JP2017128416A - Transport system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transport system capable of immediately securing a fork lift in an unmanned operation mode for an emergency nonstationary transport work.SOLUTION: When necessity of an emergency transport work is generated, and when an emergency operator 7 uses an emergency work notification part 6, a fork lift 1 in an unmanned operation mode at an unmanned area 3 interrupts and stops a transport work which is being performed. At the time, the fork lift 1 stores a work content of the transport work which is interrupted as an interrupted work content. The emergency operator 7 makes a state of the fork lift 1 a manned operation mode and performs an emergency transport work. The emergency operator 7 who finished the emergency transport work makes the state of the fork lift 1 the unmanned operation mode again, then the fork lift 1 restarts the transport work based on the stored interrupted work content.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a transport system that performs a transport operation using a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode.

  In this type of transport system, for example, as in Patent Documents 1 and 2, there are systems having a manned area (for example, outside the warehouse) and an unmanned area (for example, in the warehouse) as work spaces. In the manned area, the forklift is operated in the manned operation mode. That is, in a manned area, an operator operates a forklift to carry a transfer work. On the other hand, in the unmanned area, the forklift is operated in the unmanned operation mode. That is, in the unmanned area, the forklift automatically travels and performs a transport operation based on the work content instructed in advance.

Japanese Patent No. 5196451 Japanese Patent No. 5196454

  As described above, the transport system performs regular transport work in both the manned area and the unmanned area. However, there is a need to perform emergency unsteady transfer work in the manned operation mode, and there are cases where it is desired to immediately use as many forklifts as possible for unsteady transfer work. If there are forklifts working in manned areas, these forklifts can be used immediately for unsteady transport operations.

  However, if most or all of the forklifts are transporting in the unmanned area, the unmanned operation mode forklift will finish the transporting work in order to secure the required number of forklifts that are needed for unsteady transporting. I have to wait to do it. That is, it is not possible to immediately start an emergency unsteady transfer operation.

  Then, an object of this invention is to provide the conveyance system which can ensure the forklift of unmanned operation mode immediately for emergency unsteady conveyance work.

The present invention is a transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
An emergency work notification unit that transmits an emergency notification indicating the necessity of urgent transport work to the forklift,
The forklifts are respectively
A mode switching unit for switching between the manned operation mode and the unattended operation mode;
A work storage unit for storing the work content of the transfer work in the unmanned operation mode,
When the emergency notification is received, if it is the manned operation mode, it is not stopped, and if it is the unmanned operation mode, the transfer work based on the work content in progress is interrupted and stopped, and the interrupted transfer work The work content is stored in the work storage unit as a suspended work content,
After switching from the manned operation mode to the unmanned operation mode again by the switching unit after stopping due to the reception of the emergency notification, the conveyance work based on the interrupted work content stored in the work storage unit is resumed. Features.

Preferably, each of the forklifts is
A position storage unit that stores a position when stopped by receiving the emergency notification as a stop position;
After the stop due to the reception of the emergency notification, when the switching unit is switched to the unattended operation mode again, it returns to the stop position stored in the position storage unit and is stored in the work storage unit The conveyance work based on the suspended work content is resumed.

Further, the present invention is a transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
A management device capable of communicating with the forklift and managing the forklift;
An emergency work notification unit that transmits an emergency notification indicating the necessity of urgent transport work to the management device, and
The management device
A stop notification unit that transmits a first stop notification indicating a stop request to the forklift in the unmanned operation mode upon reception of the emergency notification;
The forklifts are respectively
A switching unit for switching between the manned operation mode and the unmanned operation mode;
A work storage unit for storing the work content of the transfer work in the unmanned operation mode,
When the first stop notification is received, the transfer work based on the work content in progress is interrupted and stopped, and the work content of the interrupted transfer work is stored as the interrupt work content in the work storage unit,
After the stop by receiving the first stop notification, when the switching unit switches again to the unmanned operation mode, the transfer work based on the suspended work content stored in the work storage unit is resumed. .

Preferably, the management device is
A target determining unit that determines a predetermined number of the forklifts as a notification target based on a predetermined condition from among a plurality of the forklifts in the unattended operation mode,
The stop notification unit transmits the first stop notification only to the forklift determined as the notification target by the target determination unit.

