JP2017154841A - Cargo handling vehicle, cargo handling vehicle system, cargo handling vehicle controlling method, cargo handling vehicle system controlling method, and control program of cargo handling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform changeover between unmanned operation and manned operation according to a degree of a fatigue even if an operator is not aware of the fatigue on his own.SOLUTION: A cargo handling vehicle has an operation changeover switch part. In the case where a prescribed first time has lapsed after manned operation was started, the operation changeover switch part changes an operational state from the manned operation to unmanned operation, and in the case where a prescribed second time has lapsed after the unmanned operation was started, the operation changeover switch changes an operational state from the unmanned operation to the manned operation.SELECTED DRAWING: Figure 2

Description

  The present invention relates to, for example, a cargo handling vehicle, a cargo handling vehicle system, a cargo handling vehicle control method, a cargo handling vehicle system control method, and a cargo handling vehicle control program.

  2. Description of the Related Art In recent years, forklifts that are cargo handling vehicles used for loading and unloading use unmanned forklifts that do not require a driver and perform unloading and cargo handling. In such forklifts that enable unmanned operation, there are also forklifts that can perform not only unmanned operation but also switching between manned operation and unmanned operation with a switch (see, for example, Patent Document 1).

  As a reason for having both functions of unmanned driving and manned driving, in unmanned driving, for example, in order to ensure safety according to the standard of JIS D 6802, the upper limit value of the traveling speed and the lifting speed of the lift is It is set to be much slower than manned driving. Therefore, when work must be performed in a hurry, an operation by manned operation is required.

Japanese Patent No. 5400442

  By the way, if you continue to perform manned driving, fatigue accumulates in the driver, so you must regularly take breaks, but the driver is concentrating on work without noticing fatigue There are cases like this.

  In the technique described in Patent Document 1, it is possible to switch from manned driving to unmanned driving by the driver's operation. However, in this technique, unless the driver notices fatigue himself and switches to unmanned driving. There is a problem that work is continued in manned driving.

  The present invention has been made to solve the above problems, and its purpose is to enable switching between unmanned driving and manned driving according to the degree of fatigue even when the driver does not notice fatigue himself. A cargo handling vehicle system, a cargo handling vehicle system, a cargo handling vehicle control method, a cargo handling vehicle system control method, and a cargo handling vehicle control program.

  In order to solve the above problem, according to one aspect of the present invention, when a predetermined first time has elapsed since the start of manned operation, the operation state is switched from the manned operation to the unmanned operation, and the unmanned operation starts. An operation changeover switch unit that switches an operation state from the unmanned operation to the manned operation when a predetermined second time has passed since the operation is performed.

  Further, according to one aspect of the present invention, a fatigue level determination unit that determines whether or not the driver has recovered from fatigue, and when a predetermined time has elapsed since the start of the manned operation, the manned operation is changed to the unmanned operation. An operation changeover switch unit that switches an operation state from the unmanned operation to the manned operation when the operation state is switched and the fatigue level determination unit determines that the driver has recovered from fatigue. It is a vehicle.

  In addition, according to one aspect of the present invention, a fatigue level determination unit that determines whether or not a driver is tired, and when the fatigue level determination unit determines that the driver is tired, the manned driving is unmanned. An operation changeover switch unit that switches the operation state from the unmanned operation to the manned operation when a predetermined time has elapsed since the unmanned operation was started. It is.

  Moreover, one aspect of the present invention is the above-described invention, further comprising a fatigue level calculation unit that calculates the driver's fatigue level based on the driver's biological information, and the fatigue level determination unit includes: The determination may be performed based on the degree of fatigue.

  One aspect of the present invention is the above-described invention, wherein the fatigue level determination unit determines whether or not the driver is tired based on a first threshold value determined in advance and the fatigue level. And determining whether or not the driver has recovered from fatigue based on a predetermined second threshold value and the fatigue level, and the first threshold value and the second threshold value are: Different values may be determined.

  Further, according to one aspect of the present invention, there is provided a work status management unit that detects information indicating a work status in the above-described invention, and the operation changeover switch unit is configured to detect the work status detected by the work status management unit. The operation state may be switched when the information indicating indicates the completion state of the work.

  According to another aspect of the present invention, there is provided a loading detection unit that detects whether or not a loading object is loaded in the invention described above, wherein the work status management unit detects the loading object detected by the loading detection unit. Information indicating the work status may be detected based on information indicating whether or not an object is loaded.

  According to another aspect of the present invention, in the above-described invention, the cargo handling control unit that controls an operation of lifting and lowering a cargo handling object is provided, and the work status management unit is detected by the cargo handling control unit. Information indicating the work status may be detected based on information indicating an operation of lifting and unloading the cargo handling object.

  Further, according to one aspect of the present invention, in the above-described invention, the operation switch unit performs switching of the operation state after completion of work when the information indicating the work status is not a work completion state. May be notified to the driver.

  One aspect of the present invention includes an automatic operation control unit that controls the unmanned operation in the above-described invention, and the automatic operation control unit is switched from the manned operation to the unmanned operation. Decrease one or both of the traveling speed of the host vehicle and the lifting / lowering speed, which is the speed of lifting and lowering the object to be handled, in stages until reaching a predetermined speed in the unmanned driving state. You may make it go.

  One aspect of the present invention is a fatigue degree determination unit that determines whether or not a driver has recovered from fatigue. When a predetermined first time has elapsed since the start of manned driving, the driver is unmanned from the manned driving. A driving changeover switch unit that switches a driving state from the unmanned driving to the manned driving when the driving state is switched to driving and the fatigue level determination unit determines that the driver has recovered from fatigue is provided. A cargo handling vehicle system comprising: a cargo handling vehicle; and a biological information detection device that acquires biological information of the driver and transmits the biological information to the cargo handling vehicle.

  Further, according to one aspect of the present invention, a fatigue level determination unit that determines whether or not a driver is tired, and when the fatigue level determination unit determines that the driver is tired, the driver is not driven from manned driving. Switching operation state, and when a predetermined time has passed since the unmanned operation has started, an operation changeover switch unit that switches the operation state from the unmanned operation to the manned operation, and a cargo handling vehicle, And a biological information detecting device that acquires biological information of the driver and transmits the biological information to the cargo handling vehicle.

  One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle and a management device that manages work performed by the cargo handling vehicle, wherein the management device loads a cargo handling object transferred by the cargo handling vehicle. Work plan information including work specifying information including information indicating the position of the storage location and information indicating the position of the transfer destination and information indicating the completion status of the work, information indicating the completion status of the work is not completed From the work plan information storage unit stored as the information to be shown and the work plan information storage unit, the work plan information in which information indicating the completion state of the work is incomplete is selected and included in the work plan information If the work specification information is received from the cargo handling vehicle and the work plan information selection unit that outputs the work specification information, information indicating the completion status of the work corresponding to the work specification information is displayed from incomplete to complete. And a work completion information writing unit that rewrites the information to indicate that the cargo handling vehicle changes the operating state from the manned operation to the unmanned operation when a predetermined first time has elapsed since the start of the manned operation. Switching, an operation changeover switch unit for switching the operation state from the unmanned operation to the manned operation when a predetermined second time has elapsed since the unmanned operation was started, and the position of the cargo storage object The work specifying information including the information indicating the position of the loading location and the information indicating the position of the transfer destination is transmitted to the management device when the operation of transferring to the position of the transfer destination is performed. When the situation management unit and the operation changeover switch unit switch the operation state from the manned operation to the unmanned operation, the operation management switch receives the work identification information transmitted from the management device, and based on the work identification information. There are, and a automatic driving control unit that performs transfer of the handling object, a cargo handling vehicle system, characterized in that.

  Another aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. The management device includes work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work. The work plan information storage unit stores the work plan information including the information indicating the completion status of the work as information indicating incomplete, and the information indicating the completion status of the work is incomplete from the work plan information storage unit. The work plan information is selected, the work plan information selection unit for outputting the work specific information included in the work plan information, and the work specific information received from the cargo handling vehicle. A work completion information writing unit that rewrites information indicating a completion state of the work corresponding to information to information indicating completion from incomplete, and the cargo handling vehicle is based on the driver's biological information, A fatigue level calculation unit that calculates the driver's fatigue level, a fatigue level determination unit that determines whether or not the driver has recovered from fatigue based on the fatigue level, and a predetermined level after the start of manned driving Switching the driving state from the manned driving to the unmanned driving when time has elapsed, and switching the driving state from the unmanned driving to the manned driving when the fatigue level determination unit determines that the driver has recovered from fatigue When the changeover switch unit and the work for transferring the cargo handling object from the position of the loading place to the position of the transfer destination are performed, information indicating the position of the load storage place and the position of the transfer destination are indicated. Including information The work identification information transmitted from the management device when the operation status management unit that transmits the work identification information to the management device and the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation. And an automatic operation control unit that transfers the cargo handling object based on the work identification information, and the biological information detection device acquires the driver's biological information and transmits it to the cargo handling vehicle This is a cargo handling vehicle system characterized by that.

  Another aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. The management device includes work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work. The work plan information storage unit stores the work plan information including the information indicating the completion status of the work as information indicating incomplete, and the information indicating the completion status of the work is incomplete from the work plan information storage unit. The work plan information is selected, the work plan information selection unit for outputting the work specific information included in the work plan information, and the work specific information received from the cargo handling vehicle. A work completion information writing unit that rewrites information indicating a completion state of the work corresponding to information to information indicating completion from incomplete, and the cargo handling vehicle is based on the driver's biological information, The driver calculates the fatigue level of the driver, a fatigue level determination unit that determines whether the driver is fatigued based on the fatigue level, and the fatigue level determination unit Switching operation from manned operation to unmanned operation when it is determined that the vehicle is fatigued, and switching operation from the unmanned operation to the manned operation when a predetermined time has elapsed since the unmanned operation was started When the switch unit and the work to transfer the cargo handling object from the load storage location to the transfer destination location are performed, information indicating the location of the load storage location and information indicating the location of the transfer destination And said work including When the operation status management unit that transmits constant information to the management device and the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation, the operation specifying information transmitted from the management device is received. An automatic operation control unit that transfers the cargo handling object based on the work identification information, and the biological information detection device acquires the driver's biological information and transmits it to the cargo handling vehicle. This is a cargo handling vehicle system characterized by the above.

  Further, according to one aspect of the present invention, when a predetermined first time has elapsed since the start of the manned operation, the operation state is switched from the manned operation to the unmanned operation, and the predetermined first time after the unmanned operation is started. A method for controlling a cargo handling vehicle, including switching a driving state from the unmanned driving to the manned driving when a time of 2 elapses.

  Another aspect of the present invention is a control method for a cargo handling vehicle system including a cargo handling vehicle and a biological information detection device, wherein the fatigue level of the driver is calculated based on the biological information of the driver, Based on the degree of fatigue, to determine whether the driver has recovered from fatigue, when the predetermined time has elapsed since the start of manned operation, switching the driving state from the manned operation to the unmanned operation, When it is determined that the driver has recovered from fatigue, the driving state is switched from the unmanned driving to the manned driving, and the driver's biological information is acquired and transmitted to the cargo handling vehicle. This is a control method for a cargo handling vehicle system.

