JP6399669B1 - Driving support system and driving support method - Google Patents

Abstract

A driving support system and a driving support method capable of performing efficient driving support are provided. A driving support system 1 includes a plurality of cargo handling vehicles 10, a management device 20, and a support device 30. The cargo handling vehicle 10 includes a cargo handling means 11 and a photographing means 12 for generating video data. The management device 20 includes a storage unit 22 that stores information related to the schedule of cargo handling work and information related to the cargo handling work that the operator is not good at. The support device 30 provides display means 31 for displaying video data and driving assistance. It is characterized by comprising driving support means 32 and 33 for performing. [Selection] Figure 1

Description

  The present invention relates to a driving support system and a driving support method.

  2. Description of the Related Art Conventionally, a manned and unmanned forklift that can be switched between a manned operation and an unmanned operation is known (see, for example, Patent Document 1). According to the manned and unmanned forklift, for example, a regular cargo handling operation can be performed by an unmanned operation, and an irregular cargo handling operation can be performed by a manned operation. Moreover, according to the manned and unmanned forklift, when the quantity increases and it is not possible to cope with unmanned operation, it is possible to perform the cargo handling work by switching to manned operation with high operability.

JP 2013-234005 A

  A manned and unmanned forklift requires less time for manned operation compared to a manned forklift, and thus there are workers who are not good at manned operation. A worker who is not good at manned driving operation performs a cargo handling operation while receiving driving assistance (for example, a driving instruction) from an operator who is good at manned driving operation.

  Workers who are good at manned driving operations (hereinafter referred to as “supporters”) provide driving support for workers who are not good at manned driving operations, so the number of workers who are not good at manned driving operations is the supporter. If the number is larger than the number of workers, there may be a worker who cannot receive driving assistance.

  This invention is made | formed in view of the said situation, The place made into the subject is providing the driving assistance system and driving assistance method which can perform efficient driving assistance.

In order to solve the above problems, a driving support system according to the present invention is:
A plurality of cargo vehicles configured to be switchable between manned driving and unmanned driving;
A management device configured to be communicable with the plurality of cargo handling vehicles and managing a cargo handling operation of the plurality of cargo handling vehicles;
A support device configured to be communicable with the plurality of cargo handling vehicles and the management device, and supporting a manned driving operation of an operator on the cargo handling vehicle;
A driving support system including
The cargo handling vehicle is
Cargo handling means provided at the front of the vehicle body;
Photographing means for photographing the front of the vehicle body and generating video data;
The management device
A storage unit that stores information on the schedule of the cargo handling work of the worker and information on the cargo handling work that the worker is poor at;
The support device includes:
Display means for displaying the video data;
Driving assistance means for providing driving assistance to the worker , and
The photographing means includes
A head-mounted camera configured to be attachable to the operator's head, or a camera configured to be attachable to the cargo handling vehicle;
The video data is transmitted to the support device only during the poor handling operation .

The cargo handling vehicle is
Comprising biometric information acquisition means for acquiring biometric information of the worker,
The management device
The determination part which determines the said poor handling work based on the said biometric information can be provided.

The driving support means includes
Voice instruction means for transmitting a voice of a support person who performs driving assistance to the cargo handling vehicle as voice data;
Remote operation means for enabling the supporter to operate the cargo handling vehicle.

The management device
A schedule creation unit that creates the schedule so that an overlap between a time zone of the poor handling operation performed by one worker and a time zone of the poor handling operation performed by another worker is minimized. Can be provided.

In order to solve the above problems, a driving support method according to the present invention provides:
A driving support method for supporting a manned driving operation of a worker on a cargo handling vehicle configured to be switchable between manned driving and unmanned driving,
A first step of storing, in a storage unit, information related to a schedule of cargo handling work of the worker and information related to cargo handling work that the worker is poor at;
A second step of shooting the place where the unloading work is being performed and generating video data while the unloading work is being performed;
On the basis of the image data, by using a support device provided in a position away from the cargo vehicle, seen including a third step of performing driving support to the operator,
In the second step,
The video data is transmitted to the support device only at the time of the unsatisfactory cargo handling operation by a head mounted camera configured to be attachable to the operator's head or a camera configured to be attachable to the cargo handling vehicle. It is characterized by that.

In the first step,
The biological information acquisition means may acquire the biological information of the worker and determine the poor handling work based on the biological information.

In the third step,
A voice of a supporter who performs driving support may be transmitted as voice data to the cargo handling vehicle, and / or the supporter may operate the cargo handling vehicle by remote control means of the support device.

In the first step, the schedule is:
It may be created so that the overlap between the time zone of the poor handling operation performed by one worker and the time zone of the poor handling operation performed by another worker is minimized.

