JP7132976B2 - FORKLIFT, FORKLIFT CONTROL METHOD, AND PROGRAM - Google Patents

Description

The present disclosure relates to a forklift, a forklift control method, and a program.

In recent years, an unmanned forklift that can be operated unmanned has been used (see Patent Document 1, for example).

JP 2013-125518 A

BACKGROUND ART When a load is transported by a truck, damage to the load may be suppressed by sandwiching a cushioning material between adjacent loads. At this time, the truck driver needs to arrange and remove the cushioning material when loading and unloading the truck.

However, in the conventional technology, there is no mechanism for coordinating the work of arranging and removing the cushioning material by the truck driver and the work of moving the cargo by the unmanned forklift. For this reason, when placing and removing the cushioning material, it is necessary to use a manned forklift, and the truck driver and the driver of the manned forklift need to work while talking to each other.

The present disclosure has been made in view of such problems, and provides a forklift, a forklift control method, and a program that can safely coordinate manual work and automatic operation of the forklift. .

According to one aspect of the present disclosure, a forklift includes an automatic operation control unit that controls an automatic operation of the forklift according to a sequence that prescribes work related to cargo handling; and an instruction reception unit that temporarily stops the automatic operation operation by the automatic operation control unit and receives an instruction from an operator using an external electronic terminal when the automatic operation control unit progresses. When the instruction receiving unit receives an instruction from the operator, the automatic operation control unit controls the operation of the forklift truck according to a subsequence corresponding to the instruction among a plurality of subsequences constituting the sequence. .

According to one aspect of the present disclosure, a forklift control method includes an automatic operation step of controlling an automatic operation operation of a forklift according to a sequence that prescribes work related to cargo handling; and an instruction receiving step of temporarily stopping the automatic driving operation of the automatic driving step and receiving an operator's instruction using an external electronic terminal when the automatic driving step has progressed to. In the automatic operation step, when an instruction from the operator is received, the operation of the forklift truck is controlled according to a sub-sequence among a plurality of sub-sequences constituting the sequence according to the instruction.

According to one aspect of the present disclosure, a program causes a computer of a forklift to perform an automatic operation step of controlling an automatic operation of a forklift according to a predetermined sequence of work related to cargo handling, and a predetermined work defined in the sequence. and an instruction receiving step of temporarily stopping the automatic driving operation of the automatic driving step and receiving an operator's instruction using an external electronic terminal when the process progresses to the state of . In the automatic operation step, when an instruction from the operator is received, the operation of the forklift truck is controlled according to a sub-sequence among a plurality of sub-sequences constituting the sequence according to the instruction.

According to the forklift, the forklift control method, and the program according to the present disclosure, manual work and automatic operation of the forklift can be safely coordinated.

1 is a diagram showing the overall configuration of a cargo handling system according to an embodiment of the present disclosure; FIG. 1 is a diagram showing a functional configuration of a cargo handling system according to an embodiment of the present disclosure; FIG. 4 is a flow chart illustrating an example of a loading operation process according to an embodiment of the present disclosure; 1 is a diagram for explaining functions of a forklift according to an embodiment of the present disclosure; FIG. 4 is a flowchart illustrating an example of unloading work processing according to an embodiment of the present disclosure. It is a figure showing an example of hardware constitutions of a forklift and a controller concerning one embodiment of this indication. It is a figure showing functional composition of a cargo handling system concerning a modification of one embodiment of this indication.

A cargo handling system 1 according to an embodiment of the present disclosure will be described below with reference to the drawings.

(Overall configuration of cargo handling system)
FIG. 1 is a diagram showing the overall configuration of a cargo handling system according to one embodiment of the present disclosure.
As shown in FIG. 1, a cargo handling system 1 according to this embodiment includes a forklift 10 and a controller 20 as an external electronic terminal.

The forklift 10 according to the present embodiment is an unmanned forklift (AGF: Automated Guided Forklift) capable of automatic operation. The forklift 10 can insert the forks 11 into the holes of the pallet 30 and retrieve the pallet 30 loaded with the cargo 31 . The pallet 30 is a loading platform on which the load 31 is placed. The pallet 30 is, for example, a wooden pallet, a synthetic resin pallet, a metal pallet, or a paper pallet. Although FIG. 1 shows an example in which the pallet 30 has two holes, the number of holes is not limited to two.

The forklift 10 transports the pallet 30 from the acquisition position to the placement position along a predetermined traveling route. For example, at the time of shipment, the acquisition position of the pallet 30 is the loading area R1 of the warehouse, and the placement position is the loading platform R2 of the truck. Also, at the time of arrival, the pallet acquisition position is the loading platform R2 of the truck, and the placement position is the loading space R1 of the warehouse. A fork 11 of the forklift 10 is supported by a backrest 12 and provided so as to be vertically movable. Also, in other embodiments, the fork 11 may be further movable in the left-right direction and/or in the front-rear direction. The forklift 10 acquires and places the pallet 30 by moving the fork 11 .

Further, in this embodiment, when the cargo 31 is transported by the truck, the cushioning material 32 is sandwiched between adjacent cargoes 31 to suppress damage to the cargoes 31 . Arrangement of the cushioning material 32 at the time of loading and removal of the cushioning material at the time of unloading are performed manually by the operator A.

The controller 20 is an external electronic terminal for receiving operations by the operator A and giving instructions to the forklift 10 according to the operations. The controller 20 may be a dedicated remote controller, a smart phone, a tablet device, a personal computer, or the like. Also, the operator A is, for example, the driver of a truck on which the cargo 31 is loaded.

(Functional configuration of forklift)
FIG. 2 is a diagram showing the functional configuration of the cargo handling system according to one embodiment of the present disclosure.
As shown in FIG. 2 , the forklift 10 includes a CPU 100 , a sensor 101 , a storage medium 102 , an interface 103 , a fork motor 104 and a travel motor 105 .

The CPU 100 is a processor that performs various functions by operating according to a program prepared in advance, and governs the overall operation of the forklift 10 . The CPU 100 functions as an automatic driving control unit 1001 , an instruction reception unit 1002 and a state notification unit 1003 .