Preferably, each of the forklifts is
A cargo handling section for placing a workpiece;
A workpiece detection unit that detects whether or not the cargo handling unit is placing a workpiece,
The target determining unit
Based on the detection result from the workpiece detection unit, the forklift on which the workpiece is placed is removed from the notification target.

Preferably, the forklift is
A battery as a drive source;
A remaining amount detecting unit for detecting the remaining amount of the battery,
The target determining unit
The forklift whose remaining amount of battery detected by the remaining amount detecting unit is less than a predetermined value is excluded from the notification target.

Preferably, the management device is
A work management unit that assigns the work content to the forklift in the unmanned operation mode, the work content includes the importance of the work to be transported,
The target determining unit
At the time of receiving the emergency notification, the forklift that is supposed to perform the transport work based on the work content having the high importance is excluded from the notification target.

Preferably, the management device is
A distance calculation unit that calculates the distance from an emergency worker who performs an emergency transport operation to the forklift in the unmanned operation mode,
The target determining unit
When the number of forklifts that can be notified is larger than the predetermined number, the predetermined number of the forklifts that are close to the emergency worker calculated by the distance calculation unit among the forklifts that can be notified Is determined as the notification target.

Preferably, the management device is
An end time calculating unit that calculates the remaining time until the end of the conveyance work that the forklift in the unmanned operation mode is performed;
The target determining unit
When there is no forklift in the unattended operation mode in which the workpiece is not placed, the forklift that is calculated by the end time calculator is determined as the notification target,
The stop notification unit
A second stop notification indicating a stop request is transmitted to the forklift that is determined as the notification target by the target determination unit when there is no forklift in the unattended operation mode in which no workpiece is placed,
The forklift is
When the second stop notification is received, the conveyance work based on the work content in progress is terminated and then stopped.
After the stop due to the reception of the second stop notification, when the switching unit is switched again to the unattended operation mode, the transfer work based on the next work content stored in the work storage unit is performed.

  According to the present invention, a forklift in the unmanned operation mode can be secured immediately for emergency unsteady conveyance work. Moreover, if the operation mode of the forklift is switched to the unattended operation mode after the unsteady conveyance work is completed, the forklift resumes the conveyance work interrupted by the unsteady conveyance work.

It is the schematic of the conveyance system which concerns on one Example of this invention. It is the schematic of the conveyance system which concerns on another Example of this invention.

Hereinafter, a transport system according to the present invention will be described with reference to the drawings.
[Example 1]
Referring to FIG. 1, the transport system includes a plurality of forklifts 1 that can switch between a manned operation mode and an unmanned operation mode, and the forklift 1 performs a transport operation. The manned operation mode is a mode in which the forklift 1 is driven by the operation of an operator who has boarded the driver's seat. The unmanned operation mode is a mode in which the forklift 1 automatically operates.

  There are a manned area 2 and an unmanned area 3 as work spaces of the transport system. The manned area 2 and the unmanned area 3 are adjacent to each other. In this embodiment, the transport system includes a warehouse 4, the manned area 2 is outside the warehouse 4, and the unmanned area 3 is inside the warehouse 4. Instead, for example, a configuration in which both the manned area 2 and the unmanned area 3 are in the warehouse 4 may be used. Further, the unmanned area 3 may be provided in the factory in addition to being provided in the warehouse 4.

  In the warehouse 4, that is, in the unmanned area 3, a plurality of racks 5 for placing workpieces are arranged at appropriate intervals. Further, the unmanned area 3 is provided with a travel path on which the forklift 1 travels. In this embodiment, an image guidance system is employed so that the forklift 1 can automatically travel on the travel path. That is, although not shown, a guide line colored with a color different from the road surface of the travel road is provided on the road surface along the travel road, and a camera for imaging this is provided on the forklift 1. Instead, a magnetic induction method in which a magnetic tape is provided on the road surface along the traveling path and a magnetic sensor for detecting the magnetic tape is provided in the forklift 1 may be employed.