  Another aspect of the present invention is a control method for a cargo handling vehicle system including a cargo handling vehicle and a biological information detection device, wherein the fatigue level of the driver is calculated based on the biological information of the driver, Determining whether the driver is tired based on the fatigue level, switching the driving state from the unmanned driving to the manned driving when a predetermined time has elapsed since the unmanned driving was started, and the driving Cargo handling, comprising switching the driving state from the manned driving to the unmanned driving when it is determined that the person is tired, and acquiring and transmitting the driver's biological information to the cargo handling vehicle. It is a control method of a vehicle system.

  One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. A method for controlling a vehicle system, wherein work specifying information including information indicating a position of a loading place of a cargo handling object to be transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work Storing the work plan information including the information indicating the completion state of the work as information indicating incomplete, selecting the work plan information in which the information indicating the completion state of the work is incomplete, Information indicating the completion state of the work corresponding to the work specifying information when the work specifying information included in the work plan information is output and when the work specifying information is received from the cargo handling vehicle Rewriting from incomplete to information indicating completion, calculating the driver's fatigue level based on the driver's biometric information, whether the driver has recovered from fatigue based on the fatigue level Switching the driving state from the manned operation to the unmanned operation when a predetermined time has elapsed since the start of the manned operation, and when determining that the driver has recovered from fatigue, from the unmanned operation When the operation state is switched to the manned operation, and when the work for transferring the cargo handling object from the position of the loading place to the position of the transfer destination is performed, information indicating the position of the loading place and the transfer Transmitting the work specifying information including information indicating a previous position to the management device, and the work transmitted from the management device when the driving state is switched from the manned operation to the unmanned operation. Receiving cargo information, transferring the cargo handling object based on the work identification information, obtaining the driver's biological information and transmitting it to the cargo handling vehicle. This is a system control method.

  One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. A method for controlling a vehicle system, wherein work specifying information including information indicating a position of a loading place of a cargo handling object to be transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work Storing the work plan information including the information indicating the completion state of the work as information indicating incomplete, selecting the work plan information in which the information indicating the completion state of the work is incomplete, Information indicating the completion state of the work corresponding to the work specifying information when the work specifying information included in the work plan information is output and when the work specifying information is received from the cargo handling vehicle Rewriting from incomplete to information indicating completion, calculating the driver's fatigue level based on the driver's biometric information, whether the driver is fatigued based on the fatigue level Switching a driving state from the unmanned driving to the manned driving when a predetermined time has elapsed after the unmanned driving is started, and determining that the driver is tired, the unmanned driving is unmanned. When the operation state is switched to operation, and when the work for transferring the cargo handling object from the position of the load storage place to the position of the transfer destination is performed, information indicating the position of the load storage place, Transmitting the work specifying information including information indicating a position to the management device, and receiving the work specifying information transmitted from the management device when the driving state is switched from the manned operation to the unmanned operation. And a method for controlling a cargo handling vehicle system, comprising: transferring the cargo handling object based on the work specifying information; obtaining the driver's biological information and transmitting the biological information to the cargo handling vehicle. It is.

  According to another aspect of the present invention, a computer provided in a cargo handling vehicle switches a driving state from the manned operation to the unmanned operation when a predetermined first time has elapsed after the manned operation is started, and the unmanned operation is performed. A control program for a cargo handling vehicle that executes switching of the driving state from the unmanned operation to the manned operation when a predetermined second time has elapsed since the start of.

  Further, according to one aspect of the present invention, the computer provided in the cargo handling vehicle determines whether the driver has recovered from fatigue, and the manned driving is performed when a predetermined time has elapsed since the manned driving was started. This is a control program for a cargo handling vehicle that switches the driving state from unmanned driving to switching to the manned driving when the driver recovers from fatigue.

  According to another aspect of the present invention, a computer provided in a cargo handling vehicle determines whether a driver is tired or not, and when the driver is tired, the driving state is changed from manned driving to unmanned driving. This is a control program for a cargo handling vehicle that executes switching and switching the driving state from the unmanned driving to the manned driving when a predetermined time has elapsed since the unmanned driving was started.

  According to the present invention, even when the driver does not notice fatigue himself, it is possible to switch between unmanned driving and manned driving according to the degree of fatigue.

1 is a perspective view of a forklift according to a first embodiment of the present invention. It is a block diagram which shows the structure of the cargo handling vehicle system by 1st embodiment of this invention. It is a figure which shows the structure of the data memorize | stored in the memory | storage part of the vehicle control apparatus by 1st embodiment of this invention. It is a figure which shows the structure of the data memorize | stored in the work plan information storage part of the management apparatus by 1st embodiment of this invention. It is a flowchart which shows the process which manages the working condition by 1st embodiment of this invention. It is a flowchart which shows the process which switches a manned driving | operation and an unmanned driving | operation by the fatigue degree by 1st embodiment of this invention. It is a flowchart which shows the process of the unmanned driving by 1st embodiment of this invention. It is a flowchart which shows the process which switches a manned driving | operation and an unmanned driving | operation by the fatigue degree by 2nd embodiment of this invention. It is a block diagram which shows the structure of the cargo handling vehicle system by 2nd embodiment of this invention. It is a flowchart which shows the process which switches a manned driving | operation and an unmanned driving | operation by the fatigue degree by 3rd embodiment of this invention.

<First embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a forklift 100 according to a first embodiment of the present invention. A forklift 100, which is a cargo handling vehicle, is provided with a pair of straddle arms 102 extending forward, one at the end in the width direction of the vehicle main body 101, in front of the vehicle main body 101. The pair of straddle arms 102 is provided with a mast 103 that extends above the vehicle body 101. The mast 103 is attached with a fork 104 that moves up and down while supporting an object to be handled (hereinafter referred to as luggage), and the mast 103 guides the fork 104 to move up and down. In the forklift 100, a front wheel 115 is provided on the straddle arm 102 and a rear wheel 116 is provided on the vehicle main body 101.

The fork 104 moves up and down along the mast 103. Control for moving the fork 104 up and down along the mast 103 is called lift control. Further, the control for rotating the base portion of the fork 104 and tilting the front end portion of the fork 104 in the vertical direction is called tilt control. The mast 103 advances and retreats along the straddle arm 102 together with the fork 104. Control for moving the mast 103 and fork 104 back and forth along the straddle arm 102 is referred to as reach control.
Note that the mast 103 and the fork 104 are operated by a hydraulic circuit.

  The vehicle body 101 is provided with a driver seat 117 on which the driver 2 is boarded. The driver's seat 117 is provided with a lift lever 106, a tilt lever 107, a reach lever 108, an accelerator lever 109, a brake pedal 110, a steering handle 111, and a display 114.

  The accelerator lever 109 is operated by the driver 2 when driving the motor to move the vehicle main body 101 forward or backward. The brake pedal 110 is operated by the driver 2 when the traveling speed is reduced when the vehicle body 101 is moving forward or backward, or when the vehicle body 101 is stopped. The steering handle 111 is operated by the driver 2 when changing the traveling direction of the vehicle main body 101. The lift lever 106, the tilt lever 107, and the reach lever 108 are levers that are operated by the driver 2 during lift control, tilt control, and reach control, respectively.

  The display 114 displays information such as the traveling speed of the forklift 100, the traveling distance, the load of the fork 104 detected by the load sensor 112, and information indicating whether the driving state is an unmanned driving state or a manned driving state. In addition, when switching from manned driving to unmanned driving, or when switching from unmanned driving to manned driving, information that informs the driver 2 in advance of switching is displayed. The information that informs the driver 2 in advance of switching may be, for example, notification information that displays a blinking mark on a part of the display 114, or notification that a sound is notified if a speaker is incorporated. It may be information, or may be information that indicates a time until switching to the display 114 and counts down.

  The vehicle control device 105 is built in the vehicle main body 101 and performs control of traveling of the forklift 100, control of the fork 104, control of switching between manned operation and unmanned operation, and the like. The load sensor 112 detects the load of the fork 104, that is, the weight of the load lifted by the fork 104. The camera 113 is an optical imaging unit such as a CCD (Charge Coupled Device). The camera 113 is laid on the road surface of the travel route, and indicates a guide line that guides the progress of the forklift 100 during unmanned operation, and a position that is provided at a certain distance interval on the guide line or where the guide line intersects The mark 400 is sequentially photographed at a predetermined frequency (for example, 30 times / second), and information on the photographed image is output to the vehicle control device 105.

  FIG. 2 is a block diagram showing the configuration of the cargo handling vehicle system 1 according to the first embodiment of the present invention. The cargo handling vehicle system 1 includes a forklift 100, a biological information detection device 200, a management device 300, and a position mark 400. Hereinafter, the configuration of the forklift 100 other than the configuration described in FIG. 1 will be described. The vehicle control device 105 of the forklift 100 includes a transmission / reception unit 501, a work status management unit 502, an automatic operation control unit 503, an operation changeover switch unit 504, a fatigue level calculation unit 505, a fatigue level determination unit 506, a travel control unit 508, and cargo handling control. 509, a stack detection unit 510, a position detection unit 511, and a storage unit 512.

  The transmission / reception unit 501 is a wireless communication unit such as WiFi (registered trademark), and transmits and receives information between the biological information detection apparatus 200 and the management apparatus 300. The work status management unit 502 detects information indicating the work status based on information output from the travel control unit 508, the cargo handling control unit 509, the load detection unit 510, and the position detection unit 511. Here, the information indicating the work status is, for example, information indicating whether the work is in progress or the work is complete. In addition, when the work is completed, the work status management unit 502 transmits work specifying information indicating the work to the management apparatus 300 in order to notify the completion of the work.

  The fatigue level calculation unit 505 receives the biological information output from the biological information detection device 200 attached to the driver 2 through the transmission / reception unit 501, and calculates the fatigue level based on the received biological information. The fatigue level determination unit 506 determines whether the driver 2 is fatigued based on the fatigue level calculated by the fatigue level calculation unit 505.

  When the fatigue level determination unit 506 determines that the driver 2 is tired, the operation changeover switch unit 504 switches to unmanned operation when the operation state at that time is a manned operation state. Moreover, when it determines with predetermined | prescribed 1st time having passed after becoming the unmanned driving state, the driving | operation changeover switch part 504 switches to manned driving, when switching from unmanned driving to manned driving. Further, when the information indicating the work status indicates that the work is in progress, the operation changeover switch unit 504 waits until the work is completed without switching the operation state, and the information indicating the work status indicates that the work is completed. Switch the operating state when indicated. Further, the operation changeover switch unit 504 writes and stores information indicating the operation state after switching, that is, the current operation state, in the operation state information 512B of the storage unit 512.

  In the manned operation state, the cargo handling control unit 509 operates the lift lever 106, the tilt lever 107, and the reach lever 108 by the driver 2 to drive the hydraulic circuit to perform lift control and tilt on the fork 104. Control and reach control are performed. In addition, in the unmanned operation state, the cargo handling control unit 509 receives control instruction information from the automatic operation control unit 503, drives the hydraulic circuit, and performs lift control, tilt control, and reach control on the fork 104. Do. In addition, the cargo handling control unit 509 is a type of control performed by driving the hydraulic circuit, for example, in the case of lift control, the fork 104 is lifted by lifting the fork 104, or the fork 104 is lowered by lowering the load. Outputs information indicating whether it is being lowered. Hereinafter, raising the fork 104 to lift the load is referred to as lift-up, and lowering the fork 104 to lower the load is referred to as lift-down.

