JP2009015684A - Vehicle dispatching system and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle dispatching system for efficiently perform operations of a forklift without installing large-scale equipment in a warehouse. <P>SOLUTION: The vehicle dispatching system 10 is provided with in-vehicle units 5 and a vehicle dispatching center 1. Each of the on-vehicle units 5 is provided with: a controller which detects the current position of a working vehicle 4 in the warehouse based on a result obtained by processing images photographed by cameras 6 by an image processor; a radio communication part which notifies the vehicle dispatching center 1 of the detected current position and receives a work instruction from the vehicle dispatching center 1; and a display unit which notifies an operator of the work instruction. The vehicle dispatching center 1 is provided with: a storage part which stores a work plan; a vehicle master storage part which stores specifications and the current positions of the plurality of vehicles 4; and a vehicle dispatching processing part which assigns operations to the vehicles 4 based on the work plan and a vehicle master and performs the work instruction. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a technique for assigning a work to each work vehicle when a plurality of work vehicles on which a camera is mounted work in a predetermined area.

Various methods for measuring the position of a forklift or the like that performs work in a warehouse are known. For example, Patent Document 1 discloses a method for measuring a position using a laser beam.
Japanese Patent Laid-Open No. 07-154848

  By the way, the work of moving a load in a warehouse using a forklift is performed by handing a paper describing the work contents to the operator of each forklift and referring to it. Therefore, in order to efficiently perform the work of the forklift, a vehicle allocation system that automatically assigns the work is desired.

  For this purpose, it is desirable to grasp the position of the forklift in the warehouse in real time. However, if position measurement using a laser beam as in Patent Document 1 is performed for that purpose, it is necessary to install a relatively large facility in a warehouse. And the introduction of this equipment costs a considerable amount.

  Accordingly, an object of the present invention is to provide a vehicle allocation system for efficiently performing forklift work without installing large-scale facilities in a warehouse.

  A vehicle allocation system according to an embodiment of the present invention is a vehicle allocation system for a plurality of work vehicles that perform work in a predetermined area, and a plurality of vehicle-mounted systems respectively mounted on the plurality of work vehicles; A vehicle dispatch center. Each in-vehicle system includes a camera, position detection means for detecting a current position in the area of the work vehicle on which the apparatus is mounted, based on an image taken by the camera, and dispatching the detected current position to the vehicle Means for notifying the center, means for receiving a work instruction from the dispatch center, and means for notifying the operator of the work instruction. The dispatch center includes means for storing a work plan, means for storing specifications of the plurality of work vehicles, means for storing a current position of each work vehicle notified from each in-vehicle system, and the work plan. A vehicle allocation means for allocating work to the plurality of work vehicles based on specifications of the work vehicle and a current position of each vehicle, and an in-vehicle system of the work vehicle to which the vehicle allocation means has assigned work. Means for notifying the content of the assigned work as the work instruction.

  In a preferred embodiment, for a plurality of markers provided in the area, the marker further includes a marker information storage unit that stores a position where each marker is provided and an image of each marker in association with each other. Referring to the marker information storage unit, the marker in the image may be detected to detect the current position in the area.

  In a preferred embodiment, the work instruction is an instruction to move a load in the area, and the work instruction includes identification information of a load to be moved, a position before the load to be moved, and a position of the load to be moved. The post-movement position is included, and the load in the area is provided with an identification display for identifying the load, and the position where the load can be placed in the area can be specified. An identification display may be attached. Each of the in-vehicle systems may further include means for analyzing an image captured by the camera in which the identification display is reflected, and collating the work performed by the work vehicle on which the apparatus is mounted with the work instruction. Good.

  Hereinafter, a vehicle allocation system according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is an overall configuration diagram of a vehicle allocation system 10 according to the present embodiment. The vehicle allocation system 10 according to the present embodiment distributes a plurality of work vehicles that perform work in a predetermined area such as a warehouse, and in particular, includes a plurality of forklifts that transport luggage in the warehouse. This is a system for dispatching vehicles.

  As shown in the figure, this system 10 includes a vehicle allocation center 1 and vehicle-mounted devices 5, 5,... Mounted on forklifts (hereinafter referred to as “vehicles”) 4, 4,. , 6,...