The configuration of each forklift 1 will be described.
The forklift 1 includes a switching unit for switching between a manned operation mode and an unmanned operation mode. The switching unit is composed of a switch provided at the driver's seat of the forklift 1, for example. When the switch is pressed by the operator, the operation mode is switched from the manned operation mode to the unmanned operation mode, or from the unmanned operation mode to the manned operation mode. The forklift 1 includes an operation unit including a steering handle, an operation lever, and the like operated by an operator who has boarded the driver's seat in the manned operation mode.

  The forklift 1 includes a camera that captures a guide line on a traveling path of the unmanned area 3 at a constant time interval, and an image processing unit that detects image lines by processing image data captured by the camera. Note that when the magnetic induction method is employed, the forklift 1 includes a magnetic sensor instead of the camera and the image processing unit.

  The forklift 1 is provided with a cargo handling unit on which a workpiece is placed and which receives and transfers the workpiece to and from the rack 5. The cargo handling unit includes a fork on which a workpiece is placed, a lift mechanism that moves the fork up and down, a reach mechanism that moves the fork forward and backward, a rotate mechanism that turns the fork, and the like. The forklift 1 includes a traveling unit for driving traveling wheels. The traveling unit includes a motor that drives and steers the wheels.

This transport system is configured so that the position of the forklift 1 in the unmanned area 3 can be specified. This is achieved, for example, as follows.
The position of the forklift 1 may be specified by a GPS system. In this case, each forklift 1 includes a GPS receiver.
The position of the forklift 1 in the image guidance system as in the present embodiment, as shown in Japanese Patent No. 5344504, includes a plurality of unique marks and a plurality of count marks arranged on the guidance line, a camera and an image. You may identify by detecting using a process part.
In the magnetic induction system, the position of the forklift 1 is detected by using a magnetic sensor that indicates a magnetic body indicating addresses arranged at appropriate intervals along the magnetic tape, as disclosed in JP-A-2006-252337. May be specified.

  Further, the forklift 1 has a work storage unit for storing the work contents of the transfer work in the unmanned operation mode, and a self-position when the transfer work is interrupted and stopped in the unmanned area 3 as described later. As a position storage unit.

  In the manned operation mode, the forklift 1 drives the cargo handling unit or the traveling unit according to the input of the operation unit by the operator. As a result, the operator can operate the forklift 1 to carry out the transfer work.

  A plurality of work contents are stored in the work storage unit of each forklift 1 working in the unattended operation mode. In the unmanned operation mode, the forklift 1 drives the cargo handling unit and the traveling unit based on this work content. As a result, the forklift 1 moves to a predetermined location to receive the workpiece, and then moves to another predetermined location to deliver the workpiece based on one work content. When one transfer operation is completed, the transfer operation is performed based on the next operation content stored in the operation storage unit. Thus, the forklift 1 in the unattended operation mode sequentially processes the work contents stored in the work storage unit.

  The traveling along the traveling path of the forklift 1 is performed by driving the traveling unit based on the detection result of the guide line, the unique mark, and the count mark by the image processing unit. In the case of the magnetic induction method, traveling along the traveling path of the forklift 1 is performed by controlling the traveling unit based on the magnetic tape by the magnetic sensor and the detection result of the magnetic body.

  In the transfer system, in the manned area 2, the operator operates the forklift 1 in the manned operation mode to carry out the transfer work, while in the unmanned area 3, the forklift 1 in the unmanned operation mode automatically operates. Then, the transfer work based on the stored work content is performed. As a result, a steady transfer operation is performed.

  In such a transport system, there is a need to perform an urgent unsteady transport work, and this may have to be performed in preference to the regular transport work. Therefore, there are cases where it is desired to secure the forklift 1 that is working in the unmanned area 3 and use it immediately after switching to the manned operation mode. Therefore, the following configuration is provided.

  The transport system includes an emergency work notification unit 6 that transmits an emergency notification indicating the necessity of an emergency transport work to each forklift 1. The emergency work notification unit 6 is installed at a predetermined location in a work space such as the warehouse 4 or carried by a worker who performs an unsteady transfer work (hereinafter referred to as an emergency worker 7). .