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance system and driving assistance method which can perform efficient driving assistance can be provided.

It is a figure showing a driving support system concerning one embodiment of the present invention. It is a figure which shows an example of a cargo handling work schedule. 3 is a flowchart of a driving support method according to an embodiment of the present invention.

  Embodiments of a driving support system and a driving support method according to the present invention will be described below with reference to the accompanying drawings.

[Driving support system]
FIG. 1 shows a driving support system 1 according to an embodiment of the present invention. The driving support system 1 includes a plurality of forklifts 10 (10A, 10B,...), A management device 20, and a support device 30 corresponding to the “loading vehicle” of the present invention. The driving support system 1 is a system for efficiently supporting a manned driving operation of a worker on the forklift 10.

  The forklift 10 is a manned unmanned forklift configured to be switched between manned operation and unmanned operation. Switching between the manned operation and the unmanned operation is performed by, for example, an operation mode switching switch (for example, a key switch) provided on the vehicle body of the forklift 10.

  The forklift 10 includes cargo handling means 11 provided at the front portion of the vehicle body, and imaging means 12 for imaging the periphery (particularly the front) of the vehicle body and generating video data. The cargo handling means 11 is for carrying out cargo handling work, and includes a fork, a mast and the like. The photographing means 12 includes a camera configured to be attachable to the vehicle body. The imaging means 12 may include a head mounted camera configured to be mounted on the operator's head instead of the camera. The video data generated by the photographing unit 12 is transmitted to the support device 30.

  The management device 20 is configured to be able to communicate with the forklifts 10 and manages the cargo handling operations of the plurality of forklifts 10. The management device 20 includes a control unit 21, a storage unit 22, and a schedule creation unit 23. The management device 20 may further include an input unit that allows an operator or the like to perform input work, and a determination unit that determines unloading work performed by the worker.

  The control unit 21 is configured by, for example, a microcomputer and controls the plurality of forklifts 10. The control unit 21 can send a command regarding the next cargo handling operation to the forklift 10 during manned operation, or can cause the forklift 10 during unmanned operation to perform the cargo handling operation.

  The memory | storage part 22 memorize | stores the 1st information regarding an operator, the 2nd information regarding the schedule of a cargo handling operation | work, and the 3rd information regarding the operator's poor cargo handling operation | work.

  The first information includes, for example, worker ID, worker name, department, face image, and the like. The second information includes a scheduled start time, a scheduled end time of the cargo handling work, a cargo handling work ID (type of cargo handling work), a type of luggage, and the like. The third information includes information associating the cargo handling work ID of the cargo handling work that is not good for the worker with the first information (for example, the worker ID of the worker).

For example, as the third information,
Worker A's poor handling work: A01 (carrying luggage from point A to point B)
Worker B's poor handling work: A05 (load rack load on fork at point C)
Unsatisfactory cargo handling work by worker C: A09 (turning with load loaded at point D)
Such information is stored in the storage unit 22. The above A, B, and C are worker IDs, and the above A01, A05, and A09 are cargo handling work IDs.

  The third information may be stored in the storage unit 22 by the operator inputting his / her poor handling operation at the input unit, or the determination unit may determine the poor handling operation of the operator, You may memorize | store in the memory | storage part 22. FIG.

  The determination unit determines the unloading work performed by the worker based on the biological information (for example, heart rate) of the worker acquired by the biological information acquisition unit. The determination unit determines that the cargo handling work in which the biological information exceeds a predetermined threshold is not good, and determines that the cargo handling work in which the biological information does not exceed the predetermined threshold is a good (not bad). The biological information acquisition means includes, for example, a heart rate sensor that is provided in the forklift 10 and is configured to be worn on the wrist of the operator.

  The schedule creation unit 23 creates a schedule for cargo handling work based on the third information in the storage unit 22 and stores the schedule in the storage unit 22 as second information. The schedule creation unit 23 minimizes the overlap (preferably, the overlap is 0) between the time zone of poor handling work performed by one worker and the time zone of poor handling work performed by another worker. Create a schedule so that

  The schedule creation unit 23 may transmit the created schedule to the support device 30 and cause the display unit 31 to display the schedule. FIG. 2 shows an example of the schedule. This schedule includes the worker ID, the cargo handling work ID, the weakness of the cargo handling work, and the scheduled start time of the cargo handling work. Thereby, the supporter who performs driving support using the support apparatus 30 knows when and what kind of driving support should be performed.

  In the case of the schedule of FIG. 2, the supporter performs the cargo handling work A01 by the worker A at 10:00, the cargo handling work A05 by the worker B at 13:00, and the cargo handling work A09 by the worker C at 15:00. I understand. The items included in the schedule, the schedule display method, and the like can be changed as appropriate.