  The vehicle allocation center 1 acquires a work plan created by the warehouse management system 9 which is a host device, and performs vehicle allocation to allocate work to each of the vehicles 4, 4,... According to the work plan. The vehicle allocation center 1 further gives a work instruction, which is an instruction to move the load in the warehouse, to the in-vehicle devices 5, 5,... Mounted on the vehicles 4, 4,. Manage the work of ... Each of the in-vehicle devices 5, 5,... Performs work instruction transmission, navigation, and the like to the operators of the vehicles 4, 4,.

  The vehicle allocation center 1 and each in-vehicle device 5 are each configured by, for example, a computer system, and each component or function in the vehicle allocation center 1 and each in-vehicle device 5 described below includes, for example, predetermined hardware. The computer system is realized by executing a computer program.

  FIG. 2 is a configuration diagram of the vehicle dispatch center 1.

  The dispatch center 1 includes a host device interface 11, a dispatch processing unit 13, a wireless communication unit 15, a load database 21, a warehouse map data storage unit 23, a vehicle master storage unit 25, and a work plan storage unit 27. Have.

  The load database 21 stores information related to loads in the warehouse. For example, the load database 21 includes identification information of each load, current position information, and the number of stocks.

  Here, the current position information includes a planar position (x, y) in the warehouse. Furthermore, when the load is stored on the shelf board 111 (see FIG. 7) of the collective shelf 110, the position (z) in the height direction is included.

  The warehouse map data storage unit 23 stores data of a warehouse map 100 (see FIG. 5) on which the vehicles 4, 4,... Work.

  The vehicle master storage unit 25 stores a vehicle master 250 including information on the vehicles 4, 4,.

  As shown in FIG. 3, the vehicle master 250 includes, for example, identification information 251 of each vehicle, vehicle specifications 252 such as model, maximum load, maximum lift, status 253 indicating the current state, and current position 254. Contains information.

  Here, the status 253 can be, for example, “parked” not appearing in the warehouse, “standby” waiting for work instructions in the warehouse, and “working” to which work is assigned. Furthermore, during “working”, “empty (running)” traveling without loading, and “empty (loading)” working to load the load, traveling with loading. There is “actual load (traveling)” and “actual load (loading)” that is working to unload the loaded load.

  Note that the status 253 and the current position 254 of the vehicle master 250 synchronize substantially in real time with the status and the current position of each vehicle 4 known by each vehicle-mounted device 5. For example, as will be described later, when each in-vehicle device 5 detects a change in status and current position, the dispatch center 1 receives a notification of the status 253 and the current position 254 after the change from each in-vehicle device 5. Alternatively, when the status is changed by assigning work to the vehicle 4 with the dispatch center 1, the changed status is notified to the in-vehicle device 5 of the vehicle 4.

  The work plan storage unit 27 stores work plan data acquired from the warehouse management system 9 by the host device interface 11.

  The host device interface 11 obtains work plan data related to the movement of the load in the warehouse from the warehouse management system 9. The acquired work plan data is stored in the work plan storage unit 27.

  The vehicle allocation processing unit 13 assigns a load moving operation to each of the vehicles 4, 4,... Based on the work plan, the specifications of each vehicle, the status, the current position, and the like. The vehicle allocation processing unit 13 notifies the work instruction assigned to each of the vehicles 4, 4,. The vehicle allocation processing unit 13 updates the load database 21 when there is a work completion notification from each of the vehicles 4, 4,. Details of the dispatch process will be described later.

  The wireless communication unit 15 communicates with the in-vehicle devices 5, 5,. For example, the wireless communication unit 15 transmits a work instruction to each of the in-vehicle devices 5, 5,. Moreover, the wireless communication part 15 receives the notification of the current position information and status of each vehicle 4, 4,... From each of the in-vehicle devices 5, 5,. Update the vehicle master.

  FIG. 4 shows the configuration of the in-vehicle device 5 and the camera 6.

  The in-vehicle device 5 includes a wireless communication unit 51, a controller 53, a vehicle data storage unit 55, a warehouse data storage unit 57, an image processing device 63, a display device 65, and an audio output device 67. The in-vehicle device 5 is connected to the camera 6.