  In the manned driving state, the traveling control unit 508 receives the operation of the accelerator lever 109, the brake pedal 110, and the steering handle 111 by the driver 2 and drives the motor to move the front wheel 115 and the rear wheel 116 to move the forklift 100. Let it run. In the unmanned operation state, the travel control unit 508 receives control instruction information from the automatic operation control unit 503, drives the motor to move the front wheels 115 and the rear wheels 116, and causes the forklift 100 to travel. Moreover, the traveling control unit 508 sequentially outputs information indicating the traveling speed.

  The load detection unit 510 sequentially outputs information indicating whether or not the load is loaded based on the weight value of the load lifted by the fork 104, which is sequentially output by the load sensor 112. The position detection unit 511 analyzes the image of the guide line and the position mark 400 sequentially photographed by the camera 113 and sequentially outputs information indicating the deviation from the guide line and information indicating the position.

  When the automatic driving control unit 503 is switched to the unmanned driving state, the automatic driving control unit 503 receives the work specifying information indicating the planned work transmitted from the management device 300. Further, the automatic operation control unit 503 outputs control instruction information to the travel control unit 508 and the cargo handling control unit 509 based on the received work identification information, and moves the forklift 100 toward the place where the load is loaded. Traveling is performed, the load is lifted by the fork 104, traveled to the destination of the load, and the load is lowered at the destination. In addition, the automatic operation control unit 503 outputs control instruction information to the travel control unit 508 so as to travel along the guide line based on information indicating the deviation from the guide line output by the position detection unit 511 and the position. To do.

  The storage unit 512 stores information on the determination reference value 512A, the operation state information 512B, and the work situation table 512C illustrated in FIG. The determination reference value 512A is the normal biological information of the driver 2 measured by the biological information detection device 200 before the work. For example, when detecting the pulse rate as the biological information, the normal value of the driver 2 is determined. The value of the pulse rate for 1 minute is measured in advance and stored. The driving state information 512B is information indicating the driving state written by the driving changeover switch unit 504 as described above. The work status table 512 </ b> C is a table having items of “lift-up position”, “lift-down position”, and “completion state”, and a record is generated each time work is performed by the work status management unit 502. In the item, information indicating the position where the load is lifted up, information indicating the position where the load is lifted down, and information indicating the completion state of the work are written.

  For example, a wristband type wearable terminal device as disclosed in Japanese Patent Application Laid-Open No. 2015-154868 is applied to the biological information detection apparatus 200, and the biological information of the driver 2 is set at a predetermined interval. Detect repeatedly. In the first embodiment of the present invention, for example, the biological information detection device 200 repeatedly detects the pulse rate of the driver 2 for 15 seconds. In addition, the biological information detection device 200 transmits the detected biological information to the transmission / reception unit 501 of the vehicle control device 105 of the forklift 100 by wireless communication means.

  The management apparatus 300 includes a work plan information storage unit 301, a work plan information selection unit 302, a work done information writing unit 303, and a transmission / reception unit 304. The transmission / reception unit 304 transmits / receives information to / from the transmission / reception unit 501 of the vehicle control device 105 of the forklift 100 by wireless communication means. The work plan information storage unit 301 stores a work plan information table 310 shown in FIG. The work plan information table 310 includes items of “package ID (Identification)”, “loading position ID”, “transfer destination position ID”, and “completion state” constituting the work plan information. In the “package ID” item, an identification number assigned in advance for each package is written. In the item “loading position ID”, an identification number indicating the position where the load is loaded before transfer is written. In the item “transfer destination position ID”, an identification number indicating the position of the package transfer destination is written. In the “completed state” item, “completed” is written when the transfer of the package is completed. If the transfer of the package has not been completed, “incomplete” is written. When the package to be transported is newly loaded, for example, by the operation of the operator of the management apparatus 300, the “package ID”, “loading position ID”, “transfer destination position ID” associated with the package. , And “uncompleted” is written as initial information in the item “completion state”. The above-described work specifying information includes an identification number indicating the position where the package written in the “loading position ID” item is loaded and the package written in the “transfer destination position ID” item. Information including an identification number indicating the position of the transfer destination.

  The work plan information selection unit 302 selects work plan information whose “completed” item is “incomplete” from the information included in the work plan information table 310 stored in the work plan information storage unit 301. read out. The work plan information selection unit 302 includes information including an identification number indicating the position of the item “loading position ID” and an identification number indicating the position of the item “transfer destination position ID” from the read work plan information, that is, The work specifying information is selected and transmitted to the vehicle control device 105 of the forklift 100 through the transmission / reception unit 304. When the work completion information writing unit 303 receives the work identification information indicating the completed work from the vehicle control device 105 of the forklift 100 through the transmission / reception unit 304, the work plan corresponding to the combination of identification numbers included in the work identification information. The information in the information table 310 is detected, and the “completed state” item of the information is rewritten from “incomplete” to “completed”.

  A plurality of position marks 400 are provided on the road surface of the travel route. The position mark 400 is a count printed or pasted on a part of a guide line used to guide the forklift 100 when unmanned operation is performed as disclosed in, for example, Japanese Patent Application Laid-Open No. 2013-171368. Mark or unique mark. In the first embodiment of the present invention, it is assumed that the position mark 400 indicates identification information such as a bar code or a two-dimensional code indicating the position. The identification information is photographed by the camera 113, and the photographed image is analyzed by the position detection unit 511, whereby an identification number indicating the position is output.

(Work status management process)
FIG. 5 is a flowchart showing a process of updating the work status table 512C and the work plan information table 310 according to the work progress status in the forklift 100 and the management apparatus 300, respectively. The process of the flowchart is a process that is continuously performed regardless of whether the forklift 100 is in a manned operation state or an unmanned operation state.

  The work status management unit 502 of the vehicle control device 105 of the forklift 100 detects that lift control for raising and lowering the fork 104 has been started based on information indicating the type of control output from the cargo handling control unit 509 (step Sa1). ). The work status management unit 502 determines whether the forklift 100 is traveling or stopped based on the information indicating the traveling speed output by the traveling control unit 508 that drives the motor (step Sa2).

  If it is determined that the vehicle is traveling (step Sa2: traveling), it is assumed that the load is not being lifted or lowered at the load storage position or the transfer destination position. The processing from step Sa1 is repeated. When it is determined that the vehicle is stopped (step Sa2: stopped), the work status management unit 502 indicates the position that the position detection unit 511 analyzes and outputs based on the images of the position marks 400 that are sequentially captured by the camera 113. An identification number is acquired from the position detection part 511 (step Sa3). When the work status management unit 502 detects the end of the lift control by the cargo handling control unit 509, the work status management unit 502 determines whether the performed lift control is lift-up or lift-down (step Sa4).

  When it is determined that the lift control performed is lift-up (step Sa4: lift-up), the work status management unit 502 outputs information indicating the weight of the load loaded on the fork 104 output from the load detection unit 510. Based on the above, it is determined whether or not there is a load (step Sa5). For example, if the information indicating the weight indicates 0 [kg], it is determined that there is no load, and if the information indicating the weight indicates a value greater than 0 [kg], it is determined that the load is present. To do. When it is determined that there is a load (step Sa5: with load), it is assumed that the load is lifted by the fork 104. Therefore, the work status management unit 502 generates one record including items of “lift up position”, “lift down position”, and “completion state” in the work status table 512C of the storage unit 512, The identification number indicating the position acquired from the position detection unit 511 in step Sa3 is written in the item "." In addition, the work status management unit 502 writes “work in progress” indicating that the work is in progress to the “completed state” item, and repeats the processing from step Sa1 (step Sa6). On the other hand, if it is determined in step Sa5 that there is no load (step Sa5: no load), it is assumed that the fork 104 is simply raised, and thus the processing from step Sa1 is repeated.

  In step Sa4, when it is determined that the lift control performed is lift-down (step Sa4: lift-down), the work status management unit 502 displays the load loaded on the fork 104 output from the load detection unit 510. Based on the information indicating the weight, it is determined whether there is a load (step Sa7). When it is determined that there is no load (step Sa7: no load), it is assumed that the work status management unit 502 has unloaded the load. Therefore, the work status management unit 502 reads the identification number indicating the position from the “lift-up position” item in which the “completion state” item is “working” in the work status table 512C of the storage unit 512. The work status management unit 502 manages work identification information including the read identification number indicating the lift-up position and the identification number indicating the lift-down position acquired from the position detection unit 511 in step Sa3 through the transmission / reception unit 501. It transmits to the apparatus 300 (step Sa8).

  The work status management unit 502 adds a position detection unit to the “lift-down position” item that is blank in the information that the “completion state” item is “working” in the work status table 512C of the storage unit 512. An identification number indicating the position acquired from 511 is written (step Sa9). In addition, the work status management unit 502 writes “completed” indicating that the work is completed in the “completion state” item, and repeats the processing from step Sa1. On the other hand, if it is determined in step Sa7 that there is a load (step Sa7: with load), it is assumed that the work status management unit 502 simply moves the fork 104 down with the load loaded. The work status management unit 502 repeats the processing from step Sa1.

  The work completion information writing unit 303 of the management apparatus 300 receives the work specifying information transmitted by the work state management unit 502 through the transmission / reception unit 304 through the process of step Sa8. The work completion information writing unit 303 stores work plan information that matches a combination of an identification number indicating a lift-up position and an identification number indicating a lift-down position included in the received work identification information. It is detected from the work plan information table 310 of 301. The work completion information writing unit 303 rewrites the “completed state” item of the detected work plan information from “incomplete” to “completed”.

  Thereby, the management apparatus 300 can detect completed work and unfinished work by referring to the item “completed state” of the work plan information stored in the work plan information table 310. it can. Further, the management device 300 refers to the item of “completed state” in the work status table 512C stored in the storage unit 512 of the vehicle control device 105, so that the vehicle control device 105 side is also in a working state. It is possible to detect information indicating a work status such as whether the work is completed or not.

(Switching between manned and unmanned driving)
FIG. 6 is a flowchart showing a process of switching from unmanned operation to unmanned operation by the vehicle control device 105 of the forklift 100 according to the degree of fatigue of the driver 2, and switching from unmanned operation to manned operation after a predetermined first time has elapsed. It is. The biological information detection device 200 attached to the driver 2 detects the biological information of the driver 2. Here, as described above, the biological information detected by the biological information detection apparatus 200 is, for example, the pulse rate of the driver 2 measured for 15 seconds. The biological information detection apparatus 200 transmits the detected pulse rate information for 15 seconds. The fatigue degree calculation unit 505 of the vehicle control device 105 of the forklift 100 receives the biological information output from the biological information detection device 200 through the transmission / reception unit 501, that is, information on the pulse rate for 15 seconds (step Sb1).

  The fatigue level calculation unit 505 calculates the fatigue level from the received biological information. For example, the fatigue level calculation unit 505 calculates the pulse rate for 1 minute by quadrupling the received 15-second pulse rate, and outputs the calculated value to the fatigue level determination unit 506 as information indicating the fatigue level (step) Sb2). When the fatigue level determination unit 506 receives the information indicating the fatigue level from the fatigue level calculation unit 505, the fatigue level determination unit 506 refers to the driving state information 512B of the storage unit 512 to determine whether the current driving state is a manned driving state or an unmanned driving state. It is determined whether it exists (step Sb3).