The automatic operation control unit 1001 performs operations related to cargo handling, an operation to automatically approach an object (pallet 30, truck), an operation to automatically move from the current position to the acquisition position or placement position of the pallet 30, and the like in advance. It controls automatic operation of the forklift 10 according to a defined sequence. For example, the automatic operation control unit 1001 controls the operation of the forklift 10 so as to perform a series of loading operations according to the shipping sequence. In addition, the automatic operation control unit 1001 controls the operation of the forklift 10 so as to perform a series of operations related to unloading according to the receiving sequence. Each sequence also includes sub-sequences for the forklift 10 to perform different tasks in accordance with instructions from the operator A. FIG.

The instruction receiving unit 1002 temporarily stops the automatic driving operation by the automatic driving control unit 1001 and receives an instruction from the operator A through the controller 20 when the work specified in the sequence has progressed to a predetermined state.

The state notification unit 1003 notifies the operator A through the controller 20 that the work specified in the sequence has progressed to a predetermined state.

A sensor 101 is provided on the backrest 12 and detects the position of an object. The target objects are the bed R2 of the truck, the pallet 30, and the like. For example, the position of the bed R2 of the truck is represented by a horizontal distance from the bed R2 to the sensor 101 and a vertical distance (height of the bed R2). The sensor 101 may be any device as long as it can detect the position of the target object, and is composed of, for example, a camera, a laser sensor, or the like. Further, the sensor 101 may be provided at a location other than the backrest 12, such as the fork 11 or the vehicle body of the forklift 10, as long as the position of the object can be detected.

The storage medium 102 stores in advance a plurality of sequences referred to by the automatic operation control unit 1001, the traveling route of the forklift 10, and the like.

The interface 103 communicates with the controller 20 . For example, the interface 103 receives operator A's instructions from the controller 20 . Also, the interface 103 notifies the controller 20 that the work of the forklift 10 has been completed. Note that in other embodiments, the interface 103 does not communicate directly with the controller 20, but communicates via a ground system for moving the forklift 10 (for example, a system for managing routes, order processing order, etc.). You may make it The ground system may be built on a computer such as a server, or may be built on a cloud.

The fork motor 104 operates to drive the fork 11 up and down based on the control signal from the automatic operation control section 1001 . When the fork 11 is movable in the left-right direction and the front-rear direction, the fork motor 104 may operate to drive the fork 11 in the left-right direction and the front-rear direction.

The travel motor 105 operates to travel the forklift 10 along a predetermined travel route based on a control signal from the automatic operation control unit 1001 . Further, if the forklift 10 can move not only in the front-back direction but also in the left-right direction, the traveling motor 105 may operate to move the forklift 10 in the left-right direction. In this case, the traveling motor 105 may adjust the lateral position of the fork 11 by moving the forklift 10 itself laterally.

(Functional configuration of controller)
As shown in FIG. 2 , the controller 20 includes an operation accepting section 200 and a CPU 201 .

The operation reception unit 200 receives an operation by the operator A. FIG. For example, the operation reception unit 200 according to the present embodiment includes a cushioning work completion button 2001, a cargo handling resume button 2002, a left shift button 2003, a right shift button 2004, an unloading button 2005, a cargo handling completion button 2006, and an accelerator restriction release button 2007. have. When the operator A presses any button, the operation reception unit 200 outputs an instruction corresponding to the operation to the forklift 10 .

A cushioning work completion button 2001 is pressed when the operator A has completed placing or removing the cushioning material 32 . It should be noted that this cushioning work completion button 2001 is not an essential component and may be omitted. For example, if the forklift 10 has two forks 11, the cushioning work completion button 2001 may be omitted.

The cargo handling resume button 2002 is pressed when the forklift 10 resumes the work of moving the pallet 30 after placing or removing the cushioning material 32 .

A left shift button 2003 and a right shift button 2004 are pressed when adjusting the position of the pallet 30 in the horizontal direction. When the left shift button 2003 is pressed, the operation reception unit 200 instructs the forklift 10 to move the fork 11 to the left to a predetermined position. When the right shift button 2004 is pressed, the operation reception unit 200 instructs the forklift 10 to move the forks 11 to the right to a predetermined position. The predetermined position is, for example, a position a certain distance (eg, 1 cm) to the left or right from the current position of the fork 11 . Further, when the cushioning material 32 is installed, the predetermined position may be a position where the force with which the cushioning material 32 presses the pallet 30 (load 31) loaded on the fork 11 is equal to or greater than a threshold value. In this case, the forklift 10 has, for example, a sensor (not shown) at the connection point between the fork 11 and the backrest 12, and when this sensor measures a pressing force (repulsive force) equal to or greater than a threshold value due to the cushioning material 32, It is determined that the predetermined position has been reached.

The loading/unloading button 2005 is pressed when loading the pallet 30 onto the truck bed R2 or unloading the pallet 30 from the truck bed R2. When this button is pressed during execution of the shipping sequence, the operation reception unit 200 causes the forklift 10 to move the obtained pallet 30 to the loading position on the truck bed R2 and place it there. instruct. Further, when this button is pressed during execution of the receiving sequence, the operation reception unit 200 instructs the forklift 10 to acquire the pallet 30 from the truck bed R2.

A cargo handling completion button 2006 is pressed when the pallet 20 has been placed on the loading position of the truck bed R2, or when the pallet 30 has been obtained from the truck bed R2. When this button is pressed during execution of the shipping sequence, the operation reception unit 200 instructs the forklift 10 to acquire a new pallet 30 . Further, when this button is pressed during execution of the receiving sequence, the operation receiving unit 200 instructs the forklift 10 to transport the obtained pallet 30 to a predetermined placement position (warehouse loading area R1). direct to.

The CPU 201 is a processor that performs various functions by operating according to a program prepared in advance, and governs the overall operation of the controller 20 . The CPU 201 functions as a state acquisition unit 2011 .

The status acquisition unit 2011 acquires from the forklift 10 a completion notification of the work specified in the sequence. Upon receiving the work completion notification from the forklift 10, the state acquisition unit 2011 prompts the operator A to perform the next instruction operation. For example, the state acquisition unit 2011 notifies the operator A of an acceptable instruction operation by lighting a button of the operation reception unit 200 .

