JP2013147301A - Fork lift truck, and operation management system for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fork lift truck capable of performing accurate inventory management and operation situation management while effectively utilizing the versatility and convenience of a fork lift truck of manned operation.SOLUTION: A fork lift truck configured to transmit/receive data to/from an operation management means 2 by radio communication includes a traveling means for allowing the fork lift truck 1 to travel according to travel instruction data D1 and work instruction data D2 from the operation management means 2; a self-position recognizing means 4; a state recognizing means 5; a state reporting means 6 transmitting, to the operation management means 2, position information J1, loading information J2 of loads W, start-stop information J3, unloading position information J4 of loads W recognized by the self-position recognizing means 4 and the state recognizing means 5; and a load reporting means 7 transmitting identification codes of the loads W to the operation management means 2. The travel instruction data D1 and the work instruction data D2 transmitted from the operation management means 2 are adjusted according to data transmitted from the state reporting means 6 and the load reporting means 7.

Description

  The present invention relates to a forklift and a forklift operation management system, and more particularly to an improvement of a forklift and a forklift operation management system having an operation guide function.

  Conventionally, as forklifts equipped with operation support (hereinafter referred to as operation guide function), a combination of a wireless handy talkie, a wireless modem and a display, a wireless modem, a notebook personal computer, a PDA (Personal Digital Assistant), etc. is widely used. (For example, refer to Patent Document 1).

  In addition, as a location management in the warehouse, a method of displaying identification labels such as barcode labels at the storage location of the luggage and the luggage is widely used. However, GPS is used because it is troublesome to attach the identification label to all the storage locations. Location management has been proposed (see, for example, Patent Document 2).

By the way, a forklift equipped with an operation guide function receives a work instruction from a system computer for operation management or a system administrator, and a driver performs a cargo handling work with the forklift according to the work instruction. It has sufficient functions as work instruction management in the operation management system of a manned forklift that manages a series of work by transmitting data of It did not have a sufficient function for managing the operating status of the forklift as a device.
Also, if you are storing the luggage stacked in multiple stages, you need to move the luggage above to another place in order to take out the luggage below. Then, regarding the movement of such a load, it is necessary to plan a separate work process and to give an instruction to the worker in the case of a manned forklift.

Further, if attention is paid to the maintenance of luggage, a man-operated forklift can be easily moved by a person with driving experience, and there is a concern that the luggage stored at night or on holidays may be extracted or stolen.
It is necessary to monitor a manned forklift in order to quickly know the occurrence of such a situation and to suppress the occurrence itself.
In addition, manned forklifts have the advantage of being able to efficiently carry unspecified packages, but in order to be able to efficiently transport (load / unload) packages, first put the first ones It has been pointed out that when it is necessary to perform rearrangement so that it can be put out, and when it is carried out by manned operation, the loading and unloading work time of the luggage is long and the work efficiency is lowered.
In addition, in location management using GPS, it is necessary to operate by absorbing or correcting GPS position detection errors, and the processing is complicated.

Japanese Patent Laid-Open No. 2002-167012 JP 2005-35751 A

  In view of the problems of the above-described conventional forklifts and forklift operation systems, the present invention effectively utilizes the versatility and convenience of manned forklifts equipped with an operation guide function while accurately managing inventory and operating conditions. The purpose is to provide a forklift and a forklift operation management system that can improve labor saving, effective use of equipment, equipment management and luggage maintenance by unmanned operation. To do.

  In order to achieve the above object, a forklift of the present invention is a forklift that transmits and receives data by wireless communication with the operation management means. In the forklift that transmits and receives data by wireless communication with the operation management means, a travel instruction from the operation management means is provided. Travel means for running the forklift according to the data and the work instruction data, self-position recognition means for recognizing the self-position of the forklift, state recognition means for recognizing the operating status of the forklift, and the position of the forklift recognized by the self-position recognition means Status reporting means for transmitting to the operation management means information, loading information recognized by the status recognition means, departure / stop information of forklifts, and unloading position information recognized by the self-position recognition means and status recognition means; ,Baggage A load report unit that reads the displayed identification code and transmits the identification code to the operation management unit, and transmits the identification code from the operation management unit in accordance with data transmitted from the status report unit and the load report unit. The travel instruction data and work instruction data to be adjusted are adjusted.