  The emergency work notification unit 6 sends an emergency notification to each forklift 1 in the transport system when the notification button operated by the emergency operator 7 is pressed to secure the forklift 1 in the unmanned operation mode. And a transmission unit for transmission. Each of the forklifts 1 includes a receiving unit that receives an emergency notification from the emergency work notification unit 6.

  The emergency worker 7 presses the notification button of the emergency work notification unit 6 when an emergency unsteady transfer operation occurs. When the notification button is pressed, the emergency work notification unit 6 transmits an emergency notification to each forklift 1. Each forklift 1 receives an emergency notification.

  When each forklift 1 receives the emergency notification, it determines whether the operation mode is the unmanned operation mode or the manned operation mode, that is, whether the operation is performed in the unmanned area 3 or the manned area 2.

  If the forklift 1 is in the unattended operation mode, the forklift 1 interrupts and stops the conveyance work based on the work content in progress. Thereby, each forklift 1 in the unmanned area 3 interrupts the transfer operation. The emergency worker 7 gets on the forklift 1 stopped after entering the unmanned area 3, and switches the operation mode from the unmanned operation mode to the manned operation mode by the switching unit.

  When the forklift 1 is switched to the manned operation mode, the work content of the interrupted transfer work is stored in the work storage unit as the interrupted work content. Further, at this time, the forklift 1 stores the position stopped by receiving the emergency notification as a stop position in the position storage unit.

  The storage of the interrupted work content and the stop position may be performed when the emergency worker 7 stops by receiving the emergency notification, not when the emergency worker 7 switches to the manned operation mode. Moreover, although it switched to the manned operation mode by operation of the switching part of the emergency worker 7, you may be automatically switched to the manned operation mode when the emergency notification is received.

  The emergency worker 7 operates the forklift 1 stopped by receiving the emergency notification and immediately starts an emergency unsteady transfer operation.

The emergency worker 7 stops the forklift 1 at a predetermined return position 8 on the travel path (guidance line) in the unmanned area 3 after the unsteady transfer work is completed. Then, the emergency worker 7 switches the operation mode of the forklift 1 from the manned operation mode to the unmanned operation mode by the switching unit.

  As described above, when the forklift 1 is again switched to the unmanned operation mode after stopping due to the reception of the emergency notification, the forklift 1 reads the stop position stored in the position storage unit and travels along the guide line from the return position 8. Return to the stop position. Then, the forklift 1 reads the interrupted work content stored in the work storage unit, and resumes the transport work based on the interrupted work content. Thus, when the forklift 1 is switched to the unattended operation mode after the end of the unsteady transfer work, the forklift 1 resumes the interrupted transfer work. Thereby, the steady conveyance work of the unmanned area 3 is restored.

  On the other hand, if the forklift 1 is in the manned operation mode when the emergency notification is received, the control method is not changed and the normal manned operation mode is controlled. That is, the forklift 1 does not stop as in the unmanned operation mode if it is in the manned operation mode when the emergency notification is received.

  According to the above transport system, the forklift 1 necessary for emergency unsteady transport work can be secured immediately from the unmanned area 3, and the emergency worker 7 can quickly tackle the unsteady transport work. Furthermore, if the forklift 1 is switched from the manned operation mode to the unmanned operation mode at the predetermined return position 8 after the end of the unsteady conveyance work, the forklift 1 resumes the suspended conveyance work, and thereafter, based on the work content. Regular conveyance work is performed in order. That is, it is possible to easily restore the normal conveyance work in the unmanned area 3.

[Example 2]
In the first embodiment, all the forklifts 1 in the unmanned area 3 stop the conveyance work and stop. However, it may be necessary to reserve only one or several unmanned areas 3 forklifts 1 for urgent and unsteady transport operations. Hereinafter, an embodiment for this purpose will be described with reference to FIG. Components identical or similar to those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted as much as possible.

The transport system includes a forklift 1 and a management device 9 that manages the transport work.
The management device 9 is configured to be able to selectively communicate with each forklift 1 and to be able to communicate with the emergency work notification unit 6. In this embodiment, the emergency work notifying unit 6 transmits an emergency notification to the management device 9 instead of each forklift 1. Moreover, the emergency work notification unit 6 includes a display unit (for example, a display) that displays information.