(Processing flow of loading work)
FIG. 3 is a flow chart illustrating an example of processing a loading operation according to one embodiment of the present disclosure.
An example of loading work processing (shipping sequence) in the cargo handling system 1 according to the present embodiment will be described below with reference to FIG. 3 .

First, the automatic operation control unit 1001 of the forklift 10 acquires the pallet 30 from the pallet acquisition position (load storage area R1 of the warehouse) as work defined in the shipping sequence, and moves the truck along a predetermined travel route. Carry out automatic operation to transport to. Then, when the work has progressed to the point where the pallet 30 reaches the first position P1 (FIG. 4) on the bed R2 of the truck, the automatic operation control unit 1001 suspends the automatic operation in the shipping sequence (step S100). ).

FIG. 4 is a diagram for explaining functions of a forklift according to an embodiment of the present disclosure.
At the first position P1, for example, a portion of the rear surface 30b side of the pallet 30 (the tip side of the forks 11) (for example, half of the length from the front surface 30a to the rear surface 30b of the pallet 30) is inside the truck bed R2. is set to the position where it is inserted into the The automatic operation control unit 1001 drives the fork motor 104 and the traveling motor 105 based on the positions of the loading platform R2 and the pallet 30 detected by the sensor 101, and the forklift 10 is driven so that the pallet 30 is positioned at the first position P1. and the position of the fork 11 are adjusted.

After confirming that the forklift 10 has stopped at the first position P<b>1 , the operator A arranges the cushioning material 32 . Also, the forklift 10 may notify the controller 20 that it has reached the first position P1 and stopped (step S100A). In this case, the controller 20 may notify the operator A that the forklift 10 has stopped at the first position P1 by voice, lighting of a button, or the like.

For example, if the forklift 10 is of a type having four forks 11, there are cases where the two forks 11 on the left side carry one load 31 and the two forks 11 on the right side carry the other load 31. . In this case, the operator A places the cushioning material 32 between the two loads 31 to be transported by the forklift 10 and presses the cushioning material work completion button 2001 of the controller 20 . When the cushioning work completion button is pressed (step S200: YES), the controller 20 (operation reception unit 200) instructs the forklift 10 to fix the cushioning material 32 between the loads 31 being transported. (step S201).

When the automatic operation control unit 1001 of the forklift 10 receives an instruction to fix the cushioning material 32, it executes a subsequence for fixing the cushioning material. Specifically, the automatic operation control unit 1001 controls the fork motor 104 to move the left two forks 11 and the right two forks 11 to predetermined positions on the central side. Then, the cushioning material 32 is sandwiched and fixed between the load 31 to be transported by the left fork 11 and the load 31 to be transported by the right fork 11 (step S101). The predetermined position is a position that is a certain distance (for example, 1 cm) from the current position of the fork 11 toward the center, and a position where the pressing force (repulsive force) of the cushioning material 32 equal to or greater than the threshold value is measured. The forklift 10 may also notify the controller 20 that the cushioning material 32 has been fixed (step S101A). In this case, the controller 20 may notify the operator A that the fixing of the cushioning material 32 has been completed by voice, lighting of a button, or the like.

Further, for example, if the forklift 10 has two forks 11 and is of a type that transports only one load 31, there is no need to operate the cushioning work completion button 2001. FIG. In this case, the operator A arranges the cushioning material 32 between the cargo 31 already loaded on the platform R2 and the cargo 31 transported by the forklift 10, and then the operator A Without pressing the work completion button 2001 (step S200: NO), the process proceeds to the next step.

Next, after arranging the cushioning material 32 , the operator A retreats to a safe place and presses the cargo handling resume button 2002 of the controller 20 . When the cargo handling resume button is pressed (step S202), the controller 20 instructs the forklift 10 to resume movement of the pallet 30 (step S203). Note that the above steps S100, S100A, S200, S101, S101A, S202, and S203 are not essential steps. For example, if only forklifts 10 with two forks 11 are operated, these steps may be omitted.

When the automatic operation control unit 1001 of the forklift 10 receives the instruction to resume the movement of the pallet 30, it returns to the automatic operation operation in the shipping sequence. Here, the automatic operation control unit 1001 executes a subsequence for pallet movement that is defined in advance in the shipping sequence. Specifically, the automatic operation control unit 1001 controls the fork motor 104 to move the pallet 30 to the second position P2 (FIG. 4), and then lower it to a predetermined height (for example, 10 cm) from the loading platform R2. The operation is automatically performed (step S102).

The second position P2 is set, for example, at a position where the front surface 30a of the pallet 30 (base end side of the forks 11) is inserted inside the loading platform R2 of the truck. The automatic operation control unit 1001 drives the fork motor 104 and the traveling motor 105 based on the positions of the loading platform R2 and the pallet 30 detected by the sensor 101, and the forklift 10 is driven so that the pallet 30 is positioned at the second position P2. and the position of the fork 11 are adjusted.

Next, the state notification unit 1003 of the forklift 10 notifies the controller 20 that the work has progressed to the point where the pallet 30 reaches the second position P2 (step S103), and temporarily suspends the automatic driving operation in the shipping sequence. Stop. Then, the controller 20 turns on the left shift button 2003 and the right shift button 2004 to notify the operator A that the movement of the pallet 30 is completed, and prompts the operator A to perform the next instruction operation. Further, the controller 20 may notify the operator A that the movement of the pallet 30 has been completed by voice.

The operator A presses the left shift button 2003 or the right shift button 2004 of the controller 20 while checking the arrangement of the pallet 30 (cargo 31 ) and the cushioning material 32 to adjust the position of the pallet 30 . When operator A presses left shift button 2003 or right shift button 2004 (step S204), controller 20 instructs forklift 10 to shift fork 11 to the left or right (step S205).

Upon receiving the shift instruction, the automatic operation control unit 1001 of the forklift 10 executes a subsequence for adjusting the position of the forks 11 . Specifically, the automatic operation control unit 1001 controls the fork motor 104 to move the fork 11 to the left or right to a predetermined position. The predetermined position is, for example, a position a certain distance (eg, 1 cm) to the left or right from the current position of the fork 11 . When the left shift button 2003 is pressed once, the automatic driving control unit 1001 moves the fork 11 leftward by 1 cm.