  The camera 6 takes an image of the warehouse while the vehicle 4 is traveling and working. For example, in this embodiment, a stereo camera 61 and a lift camera 62 are provided. The stereo camera 61 photographs a passage in the warehouse in order to detect the current position in the warehouse. The elevating camera 62 is a camera that moves up and down together with the work machine (fork), and shoots a load to be loaded and unloaded and a shelf on which the load is placed.

  Note that the lifting camera 62 may be omitted, and the load loaded and unloaded by the stereo camera 61 and the shelf on which the load is placed may be photographed.

  The wireless communication unit 51 communicates with the dispatch center 1 wirelessly. For example, the wireless communication unit 51 receives a work instruction from the dispatch center 1. In addition, the wireless communication unit 51 transmits predetermined information to the dispatch center 1.

  The controller 53 performs processing based on the processing result of the image processing device 63 and instructions to the operator of the vehicle 4. Details of processing performed by the controller 53 will be described later.

  The vehicle data storage unit 55 stores data related to the vehicle 4 on which the in-vehicle device 5 is mounted. The vehicle data includes, for example, vehicle identification information, current status, current position information, and information on work instructions notified from the dispatch center 1.

  The warehouse data storage unit 57 stores data related to the warehouse being worked on. The warehouse data includes, for example, warehouse map data and marker information related to each marker attached in the warehouse. The marker will be described later.

  The image processing device 63 processes an image captured by the camera 6. Details of the image processing performed by the image processing apparatus 63 will be described later.

  The display device 65 is provided, for example, in an operator seat of the vehicle 4. Information to be notified to the operator is displayed on the display device 65 in accordance with an instruction from the controller 53.

  The audio output device 67 is provided, for example, in an operator seat of the vehicle 4. The voice output device 67 outputs information to be notified to the operator by voice in response to an instruction from the controller 53.

  FIG. 5 shows a warehouse map 100 on which the vehicles 4, 4,.

  As shown in the warehouse map 100 shown in the figure, the warehouse includes a collective shelf 110 for storing loads, a passage 120, an arrival place 130 for temporarily placing incoming loads, and temporary loads to be shipped. And a marker 150, 160 attached to the collective shelf 110 and the passage 120 are provided. In the figure, the reference numerals of the collective shelf 110, the passage 120, and the markers 150 and 160 are representatively attached to only one place.

  The collective shelves 110, the receiving place 130, and the shipping place 140, which are positions where loads can be placed, are provided with identification marks (for example, bar codes) that can specify the positions in the respective warehouses.

  FIG. 6 shows an example of the markers 150 and 160.

  The markers 150 and 160 attached to the warehouse are all unique. That is, each kerma 150 and 160 can be uniquely identified by the identification symbols 151 and 161. The markers 150 and 160 are attached to the side surface of the collective shelf 110 and the floor surface of the passage 120.

  The marker information stored in the warehouse data storage unit 57 is associated with the image data of each marker and the position in the warehouse to which each marker is attached.

  FIG. 7 shows an example of the collective shelf 110.

  In the collective shelf 110, a plurality of shelf plates 111, 111 are stacked (two in the figure). Bar codes 112 and 112 are affixed to the surfaces of the shelf plates 111 and 111 on which the cargo is loaded and unloaded. The barcodes 112 and 112 are identification displays for specifying the planar position (x, y) in the warehouse where the collective shelf 110 is arranged and the height (z) of each shelf board 111 and 111. It is coded. Therefore, by reading the information of the barcodes 112 and 112, it is possible to specify the number of the shelf 111 of the collective shelf 110 that is arranged. In addition, markers 160 and 160 are attached to the side surface of the collective shelf 110.

  FIG. 8 shows an example of an image 200 taken by the stereo camera 61.

  In the image 200 in the figure, the collective shelf 110 and the markers 150a, 150b, 160a, and 160b attached to the passage 120 are shown.

  The image processing device 63 performs matching with the marker image included in the warehouse data storage unit 57, and extracts the marker 150a, the markers 150b, 160a, and 160b from the image 200.