  The management device 9 includes a work management unit and a work database. The work management unit manages the work contents of the regular transport work that each forklift 1 operated in the unattended operation mode performs in one day. The work database stores the work contents of all the transport work of the day. The work database also stores a travel path (map of travel path) of the unmanned area 3.

  The work contents include the work to be transported, the importance of the work, the receiving position where the forklift 1 receives the work with the rack 5, the delivery position where the forklift 1 delivers the work with the rack 5, and the like. ing.

  The work management unit reads the work contents of the regular transport work of the day from the work database and assigns the work contents to each forklift 1 operated in the unmanned area 3. Then, the work management unit transmits the work content assigned to the forklift 1 to the forklift 1. The forklift 1 receives a plurality of work contents assigned to itself and stores them in the work storage unit. The forklift 1 sequentially performs conveyance work based on the stored work contents. In this way, the regular conveyance work in the unmanned area 3 is performed.

  The management device 9 includes a stop notification unit that transmits a first stop notification indicating a stop request to the forklift 1 in the unmanned operation mode when an emergency notification is received from the emergency work notification unit 6. Furthermore, the management device 9 includes a target determination unit that determines a predetermined number of forklifts 1 from among the forklifts 1 in the unattended operation mode as notification targets for transmitting the first stop notification based on a predetermined condition.

  In the following, an example will be described in which the target determining unit determines one forklift 1 in the unattended operation mode as a notification target as a predetermined number, but the target determination unit determines two or more forklifts 1 as a notification target. Of course it is good.

Predetermined conditions for the target determining unit of the present embodiment to determine the unmanned operation mode forklift 1 to be notified are as follows.
(1) No work is placed (2) Battery remaining as a driving source is more than a predetermined level (3) Low importance of work to be transported (4) Distance from emergency worker 7 Close

  Each forklift 1 includes a workpiece detection unit that detects whether or not the cargo handling unit is placing a workpiece so that the forklift 1 that satisfies the condition (1) can be specified. In response to a request from the management device 9, The detection result is transmitted to the management device 9. In this embodiment, the work detection unit is composed of a load sensor attached to the fork of the cargo handling unit. The object determining unit recognizes whether or not these forklifts 1 are loaded with workpieces based on the detection result from the workpiece detection unit of each forklift 1 in the unattended operation mode, thereby satisfying the condition (1). Forklift 1 is specified.

  Each forklift 1 includes a battery as a drive source and a remaining amount detection unit that detects the remaining amount of the battery so that the forklift 1 that satisfies the condition (2) can be specified, and according to a request from the management device 9 The detected remaining battery level is transmitted to the management device 9. The target determination unit recognizes the remaining battery levels of the forklifts 1 based on the detection results from the remaining level detection units of the forklifts 1 in the unattended operation mode. Thereby, the target determining unit identifies the forklift 1 that satisfies the condition (2). In the present embodiment, “predetermined or more” in the condition (2) is 20% or more of the total capacity.

  As described above, the work content includes the importance of the work to be conveyed so that the forklift 1 that satisfies the condition (3) can be identified. There are five levels of importance, for example, “1” to “5”, and “1” has the highest importance. As described above, the work management unit of the management device 9 assigns the work contents of the transport work of the day to each forklift 1 in the unmanned operation mode in advance, and transports each forklift 1 by communication with each forklift 1. Recognize the progress.

  The object determination unit recognizes the importance of the work that each forklift truck 1 is to carry from now on when receiving the emergency notification based on the information sent from the work management unit. Thereby, the target determining unit identifies the forklift 1 that satisfies the condition (3). In the present embodiment, the target determining unit identifies the forklift 1 that is scheduled to transport only workpieces having a low priority of “3” to “5”.