Note that the controller 20 may continuously output the shift instruction to the forklift 10 while detecting the pressing of the left shift button 2003 or the right shift button 2004 (step S204: YES). The controller 20 stops instructing the forklift 10 to shift when the pressing of the left shift button 2003 or the right shift button 2004 is no longer detected (step S204: NO). In this case, the automatic operation control unit 1001 of the forklift 10 moves the forks 11 to the left by 1 cm, for example, while the instruction to shift to the left is being output.

Next, when the operator A confirms that the cargo 31 and the cushioning material 32 are in contact with each other or that the distance between the cargo 31 and the cushioning material 32 is less than the reference value, the controller 20 is loaded. The unload button 2005 is pressed. When the operator A presses the loading/unloading button 2005 (step S206), the controller 20 instructs the forklift 10 to place the pallet (step S207).

Upon receiving the placement instruction, the automatic operation control unit 1001 of the forklift 10 returns to the automatic operation operation in the shipping sequence. Here, the automatic operation control unit 1001 executes a subsequence for placing the pallet 30 that is defined in advance in the shipping sequence. Specifically, the automatic operation control unit 1001 controls the fork motor 104 to lower the pallet 30 onto the loading platform R2 and pull out the forks 11 from the holes of the pallet 30 (step S105).

Note that the controller 20 continuously outputs the placement instruction to the forklift 10 while the pressing of the loading/unloading button 2005 is detected. The controller 20 stops issuing the loading instruction to the forklift 10 when the pressing of the loading/unloading button 2005 is no longer detected. The forklift 10 executes the subsequence for placing the pallet 30 only while receiving the placement instruction. In this embodiment, the operator A continues to press the loading/unloading button 2005 when placing the pallet 30 and pulling out the forks 11. However, the present invention is not limited to this. In another embodiment, when the operator A presses the loading/unloading button 2005 once, the forklift 10 places the pallet 30 on the platform R2 and pulls out the forks 11 even after the operator A releases the button. A series of operations may be automatically continued and executed. In this case, the operator A can cause the forklift 10 to perform a series of operations up to the completion of loading and unloading of the pallets 30 only by a simple operation of pressing the button once without continuously pressing the button.

Further, when the fork 11 is pulled out from the hole of the pallet 30, the state notification unit 1003 of the forklift 10 notifies the controller 20 that the placement has progressed to the completed state (step S106). Suspend automatic operation.

Upon receiving the notification of the completion of placement, the controller 20 lights the loading completion button 2006 to notify the operator A that the placement of the pallet 30 has been completed, and prompts the operator A to perform the next instruction operation. Further, the controller 20 may notify the operator A that the placement of the pallet 30 has been completed by voice.

After confirming that the forklift 10 has normally completed the cargo handling operation (the pallet 30 has been correctly placed on the loading platform R2 of the truck), the operator A presses the cargo handling completion button 2006 of the controller 20 . When the operator A presses the cargo handling completion button 2006 (step S208), the controller 20 instructs the forklift 10 to perform the next cargo handling work (step S209).

When the automatic operation control unit 1001 of the forklift 10 receives the next cargo handling execution instruction, it returns to the automatic operation operation in the shipping sequence. Here, the automatic operation control unit 1001 executes a new pallet acquisition subsequence that is predefined in the shipping sequence. Specifically, the automatic operation control unit 1001 automatically controls the fork motor 104 and the traveling motor 105 to move to the loading area R1 of the warehouse, acquire a new pallet 30, and transport it to the truck. (step S107). After obtaining a new pallet 30, the forklift 10 returns to step S100 and performs a series of cargo handling operations again.

A speed limit (first speed) is set for the unmanned forklift 10 to prevent it from colliding with other objects (people, other forklifts, obstacles, etc.) during travel. Therefore, it may take a long time for the forklift 10 to travel back and forth between the cargo storage area R1 and the truck. For this reason, the forklift 10 according to the present embodiment has a function of canceling the speed limit according to the operator A's instruction.

Specifically, first, the operator A confirms whether there are no other objects on the traveling path of the forklift 10 and whether the environment is safe. After confirming that the environment is safe, the operator A presses the accelerator restriction release button 2007 of the controller 20 . When the cargo handling completion button 2006 is pressed by the operator A (step S210: YES), the controller 20 instructs the forklift 10 to release the speed limit only while this button is pressed (step S211). ). Further, when the depression of the accelerator limit release button 2007 is no longer detected (step S210: NO), the controller 20 stops instructing the forklift 10 to release the speed limit.

The automatic operation control unit 1001 of the forklift 10 executes the high-speed movement subsequence while receiving the speed limit release instruction. Specifically, the automatic driving control unit 1001 controls the traveling motor 105 to travel at a speed (second speed) higher than the speed limit (step S108). Further, when the automatic operation control unit 1001 no longer receives an instruction to cancel the speed limit from the controller 20, the traveling speed of the forklift 10 is reduced to the speed limit and travels.

(Processing flow of unloading work)
FIG. 5 is a flowchart illustrating an example of a process for unloading work according to an embodiment of the present disclosure.
An example of unloading work processing (arrival sequence) in the cargo handling system 1 according to the present embodiment will be described below with reference to FIG. 5 .

First, the automatic operation control unit 1001 of the forklift 10 automatically detects and acquires the pallet 30 at the pallet acquisition position (truck bed R2) as work specified in the receiving sequence (step S1000). For example, the automatic operation control unit 1001 specifies the position of the pallet 30 (the position of the hole in the pallet 30) with the sensor 101, inserts the fork 11 into the hole in the pallet 30, and acquires the pallet 30. 104. Further, when the forks 11 are inserted into the holes of the pallet 30, the automatic operation control unit 1001 lifts the pallet 30 to a predetermined height (for example, 10 cm from the platform R2) and stops the forks 11.

Next, the state notification unit 1003 of the forklift 10 notifies the controller 20 that the work has progressed to the point where the pallet 30 has been acquired from the truck bed R2 (step S1001), and suspends the automatic operation in the receiving sequence. do.