  The image processing device 63 processes the image 200 captured by the stereo camera 61 by the stereo method, and specifies the relative positional relationship between the detected markers 150 a, 150 b, 160 a, and 160 b and the vehicle 4. .

  Moreover, all the markers 150 and 160 stuck in the warehouse are unique, and the position where each was stuck is known beforehand. Therefore, the image processing device 63 can identify the current position of the vehicle 4 in the warehouse by combining the positions of the markers 150 and 160 in the warehouse and the processing result of the stereo method.

  In the present embodiment, the stereo method is used to identify the relative positional relationship between the markers 150 and 160 and the vehicle 4, but other methods may be used. For example, the approximate current position of the vehicle 4 may be specified by using the image 200 in which the plurality of markers 150 and 160 are captured and the combination of the plurality of markers 150 and 160.

  9 to 12 and 14 are flowcharts showing various processing procedures in the vehicle allocation system having the above-described configuration. A description will be given with reference to these drawings.

  FIG. 9 is a flowchart showing a processing procedure of the entire vehicle allocation system 10.

  First, the host device interface 11 of the dispatch center 1 accepts work plan data sent from the warehouse management system 9 (S1).

  And the dispatch processing part 13 performs a dispatch process according to the received work plan, and gives a work instruction | indication with respect to each vehicle-mounted apparatus 5,5 ... (S2). Details of the dispatch process will be described later.

  When receiving the work instruction from the vehicle dispatch center 1, the in-vehicle device 5 transmits the work instruction to the operator of the vehicle 4. In response to this, the operator moves the vehicle 4 to the loading position. At this time, the in-vehicle device 5 performs a process for supporting the movement of the vehicle 4 to the loading position (S3). Detailed processing at this time will be described later.

  When the operator completes the movement of the vehicle 4 to the loading position, the operator performs the loading operation according to the work instruction. At this time, the in-vehicle device 5 performs a process for supporting the cargo collection operation (S4). Detailed processing at this time will be described later.

  When the loading operation by the operator is completed, the operator moves the vehicle to the loading position. At this time, the in-vehicle device 5 performs a process for supporting movement to the lowering position of the vehicle 4 (S5). Detailed processing at this time will be described later.

  When the operator completes the movement of the vehicle 4 to the loading position, the operator performs loading work. At this time, the in-vehicle device 5 performs a process for supporting the loading operation (S6). Detailed processing at this time will be described later.

  When the above work is completed, the in-vehicle device 5 notifies the dispatch center 1 of the work completion. The vehicle allocation center 1 and the in-vehicle device 5 repeat the above processing until the work of the work plan received in step S1 is completed (S7).

  In addition, when steps S3, S4, and S5 are performed in the in-vehicle device 5, if notification such as status update is performed from the in-vehicle device 5 to the dispatching center 1, the load database 21 and the vehicle master 250, etc., according to the notified contents. Is updated (S11 to S13).

  FIG. 10 is a flowchart showing a detailed processing procedure of the dispatching process in step S2.

  The vehicle allocation processing unit 13 refers to the work plan storage unit 27 and extracts, from the vehicle master 250, the vehicle 4 having the vehicle specification 252 that is suitable for the unfinished work (S21). For example, the vehicle allocation processing unit 13 may include various information such as the shape, weight, and size of the load of each work, shelf information such as the height of the shelf 111 in which the load is stored, or the shelf 111 that stores the load. The vehicle 4 that can handle the height is extracted.

  The vehicle allocation processing unit 13 further narrows down to vehicles 4 whose status 253 included in the vehicle master 250 is “standby” (S22).

  Further, the vehicle allocation processing unit 13 selects an appropriate vehicle 4 (a vehicle that can start an unloading operation earliest among the vehicles 4 that have been narrowed down in step S22 with respect to the collective shelf 110 of the target pickup site. For example, the nearest vehicle is selected (S23). For example, the warehouse map data storage unit 23 is referred to, and the vehicle 4 closest to the current position 254 included in the vehicle master 250 and the collective shelf 110 designated as the loading place is selected.

  The vehicle allocation processing unit 13 refers to the warehouse map data storage unit 23 to determine a route from the current position of the selected vehicle 4 to the cargo collection site and from the cargo collection site to the cargo storage site (S24).