  When the fatigue level determination unit 506 determines that it is a manned driving state (step Sb3: manned driving state), it reads the determination reference value 512A stored in the storage unit 512. Here, it is assumed that the value of the pulse rate for one minute in the normal time of the driver 2 stored in advance as the determination reference value 512A is read. The fatigue level determination unit 506 calculates a first threshold value by adding a predetermined first value to the pulse rate for one minute in normal times. For example, it is generally said that if the pulse rises from 5 to 10 beats, it is said that the user is tired. Here, 10 beats are added as the first predetermined value. The fatigue level determination unit 506 determines whether or not the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 505 is greater than or equal to the first threshold (step Sb4). The first predetermined value may be stored in advance in the storage unit 512, or may be stored in advance in a storage area inside the fatigue level determination unit 506.

  When the fatigue level determination unit 506 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 505 is not equal to or greater than the first threshold (step Sb4: No), the processing from step Sb1 is repeated. It is. On the other hand, when the fatigue level determination unit 506 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 505 is greater than or equal to the first threshold (step Sb4: Yes), the determination result is obtained. In response, the operation changeover switch unit 504 determines whether or not the current operation is completed (step Sb5).

  The operation changeover switch unit 504 refers to the work status table 512C of the storage unit 512, and when there is information indicating the work status, that is, information in which the item “completed state” is “working”, It is determined that the operation is not completed. When it is determined that the current work is not completed (step Sb5: No), the operation changeover switch unit 504 displays a message on the display 114 informing that switching from the manned operation to the unmanned operation is completed when the current work is completed. (Step Sb6), and the process of step Sb5 is repeated. On the other hand, when all the “completion state” items are “completed” (step Sb5: Yes), the operation changeover switch unit 504 determines that the work status information indicates completion of the work, It is determined that the work is completed, and the operation state information 512B in the storage unit 512 is rewritten with information indicating the unmanned operation state (step Sb7). By rewriting the information stored in the driving state information 512B, the driving state displayed on the display 114 is changed to the unmanned driving state. The operation changeover switch unit 504 switches from manned operation to unmanned operation, starts the unmanned operation processing of FIG. 7 described later (step Sb8), and returns to the processing of step Sb1.

  On the other hand, when it is determined in step Sb3 that the vehicle is in the unmanned operation state (step Sb3: unmanned operation state), the operation changeover switch unit 504 determines whether or not a predetermined first time has elapsed after switching to the unmanned operation state. Is determined (step Sb10).

  If the operation changeover switch unit 504 determines that the predetermined first time has not elapsed after switching to the unattended operation state (step Sb10: No), the process of step Sb10 is repeated. On the other hand, if the operation changeover switch unit 504 determines that the predetermined first time has elapsed after switching to the unmanned operation state (step Sb10: Yes), the automatic operation control unit 503 stops the unmanned operation. The requested unmanned operation stop instruction information is output (step Sb11). The operation changeover switch unit 504 determines whether or not the unattended operation has ended based on whether or not the automatic operation control unit 503 outputs an unattended operation stop notification (step Sb12).

  When the automatic operation control unit 503 has not output the unmanned operation stop notification and determines that the unattended operation has not ended (step Sb12: No), the operation changeover switch unit 504, when the current operation is completed, A message notifying that switching from driving to manned driving is displayed on the display 114, and the process of step Sb12 is repeated (step Sb13). On the other hand, when it determines with the unmanned driving | operation having been complete | finished (step Sb12: Yes), the driving | operation changeover switch part 504 rewrites the driving | running state information 512B of the memory | storage part 512 to a manned driving state (step Sb14). By rewriting the information stored in the driving state information 512B, the driving state displayed on the display 114 is also changed to the manned driving state. The driving changeover switch unit 504 cancels the control of the cargo handling control unit 509 by the operation of the lift lever 106, the tilt lever 107, and the reach lever 108 of the driver 2, and the accelerator lever 109, the brake pedal 110, and the steering of the driver 2. The control of the traveling control unit 508 by the operation of the handle 111 is canceled, the driving state is changed to the manned driving state, and the process returns to the process of step Sb1 (step Sb15).

(Processing of unmanned operation)
FIG. 7 is a flowchart showing processing when unmanned operation is started in step Sb8. The operation changeover switch unit 504 activates the automatic operation control unit 503 to start the automatic operation process (step Sc1). The operation changeover switch unit 504 stops the control of the cargo handling control unit 509 by operating the lift lever 106, the tilt lever 107, and the reach lever 108 of the driver 2, and the cargo handling control unit 509 performs a control instruction from the automatic operation control unit 503. It switches so that it may operate | move according to information (step Sc2). The driving changeover switch unit 504 stops the control of the traveling control unit 508 by operating the accelerator lever 109, the brake pedal 110, and the steering handle 111 of the driver 2, and the traveling control unit 508 controls the control instruction from the automatic driving control unit 503. It switches so that it may operate | move according to information (step Sc3).

  When activated by the operation changeover switch unit 504, the automatic operation control unit 503 determines whether or not unattended operation stop instruction information is received from the operation changeover switch unit 504 (step Sc4). When it is determined that the automatic operation control unit 503 has not received unattended operation stop instruction information from the operation changeover switch unit 504 (step Sc4: No), the automatic operation control unit 503 specifies the work to the work plan information selection unit 302 of the management apparatus 300 through the transmission / reception unit 501. Information indicating that information is requested is transmitted (step Sc5).

  The work plan information selection unit 302 reads out work plan information whose item “completed” is “incomplete” from the work plan information table 310 of the work plan information storage unit 301. The work plan information selection unit 302 selects work specifying information including an identification number indicating a loading position and an identification number indicating a transfer destination position from the read work plan information, and transmits the work specification information to the automatic operation control unit 503 through the transmission / reception unit 304. Send. For example, in the example of FIG. 4, since the “completion state” of the record with the package ID “002” is “incomplete”, the storage location ID “204” and the transfer destination location ID “340” are read and transmitted. To do.

  The automatic operation control unit 503 receives the work identification information through the transmission / reception unit 501 (step Sc6). The automatic operation control unit 503 operates the travel control unit 508 based on the received work specifying information, advances the forklift 100 to the loading position indicated by the work specifying information, and operates the cargo handling control unit 509. Then, the luggage is lifted, and the luggage is carried to the position of the transfer destination indicated by the work specifying information to unload it (step Sc7). The automatic operation control unit 503 repeats the process from step Sc4.

  In Step Sc4, when it is determined that the unmanned operation stop instruction information is received from the operation changeover switch unit 504 (Step Sc4: Yes), the automatic operation control unit 503 outputs an unmanned operation stop notification to the operation changeover switch unit 504. Then, the process ends (step Sc8).

  5, 6, and 7 illustrate processes performed in parallel by the respective functional units included in the vehicle control device 105. FIG. 7 shows the process that is started in response to the process of step Sb8 in FIG. 6 as described above. The biological information that the biological information detection apparatus 200 sequentially outputs even if the process shown in FIG. 7 is started. Received by the vehicle control device 105, the processing from step Sb1 is repeated.

  With the configuration of the first embodiment of the present invention described above, the fatigue level calculation unit 505 of the vehicle control device 105 calculates the fatigue level of the driver 2, and based on the calculated fatigue level, the fatigue level determination unit 506 It is determined whether or not the driver 2 is tired. If it is determined that the driver 2 is tired, the operation changeover switch unit 504 switches from manned operation to unmanned operation. In addition, the operation switching switch unit 504 switches from unmanned operation to manned operation when it is determined that the predetermined first time has elapsed after switching to the unmanned operation state. As a result, even when the driver is not aware of fatigue by himself / herself, the vehicle control device 105 can switch between unmanned operation and manned operation according to the degree of fatigue and recover from fatigue.

<Second Embodiment>
A second embodiment of the present invention will be described.
The cargo handling vehicle system 1 according to the second embodiment of the present invention is similar to the cargo handling vehicle system 1 according to the first embodiment of the present invention shown in FIG. 2. Forklift 100, biological information detection device 200, management device 300, A position mark 400 is provided.

  The vehicle control device 105 of the forklift 100 includes a transmission / reception unit 501, a work status management unit 502, an automatic operation control unit 503, an operation changeover switch unit 504, a fatigue level calculation unit 505, a fatigue level determination unit 506, a travel control unit 508, and cargo handling control. 509, a stack detection unit 510, a position detection unit 511, and a storage unit 512.

  The fatigue level determination unit 506 determines whether the driver 2 has recovered from fatigue based on the fatigue level calculated by the fatigue level calculation unit 505.

  When the fatigue level determination unit 506 determines that the driver 2 has recovered from fatigue, the operation changeover switch unit 504 switches to the manned operation when the operation state at that time is an unmanned operation state. The operation changeover switch unit 504 switches to unmanned operation when it is determined that the predetermined second time has elapsed after switching to manned operation. Further, when the information indicating the work status indicates that the work is in progress, the operation changeover switch unit 504 waits until the work is completed without switching the operation state, and the information indicating the work status indicates that the work is completed. Switch the operating state when indicated. Further, the operation changeover switch unit 504 writes and stores information indicating the operation state after switching, that is, the current operation state, in the operation state information 512B of the storage unit 512.

(Switching between manned and unmanned driving)
FIG. 8 is a flowchart showing a process of switching from unmanned operation to manned operation by the vehicle control device 105 of the forklift 100 according to the degree of fatigue of the driver 2, and switching from manned operation to unmanned operation after a predetermined second time has elapsed. It is. The biological information detection device 200 attached to the driver 2 detects the biological information of the driver 2. Here, the biometric information detected by the biometric information detection apparatus 200 is, for example, the pulse rate of the driver 2 measured for 15 seconds. The biological information detection apparatus 200 transmits the detected pulse rate information for 15 seconds.

  The vehicle control device 105 according to the second embodiment of the present invention performs the processing of step Sb1 to step Sb3 in the same manner as the vehicle control device 105 according to the first embodiment of the present invention.

  When the fatigue degree determination unit 506 of the vehicle control device 105 determines that it is a manned operation state in the process of step Sb3 (step Sb3: manned operation state), the operation changeover switch unit 504 is set to a predetermined state after switching to the manned operation state. It is determined whether or not the second time has elapsed (step Sb16). The predetermined second time used in the process of step Sb16 may be the same as the predetermined first time used in the process of step Sb10. Further, the predetermined second time used in the process of step Sb16 may be different from the predetermined first time used in the process of step Sb10.

  If the operation changeover switch unit 504 determines that the predetermined second time has not elapsed after switching to the manned operation state (step Sb16: No), the process of step Sb16 is repeated. On the other hand, if the operation changeover switch unit 504 determines that the predetermined second time has elapsed after switching to the manned operation state (step Sb16: Yes), the vehicle control device 105 according to the second embodiment of the present invention. Performs the processing of step Sb5 to step Sb8 and returns to the processing of step Sb1 in the same manner as the vehicle control device 105 according to the first embodiment of the present invention.

  On the other hand, when it is determined in step Sb3 that the vehicle is in the unmanned driving state (step Sb3: unmanned driving state), the fatigue level determination unit 506 determines the determination reference value 512A stored in the storage unit 512, that is, the normal state of the driver 2. Read the pulse rate value for 1 minute. The fatigue level determination unit 506 calculates a second threshold value by adding a predetermined second value to the pulse rate for one minute during normal times. Here, the second predetermined value is, for example, about 0 to 5 beats. The fatigue level determination unit 506 determines whether or not the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 505 is equal to or less than the second threshold (step Sb17). The second predetermined value may be stored in advance in the storage unit 512, or may be stored in advance in a storage area inside the fatigue level determination unit 506.