Then, the controller 20 illuminates the left shift button 2003 and the right shift button 2004 to notify the operator A that the forklift 10 has acquired the pallet 30 and prompts the operator A to perform the next instruction operation. Further, the controller 20 may notify the operator A that the acquisition of the palette 30 has been completed by voice.

The operator A presses the left shift button 2003 or the right shift button 2004 of the controller 20 while checking the arrangement of the pallet 30 (cargo 31 ) and the cushioning material 32 to adjust the position of the pallet 30 . When operator A presses left shift button 2003 or right shift button 2004 (step S2000: YES), controller 20 instructs forklift 10 to shift fork 11 to the left or right (step S2001). .

Upon receiving the shift instruction, the automatic operation control unit 1001 of the forklift 10 executes a subsequence for adjusting the position of the forks 11 . Specifically, the automatic operation control unit 1001 controls the fork motor 104 to move the fork 11 to the left or right to a predetermined position. The processing is the same as step S104 in FIG.

Note that the controller 20 may continuously output the shift instruction to the forklift 10 while detecting the pressing of the left shift button 2003 or the right shift button 2004 (step S2000: YES). The controller 20 stops instructing the forklift 10 to shift when the pressing of the left shift button 2003 or the right shift button 2004 is no longer detected (step S2000: NO).

Also, if the position adjustment of the pallet 30 is unnecessary, the operator A does not have to operate the left shift button 2003 or the right shift button 2004 of the controller 20 . That is, steps S2000, S2001, and S1002 may be omitted.

Next, operator A removes the cushioning material 32 . When the operator A confirms that the adjacent cargoes 31 are not in contact with each other and that the cushioning material 32 has been removed, the operator A presses the loading/unloading button 2005 of the controller 20 . When the operator A presses the loading/unloading button 2005 (step S2002), the controller 20 instructs the forklift 10 to unload the pallet 30 from the platform R2 (step S2003).

Upon receiving the unloading instruction, the automatic operation control unit 1001 of the forklift 10 returns to the automatic operation operation in the receiving sequence. Here, the automatic operation control unit 1001 executes a subsequence for unloading that is defined in advance in the sequence for receiving goods. Specifically, the automatic operation control unit 1001 moves the forks 11 upward to lift the pallet 30 from the truck bed R2, and then pulls the forks 11 to pull the pallet 30 to the backrest 12 automatically. (step S1003).

Note that the controller 20 continuously outputs the unloading instruction to the forklift 10 while the pressing of the unloading button 2005 is detected. The controller 20 stops instructing the forklift 10 to unload when the pressing of the unloading button 2005 is no longer detected. The forklift 10 executes the subsequence for unloading the pallet 30 only while receiving the placement instruction. In this embodiment, the operator A continues to press the loading/unloading button 2005 when placing the pallet 30 and pulling out the forks 11. However, the present invention is not limited to this. In another embodiment, when the operator A presses the loading/unloading button 2005 once, the forklift 10 places the pallet 30 on the platform R2 and pulls out the forks 11 even after the operator A releases the button. A series of operations may be automatically continued and executed. In this case, the operator A can cause the forklift 10 to perform a series of operations up to the completion of loading and unloading of the pallets 30 only by a simple operation of pressing the button once without continuously pressing the button.

Further, when the state notification unit 1003 of the forklift 10 detects that the pallet 30 has come into contact with the backrest 12, it notifies the controller 20 that the operation has progressed until the loading of the pallet 30 is completed (step S1004). Temporarily stop the automatic operation in the sequence for

Upon receipt of the loading completion notification, the controller 20 lights the cargo handling completion button 2006 to notify the operator A that the pallet 30 has been loaded onto the forklift 10, and prompts the operator A to perform the next instruction operation. Further, the controller 20 may notify the operator A that the loading of the pallets 30 has been completed by voice.

When the operator A confirms that the forklift 10 has normally completed the cargo handling work (the pallet 30 has been loaded on the forklift 10), the operator A presses the cargo handling completion button 2006 of the controller 20. FIG. When the operator A presses the cargo handling completion button 2006 (step S2004), the controller 20 instructs the forklift 10 to transport the loaded pallet 30 to the loading position (load storage area R1 of the warehouse) ( step S2005).

Upon receiving the transport instruction, the automatic operation control unit 1001 of the forklift 10 returns to the automatic operation operation in the receiving sequence. Here, the automatic operation control unit 1001 executes a subsequence for pallet transportation that is defined in advance in the receiving sequence. Specifically, the automatic operation control unit 1001 controls the fork motor 104 and the traveling motor 105 to move to the cargo storage area R1 of the warehouse, and the automatic operation of placing the loaded pallet 30 on the cargo storage area R1. (step S1005). When the forklift 10 completes the placement of the pallet 30, it returns to step S1000 and performs a series of cargo handling operations again.

It should be noted that the speed limit of the forklift 10 can be canceled by the operation of the operator A during cargo handling work at the time of arrival. Note that steps S2006, S2007, and S1006 in FIG. 5 are the same as steps S210, S211, and S108 in FIG. 3, respectively.

(Hardware configuration)
FIG. 6 is a diagram illustrating an example of a hardware configuration of a forklift and a controller according to an embodiment of the present disclosure;
The hardware configuration of the forklift 10 and the controller 20 according to this embodiment will be described below with reference to FIG.

A computer 900 comprises a processor 901 , a main memory device 902 , an auxiliary memory device 903 and an interface 904 .

The forklift 10 and the controller 20 described above are each implemented in one or more computers 900 . The operation of each functional unit described above is stored in the auxiliary storage device 903 in the form of a program. The processor 901 reads out the program from the auxiliary storage device 903, develops it in the main storage device 902, and executes the above processing according to the program. In addition, the processor 901 secures storage areas corresponding to the storage units described above in the main storage device 902 according to the program. Examples of the processor 901 include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), a microprocessor, and the like.

The program may be for realizing part of the functions that the computer 900 is caused to exhibit. For example, the program may function in combination with another program already stored in the auxiliary storage device 903 or in combination with another program installed in another device. In another embodiment, the computer 900 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLD include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, part or all of the functions implemented by processor 901 may be implemented by the integrated circuit. Such an integrated circuit is also included as an example of a processor.