  Referring to FIG. 1 again, the support device 30 is configured to be communicable with the plurality of forklifts 10 and the management device 20, and supports an operator's manned driving operation. The support device 30 includes display means 31, voice instruction means 32, and remote operation means 33.

  The display unit 31 displays the video data generated by the photographing unit 12 in real time. In the present embodiment, the photographing unit 12 generates video data only during a time period when poor handling work is performed under the control of the control unit 21. For this reason, only the video data of unsatisfactory cargo handling work is displayed on the display means 31. For example, the control unit 21 can specify a time zone during which poor cargo handling work is performed based on the second information in the storage unit 22 and the position information of the forklift 10 acquired from the forklift 10. .

  The voice instruction means 32 transmits the voice of the supporter as voice data to the forklift 10. Since the forklift 10 is provided with a reproducing means for reproducing the received voice data, the worker on the forklift 10 can perform unsatisfactory cargo handling work according to the voice instruction of the supporter.

  The remote control means 33 allows the supporter to operate the forklift 10. The remote operation means 33 includes, for example, a specifying means for specifying the forklift 10 to be remotely operated, a steering handle, a cargo handling lever (lift lever, tilt lever and reach lever), and an accelerator lever. For example, the specifying unit can accept input information of the supporter, and the supporter can determine the forklift 10 to be remotely operated. Thereby, the supporter can remotely operate the forklift 10 at a place away from the cargo handling work area, and can perform the cargo handling work that the worker is not good at instead of the worker.

  Eventually, in the driving support system 1 according to the present embodiment, by storing in advance information related to the unloading work of the worker in the storage unit 22, the supporter performs the unloading work that the worker is not good at. Driving assistance can be provided to the worker only when Therefore, according to the driving support system 1 according to the present embodiment, efficient driving support can be performed.

[Driving support method]
Next, a driving support method according to an embodiment of the present invention will be described. FIG. 3 shows a flowchart of the driving support method according to the present embodiment. The driving support method according to the present embodiment is executed by, for example, the driving support system 1 and includes a first step S1, a second step S2, and a third step S3.

  In the first step S <b> 1, first information related to the worker, second information related to the schedule of the cargo handling work, and third information related to the cargo handling work that the worker is not good at are stored in the storage unit 22.

  The first information includes, for example, a worker ID, a worker name, a department to which the worker belongs, a face image, and the like.

  The second information includes, for example, a scheduled start time, an end scheduled time of cargo handling work, a cargo handling work ID (type of cargo handling work), a type of luggage, and the like. As for 2nd information, the schedule preparation part 23 has the minimum overlap with the time zone of the poor handling operation which one worker performs, and the time zone of the poor handling operation which another worker performs (preferably, It is preferable that the overlap is 0).

  The third information includes, for example, information that associates the cargo handling work ID of the cargo handling work that the operator is not good with the first information. The third information may be stored in the storage unit 22 by the operator inputting his / her poor handling operation at the input unit, or the determination unit may determine the poor handling operation of the operator, You may memorize | store in the memory | storage part 22. FIG. In the latter case, it is preferable that the determination unit determines the poor handling operation of the worker based on the biological information (for example, heart rate) of the worker acquired by the biological information acquisition unit.

  In the second step S2, while the unsuccessful cargo handling work is being performed, the imaging means 12 captures the place where the cargo handling work is being performed and generates video data. The photographing unit 12 generates video data only during a time zone during which poor handling work is performed under the control of the control unit 21, and transmits the video data to the display unit 31. For this reason, only the video data of unsatisfactory cargo handling work is displayed on the display means 31.

  In the third step S <b> 3, the supporter performs driving support for the worker based on the video data displayed on the display unit 31. Specifically, the support person uses the voice instruction means 32 and / or the remote operation means 33 to provide driving support only during a time period when poor handling work is being performed.

  In the driving support method according to the present embodiment, the second step S2 and the third step S3 are performed for each poor handling operation. For example, when the cargo handling work is performed according to the schedule of FIG. 2, the second step S2 and the third step S3 are performed from 10:00 when the cargo handling work A01 by the worker A is performed, and the cargo handling work A05 by the worker B is performed. The second step S2 and the third step S3 are performed from 13:00, and the second step S2 and the third step S3 are performed from 15:00 when the cargo handling operation A09 by the worker C is performed.

  As a result, in the driving support method according to the present embodiment, by storing in advance in the storage unit 22 information related to the poor handling operation of the worker in the first step S1, in the second step S2, the poor handling operation is performed. Video data at the time of work can be generated, and driving assistance can be performed only when the worker is performing poor cargo handling work in the third step S3. Therefore, according to the driving support method according to the present embodiment, efficient driving support can be performed.