  When the fatigue level determination unit 506 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 505 is not equal to or less than the second threshold (step Sb17: No), the processing from step Sb1 is repeated. . On the other hand, when the fatigue level determination unit 506 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 505 is equal to or lower than the second threshold (step Sb17: Yes), the second of the present invention. Similarly to the vehicle control device 105 according to the first embodiment of the present invention, the vehicle control device 105 according to the embodiment performs the processing of step Sb11 to step Sb15 and returns to the processing of step Sb1.

In addition, the flowchart which shows the process which manages the work condition in 2nd embodiment of this invention is the same as the flowchart which shows the process which manages the work condition in 1st embodiment of this invention shown in FIG.
Moreover, the flowchart which shows the process of the unmanned operation in 2nd embodiment of this invention is the same as the flowchart which shows the process of unattended operation in 1st embodiment of this invention shown in FIG.
The flowchart showing the unmanned operation process in the second embodiment of the present invention shows the process started in response to the process of step Sb8 in FIG. 8, and the unmanned operation process in the second embodiment of the present invention. Is started, the biological information sequentially output by the biological information detecting device 200 is received by the vehicle control device 105, and the processing from step Sb1 is repeated.

  With the configuration of the second embodiment of the present invention described above, the operation changeover switch unit 504 switches from the manned operation to the unmanned operation when it is determined that the predetermined second time has elapsed after switching to the manned operation state. . In addition, when the fatigue level determination unit 506 determines that the driver 2 has recovered from fatigue, the operation changeover switch unit 504 switches to the manned operation when the operation state at that time is an unmanned operation state. As a result, even when the driver is not aware of fatigue by himself / herself, the vehicle control device 105 can switch between unmanned operation and manned operation according to the degree of fatigue and recover from fatigue.

<Third embodiment>
A third embodiment of the present invention will be described.
The cargo handling vehicle system 1 according to the third embodiment of the present invention includes a forklift 100, a management device 300, and a position mark 400, similarly to the cargo handling vehicle system 1 according to the first embodiment of the present invention shown in FIG.

  As shown in FIG. 9, the vehicle control device 105 of the forklift 100 includes a transmission / reception unit 501, a work status management unit 502, an automatic operation control unit 503, an operation changeover switch unit 504, a travel control unit 508, a cargo handling control unit 509, and load detection. Unit 510, position detection unit 511, and storage unit 512.

  The operation changeover switch unit 504 switches to unmanned operation when it is determined that the predetermined second time has elapsed after switching to manned operation. In addition, the operation changeover switch unit 504 switches from unmanned operation to manned operation when it is determined that the predetermined first time has elapsed after switching to unmanned operation. Further, when the information indicating the work status indicates that the work is in progress, the operation changeover switch unit 504 waits until the work is completed without switching the operation state, and the information indicating the work status indicates that the work is completed. Switch the operating state when indicated. Further, the operation changeover switch unit 504 writes and stores information indicating the operation state after switching, that is, the current operation state, in the operation state information 512B of the storage unit 512.

  The storage unit 512 stores the operation state information 512B and the work state table 512C shown in FIG. The driving state information 512B is information indicating the driving state written by the driving changeover switch unit 504 as described above. The work status table 512 </ b> C is a table having items of “lift-up position”, “lift-down position”, and “completion state”, and a record is generated each time work is performed by the work status management unit 502. In the item, information indicating the position where the load is lifted up, information indicating the position where the load is lifted down, and information indicating the completion state of the work are written.

(Switching between manned and unmanned driving)
FIG. 10 shows a case where it is determined that a predetermined second time has elapsed after switching to manned driving, a case where it is determined that a predetermined first time has elapsed after switching to unmanned driving and switching to unmanned driving. It is a flowchart which shows the process which switches from unmanned driving to manned driving.

  The vehicle control device 105 according to the third embodiment of the present invention refers to the driving state information 512B in the storage unit 512 to determine whether the current driving state is a manned driving state or an unmanned driving state (step Sb3). ).

  When the vehicle control device 105 determines in the process of step Sb3 that the vehicle is in the manned operation state (step Sb3: manned operation state), the operation changeover switch unit 504 switches to the manned operation state, and then the predetermined second time It is determined whether or not it has elapsed (step Sb16).

  If the operation changeover switch unit 504 determines that the predetermined second time has not elapsed after switching to the manned operation state (step Sb16: No), the process of step Sb16 is repeated. On the other hand, if the operation changeover switch unit 504 determines that the predetermined second time has elapsed after switching to the manned operation state (step Sb16: Yes), the vehicle control device 105 according to the second embodiment of the present invention. Performs the processing of step Sb5 to step Sb8 and returns to the processing of step Sb1 in the same manner as the vehicle control device 105 according to the first embodiment of the present invention.

  On the other hand, when it is determined in step Sb3 that the vehicle is in the unmanned operation state (step Sb3: unmanned operation state), the operation changeover switch unit 504 determines whether or not a predetermined first time has elapsed after switching to the unmanned operation state. Is determined (step Sb10). The predetermined first time used in the process of step Sb10 may be the same as the predetermined second time used in the process of step Sb10. The predetermined first time used in the process of step Sb18 may be different from the predetermined second time used in the process of step Sb16.

  If the operation changeover switch unit 504 determines that the predetermined first time has not elapsed after switching to the unattended operation state (step Sb10: No), the process of step Sb10 is repeated. On the other hand, when it is determined that the predetermined first time has elapsed after switching to the unattended operation state (step Sb10: Yes), the operation changeover switch unit 504 is the vehicle control device 105 according to the second embodiment of the present invention. Performs the processing of step Sb11 to step Sb15, and returns to the processing of step Sb1, as in the vehicle control device 105 according to the first embodiment of the present invention.

In addition, the flowchart which shows the process which manages the work condition in 3rd embodiment of this invention is the same as the flowchart which shows the process which manages the work condition in 1st embodiment of this invention shown in FIG.
The flowchart showing the unmanned operation process in the third embodiment of the present invention is the same as the flowchart showing the unmanned operation process in the first embodiment of the present invention shown in FIG.
The flowchart showing the unmanned operation process in the third embodiment of the present invention shows the process started in response to the process of step Sb8 in FIG. 10, and the unmanned operation process in the third embodiment of the present invention. Even if is started, the processing from step Sb1 is repeated.

  With the configuration of the third embodiment of the present invention described above, the operation changeover switch unit 504 switches to the unmanned operation when it is determined that the predetermined second time has elapsed after switching to the manned operation. In addition, the operation changeover switch unit 504 switches from unmanned operation to manned operation when it is determined that the predetermined first time has elapsed after switching to unmanned operation. As a result, even when the driver is not aware of fatigue by himself / herself, the vehicle control device 105 can switch between unmanned operation and manned operation according to the degree of fatigue and recover from fatigue.

  Further, the work status management unit 502 acquires the position where the load is lifted up and the load is lifted by the identification number indicating the position output by the position detection unit 511, and the position where the load is lifted down and the load is lowered, and the storage unit The data is written in the work status table 512C of 512. As a result, the vehicle control apparatus 105 can detect the work situation by referring to the item of “completed state” in the work situation table 512C, so that the operation changeover switch unit 504 completes the current work. Therefore, it is possible to switch from manned operation to unmanned operation. In addition, when switching from unmanned operation to manned operation, the operation switching switch unit 504 outputs unmanned operation stop instruction information to the automatic operation control unit 503, so that the vehicle control device 105 performs work performed in unmanned operation. It is possible to switch from the unmanned operation to the manned operation after the work is completed after waiting for the switching until the operation is completed.

  In addition, the work status management unit 502 transmits work specifying information including information indicating the lifted-up position and information indicating the lifted-down position to the management apparatus 300, and the work completion information writing section of the management apparatus 300 303 receives the work identification information. The work completion information writing unit 303 detects work plan information corresponding to the received work identification information from the work plan information table 310 of the work plan information storage unit 301, and sets the item “completed state” of the detected work plan information. Rewrite “incomplete” to “completed”. Thereby, when the automatic operation control unit 503 requests work specifying information indicating work to be performed in the case of unmanned driving, the work plan information selecting unit 302 selects the work plan information from the work plan information. The record whose “completed state” item is “incomplete” is selected, the work specifying information of the record is read and transmitted to the automatic operation control unit 503. Thereby, in the forklift 100, it is possible to continue the process of transferring the load even in the unmanned operation state.

  In the above-described embodiment, when the operation changeover switch unit 504 switches from manned operation to unmanned operation, the operation is switched while waiting for completion of the operation, so that the operation state is switched while the forklift 100 is stopped. However, the embodiment of the present invention is not limited to this configuration. For example, in step Sb6 of FIGS. 6, 8, and 10, the operation changeover switch unit 504 displays information notifying that the operation is switched from the manned operation to the unmanned operation when the work is completed on the display 114, and the traveling control unit 508 and the cargo handling control are performed. Control instruction information for reducing the speed may be output to the unit 509. Thereby, for example, the traveling control unit 508 can decrease the traveling speed in a stepwise manner until the traveling speed reaches a predetermined traveling speed in the unmanned operation state, and the cargo handling control unit 509 can be decreased in advance in the unmanned operation state. The speed can be decreased step by step until a predetermined lifting speed of the fork 104 is reached. Thus, if the driver 2 runs the forklift 100 or raises or lowers the fork 104 between the completion of the work and the time when the automatic operation control unit 503 is activated and the unmanned operation is started. Even if it does, it becomes possible to switch from manned operation to unmanned operation by a gradual speed change.

  In the above embodiment, when the operation changeover switch unit 504 switches from the manned operation to the unmanned operation, the operation is switched after the completion of the work. However, the embodiment of the present invention is not limited to the configuration. . The unmanned operation may be switched immediately without waiting for the completion of the work. In this case, the automatic operation control unit 503 of the vehicle control device 105 detects the current position and the work status table 512C of the storage unit 512. If there is information whose “completion state” is “working”, the work may be continued with reference to the latest work specifying information received from the management apparatus 300. Good. In this case, since the work is continued without error, an identification number indicating the position of the loading position ID in the latest work identification information and an identification number indicating the position of the lift-up position in the work status table 512C are provided. It is also necessary to determine that they match.

  Further, in the above embodiment, the steps Sc4 to Sc7 in FIG. 7 prevent the operation from being switched to the manned operation until the unmanned operation is completed. However, the embodiment of the present invention is not limited to this configuration. I can't. If the operation switching switch unit 504 is configured to be manually switched by the operation of the driver 2, in step Sb13 of FIGS. 6, 8, and 10, when the operation is completed, the operation is switched from unmanned operation to manned operation. When the message is issued, the driver 2 may manually switch the operation changeover switch unit 504 to perform the subsequent operation.