  In this case, the travel means can be constituted by a display mechanism that displays travel instruction data and work instruction data transmitted from the operation management means, and a travel operation mechanism for performing a travel operation of the forklift with manpower. .

  Further, the traveling means can be composed of an actuator for unmanned traveling operation of the forklift and a control mechanism for controlling the actuator according to traveling instruction data and work instruction data transmitted from the operation management means.

  Further, the travel means includes a display mechanism for displaying travel instruction data and work instruction data transmitted from the operation management means, and a manned driving means including a travel operation mechanism for performing a maneuvering operation of the forklift, and a forklift traveling. Actuator for unattended operation, unmanned driving means comprising a control mechanism for controlling the actuator according to travel instruction data and work instruction data transmitted from operation management means, and switching means for switching between manned driving means and unmanned driving means It can consist of.

  As the adjustment of the travel instruction data and work instruction data transmitted from the operation management means, the forklift position information, the cargo loading information, and the unloading position information are used to determine the track on which the forklift travels and the load unloading work content. Can be determined.

  In order to achieve the same object, the forklift operation management system of the present invention uses the forklift, and determines the operation status of the forklift and the inventory status of the load from the data transmitted from the status report means and the load report means. It is characterized by management.

  In addition, using the unmanned driving or the unmanned combined driving forklift, the load loading position managed by the operation management means based on the loading / unloading position information of the luggage transmitted from the status reporting means, and the upper and lower positions in the case of multiple stacking When the forklift that has received the data transmits the replacement data necessary for first-in-first-out of the load from the position and the operation with the work instruction data and the travel instruction data from the operation management means is completed, The replacement operation can be performed.

  According to the forklift of the present invention, in the forklift that transmits and receives data by wireless communication with the operation management unit, the forklift travels according to the travel instruction data and the work instruction data from the operation management unit, and the self position of the forklift is recognized. Self-position recognizing means, state recognizing means for recognizing the operation status of the forklift, position information of the forklift recognized by the self-position recognizing means, loading information of the luggage recognized by the state recognizing means, and starting / stopping information of the forklift And a status reporting means for transmitting the loading / unloading position information recognized by the self-position recognition means and the status recognition means to the operation management means, and reading the identification code displayed on the luggage and sending the identification code to the operation management means. Load report means to send Since the traveling instruction data and work instruction data transmitted from the operation management means are adjusted according to the data transmitted from the status reporting means and the load report means, the inventory positions of the packages are stacked in a plurality of stages. It is possible to accurately manage the baggage including the case where it is stored in a safe manner, and it is possible to transmit the accurate traveling instruction data and work instruction data from the operation management means to the forklift, and the forklift as a cargo handling device The operation status is recorded in the operation management means, so that it is possible to quickly know whether or not the forklift has been operated at night or on holidays, and it is possible to prevent the removal of luggage or theft.

  In addition, the travel means is composed of a display mechanism for displaying the travel instruction data and work instruction data transmitted from the operation management means, and a travel operation mechanism for performing the travel operation of the forklift by manned operation guide. It is possible to provide a forklift capable of performing accurate inventory management and operation status management while effectively utilizing the versatility and convenience of a manned forklift having a function.

  Further, the travel means is composed of an actuator for unmanned forklift travel operation and a control mechanism for controlling the actuator according to travel instruction data and work instruction data transmitted from the operation management means. In an operating forklift, accurate inventory management and operation status management can be performed.

  Further, the travel means includes a display mechanism for displaying travel instruction data and work instruction data transmitted from the operation management means, and a manned driving means including a travel operation mechanism for performing a maneuvering operation of the forklift, and a forklift traveling. Actuator for unattended operation, unmanned driving means comprising a control mechanism for controlling the actuator according to travel instruction data and work instruction data transmitted from operation management means, and switching means for switching between manned driving means and unmanned driving means By switching between manned operation and unmanned operation, it is possible to manage the inventory of the luggage and the operation status of the forklift while effectively utilizing the advantages of manned and unmanned operation.

  Further, according to the forklift operation management system of the present invention, the forklift is used, and the operation status of the forklift and the inventory status of the load are managed from the data transmitted from the status report means and the load report means. As a result, it is possible to accurately manage the inventory status of the luggage, and to expect an effect of suppressing the occurrence of an event such as removal or theft of the luggage W.