  The vehicle allocation processing unit 13 gives a work instruction determined by the above processing to the in-vehicle device 5 of the selected vehicle 4 via the wireless communication unit 15 (S25).

  This work instruction includes at least the identification information of the load to be moved, the position before the movement of the load to be moved (loading place), and the position after the movement of the load to be moved (loading place). In the present embodiment, for example, in the work instruction, the planar position (x, y) in the warehouse of the loading place and the loading place and the height ( z), identification information and the number of loads to be moved, and a route.

  The vehicle allocation processing unit 13 changes the status 253 of the vehicle 4 that has instructed the work to “empty (running)” (S26).

  FIG. 11 is a flowchart showing a detailed procedure of processing performed by the in-vehicle device 5 in order to support the movement to the pickup position in step S3.

  First, the wireless communication unit 51 receives a work instruction from the wireless communication unit 15. At this time, the status of the vehicle data storage unit 55 is changed to “empty (running)” (S31).

  The controller 53 displays the contents of the accepted work instruction on the display device 65 (S32). As a result, the operator can know the work to be performed by his / her vehicle 4 and starts the work.

  At this time, the image processing device 63 and the controller 53 analyze the image 200 taken by the stereo camera 61 and detect the current position of the host vehicle 4 (S33). For example, as described above, the image processing device 63 analyzes the image 200 and detects the markers 150 and 160. And the controller 53 calculates | requires the relative positional relationship of the markers 150 and 160 and the own vehicle 4 which were detected, and pinpoints a present position.

  The current position of the host vehicle 4 is notified to the dispatch center 1 via the wireless communication unit 51 (S34).

  The controller 53 determines whether or not the position of the host vehicle 4 is on the route included in the work instruction (S35). When the position of the host vehicle 4 deviates from the route (S35: No), the display device 65 or the voice output device 67 issues an alarm to the operator and notifies the dispatch center 1 (S30).

  When the position of the host vehicle 4 is present on the route (S35: Yes), the processing from step S33 is repeated until the vehicle arrives at the cargo collection area designated by the work instruction (S36).

  When the host vehicle 4 arrives before the cargo collection site (S36: Yes), the controller 53 instructs the voice output device 67 that it has arrived (S37).

  Here, the controller 53 changes the status of the vehicle to “empty (loading)” and notifies the dispatch center 1 (S38).

  FIG. 12 is a flowchart showing a detailed procedure of processing performed by the in-vehicle device 5 in order to support the unloading operation in step S4.

  The controller 53 causes the display device 65 to display the image 300 captured by the elevating camera 62 (S41). When the image 300 is displayed on the display device 65, the operator can move the working machine (fork) up and down (S42).

  FIG. 13 shows an example of an image 300 captured by the lift camera 62.

  The image 300 shows a shelf board 111 and a load 7 on the pallet 8 stored on the shelf board 111. A bar code 112 is affixed to a shelf 111 that is a cargo collection site. The bar code 112 indicates the planar position and height (x, y, z) of the shelf board 111 in the warehouse. A bar code 71 that is a display of identification information of the load is attached to the load 7.

  The image 300 also shows the fork 41 of the work machine. Therefore, the operator can align the fork 41 with the hole 81 of the pallet 8 with reference to the image 300.

  Returning to FIG. 12, the image processing device 63 processes the image 300 and reads the barcode 112 (S43). Then, it is verified whether or not the information of the barcode 112 matches with the unloading place included in the work instruction (S44).

  When the content of the barcode 112 coincides with the unloading area included in the work instruction (S44: Yes), the image processing device 63 processes the image 300 and reads the barcode 71 (S45). Then, it is verified whether or not the information of the barcode 71 matches the load to be moved included in the work instruction (S46).

  If any of the steps S44 and S46 does not match the work content (S44: No, S46: No), the controller 53 issues an alarm to the operator using the display device 65 or the audio output device 67, and the dispatch center 1 To that effect (S40).

  When the content of the bar code 71 matches the information of the load to be moved included in the work instruction (S46: Yes), the operator continues the work. That is, the load 7 is moved to the fork 41 and the working machine is moved up and down to the traveling position (S47).

  Here, the controller 53 changes the status of the vehicle to “actual load (running)” and notifies the dispatch center 1 (S48).