  Moreover, in said embodiment, although it is set as the structure provided with the management apparatus 300 in the cargo handling vehicle system 1, the structure of this invention is not restricted to the said embodiment. The cargo handling vehicle system 1 may include a biological information detection device 200, a forklift 100, and a position mark 400, and may not include a management device 300. In this case, the work plan information table 310 storing the work plan information for each vehicle control device 105 of the forklift 100 is stored in the storage unit 512, and the vehicle control device 105 includes the work completed information writing unit 303, the work plan information selection unit. 302 is provided. As a result, the cargo handling vehicle system 1 switches from manned operation to unmanned operation based on the degree of fatigue and performs work in unmanned operation based on the work plan information stored in the storage unit 512 without the management device 300. Can continue. In the case where the management apparatus 300 is not provided, short-distance communication means such as Bluetooth (registered trademark) may be applied to the communication between the biological information detection apparatus 200 and the vehicle control apparatus 105.

  In the above-described embodiment, the camera 113 of the forklift 100 captures the position mark 400, and the position detection unit 511 analyzes the image obtained by capturing and outputs information indicating the position. The configuration of the present invention is not limited to the embodiment. The forklift 100 does not include the position mark 400 or the camera 113 but includes a GPS (Global Positioning System) device in the vehicle control device 105 so that the position detection unit 511 acquires information indicating the position from the GPS. May be. Further, the forklift 100 may be provided with a magnetic sensor instead of the camera 113, and a magnetism member may be provided on the travel route instead of the guide line and the position mark 400. In this case, the position detection unit 511 analyzes a signal detected by the magnetic sensor from the magnetic generator, and outputs information indicating the position.

In the above embodiment, the storage unit 512 of the vehicle control device 105 stores the work status table 512C, and the work status management unit 502 sets the item “completed state” to “work” according to the progress of the work. Rewrite from “medium” to “complete”. The operation changeover switch unit 504 refers to the item of “completion state” and determines whether or not the current work is completed in step Sb5. The configuration of the present invention is the same as that of the embodiment. Not limited.
For example, when the work status management unit 502 obtains output information of the load detection unit 510 that outputs whether or not a load is loaded based on the weight value output from the load sensor 112, and the load is loaded. Is output as information indicating the work status indicating "working", and is output as information indicating the work status indicating "completed" when no load is loaded. You may make it switch from a manned driving | operation to an unmanned driving | operation based on the information which shows the said work condition.
Also, the work status management unit 502 acquires information indicating lift up and lift down, which is the type of lift control output from the cargo handling control unit 509, as information indicating the work status. When the lift is down, it is output as “completion”, and the operation changeover switch unit 504 switches from manned operation to unmanned operation based on the information indicating the work status. You may make it switch.
Further, in the process of FIG. 5, when it is assumed that the vehicle travels while being lifted up or travels while lifted down, the travel state may not be determined in step Sa2.

  In the above embodiment, the biological information detected by the biological information detection apparatus 200 is a pulse rate for 15 seconds, but the configuration of the present invention is not limited to this embodiment. For example, instead of the pulse rate, biological information such as heart rate, sweating volume, blood pressure, respiratory rate, oxygen saturation, and body temperature may be detected. Further, for example, the fatigue level calculation unit 505 or the biological information detection apparatus 200 may calculate the fatigue level by substituting one type or a plurality of types of biological information into a predetermined function.

In the above embodiment, the driver's 2 pulse rate detected by the biological information detection device 200 is quadrupled, and fatigued with reference to a pre-measured normal one-minute pulse rate. However, the configuration of the present invention is not limited to the embodiment.
For example, the biological information detection apparatus 200 acquires the pulse rate for the number of seconds other than 15 seconds of the driver 2 and refers to the pulse rate for a predetermined period of time that is measured in advance to determine whether or not the user 2 is tired. You may judge.
Further, the biological information detection apparatus 200 may repeatedly calculate the standard deviation of the detected 15-second pulse rate, and may determine that the patient is tired when the standard deviation value exceeds a predetermined value.
Further, the pulse rate for 15 seconds in the normal state is measured, and the biological information detection apparatus 200 subtracts the pulse rate for the normal time from the detected pulse rate for 15 seconds, repeatedly adds the difference, and the added value However, when it exceeds a predetermined value, it may be determined that the user is tired.
In addition, when a value obtained by adding a predetermined value to a pulse rate for 15 seconds in normal times is used as a reference value, and the pulse rate measured every 15 seconds exceeds the reference value continuously a predetermined number of times It may be determined that the user is tired.

  In the above embodiment, the fatigue level calculation unit 505 of the vehicle control device 105 calculates the fatigue level based on the biological information. However, the configuration of the present invention is not limited to the embodiment, and the biological information is calculated. The detection apparatus 200 may include a fatigue level calculation unit 505, and the biological information detection apparatus 200 may calculate the fatigue level. In addition, the biological information detection device 200 does not include the fatigue level calculation unit 505, and determines whether the driver 2 is tired by using the biological information detected by the biological information detection device 200 as information indicating the fatigue level as it is. You may do it.

  In the above embodiment, the first predetermined value and the second predetermined value used in step Sb4 in FIG. 6 and step Sb17 in FIG. 8 are different from each other, and the first threshold value and the second threshold value are Although different values are used, the configuration of the present invention is not limited to the embodiment, and the first predetermined value and the second predetermined value may be the same value.

  In the above embodiment, the first threshold value used for determining whether or not the driver 2 is tired in step Sb4 in FIG. 6 and the driver 2 in step Sb17 in FIG. By switching the first threshold value to a value larger than the second threshold value as the second threshold value used for determining whether or not there is sufficient recovery from fatigue, the driver 2 switches from unmanned driving to manned driving. Although the configuration is adopted, the configuration of the present invention is not limited to the embodiment. For example, when biometric information whose value decreases with increasing fatigue is applied as the fatigue level, the second threshold needs to be set as a value greater than the first threshold.

Moreover, in said embodiment, in step Sb15 of FIG.6,8,10, for example, the driving | operation changeover switch part 504 performs the operation | work performed in the unmanned driving | running | working state when switching from unmanned driving to manned driving | operation state. You may make it display on the display 114 based on the information memorize | stored in the table 512C.
The configuration for displaying the work performed in the unattended operation state on the display 114 can be realized by the following configuration, for example. In the work state table 512C of the storage unit 512, an item “operation state” is further provided, and the work state management unit 502 is a work performed in the manned operation state or a work performed in the unmanned operation state. When the record is generated or “completed” is written in the “completed state” item, the information indicating whether or not is written with reference to the operation state information 512B. Then, when switching from unmanned operation to manned operation, the operation switching switch unit 504 selects a record in which the item “driving state” indicates the unmanned driving state from the work situation table 512 </ b> C and outputs the selected record to the display 114.
With this configuration, when the driver 2 is not in the driver's seat 117 during the unmanned driving state, the driver 2 is performed during the unmanned driving state when the driver 2 changes to the manned driving state. Work can be confirmed.

  In the above-described embodiment, in the unmanned operation process of FIG. 7, the automatic operation control unit 503 requests the work specifying information from the management apparatus 300 and receives the work specifying information from the management apparatus 300 in Step Sc5. However, the configuration of the present invention is not limited to the embodiment. For example, the work plan information selection unit 302 of the management apparatus 300 writes “completed” in the item “completed state” regardless of whether it is an unmanned driving state or a manned driving state. Each time, work plan information whose “completed state” item is “incomplete” is read, and work specifying information included in the read work plan information is transmitted to the vehicle control device 105. In the vehicle control device 105, when the work specifying information is received, the work control information 105 is displayed on the display 114, and in the case of the manned driving state, the driver 2 performs work with reference to the work specifying information displayed on the display 114. Thus, when it is set as the structure which the work specific information is transmitted continuously from the management apparatus 300, the vehicle control apparatus 105 does not process the request | requirement of the work specific information like step Sc5 in an unmanned driving state. Also good.

  Further, in the above embodiment, the determination in step Sb4 in FIG. 6 is performed based on whether or not it is greater than or equal to the first threshold value. In the determination in step Sb17 in FIG. However, the configuration of the present invention is not limited to the embodiment. These determination methods are examples. For example, in step Sb4 in FIG. 6, the determination may be made based on whether or not the first threshold value is exceeded. In the determination in step Sb17 in FIG. The determination may be made based on whether or not the threshold is less than 2.

  You may make it implement | achieve the vehicle control apparatus 105 in embodiment mentioned above with a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system serving as a server or a client in that case may be included and a program held for a certain period of time. Further, the program may be a program for realizing a part of the above-described functions, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system. You may implement | achieve using programmable logic devices, such as FPGA (Field Programmable Gate Array).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Cargo vehicle system 2 Driver | operator 100 Forklift 105 Vehicle control apparatus 106 Lift lever 107 Tilt lever 108 Reach lever 109 Acceleration lever 110 Brake pedal 111 Steering handle 112 Load sensor 113 Camera 114 Display 200 Biological information detection apparatus 300 Management apparatus 301 Work plan information Storage unit 302 Work plan information selection unit 303 Worked information writing unit 304 Transmission / reception unit 400 Position mark 501 Transmission / reception unit 502 Work status management unit 503 Automatic operation control unit 504 Operation changeover switch unit 505 Fatigue degree calculation unit 506 Fatigue degree determination unit 508 Travel control unit 509 Cargo handling control unit 510 Loading detection unit 511 Position detection unit 512 Storage unit

In order to solve the above problem, according to one aspect of the present invention, when a predetermined first time has elapsed since the start of manned operation, the operation state is switched from the manned operation to the unmanned operation, and the unmanned operation starts. An operation changeover switch unit that switches the operation state from the unmanned operation to the manned operation when a predetermined second time has elapsed since the operation has been performed , and repeats switching between the manned operation and the unmanned operation. It is a characteristic cargo handling vehicle.

Further, according to one aspect of the present invention, a fatigue level determination unit that determines whether or not the driver has recovered from fatigue, and when a predetermined time has elapsed since the start of the manned operation, the manned operation is changed to the unmanned operation. Switching the driving state, when the fatigue level determination unit determines that the driver has recovered from fatigue, switching the driving state from the unmanned driving to the manned driving, switching between the manned driving and the unmanned driving A cargo handling vehicle comprising a repeated operation changeover switch unit.

In addition, according to one aspect of the present invention, a fatigue level determination unit that determines whether or not a driver is tired, and when the fatigue level determination unit determines that the driver is tired, the manned driving is unmanned. Switching the driving state to driving, switching a driving state from the unmanned driving to the manned driving when a predetermined time has passed since the unmanned driving is started, and repeating the switching between the manned driving and the unmanned driving A cargo handling vehicle comprising: a driving changeover switch unit.

One aspect of the present invention is a fatigue degree determination unit that determines whether or not a driver has recovered from fatigue. When a predetermined first time has elapsed since the start of manned driving, the driver is unmanned from the manned driving. Switching the driving state to driving, when the fatigue determination unit determines that the driver has recovered from fatigue, switching the driving state from the unmanned driving to the manned driving, between the manned driving and the unmanned driving A cargo handling vehicle comprising: an operation changeover switch section that repeats switching; and a biological information detecting device that acquires the driver's biological information and transmits the biological information to the cargo handling vehicle. System.

Further, according to one aspect of the present invention, a fatigue level determination unit that determines whether or not a driver is tired, and when the fatigue level determination unit determines that the driver is tired, the driver is not driven from manned driving. The operation state is switched to, and when a predetermined time has elapsed since the unmanned operation is started, the operation state is switched from the unmanned operation to the manned operation, and the switching between the manned operation and the unmanned operation is repeated. A cargo handling vehicle system comprising: a cargo handling vehicle including a changeover switch unit; and a biological information detection device that acquires biological information of the driver and transmits the biological information to the cargo handling vehicle.