  Also, using the unmanned driving and manned unmanned forklift, the loading position of the luggage managed by the operation management means according to the loading / unloading position information of the luggage transmitted from the status reporting means, and the vertical position in the case of multiple stacking When the forklift that has received the data has completed the operation based on the work instruction data and the travel instruction data from the operation management means, the unmanned operation By performing the replacement operation, the work is performed to change the vertical position of the multi-stage load using the time zone such as nighttime and holidays, improving the work efficiency of loading and unloading the load W during the daytime on weekdays. is there.

It is the schematic which shows the forklift of manned driving among the forklifts of this invention. It is the schematic which shows the forklift of manned unmanned combined use driving | running | working among the forklifts. It is the schematic which shows the forklift of unmanned operation among the forklifts. It is a list which shows the function with which each forklift is equipped. It is a list which shows the difference of a self position discriminating means and a self position estimating means. The operation | movement flow of the forklift of manned operation by the operation management system of the forklift of this invention is shown. The operation | movement flow of the forklift of manned operation by the operation | work instruction | indication from a high-order system among the said operation management systems is shown. FIG. 8 is a flowchart following FIG. 7. The operation | movement flow of the forklift of the manned operation by the work instruction | indication by a document etc. among the operation management systems of the forklift is shown. The operation flow of the unmanned forklift with the operation management system of the forklift is shown. The operation flow of the unmanned forklift according to the work instruction from the host system in the forklift operation management system is shown. The operation | movement flow explaining the allocation of the operation | work by the dispatch dispatcher by the operation management system of the forklift is shown. It is a perspective view which shows the outline of the state of a distribution warehouse. The flow of the exchange of multi-tiered packages is shown. The flow in the case where replacement of a plurality of stacks occurs between the delivery and the completion of delivery is shown.

  Hereinafter, embodiments of a forklift according to the present invention will be described with reference to the drawings.

1 to 4 show an embodiment of a forklift according to the present invention.
The forklift 1 is configured to transmit and receive data to and from the operation management unit 2 by wireless communication. The forklift 1 travels the forklift 1 according to the travel instruction data D1 and the work instruction data D2 from the operation management unit 2, and the forklift The self-recognition means 4 for recognizing the self-position of 1, the state recognition means 5 for recognizing the operating status of the forklift 1, the position information J 1 of the forklift 1 recognized by the self-position recognition means 4, and the state recognition means 5. Status reporting means 6 for transmitting the loading information J2 of the cargo W, the departure / stop information J3 of the forklift 1 and the loading / unloading position information J4 of the luggage W recognized by the self-position recognition means 4 and the status recognition means 5; The identification code C displayed on the baggage W is read and the identification code C is operated and managed. Load report means 7 to be transmitted to the stage 2, and according to data transmitted from the status report means 6 and the load report means 7, travel instruction data D1 and work instruction data D2 to be transmitted from the operation management means 2 are provided. I try to adjust it.
As a result, it is possible to manage the inventory position of the luggage W, including the case where the inventory positions are stacked and stored in a plurality of stages, and the travel management data 2 from the operation management means 2 to the forklift 1 is accurately determined according to the state of the forklift 1. And the operation instruction data D2 can be transmitted, and the operation status of the forklift 1 as a cargo handling device is recorded in the operation management means 2, so that it is possible to quickly know whether the forklift 1 has been operated at night or on holidays. As a result, it is possible to prevent the baggage W from being pulled out and theft from occurring.

The operation management means 2 is a ground system 2A composed of an instructor (operator) who instructs the forklift control mechanism 33 to dispatch the forklift 1 or a computer in the case of a driver operating the forklift 1 or an unmanned forklift 1. And a host system 2B that manages a plurality of ground systems 2A.
In this embodiment, the ground system 2A and the host system 2B are collectively referred to as the operation management means 2, and will be described separately as appropriate for the ground system 2A and the host system 2B. You can build it.