  As mentioned above, although embodiment of the driving assistance system and the driving assistance method which concern on this invention was described, this invention is not limited to the said embodiment.

  For example, the load handling vehicle of the present invention can be switched between manned operation and unmanned operation, and the configuration can be changed as appropriate as long as the load handling work can be performed.

  The management device of the present invention includes a storage unit that stores information related to a worker's cargo handling work schedule and information related to a worker's poor cargo handling work, and manages the cargo handling work of a plurality of cargo handling vehicles. If possible, the configuration can be changed as appropriate.

  As long as the support apparatus of the present invention includes display means for displaying video data of the photographing means 12 and driving support means for providing driving assistance to the worker, the configuration can be changed as appropriate. For example, the driving support means may include at least one of the voice instruction means 32 or the remote operation means 33.

  If the voice instruction means 32 transmits the voice of the supporter as voice data to the cargo handling vehicle, the configuration can be changed as appropriate. The configuration of the remote operation means 33 can be appropriately changed as long as the supporter can operate the cargo handling vehicle.

  In the driving support system 1 and the driving support method described above, the imaging unit 12 generates video data only during a time period when poor handling work is performed under the control of the control unit 21. May always generate video data, and the display means 31 may display the video data only during a time period during which a poor cargo handling operation is being performed under the control of the control unit 21.

DESCRIPTION OF SYMBOLS 1 Driving support system 10 Forklift 11 Handling means 12 Imaging means 20 Management apparatus 21 Control part 22 Storage part 23 Schedule preparation part 30 Supporting apparatus 31 Display means 32 Voice instruction means 33 Remote operation means

Claims (8)

A plurality of cargo vehicles configured to be switchable between manned driving and unmanned driving;
A management device configured to be communicable with the plurality of cargo handling vehicles and managing a cargo handling operation of the plurality of cargo handling vehicles;
A support device configured to be communicable with the plurality of cargo handling vehicles and the management device, and supporting a manned driving operation of an operator on the cargo handling vehicle;
A driving support system including
The cargo handling vehicle is
Cargo handling means provided at the front of the vehicle body;
Photographing means for photographing the front of the vehicle body and generating video data;
The management device
A storage unit that stores information on the schedule of the cargo handling work of the worker and information on the cargo handling work that the worker is poor at;
The support device includes:
Display means for displaying the video data;
Driving assistance means for providing driving assistance to the worker , and
The photographing means includes
A head-mounted camera configured to be attachable to the operator's head, or a camera configured to be attachable to the cargo handling vehicle;
The driving support system , wherein the video data is transmitted to the support device only at the time of the poor handling operation . The cargo handling vehicle is
Comprising biometric information acquisition means for acquiring biometric information of the worker,
The management device
The driving support system according to claim 1, further comprising a determination unit that determines the poor handling work based on the biological information. The driving support means includes
Voice instruction means for transmitting a voice of a support person who performs driving assistance to the cargo handling vehicle as voice data;
Driving support system according to claim 1 or 2, characterized in that and a remote control means to enable a driving operation of the cargo handling vehicle of the supporters. The management device
A schedule creation unit that creates the schedule so that an overlap between a time zone of the poor handling operation performed by one worker and a time zone of the poor handling operation performed by another worker is minimized. The driving support system according to any one of claims 1 to 3 , further comprising: A driving support method for supporting a manned driving operation of a worker on a cargo handling vehicle configured to be switchable between manned driving and unmanned driving,
A first step of storing, in a storage unit, information related to a schedule of cargo handling work of the worker and information related to cargo handling work that the worker is poor at;
A second step of shooting the place where the unloading work is being performed and generating video data while the unloading work is being performed;
On the basis of the image data, by using a support device provided in a position away from the cargo vehicle, seen including a third step of performing driving support to the operator,
In the second step,
The video data is transmitted to the support device only at the time of the unsatisfactory cargo handling operation by a head mounted camera configured to be attachable to the operator's head or a camera configured to be attachable to the cargo handling vehicle. <br/> A driving support method characterized by the above. In the first step,
The driving support method according to claim 5 , wherein biological information of the worker is acquired by biological information acquisition means, and the poor handling operation is determined based on the biological information. In the third step,
The voice of the supporter who performs driving support is transmitted to the cargo handling vehicle as voice data, and / or the supporter performs the driving operation of the cargo handling vehicle by remote control means of the support device. The driving support method according to 5 or 6 . In the first step, the schedule is:
It is created so that the overlap between the time zone of the poor handling operation performed by one worker and the time zone of the poor handling operation performed by another worker is minimized. The driving support method according to any one of claims 5 to 7 .

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