One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle and a management device that manages work performed by the cargo handling vehicle, wherein the management device loads a cargo handling object transferred by the cargo handling vehicle. Work plan information including work specifying information including information indicating the position of the storage location and information indicating the position of the transfer destination and information indicating the completion status of the work, information indicating the completion status of the work is not completed From the work plan information storage unit stored as the information to be shown and the work plan information storage unit, the work plan information in which information indicating the completion state of the work is incomplete is selected and included in the work plan information If the work specification information is received from the cargo handling vehicle and the work plan information selection unit that outputs the work specification information, information indicating the completion status of the work corresponding to the work specification information is displayed from incomplete to complete. And a work completion information writing unit that rewrites the information to indicate that the cargo handling vehicle changes the operating state from the manned operation to the unmanned operation when a predetermined first time has elapsed since the start of the manned operation. Switching, switching a driving state from the unmanned driving to the manned driving when a predetermined second time has elapsed since the unmanned driving is started, and repeating switching between the manned driving and the unmanned driving When the switch unit and the work to transfer the cargo handling object from the load storage location to the transfer destination location are performed, information indicating the location of the load storage location and information indicating the location of the transfer destination The work status management unit that transmits the work identification information including the control information to the management device, and the operation switching switch unit transmits the operation state from the manned operation to the unmanned operation. Receiving the task specific information, based on the work-specific information, and a automatic driving control unit that performs transfer of the handling object, a cargo handling vehicle system, characterized in that.

Another aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. The management device includes work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work. The work plan information storage unit stores the work plan information including the information indicating the completion status of the work as information indicating incomplete, and the information indicating the completion status of the work is incomplete from the work plan information storage unit. The work plan information is selected, the work plan information selection unit for outputting the work specific information included in the work plan information, and the work specific information received from the cargo handling vehicle. A work completion information writing unit that rewrites information indicating a completion state of the work corresponding to information to information indicating completion from incomplete, and the cargo handling vehicle is based on the driver's biological information, A fatigue level calculation unit that calculates the driver's fatigue level, a fatigue level determination unit that determines whether or not the driver has recovered from fatigue based on the fatigue level, and a predetermined level after the start of manned driving When the time has elapsed, the driving state is switched from the manned driving to the unmanned driving, and when the fatigue determination unit determines that the driver has recovered from fatigue, the driving state is switched from the unmanned driving to the manned driving , When the operation changeover switch unit that repeats switching between the manned operation and the unmanned operation, and the operation of transferring the cargo handling object from the position of the loading place to the position of the transfer destination, Place A work status management unit that transmits the work specifying information including information indicating a position and information indicating the position of the transfer destination to the management device, and the operation changeover switch unit is operated from the manned operation to the unmanned operation. An automatic operation control unit that receives the work identification information transmitted from the management device and transfers the cargo handling object based on the work identification information when the state is switched, and the biological information detection device Is a cargo handling vehicle system characterized in that the biological information of the driver is acquired and transmitted to the cargo handling vehicle.

Another aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. The management device includes work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work. The work plan information storage unit stores the work plan information including the information indicating the completion status of the work as information indicating incomplete, and the information indicating the completion status of the work is incomplete from the work plan information storage unit. The work plan information is selected, the work plan information selection unit for outputting the work specific information included in the work plan information, and the work specific information received from the cargo handling vehicle. A work completion information writing unit that rewrites information indicating a completion state of the work corresponding to information to information indicating completion from incomplete, and the cargo handling vehicle is based on the driver's biological information, The driver calculates the fatigue level of the driver, a fatigue level determination unit that determines whether the driver is fatigued based on the fatigue level, and the fatigue level determination unit switching the operating state to the unmanned operation from manned operation when it is determined that there is a fatigue, switches the operation state from the unattended operation when the time since the unmanned operation is started the predetermined has passed to the manned operation, the An operation changeover switch unit that repeats switching between manned operation and unmanned operation, and when the work for transferring the cargo handling object from the load storage location to the transfer destination location is performed, the load storage location Indicates the position of The work status management unit that transmits the work identification information including information and information indicating the position of the transfer destination to the management device, and the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation. An automatic operation control unit that receives the work specifying information transmitted from the management device and transfers the cargo handling object based on the work specifying information, and the biological information detecting device includes: It is a cargo handling vehicle system characterized in that biometric information of a driver is acquired and transmitted to the cargo handling vehicle.

Further, according to one aspect of the present invention, when a predetermined first time has elapsed since the start of the manned operation, the operation state is switched from the manned operation to the unmanned operation, and the predetermined first time after the unmanned operation is started. The method of controlling a cargo handling vehicle includes switching the driving state from the unmanned driving to the manned driving when the time of 2 elapses and repeating the switching between the manned driving and the unmanned driving .

Another aspect of the present invention is a control method for a cargo handling vehicle system including a cargo handling vehicle and a biological information detection device, wherein the fatigue level of the driver is calculated based on the biological information of the driver, Based on the degree of fatigue, to determine whether the driver has recovered from fatigue, when the predetermined time has elapsed since the start of manned operation, switching the driving state from the manned operation to the unmanned operation, When it is determined that the driver has recovered from fatigue, the driving state is switched from the unmanned driving to the manned driving, the switching between the manned driving and the unmanned driving is repeated , and the biological information of the driver is acquired. Transmitting to the cargo handling vehicle. A control method for a cargo handling vehicle system, comprising:

Another aspect of the present invention is a control method for a cargo handling vehicle system including a cargo handling vehicle and a biological information detection device, wherein the fatigue level of the driver is calculated based on the biological information of the driver, Determining whether the driver is tired based on the fatigue level, switching the driving state from the unmanned driving to the manned driving when a predetermined time has elapsed since the unmanned driving was started, and the driving When it is determined that the person is tired, the driving state is switched from the manned driving to the unmanned driving, the switching between the manned driving and the unmanned driving is repeated , and the driver's biological information is acquired and A method for controlling a cargo handling vehicle system, comprising: transmitting to a cargo handling vehicle.

One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. A method for controlling a vehicle system, wherein work specifying information including information indicating a position of a loading place of a cargo handling object to be transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work Storing the work plan information including the information indicating the completion state of the work as information indicating incomplete, selecting the work plan information in which the information indicating the completion state of the work is incomplete, Information indicating the completion state of the work corresponding to the work specifying information when the work specifying information included in the work plan information is output and when the work specifying information is received from the cargo handling vehicle Rewriting from incomplete to information indicating completion, calculating the driver's fatigue level based on the driver's biometric information, whether the driver has recovered from fatigue based on the fatigue level Switching the driving state from the manned operation to the unmanned operation when a predetermined time has elapsed since the start of the manned operation, and when determining that the driver has recovered from fatigue, from the unmanned operation The operation state was switched to the manned operation, the switching between the manned operation and the unmanned operation was repeated , and the work to transfer the cargo handling object from the loading place position to the transfer destination position was performed. In this case, transmitting the work specifying information including information indicating the position of the loading place and information indicating the position of the transfer destination to the management device, the operating state from the manned operation to the unmanned operation In the case of switching, the work specifying information transmitted from the management device is received, the cargo handling object is transferred based on the work specifying information, the driver's biological information is acquired and the cargo handling vehicle is transferred to the cargo handling vehicle. And a transmitting vehicle system control method.

One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle. A method for controlling a vehicle system, wherein work specifying information including information indicating a position of a loading place of a cargo handling object to be transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work Storing the work plan information including the information indicating the completion state of the work as information indicating incomplete, selecting the work plan information in which the information indicating the completion state of the work is incomplete, Information indicating the completion state of the work corresponding to the work specifying information when the work specifying information included in the work plan information is output and when the work specifying information is received from the cargo handling vehicle Rewriting from incomplete to information indicating completion, calculating the driver's fatigue level based on the driver's biometric information, whether the driver is fatigued based on the fatigue level Switching a driving state from the unmanned driving to the manned driving when a predetermined time has elapsed after the unmanned driving is started, and determining that the driver is tired, the unmanned driving is unmanned. When switching the driving state to driving , repeating the switching between the manned driving and the unmanned driving, when performing the work of transferring the cargo handling object from the loading place position to the transfer destination position, The operation specifying information including the information indicating the position of the loading place and the information indicating the position of the transfer destination is transmitted to the management device, and the operation state is switched from the manned operation to the unmanned operation. In this case, the work specifying information transmitted from the management device is received, the cargo handling object is transferred based on the work specifying information, and the biological information of the driver is acquired and transmitted to the cargo handling vehicle. A control method for a cargo handling vehicle system.

According to another aspect of the present invention, a computer provided in a cargo handling vehicle switches a driving state from the manned operation to the unmanned operation when a predetermined first time has elapsed after the manned operation is started, and the unmanned operation is performed. When the predetermined second time has elapsed since the start of the vehicle, the operation state is switched from the unmanned operation to the manned operation and the switching between the manned operation and the unmanned operation is repeated. This is a control program.

Further, according to one aspect of the present invention, the computer provided in the cargo handling vehicle determines whether the driver has recovered from fatigue, and the manned driving is performed when a predetermined time has elapsed since the manned driving was started. When the driver recovers from fatigue, the driving state is switched from the unmanned driving to the manned driving, and the switching between the manned driving and the unmanned driving is repeated. This is a control program for a cargo handling vehicle.

According to another aspect of the present invention, a computer provided in a cargo handling vehicle determines whether a driver is tired or not, and when the driver is tired, the driving state is changed from manned driving to unmanned driving. Switching, switching a driving state from the unmanned driving to the manned driving when a predetermined time has elapsed since the unmanned driving is started, and repeating the switching between the manned driving and the unmanned driving . This is a control program for a cargo handling vehicle.