Then, wireless communication for transmitting and receiving data between the operation management means 2 and the forklift 1 is performed by loading travel instruction data D1 and work instruction data D2, position information J1 of the forklift 1, and load W recognized by the state recognition means 5. Information J2, forklift start / stop information J3, etc. are bidirectionally communicated. For example, a wireless LAN using a 2.4 GHz charged wave of IEEE802.11b standard is used as a communication medium, and a transceiver on the forklift 1 side Data is transmitted and received between S1 and the transceiver S2 on the operation management means 2 side.
At this time, the operation management unit 2 performs 1: N communication with the plurality of forklifts 1.

The self position recognizing means 4 is a state reporting means of the forklift 1 described later, and reads the position information J1 at a location where the position of the forklift 1 is recognized.
The self-position recognition method is not particularly limited as long as it can provide a function of recognizing the position of the forklift 1 while traveling, such as a floor surface or a shelf. However, in this embodiment, a barcode or a two-dimensional barcode is printed or pasted on the floor or shelf. Not only the discrete position recognition (address of the luggage W) of the transfer location but also the position on the passage through which the forklift 1 passes can be grasped by sticking it to the passage of the forklift 1. .
Instead of barcodes or two-dimensional barcodes, RFID (Radio Frequency IDentification) is embedded or pasted on the floor or the like to recognize discrete positions as in the case of barcodes.

In addition, in a forklift that is operated unattended, when performing guidance control that travels following a magnetic tape or optical tape, a reflecting plate laid along the guide line is detected by a reflective photoelectric sensor or along the guide line. A member to be detected such as a contacted iron plate is detected by a proximity sensor or the like, and a relative position with respect to a reference position such as a landing point of the forklift 1 can be obtained and recognized as position information J1.
In a system that uses both manned and unmanned driving, there is no guarantee that the vehicle will travel in the same path as unmanned driving during manned driving, so a device that can determine the position in a wide range such as a barcode or two-dimensional barcode is used as the detection means. It is desirable to use it.

As a function similar to the self-position recognition function of the self-position recognition means 4, there is a self-position estimation function (the self-position recognition means 4 in this embodiment includes a self-position recognition function and an estimation function). However, the self-position recognition means will be mainly described.)
The self-position recognition function employed in this embodiment discretely grasps the current position of the forklift 1 by address unit. On the other hand, the self-position estimation function grasps the position of the forklift 1 as a continuous amount.
In the self-position estimation function, the position is discretely recognized by the RFID or bar code employed by the self-position recognition means 4, and a gyro sensor mounted on the forklift and a rotary encoder that generates a pulse synchronized with the rotation of the traveling wheel are generated. The pulse is counted, and the deviation from the discrete known position is calculated to be a known coordinate according to the distance traveled and the direction obtained by the gyro sensor, and the own position is estimated.
In addition, as a self-position estimation function, the laser is operated by a laser scanner installed on the body of the forklift 1, the distance from the laser scanner to the surrounding object is measured radially, and collated with a previously measured map. Thus, the position of the self (forklift 1) can be estimated using the SLAM technique (Simultaneous Localization and Mapping technique). This corresponds to autonomous driving described later.
The difference between the self-position recognition function (self-position recognition function) and the self-position estimation function of the self-position recognition unit 4 is shown in FIG. Both may be provided with both, but it is not always necessary to have both, and only one of the functions may be provided.
It should be noted that a self-position estimation function is indispensable for autonomous driving in an unmanned forklift, and the self-position determination function is an optional addition in guidance control.

The state recognition means 5 recognizes the loading information J2 of the load W and the departure / stop information J3 of the forklift 1, and the loading information J2 indicates that the load W recognized by the load report means 7 described later has been placed on the fork. The loading / unloading information J3 can be recognized by detecting the rotation of the traveling wheel of the forklift 1.
Specifically, in the case of a battery-type forklift, signal lines such as a drive signal of a traveling motor, a signal of an operation indicator light of a brake, and a start signal of a hydraulic pump that drives the fork can be taken out easily.
Moreover, when using an engine-type forklift, the state can be recognized by appropriately adding a hydraulic pressure detection, a speed detection sensor, or the like.

The loading information J2 can be input by the driver when the loading of the cargo W is completed in a manned forklift, and the departure / stop information J3 is recognized by the self-position recognition means 4. You can also.
Further, the loading / unloading position information J4 of the luggage W is comprehensively recognized from the data recognized by both the self-position recognition means 4 and the state recognition means 5.
At this time, when the packages W are stacked in multiple stages, it is possible to add multi-stage information to the loading / unloading position information J4 of the packages W by adding fork height information.

