lever, and does not need to have all of these levers.

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

[0024] Speaker 19 emits a warning voice message to inform driver H of a weight change, which will be explained later. The warning voice message may be, for example, "You are in a specific loading / unloading position. The weight of pedal 14 and lever 15 will be increased," if the weight of pedal 14 and lever 15 is to be increased.

[0025] The weight adjustment unit 21 changes the operating weight of the lever 15 and pedal 14 based on commands from the adjustment command unit 307 (see Figure 3), which will be explained later. The weight adjustment unit 21 includes a pedal weight adjustment unit that adjusts the weight of the pedal 14 and a lever weight adjustment unit that adjusts the weight of the lever 15. If the weight adjustment unit 21 is configured to adjust the weight of either the pedal 14 or the lever 15, it will have either the pedal weight adjustment unit or the lever weight adjustment unit.

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

[0027] Furthermore, for example, the pedal weight adjustment unit may also function as an assist device that assists the force applied to the pedal 14. In this case, the pedal weight adjustment unit may adjust the assist force based on a command from the adjustment command unit 307, thereby substantially changing the weight of the pedal 14 when pressed by the driver H.

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

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

[0030] Furthermore, for example, the lever weight adjustment unit may also function as an assist device that assists in the operation of the lever 15 in relation to its weight. In this case, the lever weight adjustment unit may adjust the assist force based on a command from the adjustment command unit 307, thereby substantially changing the weight of the lever 15 when operated by the driver H.

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

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

[0033] The control unit 30 is comprised of a computer located within the vehicle body 11 and includes a calculation unit, a storage device, and memory. The storage device stores a weight change program that causes the computer to execute as a skill score acquisition unit 302, a cargo handling position identification unit 303, a weight determination unit 305, a change notification unit 306, and a change command unit 307, which will be described later.

[0034] <Functional configuration of the weight change system> Next, the functional configuration of the weight change system S will be described. As shown in Figure 3, the control unit 30 includes a storage unit 301, a skill score acquisition unit 302, a cargo handling position identification unit 303, a weight determination unit 305, a change notification unit 306, and a change command unit 307.

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

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

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

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

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

[0040] The cargo handling location identification unit 303 refers to the cargo handling schedule and determines whether the next cargo handling location is within a specific location CP or a specific area CE.

[0041] When the load handling position identification unit 303 identifies that the next load handling position is within a specific position CP or a specific area CE, the weight determination unit 305 determines to increase the weight of the pedal 14 and / or the lever 15. Furthermore, if the load handling position is within a specific position CP or a specific area CE, and the acquired skill score of the driver H is below a predetermined skill score, the weight determination unit 305 determines to further increase the weight of the pedal 14 and / or the lever 15. The predetermined skill score may be set, for example, to exceed the skill score of a driver H who is inexperienced in operating the forklift 1. This allows the weight determination unit 305 to determine to further increase the weight of the pedal 14 and / or the lever 15 when the driver H is inexperienced.

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

[0043] The weight change command unit 307 controls the weight change unit 21 according to the determination of the weight determination unit 305 to change the weight of the pedal 14 and lever 15. In this way, the weight change system S can assist the driver H in performing cargo handling operations carefully. Furthermore, when the cargo handling position does not require careful handling, the weight change system S does not increase the weight of the pedal 14 and lever 15, thereby allowing the pedal 14 and lever 15 to be operated quickly.

[0044] <Flowchart of the weight change system> Next, with reference to the flowchart in Figure 4, the operation of the weight changing system S according to this embodiment will be explained again.

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

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

[0047] (3) Next, the weight adjustment system S decides to further increase the weight of the pedal 14 and lever 15 if the driver H's skill score is below a predetermined skill score (Yes in S6 of Figure 4) (see S7 of Figure 4). On the other hand, the weight adjustment system S does not further increase the weight of the pedal 14 and lever 15 if the driver H's skill score is equal to or greater than the predetermined skill score (No in S6 of Figure 4) (proceed to S8 of Figure 4).

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

[0049] Thus, the weight change system S assists in careful operation during loading operations requiring attention by increasing the weight of the pedal 14 and lever 15 when handling cargo within a specific location CP or area CE, while allowing for quick operation during normal loading operations.

[0050] Furthermore, the weight adjustment system S can make drivers H with low skill scores operate the vehicle more cautiously than experienced drivers H by making the pedals 14 and levers 15 heavier. In this way, the weight adjustment system S can make experienced drivers H operate the vehicle more quickly than experienced drivers H by making the pedals 14 and levers 15 heavier only for experienced drivers H.

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

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

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

[0054] The forklift 1 may be equipped with a monitor instead of a speaker 19, and the change notification unit 306 may notify the user via this monitor that the weight of the lever 15 and the pedal 14 or either of them will be changed.

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

[0056] S Weight change system H Driver CP (Control Point) - Specific Location CE (Ceremonial Environment) Specific Areas R1 Shelf 1 R2 2nd shelf T-Track 1 Forklift 10 wheels 11 Car body 12 Driver's seat 13 Headguard 14 pedals 15 Lever 16 Mast 17 Forks 19 speakers 21 Weight change section 22 Face Camera 23. Cargo handling position camera 30 Control Unit 301 Storage section 302 Skill Score Acquisition Department 303 Cargo handling location identification unit 305 Weight determination unit 306 Notice of Changes 307 Change Command Unit 4 Management device

Claims

1. A weight change system used in forklifts, A weight changing unit for changing the weight of the pedals and levers or either of them of the forklift, A cargo handling location identification unit that identifies whether the cargo handling location, which is both or either the cargo picking location and the cargo placing location, is within a specific location or a specific area, A weight determination unit that determines to increase the weight of the pedal and / or the lever when the loading / unloading position is within the specific position or area, A weight changing system comprising: a change command unit that controls the weight changing unit according to the determination of the weight determining unit to change the weight of the pedal and / or the lever.

2. The system further includes a cargo handling position camera that photographs the cargo handling position and generates a cargo handling position image. The weight changing system according to claim 1, wherein the cargo handling position identification unit identifies whether the cargo handling position is within the specified position or the specified area based on the cargo handling position image.

3. It also includes a memory unit for storing cargo handling schedules, The aforementioned cargo handling schedule includes the cargo handling location, The weight change system according to claim 1, wherein the cargo handling position identification unit identifies whether the cargo handling position is within the specified position or area by referring to the cargo handling position in the cargo handling schedule.

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

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

6. A forklift comprising a weight changing system according to any one of claims 1 to 5.

7. A program used in a weight change system comprising a weight change unit that changes the weight of the pedals and / or levers of a forklift, and a computer, To the aforementioned computer, Identifying whether the loading / unloading location, which is either the loading / unloading location or both, is within a specific location or area, When the loading / unloading position is within the specific location or area, it is determined to increase the weight of the pedal and / or the lever, A weight change program that controls the weight change unit to change the weight of the pedal and / or the lever, according to the determined weight.

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