Examples of the auxiliary storage device 903 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only memory), semiconductor memory, and the like. Auxiliary storage device 903 may be an internal medium directly connected to the bus of computer 900, or an external storage device 910 connected to computer 900 via interface 904 or a communication line. Further, when this program is delivered to the computer 900 via a communication line, the computer 900 receiving the delivery may develop the program in the main storage device 902 and execute the above process. In at least one embodiment, secondary storage 903 is a non-transitory, tangible storage medium.

Also, the program may be for realizing part of the functions described above.
Furthermore, the program may be a so-called difference file (difference program) that implements the above-described functions in combination with another program already stored in the auxiliary storage device 903 .

(Effect)
As described above, the forklift 10 according to the present embodiment includes the automatic operation control unit 1001 that controls the automatic operation operation of the forklift 10 according to the sequence, and the automatic operation control unit 1001 that automatically operates when the work specified in the sequence progresses to a predetermined state. and an instruction receiving unit 1002 that temporarily stops the operation and receives an instruction from the operator A using the controller 20 . When receiving an instruction from the operator A, the automatic operation control unit 1001 performs work according to a subsequence according to the instruction.

By doing so, the forklift 10 stops the automatic operation after completing the predetermined work and waits for the instruction from the operator A, so it is possible to check whether the cargo handling work is being performed normally or not. After the operator A confirms whether or not is ensured, the work according to the instruction of the operator A can be executed. As a result, manual work and work by automatic operation of the forklift 10 can be safely coordinated.

The forklift 10 also includes a state notification unit 1003 that notifies the operator A through the controller 20 that the work specified in the sequence has progressed to a predetermined state.

By doing so, the forklift 10 can prompt the operator A to give the next instruction. As a result, it is possible to shorten the time from when the forklift 10 progresses to a predetermined state and is temporarily stopped until the operator A's instruction is accepted.

Further, the controller 20 may illuminate a button corresponding to the next work when receiving a notification from the forklift indicating that the work has progressed to a predetermined state.

By doing so, the controller 20 can make the operator A recognize what the next instructed operation is. Thereby, the operator A can easily proceed with the work while confirming the buttons of the controller 20 .

Further, when receiving an instruction to move the fork 11, the automatic operation control unit 1001 moves the fork 11 in a specified direction to a preset position.

By doing so, it becomes easy to cause the forklift 10 to perform the same operation even if a different operator A gives an instruction. As a result, the work accuracy of the forklift 10 can be made uniform regardless of the skill level of the operator A.

Further, when the automatic operation control unit 1001 receives an instruction to acquire or place the pallet 30, the automatic operation control unit 1001 changes the traveling route between the predetermined pallet acquisition position and the pallet placement position to the first speed (speed limit). run with

By doing so, the forklift 10 automatically moves to the pallet acquisition position or the pallet placement position only by the operator A giving a simple instruction, and performs the work of acquiring or placing the pallet. work can be performed. At this time, since the forklift 10 runs at the speed limit, collisions and contact between the forklift 10 and other objects (persons, other forklifts, obstacles, etc.) can be suppressed.

In addition, when the automatic driving control unit 1001 further receives an instruction to cancel the speed limit, the automatic driving control unit 1001 travels the travel route at a second speed faster than the speed limit.

By doing so, the forklift 10 can increase the speed of traveling along the travel route and shorten the travel time only when an instruction from the operator A is received. Also, the operator A only issues instructions when the safety around the forklift 10 is confirmed, thereby suppressing the risk of colliding with or coming into contact with other objects when the traveling speed of the forklift 10 is increased. can be done.

Although the embodiments of the present disclosure have been described in detail above, the present invention is not limited to these as long as they do not deviate from the technical idea of the present invention, and some design changes and the like are possible.

For example, in the embodiment, an example in which operator A is a truck driver has been described, but the present invention is not limited to this.

FIG. 7 is a diagram illustrating a functional configuration of a cargo handling system according to a modification of an embodiment of the present disclosure;
For example, as shown in FIG. 7, the controller 20 may be located in a remote control room separate from the work area where the truck and cargo yard R1 are located. In this case, an operator A stationed in the remote control room operates the controller 20 to remotely operate the forklift 10 at the work site.

In this modification, as shown in FIG. 7, a monitoring sensor 40 may be installed at the work place. For example, the monitoring sensor 40 is a camera for monitoring the surroundings of the loading area R1, the surroundings of the bed R2 of the truck, the traveling route of the forklift 10, and the like. The image captured by the monitoring sensor 40 is displayed on the monitoring monitor 41 installed in the remote control room. The operator A checks the working condition of the forklift 10 through the monitoring monitor 41, the working condition of the cushioning materials and the like by the truck driver, the condition around the forklift 10 (presence or absence of other objects), and the like. A series of operations in FIG. 3) and an unloading operation (a series of operations in FIG. 5) may be instructed.

<Appendix>
For example, the forklift, the forklift control method, and the program described in the above embodiments are understood as follows.

According to a first aspect of the present disclosure, the forklift is an automatically operable forklift, and an automatic operation control unit that controls the automatic operation of the forklift according to a sequence that prescribes work related to cargo handling; an instruction reception for temporarily stopping the automatic operation of the forklift by the automatic operation control unit and accepting an operator's instruction using an external electronic terminal when the work specified in the sequence has progressed to a predetermined state; and When the support reception unit receives an instruction from the operator, the automatic operation control unit controls the operation of the forklift according to a subsequence corresponding to the instruction, out of a plurality of subsequences constituting the sequence. .

By doing so, the forklift stops automatic operation after the work progresses to a predetermined state and waits for instructions from the operator. After the operator confirms whether the is ensured, the work according to the operator's instruction can be executed. As a result, it is possible to safely coordinate manual work and automatic operation of the forklift.

According to a second aspect of the present disclosure, the forklift according to the first aspect further includes a state notification unit that notifies the operator that the work specified in the sequence has progressed to a predetermined state.

By doing so, the forklift can prompt the operator for the next instruction. As a result, it is possible to shorten the time from when the forklift finishes its work until it receives the operator's instruction.

According to a third aspect of the present disclosure, in the forklift according to the first or second aspect, when the instruction receiving unit receives an instruction to move the fork, the automatic operation control unit is configured to move the fork. Executes a subsequence of moving to a preset position in the direction indicated.