  The state reporting unit 6 is a function for reporting the position information J1 of the current position of the forklift 1 recognized by the self-position recognition unit 4 when the forklift 1 is turned on and becomes operable. A function of reporting to the operation management means 2 the loading information J2 which is the start and end information of the loaded operation of the loaded cargo W, and the departure / stop information J3 which is information on the start, stop and operation state of the forklift 1 Is.

The load report means 7 reads the identification code C displayed on the luggage W and transmits the identification code C to the operation management means 2. Specifically, as the identification code C affixed or printed on the luggage W Are read by a barcode reader, and the product name, lot number, etc. of the package W are reported to the operation management means 2.
In a manned forklift, the bar code reader reports to the operation management means 2 by reading a wired handy reader operated by the driver as an operator over a conveyed item.
In unmanned forklifts, the bar code reader attached to the main body of the forklift 1 or the tip of the fork and the bar code affixed or printed at the bar code attachment position specified for the package W is automatically read during the loading operation. Report to the operation management means 2.
In the case of manned driving, it is possible to automatically read and report to the operation management means 2 as in the case of unmanned driving.

The operation management means 2 has a work schedule function for scheduling the travel instruction data D1 and work instruction data D2, and adjusting the scheduled travel instruction data D1 and work instruction data D2.
In the schedule function, the track (travel instruction data D1) that the forklift 1 travels mainly from the position information J1 of the current position of the forklift 1, the loading position that is the current position of the load W to be unloaded, and the unloading position. ) And a specific loading / unloading work content (work instruction data D2) of the load W is determined and transmitted to the forklift 1.

  The forklift 1 of the present invention can be applied to a manned forklift, an unmanned forklift and a forklift used for manned unmanned operation. When configured as a manned forklift, the traveling means 3 is operated. A forklift for manned operation is constituted by a display mechanism 31 for displaying the travel instruction data D1 and work instruction data D2 transmitted from the management means 2 and a travel operation mechanism 30 for performing the travel operation of the forklift 1 by manpower. It is possible to provide a forklift 1 that can perform accurate inventory management and operation status management while effectively utilizing the versatility and convenience of a manned forklift equipped with an operation guide function. it can.

  Further, when the forklift is configured as an unmanned forklift, as shown in FIG. 3, the traveling means 3 is transmitted from the operation management means 2 with the actuator 32 for performing the traveling operation of the forklift 1 unattended and the actuator 32. By comprising the control mechanism 33 that is controlled according to the travel instruction data D1 and the work instruction data D2, it can be used as an unmanned forklift, and perform accurate inventory management and operation status management in the unmanned forklift. Can do.

  Further, when configured as a forklift combined with manned unmanned operation, as shown in FIG. 2, a display mechanism 31 for displaying the travel instruction data D1 and the work instruction data D2 transmitted from the operation management means 2, as shown in FIG. A maneuvering means 3A comprising a maneuvering mechanism 30 for maneuvering the forklift 1 and a maneuvering instruction transmitted from the operation management means 2 to the actuator 32 and the actuator 32 for maneuvering the forklift 1 unmanned. By comprising unmanned operation means 3B comprising a control mechanism 33 controlled according to data D1 and work instruction data D2, and switching means 34 for switching between manned operation means 3A and unmanned operation means 3B, manned operation and unmanned operation are performed. Switch and effectively use the advantages of manned and unmanned operation, It can be carried out and of the operating state management Kurifuto 1.

  FIG. 4 summarizes the functions of a manned forklift with a state report function, a manned unmanned forklift, and an unmanned forklift.

Next, a forklift operation management system of the present invention using the forklift 1 described above will be described.
This forklift operation management system uses the forklift 1 described above, and manages the operation status of the forklift 1 and the inventory status of the luggage W from the data transmitted from the status report means 6 and the load report means 7. .