  FIG. 14 is a flowchart showing a detailed procedure of processing performed by the in-vehicle device 5 in order to support the movement to the loading position in step S5.

  The controller 53 switches the display screen of the display device 65 to the display screen of the movement route to the loading position (S51).

  At this time, the image processing device 63 and the controller 53 analyze the image 200 taken by the stereo camera 61 and detect the current position of the host vehicle 4 (S52). This is the same as when moving to the unloading site.

  The current position of the host vehicle 4 is notified to the dispatch center 1 via the wireless communication unit 51 (S53).

  The controller 53 determines whether or not the position of the host vehicle 4 is on the route included in the work instruction (S54). When the position of the host vehicle 4 deviates from the route (S54: No), the display device 65 or the voice output device 67 issues an alarm to the operator and notifies the dispatch center 1 (S50).

  When the position of the host vehicle 4 is present on the route (S54: Yes), the processing from step S52 onward is repeated until the vehicle arrives at the storage area designated by the work instruction (S55).

  Then, when the host vehicle 4 arrives before the storage area (S55: Yes), the controller 53 instructs the voice output device 67 that it has arrived (S56).

  Here, the controller 53 changes the status of the vehicle to “actual load (handling)” and notifies the dispatch center 1 (S57).

  FIG. 15 is a flowchart showing a detailed procedure of processing performed by the in-vehicle device 5 in order to support the loading operation in step S6.

  The controller 53 causes the display device 65 to display the image 300 captured by the lifting camera 62 (S51). When the image 300 is displayed on the display device 65, the operator can move the working machine (fork) up and down (S52).

  The image processing device 63 processes the image 300 and reads the bar code 112 of the storage area (S53). Then, it is verified whether or not the information of the barcode 112 matches the loading place included in the work instruction (S64).

  When the content of the barcode 112 coincides with the loading place included in the work instruction (S64: Yes), the image processing device 63 processes the image 300 and reads the barcode 71 (S65). Then, it is verified whether or not the information of the bar code 71 matches the load to be moved included in the work instruction (S66).

  When any of the steps S64 and S66 does not match the work content (S64: No, S66: No), the controller 53 issues an alarm to the operator using the display device 65 or the audio output device 67, and the dispatch center 1 To that effect (S60).

  When the content of the bar code 71 matches the information on the load to be moved included in the work instruction (S66: Yes), the operator continues the work. That is, the load 7 is unloaded from the fork 41 and the working machine is moved up and down to the traveling position (S67).

  Since the work instructed by the processing so far has been completed, the controller 53 changes the status of the vehicle to “standby” and notifies the dispatch center 1 (S68).

  The above-described embodiments of the present invention are examples for explaining the present invention, and are not intended to limit the scope of the present invention only to those embodiments. Those skilled in the art can implement the present invention in various other modes without departing from the gist of the present invention.

  For example, the work vehicle is not limited to a so-called vehicle such as a forklift, and may be various cargo handling equipment.

  In the present embodiment, an example is shown in which a one-dimensional barcode is used to identify a loading position, a loading position, and a load. Anything can be used as long as it can be recognized by image processing, such as an identification method based on image recognition based on the actual shape information, such as codes, numbers, symbols, drawings, and other identification marks.

1 is an overall configuration diagram of a vehicle allocation system 10 according to the present embodiment. 1 is a configuration diagram of a vehicle dispatch center 1. FIG. An example of the data item of the vehicle master 250 is shown. The structure of the vehicle-mounted apparatus 5 and the camera 6 is shown. An example of the warehouse map 100 is shown. An example of the markers 150 and 160 is shown. An example of the collective shelf 110 is shown. An example of the image 200 which the stereo camera 61 image | photographed is shown. It is a flowchart which shows the process sequence of the dispatch system 10 whole. It is a flowchart which shows the detailed process sequence of the dispatch process of step S2. It is a flowchart which shows the detailed procedure for supporting the movement to the picking-up position of step S3. It is a flowchart which shows the detailed procedure for supporting the unloading operation | work of step S4. An example of the image 300 which the raising / lowering camera 62 image | photographed is shown. It is a flowchart which shows the detailed procedure for supporting the movement to the loading position of step S5. It is a flowchart which shows the detailed procedure for supporting the loading work of step S6.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle dispatch center 4 Vehicle 5 Vehicle-mounted apparatus 6 Camera 10 Vehicle dispatch system 11 Host apparatus interface 13 Vehicle dispatch processing part 15 Wireless communication part 21 Load database 23 Warehouse map data storage part 25 Vehicle master storage part 27 Work plan storage part 51 Wireless communication part 53 Controller 55 Vehicle data storage unit 57 Warehouse data storage unit 61 Stereo camera 62 Elevating camera 63 Image processing device 65 Display device 67 Audio output device 100 Warehouse map 110 Assembly shelf