Claims (23)

When a predetermined first time has elapsed since the start of manned operation, the driving state is switched from the manned operation to the unmanned operation, and when a predetermined second time has elapsed since the unmanned operation was started, An operation changeover switch unit that switches the operation state from unmanned operation to the manned operation,
A cargo handling vehicle comprising: A fatigue determination unit that determines whether the driver has recovered from fatigue;
When a predetermined time has elapsed since the start of the manned operation, the operation state is switched from the manned operation to the unmanned operation, and when the fatigue level determination unit determines that the driver has recovered from fatigue, the unmanned operation is started. An operation changeover switch unit for switching the operation state to the manned operation;
A cargo handling vehicle comprising: A fatigue determination unit that determines whether or not the driver is tired;
When the fatigue level determination unit determines that the driver is tired, the driving state is switched from manned driving to unmanned driving, and when a predetermined time has elapsed since the unmanned driving is started, the unmanned driving is started. An operation changeover switch unit for switching the operation state to the manned operation;
A cargo handling vehicle comprising: Based on the driver's biometric information, comprising a fatigue level calculation unit that calculates the driver's fatigue level,
The fatigue level determination unit
Making the determination based on the degree of fatigue;
The cargo handling vehicle according to claim 2 or claim 3, wherein The fatigue level determination unit
It is determined whether the driver is tired based on a predetermined first threshold value and the fatigue level, and the driving is performed based on a predetermined second threshold value and the fatigue level. It is determined whether the person has recovered from fatigue, and a value different from the first threshold value and the second threshold value is determined.
The cargo handling vehicle according to claim 4. A work status management unit that detects information indicating the work status;
With
The operation switch part is
When the information indicating the work status detected by the work status management unit indicates a completion state of the work, the operation state is switched.
The cargo handling vehicle according to any one of claims 1 to 5, wherein the cargo handling vehicle is provided. A loading detection unit for detecting whether or not a loading object is loaded;
With
The work status management unit
Detecting information indicating the work status based on information indicating the presence or absence of loading of the cargo handling object detected by the loading detection unit;
The cargo handling vehicle according to claim 6. A cargo handling control unit for controlling the lifting and unloading operations of the cargo handling object,
With
The work status management unit
Detecting information indicating the work status based on information indicating an operation of lifting and unloading the cargo handling object detected by the cargo handling control unit;
The cargo handling vehicle according to claim 6 or 7, characterized by the above. The operation switch part is
If the information indicating the work status is not a work completion state, the driver is notified that the operation state is switched after the work is completed.
The cargo handling vehicle according to any one of claims 6 to 8, wherein the cargo handling vehicle is provided. An automatic operation control unit for controlling the unmanned operation,
With
The automatic operation control unit is
When switching from the manned operation to the unmanned operation, one or both of the traveling speed of the host vehicle and the lifting speed that is the speed of lifting and lowering the object to be handled are both in the unmanned driving state. Decrease in steps until a predetermined speed is reached,
The cargo handling vehicle according to any one of claims 1 to 9, wherein the vehicle is a cargo handling vehicle. A fatigue degree determination unit for determining whether or not the driver has recovered from fatigue;
When a predetermined first time has elapsed since the start of manned driving, the driving state is switched from manned driving to unmanned driving, and when the fatigue level determination unit determines that the driver has recovered from fatigue, An operation changeover switch unit that switches the operation state from unmanned operation to the manned operation,
A cargo handling vehicle characterized by comprising:
A biological information detection device for acquiring the driver's biological information and transmitting it to the cargo handling vehicle;
A cargo handling vehicle system comprising: A fatigue level determination unit for determining whether the driver is tired,
When the fatigue level determination unit determines that the driver is tired, the driving state is switched from manned driving to unmanned driving, and when a predetermined time has elapsed since the unmanned driving is started, the unmanned driving is started. An operation switch part for switching the operation state to the manned operation,
A cargo handling vehicle characterized by comprising:
A biological information detection device for acquiring the driver's biological information and transmitting it to the cargo handling vehicle;
A cargo handling vehicle system comprising: A cargo handling vehicle system comprising a cargo handling vehicle and a management device that manages work performed by the cargo handling vehicle,
The management device
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, A work plan information storage unit for storing information indicating the completion state of work as information indicating incomplete;
Work plan information selection for selecting, from the work plan information storage unit, the work plan information whose information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information And
A work completion information writing unit that rewrites information indicating the completion state of the work corresponding to the work specification information from incomplete to information indicating completion when the work specification information is received from the cargo handling vehicle. ,
The cargo handling vehicle is
When a predetermined first time has elapsed since the start of manned operation, the driving state is switched from the manned operation to the unmanned operation, and when a predetermined second time has elapsed since the unmanned operation was started, An operation switch part for switching the operation state from unmanned operation to the manned operation;
Including the information indicating the position of the load storage location and the information indicating the position of the transfer destination when performing an operation of transferring the cargo handling object from the position of the load storage location to the transfer destination location. A work status management unit that transmits work identification information to the management device;
When the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation, the operation specifying information transmitted from the management device is received, and the cargo handling object is transferred based on the operation specifying information. An automatic operation control unit for performing
Comprising
A cargo handling vehicle system characterized by that. A cargo handling vehicle system comprising a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle,
The management device
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, A work plan information storage unit for storing information indicating the completion state of work as information indicating incomplete;
Work plan information selection for selecting, from the work plan information storage unit, the work plan information whose information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information And
A work completion information writing unit that rewrites information indicating the completion state of the work corresponding to the work specification information from incomplete to information indicating completion when the work specification information is received from the cargo handling vehicle. ,
The cargo handling vehicle is
Based on the driver's biological information, a fatigue level calculation unit that calculates the driver's fatigue level,
Based on the fatigue level, a fatigue level determination unit that determines whether the driver has recovered from fatigue, and
When a predetermined time has elapsed since the start of the manned operation, the operation state is switched from the manned operation to the unmanned operation, and when the fatigue level determination unit determines that the driver has recovered from fatigue, the unmanned operation is started. An operation changeover switch unit for switching the operation state to the manned operation;
Including the information indicating the position of the load storage location and the information indicating the position of the transfer destination when performing an operation of transferring the cargo handling object from the position of the load storage location to the transfer destination location. A work status management unit that transmits work identification information to the management device;
When the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation, the operation specifying information transmitted from the management device is received, and the cargo handling object is transferred based on the operation specifying information. An automatic operation control unit for performing
With
The biological information detection device
Obtaining the driver's biological information and transmitting it to the cargo handling vehicle;
A cargo handling vehicle system characterized by that. A cargo handling vehicle system comprising a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a management device that manages work performed by the cargo handling vehicle,
The management device
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, A work plan information storage unit for storing information indicating the completion state of work as information indicating incomplete;
Work plan information selection for selecting, from the work plan information storage unit, the work plan information whose information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information And
A work completion information writing unit that rewrites information indicating the completion state of the work corresponding to the work specification information from incomplete to information indicating completion when the work specification information is received from the cargo handling vehicle. ,
The cargo handling vehicle is
Based on the driver's biological information, a fatigue level calculation unit that calculates the driver's fatigue level,
Based on the fatigue level, a fatigue level determination unit that determines whether the driver is fatigued, and
When the fatigue level determination unit determines that the driver is tired, the driving state is switched from manned driving to unmanned driving, and when a predetermined time has elapsed since the unmanned driving is started, the unmanned driving is started. An operation changeover switch unit for switching the operation state to the manned operation;
Including the information indicating the position of the load storage location and the information indicating the position of the transfer destination when performing an operation of transferring the cargo handling object from the position of the load storage location to the transfer destination location. A work status management unit that transmits work identification information to the management device;
When the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation, the operation specifying information transmitted from the management device is received, and the cargo handling object is transferred based on the operation specifying information. An automatic operation control unit for performing
With
The biological information detection device
Obtaining the driver's biological information and transmitting it to the cargo handling vehicle;
A cargo handling vehicle system characterized by that. When a predetermined first time has elapsed since the start of manned operation, the driving state is switched from the manned operation to the unmanned operation, and when a predetermined second time has elapsed since the unmanned operation was started, Switching the driving state from unmanned driving to the manned driving,
Control method for cargo handling vehicle including A control method for a cargo handling vehicle system comprising a cargo handling vehicle and a biological information detection device,
Calculating the driver's fatigue level based on the driver's biometric information;
Determining whether the driver has recovered from fatigue based on the fatigue level;
When a predetermined time has elapsed since the start of manned driving, the driving state is switched from the manned driving to the unmanned driving, and when it is determined that the driver has recovered from fatigue, the driving state from the unmanned driving to the manned driving is performed. Switching between,
Obtaining the driver's biometric information and transmitting it to the cargo handling vehicle;
A control method for a cargo handling vehicle system, comprising: A control method for a cargo handling vehicle system comprising a cargo handling vehicle and a biological information detection device,
Calculating the driver's fatigue level based on the driver's biometric information;
Determining whether the driver is fatigued based on the fatigue level;
When a predetermined time has elapsed since the start of unmanned driving, the driving state is switched from unmanned driving to manned driving, and when it is determined that the driver is tired, the driving state is switched from manned driving to unmanned driving. Switching,
Obtaining the driver's biometric information and transmitting it to the cargo handling vehicle;
A control method for a cargo handling vehicle system, comprising: A control method for a cargo handling vehicle system in a cargo handling vehicle system, comprising: a cargo handling vehicle; a biological information detection device that detects biological information of a driver of the cargo handling vehicle; and a management device that manages work performed by the cargo handling vehicle.
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, Storing information indicating the completion status of the work as information indicating incomplete;
Selecting the work plan information in which information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information;
When the work specifying information is received from the cargo handling vehicle, the information indicating the completion state of the work corresponding to the work specifying information is rewritten from incomplete to information indicating completion;
Calculating the driver's fatigue level based on the driver's biological information;
Determining whether the driver has recovered from fatigue based on the fatigue level;
When a predetermined time has elapsed since the start of the manned operation, the operation state is switched from the manned operation to the unmanned operation, and when it is determined that the driver has recovered from fatigue, the operation state from the unmanned operation to the manned operation Switching between,
Including the information indicating the position of the load storage location and the information indicating the position of the transfer destination when performing an operation of transferring the cargo handling object from the position of the load storage location to the transfer destination location. Sending work identification information to the management device;
When the operation state is switched from the manned operation to the unmanned operation, the work specifying information transmitted from the management device is received, and the cargo handling object is transferred based on the work specifying information.
Obtaining the driver's biometric information and transmitting it to the cargo handling vehicle;
A control method for a cargo handling vehicle system, comprising: A control method for a cargo handling vehicle system in a cargo handling vehicle system, comprising: a cargo handling vehicle; a biological information detection device that detects biological information of a driver of the cargo handling vehicle; and a management device that manages work performed by the cargo handling vehicle.
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, Storing information indicating the completion status of the work as information indicating incomplete;
Selecting the work plan information in which information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information;
When the work specifying information is received from the cargo handling vehicle, the information indicating the completion state of the work corresponding to the work specifying information is rewritten from incomplete to information indicating completion;
Calculating the driver's fatigue level based on the driver's biological information;
Determining whether the driver is fatigued based on the fatigue level;
When a predetermined time has elapsed since the start of unmanned driving, the driving state is switched from unmanned driving to manned driving, and when it is determined that the driver is tired, the driving state is switched from manned driving to unmanned driving. Switching,
Including the information indicating the position of the load storage location and the information indicating the position of the transfer destination when performing an operation of transferring the cargo handling object from the position of the load storage location to the transfer destination location. Sending work identification information to the management device;
When the operation state is switched from the manned operation to the unmanned operation, the work specifying information transmitted from the management device is received, and the cargo handling object is transferred based on the work specifying information.
Obtaining the driver's biometric information and transmitting it to the cargo handling vehicle;
A control method for a cargo handling vehicle system, comprising: In the computer equipped in the cargo handling vehicle,
When a predetermined first time has elapsed since the start of manned operation, the driving state is switched from the manned operation to the unmanned operation, and when a predetermined second time has elapsed since the unmanned operation was started, Switching the driving state from unmanned driving to the manned driving,
A cargo handling vehicle control program for executing In the computer equipped in the cargo handling vehicle,
Determining if the driver has recovered from fatigue,
When a predetermined time has elapsed since the start of manned driving, the driving state is switched from the manned driving to the unmanned driving, and when the driver recovers from fatigue, the driving state is switched from the unmanned driving to the manned driving. ,
A cargo handling vehicle control program for executing In the computer equipped in the cargo handling vehicle,
Determining if the driver is tired,
When the driver is tired, the driving state is switched from manned driving to unmanned driving, and when the predetermined time has elapsed since the unmanned driving is started, the driving state is switched from the unmanned driving to the manned driving. ,
A cargo handling vehicle control program for executing

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