Specifically, an operation flow of a manned forklift by this operation management system will be described with reference to FIGS.
This manned forklift is provided with the state report means 6 and the load report means 7 as described above.
And when the main power supply of the forklift 1 is turned ON, the state is transmitted to the operation management means 2 by communication, and the operation management means 2 records this.
In addition, the forklift 1 travel start and stop events, the address information recognized by the position recognition points, the loading and wholesale operations are recognized by the self-position recognition means 4 and the state recognition means 5 and are stored in the operation management means 2 as respective data. The operation status of the forklift 1 and the inventory status of the luggage W are managed by transmitting and recording in the operation management means 2.

In addition, an operation flow in the case where a work instruction is given to the forklift 1 by using the operation management system that manages the operation of the manned forklift by the host system 2B that manages the plurality of ground systems 2A among the operation management means 2. Is shown in FIG.
First, the host system 2B selects the ground system 2A that manages the necessary luggage W from the operation management means 2, and the work instructions (running instruction data D1 and work instruction data D2) to be assigned to the forklift 1 managed by the ground system 2A. ) As a work instruction from the host system 2B to the ground system 2A by communication, and the ground system 2A that has received the instruction displays it on the operation guide display device of the forklift 1. Notice.
The forklift 1 displays the operation content on the operation guide display device, and the driver of the forklift 1 moves to the loading position according to the display content of the guide.
Then, the load report means 7 confirms that the item to be conveyed by the barcode reader is the designated luggage W, and records it as tracking information in the ground system 2A (operation management means). 2) by wireless communication, and the ground system 2A reports and records to the host system 2B.
After the driver reads the barcode as the identification code C of the package W, the driver travels the package W to the unloading position, and then unloads the package W at the wholesale position.

Loading of cargo W, wholesale, traveling of forklift 1, reporting of change in stop state, address passed during traveling, loading address, wholesale address is address information which is discrete position information recognized by self-position determination function Is reported to the operation management means 2.
At this time, the stacking work and the wholesale work are transmitted with the fork height information added in the case of multi-stage stacking, but when the load W is laid flat with only one stage, the height of the fork is set. Information can be omitted.
When the cargo is unloaded at the wholesale position, the driver inputs the fact that the work has been completed to the terminal device of the operation guide, thereby reporting to the ground system 2A and reporting from the ground system 2A to the host system 2B.

The host system 2B receives the completion of the work instructed to the forklift 1 via the ground system 2A, searches for the next work, assigns the work to the forklift 1 if there is a work, The traveling instruction data D1 and the work instruction data D2 are transmitted to the ground system 2A that manages the forklift 1, and the data transmitted from the host system 2B is transferred from the ground system 2A to the forklift 1 to perform the work instruction.
The actual driving operation of the forklift 1 is performed by a manned driver, and the work system is instructed to the driver from the host system 2B via the ground system 2A, and the driver performs the work based on the instruction.

Whether the work instruction is a single instruction or a plurality of instructions is given at once depends on the amount of work and the operating status of the forklift 1.
The feature of this operation management means 2 (in the case of the ground system 2A and the host system 2B) is that when the state change of the forklift 1 occurs regardless of the work of the host system 2B, the changed contents are wirelessly communicated. The forklift 1 is operated in accordance with the managed work instructions (running instruction data D1 and work instruction data D2) and the operation status of the forklift 1 and the cargo that is being conveyed. It is possible to grasp both movements of W and to carry out accurate inventory management.

Further, by adopting this system, it is possible to expect an effect of suppressing the occurrence of such an event such as removal of the luggage W or theft.
When taking out the cargo W, etc., it is unlikely that a malicious driver will prepare a forklift for that purpose and come to the warehouse where the cargo W is stored. Therefore, the forklift must have a monitoring function during operation. By clearly indicating, it is possible to prevent the package W from being removed.
There are only a few combinations of forklift keys that are generally available on the market, and normal lock management alone is not sufficient in terms of crime prevention because the forklift can be moved by obtaining a spare key. By adopting an operation management system that can manage the operating status of the forklift 1, it is possible to improve the deterring effect such as theft.

In addition to work instructions from the host system 2B, in actual operation, work may be instructed using a form.
The operation flow in this case is shown in FIG.
The driver of the forklift 1 operates according to the instructions in the form, operates the barcode reader when loading the cargo W, reads the ID of the loaded cargo W, and operates the terminal device of the operation guide at the end of the wholesale operation. Adding the end input is added to the normal manned operation.
Thereby, the host system 2B can grasp the progress status of the work instructed in the form when receiving the status report, the report of the ID of the transferred package W, and the work end report.