By doing so, it becomes easy to cause the forklift truck to perform the same operation even if different operators give instructions. As a result, the work accuracy of the forklift truck can be made uniform regardless of the skill level of the operator.

According to a fourth aspect of the present disclosure, in the forklift according to any one of the first to third aspects, the automatic operation control unit causes the instruction reception unit to acquire or place a pallet from the operator When the instruction is accepted, a sub-sequence is executed for traveling at a first speed along a predetermined travel route between the pallet acquisition position and the pallet placement position.

By doing so, the forklift can automatically move to the pallet acquisition position or the pallet placement position only by the operator giving a simple instruction, and perform the work of acquiring or placing the pallet. can be executed.

According to a fifth aspect of the present disclosure, in the forklift according to the fourth aspect, when the instruction receiving unit further receives an instruction to release the speed limit from the operator, the automatic operation control unit Execute a subsequence of traveling the travel path at a second speed that is greater than the first speed.

By doing so, the forklift can increase the speed of traveling along the travel route and shorten the travel time only when an instruction from the operator is received. In addition, the operator can suppress the risk of a collision or the like when the traveling speed of the forklift is increased by instructing the operator only when the safety around the forklift can be confirmed.

According to the sixth aspect of the present disclosure, when the work specified in the subsequence is completed, the automatic operation control unit returns to the sequence and restarts the automatic operation of the forklift.

By doing so, the forklift can automatically perform the work without the operator's instruction after the sub-sequence according to the operator's instruction is completed and the automatic driving operation is resumed. . As a result, instruction operations by the operator can be reduced, and the burden on the operator can be reduced.

According to a seventh aspect of the present disclosure, the sequence is a shipping sequence in which a pallet is obtained from a warehouse loading area and placed on a truck bed.

According to an eighth aspect of the present disclosure, the sequence is a receiving sequence in which a pallet is obtained from a truck bed and placed on a warehouse loading area.

According to the ninth aspect of the present disclosure, the instruction receiving unit causes the work specified in the sequence to be performed in a state in which the fork is inserted until the rear surface of the pallet reaches a first position inside the bed of the truck. , the automatic operation of the forklift is temporarily stopped.

According to the tenth aspect of the present disclosure, when the instruction reception unit receives an instruction to resume cargo handling from the operator, the automatic operation control unit restarts the automatic operation operation of the forklift, and the front surface of the pallet insert the fork until it reaches a second position inside the truck bed.

According to the eleventh aspect of the present disclosure, the automatic operation control unit receives an instruction to resume cargo handling from the operator after the automatic operation operation of the forklift is temporarily stopped. Before, a subsequence of fixing the cushioning material placed between the plurality of said pallets is executed.

According to a twelfth aspect of the present disclosure, a forklift control method includes an automatic operation step of controlling an automatic operation operation of a forklift according to a sequence prescribing work related to cargo handling, and a predetermined work defined in the sequence. and an instruction receiving step of temporarily stopping the automatic driving operation of the forklift in the automatic driving step and receiving an operator's instruction using an external electronic terminal when the process progresses to the state of . In the automatic operation step, when an instruction from the operator is received, the operation of the forklift truck is controlled according to a sub-sequence among a plurality of sub-sequences constituting the sequence according to the instruction.

According to the thirteenth aspect of the present disclosure, the program includes an automatic operation step for controlling automatic operation of a forklift according to a sequence prescribing work related to cargo handling, and performing the work prescribed in the sequence to a predetermined state. an instruction reception step of temporarily stopping the automatic operation of the forklift by the automatic operation step and accepting an operator's instruction using an external electronic terminal when the process proceeds, and causing the computer of the forklift to execute. In the automatic operation step, when an instruction from the operator is received, the operation of the forklift truck is controlled according to a sub-sequence among a plurality of sub-sequences constituting the sequence according to the instruction.

1 cargo handling system 10 forklift 100 CPU
1001 Automatic operation control unit 1002 Instruction reception unit 1003 State notification unit 101 Sensor 102 Storage medium 103 Interface 104 Fork motor 105 Traveling motor 11 Fork 12 Backrest 20 Controller 200 Operation reception unit 2001 Cushion material work completion button 2002 Loading resume button 2003 Left shift button 2004 Right shift button 2005 Button 2006 Cargo handling completion button 2007 Accelerator limit release button 201 CPU
2011 State acquisition unit 30 Pallet 31 Cargo 32 Cushioning material 40 Monitoring sensor 41 Monitoring monitor 900 Computer

Claims (18)