Claims (5)

A dispatch system for a plurality of work vehicles that perform work in a predetermined area,
A plurality of in-vehicle systems respectively mounted on the plurality of work vehicles, and a dispatch center;
Each in-vehicle system
A camera,
Position detecting means for detecting a current position in the area of the work vehicle on which the apparatus is mounted, based on an image captured by the camera;
Means for notifying the dispatch center of the detected current position;
Means for receiving work instructions from the dispatch center;
Means for notifying an operator of the work instruction,
The dispatch center is
Means for storing work plans;
Means for storing specifications of the plurality of work vehicles;
Means for storing the current position of each work vehicle notified from each on-vehicle device;
A vehicle allocation means for allocating work to the plurality of work vehicles based on the work plan, specifications of the work vehicles, and current positions of the vehicles,
A vehicle allocation system comprising: means for notifying the contents of the allocated work as the work instruction to an in-vehicle device of the work vehicle to which the vehicle allocation means has assigned work. For a plurality of markers provided in the area, further comprising a marker information storage unit that stores the position where each marker is provided and the image of each marker in association with each other,
2. The vehicle allocation system according to claim 1, wherein the position detection unit detects a current position in the area by detecting a marker in the image with reference to the marker information storage unit. The work instruction is an instruction to move a load in the area, and the work instruction includes identification information of the load to be moved, a position before the movement of the load to be moved, and a position after the movement of the load to be moved. And
The load in the area is marked with an identification that can identify the load,
In the area where the load can be placed in the area, an identification display capable of specifying the position is attached,
Each in-vehicle system is
3. The apparatus according to claim 1, further comprising a unit that analyzes an image captured by the camera in which the identification display is reflected, and collates the work performed by the work vehicle on which the apparatus is mounted with the work instruction. Allocation system. A vehicle allocation system comprising a plurality of in-vehicle systems respectively mounted on a plurality of work vehicles that perform work in a predetermined area, and a vehicle allocation center,
Each in-vehicle system
Detecting a current position in the area of the work vehicle on which the apparatus is mounted based on an image captured by the camera;
Notifying the dispatch center of the detected current position;
Receiving a work instruction from the dispatch center;
And notifying the operator of the work instruction,
The dispatch center is
Memorizing the work plan;
Storing the specifications of the plurality of work vehicles;
Storing the current position of each work vehicle notified from each of the in-vehicle systems;
Assigning work to the plurality of work vehicles based on the work plan, specifications of the work vehicles, and a current position of each vehicle;
And a step of notifying the in-vehicle system of the work vehicle to which the work is assigned, the contents of the assigned work as the work instruction. A computer program for a vehicle allocation system comprising a plurality of vehicle-mounted systems respectively mounted on a plurality of work vehicles that perform work in a predetermined area, and a vehicle allocation center,
Each in-vehicle system
Detecting a current position in the area of the work vehicle on which the apparatus is mounted based on an image captured by the camera;
Notifying the dispatch center of the detected current position;
Receiving a work instruction from the dispatch center;
Informing the operator of the work instruction, and
In the dispatch center,
Memorizing the work plan;
Storing the specifications of the plurality of work vehicles;
Storing the current position of each work vehicle notified from each of the in-vehicle systems;
Assigning work to the plurality of work vehicles based on the work plan, specifications of the work vehicles, and a current position of each vehicle;
A computer program for causing an in-vehicle system of a work vehicle to which the work is assigned to execute a step of notifying the content of the assigned work as the work instruction.

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