  Next, the operation flow of the unmanned forklift by this operation management system will be described with reference to FIGS.

  In the unmanned operation, the operation instructed by the host system 2B is executed by automatic operation. In the manned driving, the driver reads the ID of the luggage W while holding the barcode reader over the barcode as the identification code C of the luggage W. A barcode reader attached or printed at a specified position is read by a barcode reader attached to the tip of the fork.

  The traveling method in which the forklift 1 travels by automatic operation includes an actuator 32 for unmanned operation of the traveling means 3 for the forklift 1, travel instruction data D1 and work instruction data transmitted from the operation management means 2 to the actuator 32. The control mechanism 33 is controlled according to D2, and is realized by laying a magnetic tape or a reflection tape as a guide line, running along this line, branching or alternating at an intersection, and There are methods that perform autonomous traveling by estimating self-location during traveling, etc., but these are application technologies that are widely used in general automatic guided vehicles, and in this embodiment, any method can be used. It doesn't matter.

Next, in the operation management system for forklifts, allocation of a forklift 1 dispatch instruction by the operation management means 2 will be described with reference to FIG.
The operation management means 2 provides the dispatching person (worker) or the computer with information for updating the state of the forklift 1 in response to the status report, the report of the ID of the luggage W, and the completion of the work from the operation management means 2.
In the case of a dispatcher, the forklift 1 that can be driven, the progress status of the work, the screen display that updates the current position state to the latest state in real time, the unfinished work, the finished work, the work that is being executed, the work The dispatching instructor gives a screen display from the operation management means 2 that can clearly indicate the work in progress that has already been assigned but has not been executed, and assigns an instruction to the forklift 1 by looking at the screen state.
In the computer control, the computer determines and performs the same operation as that performed by the vehicle dispatching instructor described above.
At that time, evaluation indexes such as leveling of the operation rate of the forklift 1 and minimization of the travel distance of the forklift 1 are introduced, and work is assigned to the forklift 1. As described above, the allocation of the dispatch instruction can efficiently manage the operation of the forklift 1.

  Further, among the forklifts of the present invention, the unmanned forklift or the forklift combined with manned unmanned operation is used, and the baggage W managed by the operation management unit 2 by the loading / unloading position information J4 of the baggage W transmitted from the state report unit 6. The data for exchanging the luggage W necessary to perform first-in first-out of the luggage W is transmitted from the loading position and the vertical position in the case of multiple stacking, and the forklift 1 that has received this data instructs the work management means 2 to perform the work instruction. When the operation based on the data D2 and the travel instruction data D1 is completed, it is possible to construct an operation management system that performs the replacement operation of the luggage W by unmanned operation.

Normally, when a package W is to be delivered, and the package W is placed on the first stage, the rearrangement is incorporated into the schedule first. When the second-stage rearrangement is completed and the first-stage transport can be performed, the operation management is performed so that an instruction to transport the first-stage transported object to the unloading position is assigned to the forklift.
However, if this rearrangement is performed during the work of loading / unloading the luggage W during the daytime on weekdays, the work efficiency is significantly reduced.
Therefore, in the operation management of forklifts using this operation management system, work is performed to change the top and bottom positions of multi-stage loads using time such as nighttime and holidays, and the work efficiency of loading and unloading of luggage W during daytime on weekdays is improved. Therefore, the replacement operation of a plurality of stacked packages W will be described with reference to FIGS.

In general, as shown in FIG. 13, in an actual distribution warehouse, when carrying a two-tiered lower package W, before carrying the lower package W, the upper package W is first moved to another place. It needs to be rearranged.
If it is known at the time of warehousing what has entered the warehouse, move the baggage W placed on the baggage W scheduled to be shipped to another location or It is necessary to move the baggage W of the other stage from the lower stage to the upper stage of the other luggage W.
However, if this operation is performed after the forklift 1 has been assigned a shipping instruction, the transport efficiency of the luggage W will be reduced.
In other words, in warehouses that carry in and out during the daytime (especially during weekdays with baggage loading and unloading work), if you do not perform these work at night or on holidays, The forklift 1 is driven at night by the unmanned forklift 1, and the rearrangement is performed so that the next sunrise storage can be efficiently performed.