A forklift capable of automatically performing the first work in cargo handling work consisting of a first work automatically performed by the forklift and a second work manually performed by an operator,
an automatic operation control unit that controls the automatic operation of the forklift for the first work according to a sequence that prescribes the order of the first work and the second work, and the operation performed in the first work;
When the cargo handling work specified in the sequence has progressed to the stage of performing the second work, the automatic driving operation of the forklift by the automatic driving control unit is temporarily stopped, and an external electronic terminal is used. an instruction receiving unit that receives instructions from the operator;
with
The sequence includes, among the operations performed in the first work,
an automatic operation sequence for automatically performing a plurality of predetermined operations without instructions from the operator;
An operation different from the operation performed in the automatic operation sequence, which is predetermined in response to the operator's instruction for assisting the operator in the second work or adjusting the implementation result of the automatic operation sequence a subsequence for performing the specified action;
When the instruction receiving unit receives an instruction from the operator, the automatic operation control unit controls the operation of the forklift according to a subsequence according to the instruction.
forklift. further comprising a state notification unit that notifies the operator that the work defined in the sequence has progressed to the stage of performing the second work ;
A forklift according to claim 1. The automatic operation control unit executes a subsequence of moving the fork to a preset position in a designated direction when the instruction receiving unit receives an instruction to move the fork from the operator. ,
A forklift according to claim 1 or 2. When the instruction receiving unit receives an instruction to obtain or place a pallet from the operator, the automatic operation control unit selects a travel route between a predetermined pallet obtaining position and a pallet mounting position as a first execute a subsequence running at a speed of
A forklift according to any one of claims 1 to 3. When the instruction receiving unit further receives an instruction to cancel the speed limit from the operator, the automatic driving control unit performs a subsequence of traveling the travel route at a second speed higher than the first speed. Run,
A forklift according to claim 4. When the work specified in the sub-sequence is completed, the automatic operation control unit returns to the sequence and restarts the automatic operation of the forklift.
A forklift according to claim 1. The sequence is a shipping sequence in which a pallet is obtained from a warehouse loading area and placed on a truck bed.
A forklift according to claim 1. The sequence is a receiving sequence in which a pallet is obtained from a truck bed and placed on a warehouse loading area.
A forklift according to claim 1. The instruction receiving unit automatically operates the forklift when the work specified in the sequence proceeds in a state where the forks are inserted until the rear surface of the pallet reaches a first position inside the truck bed. temporarily suspend the
A forklift according to claim 7. When the instruction receiving unit receives an instruction to resume cargo handling from the operator, the automatic operation control unit restarts automatic operation of the forklift so that the front surface of the pallet is positioned at a second position inside the bed of the truck. insert the fork until it reaches
A forklift according to claim 9. The automatic operation control unit is arranged between the plurality of pallets after the automatic operation of the forklift is temporarily stopped and before the instruction reception unit receives an instruction to resume cargo handling from the operator. perform a subsequence that secures the cushioning material
A forklift according to claim 10. In cargo handling work consisting of a first work automatically performed by a forklift and a second work manually performed by an operator, the order of the first work and the second work, and the forklift in the first work an automatic operation step of controlling the automatic operation operation of the forklift according to a predefined sequence of operations performed by
When the cargo handling work specified in the sequence has progressed to the stage of performing the second work, the automatic driving operation of the forklift by the automatic driving step is temporarily stopped, and the an instruction receiving step for receiving an operator's instruction;
has
The sequence includes, among the operations performed in the first work,
an automatic operation sequence for automatically performing a plurality of predetermined operations without instructions from the operator;
An operation different from the operation performed in the automatic operation sequence, which is predetermined in response to the operator's instruction for assisting the operator in the second work or adjusting the implementation result of the automatic operation sequence a subsequence for performing the specified action;
In the automatic operation step, when an instruction from the operator is received, the operation of the forklift is controlled according to a subsequence according to the instruction.
Forklift control method. In cargo handling work consisting of a first work automatically performed by a forklift and a second work manually performed by an operator, the order of the first work and the second work, and the forklift in the first work an automatic operation step of controlling the automatic operation operation of the forklift according to a predefined sequence of operations performed by
When the cargo handling work specified in the sequence progresses until the second work is performed , the automatic driving operation of the forklift by the automatic driving step is temporarily stopped, and the operation using the external electronic terminal is performed. an instruction receiving step for receiving an instruction from the
to the forklift computer,
The sequence includes, among the operations performed in the first work,
an automatic operation sequence for automatically performing a plurality of predetermined operations without instructions from the operator;
An operation different from the operation performed in the automatic operation sequence, which is predetermined in response to the operator's instruction for assisting the operator in the second work or adjusting the implementation result of the automatic operation sequence a subsequence for performing the specified action;
In the automatic operation step, when an instruction from the operator is received, the operation of the forklift truck is controlled according to a subsequence corresponding to the instruction, out of a plurality of subsequences constituting the sequence.
program. A forklift capable of automatic operation,
an automatic operation control unit that controls automatic operation of the forklift according to a sequence that prescribes work related to cargo handling;
An instruction to temporarily stop the automatic operation of the forklift by the automatic operation control unit and accept an operator's instruction using an external electronic terminal when the work specified in the sequence has progressed to a predetermined state. a reception department;
with
The automatic operation control unit is
when the instruction receiving unit receives an instruction from the operator, controlling the operation of the forklift truck according to a subsequence corresponding to the instruction among a plurality of subsequences constituting the sequence;
A subsequence of traveling at a first speed along a predetermined travel route between a pallet acquisition position and a pallet placement position when the instruction reception unit receives an instruction to acquire or place a pallet from the operator. and run
When the instruction receiving unit further receives an instruction from the operator to cancel the speed limit, executing a subsequence of traveling the travel route at a second speed faster than the first speed.
forklift. A forklift capable of automatic operation,
an automatic operation control unit that controls automatic operation of the forklift according to a sequence that prescribes work related to cargo handling;
An instruction to temporarily stop the automatic operation of the forklift by the automatic operation control unit and accept an operator's instruction using an external electronic terminal when the work specified in the sequence has progressed to a predetermined state. a reception department;
with
The automatic operation control unit is
when the instruction receiving unit receives an instruction from the operator, controlling the operation of the forklift truck according to a subsequence corresponding to the instruction among a plurality of subsequences constituting the sequence;
When the work specified in the sub-sequence is completed, returning to the sequence and restarting the automatic driving operation of the forklift.
forklift. A forklift capable of automatic operation,
an automatic operation control unit that controls automatic operation of the forklift according to a sequence that prescribes work related to cargo handling;
An instruction to temporarily stop the automatic operation of the forklift by the automatic operation control unit and accept an operator's instruction using an external electronic terminal when the work specified in the sequence has progressed to a predetermined state. a reception department;
with
When the instruction receiving unit receives an instruction from the operator, the automatic operation control unit controls the operation of the forklift according to a subsequence according to the instruction, out of a plurality of subsequences constituting the sequence. ,
The sequence is a shipping sequence in which a pallet is obtained from a warehouse loading area and placed on a truck bed,
The instruction receiving unit automatically operates the forklift when the work specified in the sequence proceeds in a state where the forks are inserted until the rear surface of the pallet reaches a first position inside the truck bed. temporarily suspend the
forklift. When the instruction receiving unit receives an instruction to resume cargo handling from the operator, the automatic operation control unit restarts automatic operation of the forklift so that the front surface of the pallet is positioned at a second position inside the bed of the truck. insert the fork until it reaches
A forklift according to claim 16. The automatic operation control unit is arranged between the plurality of pallets after the automatic operation of the forklift is temporarily stopped and before the instruction reception unit receives an instruction to resume cargo handling from the operator. perform a subsequence that secures the cushioning material
A forklift according to claim 17.

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