In this operation management system, the operation flow of warehousing is such that the work is performed so that the luggage W is placed in order from the first stage close to the entrance. The second stage that is above is used.
The rearrangement of the luggage W moves to the first stage close to the entrance by preferentially performing the one scheduled to be delivered and the one with the old entry time.
If there is no vacancy on the first stage, the rearrangement is performed on the second stage close to the entrance as described above. At this time, the rearrangement is further performed on the luggage W placed on the first stage by the rearrangement. Management is performed so as not to place a replacement baggage W.

  As described above, the forklift and the forklift operation management system of the present invention have been described based on the embodiments, but the present invention is not limited to the configurations described in the above embodiments, and may appropriately be used without departing from the spirit of the present invention. The configuration can be changed.

  The forklift and the forklift operation management system according to the present invention can perform accurate inventory management and operation status management while effectively utilizing the versatility and convenience of a manned forklift having an operation guide function. And forklift operation management system, as well as the ability to save labor by unmanned operation, improve the effective use of equipment, improve equipment management and maintainability of luggage. The present invention can be used for the operation management system of a forklift that performs loading and unloading of forklifts. In addition, this operation management system can be applied to warehouse handling management using overhead cranes.

DESCRIPTION OF SYMBOLS 1 Forklift 2 Operation management means 3 Travel means 3A Manned operation means 3B Unmanned operation means 30 Travel operation mechanism 31 Display mechanism 32 Actuator 33 Control mechanism 34 Switching means 4 Self-position recognition means 5 Status recognition means 6 Status report means 7 Load report means C Identification code D1 Driving instruction data D2 Work instruction data J1 Position information J2 Loading information J3 Departure / stop information J4 Unloading position information W Luggage

Claims (7)

  In a forklift that transmits and receives data to and from operation management means by wireless communication, traveling means for traveling the forklift according to the travel instruction data and work instruction data from the operation management means, self-position recognition means for recognizing the self-position of the forklift, and forklift State recognition means for recognizing the operation status of the vehicle, position information of the forklift recognized by the self-position recognition means, loading information of the luggage recognized by the state recognition means, departure / stop information of the forklift, self-position recognition means and state recognition Status reporting means for transmitting the loading / unloading position information of the package recognized by the means to the operation management means, and load reporting means for reading the identification code displayed on the package and transmitting the identification code to the operation management means. The state reporting means and the load Depending on the data transmitted from the tell means, forklift is characterized in that so as to adjust the running instruction data and work instruction data transmitted from the operation control means.   2. The travel means comprises a display mechanism for displaying work instruction data and travel data transmitted from the operation management means, and a travel operation mechanism for manned travel operation of the forklift. The listed forklift.   The travel means comprises an actuator for unattended travel operation of a forklift, and a control mechanism for controlling the actuator according to work instruction data and travel data transmitted from the operation management means. The forklift according to 1.   The travel means includes manned driving means including a display mechanism for displaying work instruction data and travel data transmitted from the operation management means, and a travel operation mechanism for manned travel operation of the forklift, and unmanned travel operation of the forklift. And an unmanned driving means comprising a control mechanism for controlling the actuator according to work instruction data and travel data transmitted from the operation management means, and a switching means for switching between the manned driving means and the unmanned driving means. The forklift according to claim 1.   The adjustment of the travel instruction data and work instruction data transmitted from the operation management means is determined from the position information of the forklift, the load information of the load, and the load position information, and the track on which the forklift travels and the content of the load unloading work are determined. The forklift according to claim 1, 2, 3, or 4, wherein   The forklift according to claim 1, 2, 3, 4, or 5 is used, and the operating status of the forklift and the inventory status of the load are managed from the data transmitted from the status reporting means and the load reporting means. A featured operation management system.   The forklift according to claim 3 or 4 is used, and the cargo loading position managed by the operation management means based on the cargo loading / unloading position information transmitted from the status reporting means, and the upper and lower positions in the case of multiple stacking, When the forklift that has received the data transmits the load replacement data necessary to perform the first-in first-out operation, the operation for replacing the load is performed by unmanned operation when the operation based on the work instruction data and the travel instruction data from the operation management unit is completed. An operation management system characterized by what we do.

Images