The management device 9 includes a distance calculation unit that calculates the distance from the emergency worker 7 to the forklift 1 in the unmanned operation mode so that the forklift 1 that satisfies the condition (4) can be specified.
The emergency worker 7 uses the emergency work notification unit 6 when an emergency unsteady transfer work is necessary. Therefore, when the emergency work notification unit 6 is installed at a predetermined position, this installation position is set as the position of the emergency worker 7 and stored in advance in the work database. When the emergency work notification unit 6 is carried by the emergency worker 7, the emergency work notification unit 6 includes a GPS receiving unit, and the position specified by the GPS reception unit 6 is the position of the emergency worker 7. In the transport system according to the second embodiment, as in the first embodiment, the current position of the forklift 1 in the unmanned area 3 can be specified. Each forklift 1 is configured according to a request from the management device 9. The own position in the unattended area 3 is transmitted to the management device 9.

  The distance calculation unit is a distance from the emergency worker 7 to the forklift 1 based on the position of the emergency worker 7, the position of the forklift 1 in the unmanned operation mode, and the travel path of the unmanned area 3 stored in the work database. Is calculated.

  The target determining unit specifies the forklift 1 that satisfies the condition (4) based on the distance from the emergency worker 7 calculated by the distance calculating unit to the forklift 1 in the unmanned operation mode.

  In Example 2, when it becomes necessary to perform an emergency unsteady transfer work, the emergency worker 7 presses the notification button of the emergency work notification unit 6. Then, the emergency work notification unit 6 transmits an emergency notification to the management device 9. Then, the management device 9 receives this emergency notification.

When the emergency notification is received, the target determination unit of the management device 9 determines the forklift 1 in the unmanned operation mode that is the notification target to which the stop notification unit notifies the first stop notification as follows.
First, the target determining unit identifies a forklift 1 that satisfies the condition (1) from among a plurality of forklifts 1 in the unattended operation mode, and thereby removes the forklift 1 on which the workpiece is placed from the notification target. If the number of forklifts 1 satisfying the condition (1) is a predetermined number, this is determined as a notification target.

  When there are two or more forklifts 1 that satisfy the condition (1), the target determining unit identifies the forklifts that satisfy the condition (2) from among the forklifts 1 that satisfy the condition (1), and the remaining battery level is thereby reduced. Forklifts 1 that are less than a predetermined value (less than 20%) are excluded from notification targets. If there is one forklift that satisfies the conditions (1) and (2), this is determined as a notification target.

  When there are two or more forklifts 1 satisfying the conditions (1) and (2), the target determining unit identifies the forklift 1 satisfying the condition (3) from among the forklifts 1 satisfying the conditions (1) and (2). As a result, the forklift 1 that is scheduled to perform the transfer work based on the work content having a high importance of the workpiece is excluded from the notification target. If there is only one forklift 1 that satisfies the conditions (1) to (3), this is determined as a notification target.

  When there are two or more forklifts 1 that satisfy the conditions (1) to (3), the target determining unit has the largest distance from the emergency worker 7 among the forklifts 1 that satisfy the conditions (1) to (3). The near forklift 1, that is, the forklift 1 that satisfies the condition (4) is specified, and this is determined as a notification target. As described above, when the number of forklifts 1 that can be notified is larger than the predetermined number, the target determining unit finally determines a predetermined number of forklifts 1 as a notification target based on the condition (4).

  The stop notification unit transmits the first stop notification only to the forklift 1 in the unattended operation mode determined as the notification target by the target determination unit. When the forklift 1 receives the first stop notification, the forklift 1 interrupts and stops the conveyance work based on the work content in progress. Then, the forklift 1 stores the interrupted work content in the work storage unit as the interrupted work content, and further stores the position stopped by receiving the first stop notification as the stop position in the position storage unit. Further, the forklift 1 transmits the stop position to the emergency work notification unit 6 via the management device 9. The stop position is displayed on the display unit of the emergency work notification unit 6.

  The emergency worker 7 moves to the stop position with reference to the stop position displayed on the display unit, gets on the forklift 1 stopped there, and changes the operation mode from the unmanned operation mode to the manned operation mode by the switching unit. Switch to. The emergency worker 7 operates the forklift 1 to start an emergency unsteady transfer operation.

The emergency worker 7 stops the forklift 1 at a predetermined return position 8 on the travel path (guidance line) in the unmanned area 3 after the unsteady transfer work is completed. Then, the emergency worker 7 switches the operation mode from the manned operation mode to the unmanned operation mode by the switching unit.

  As described above, when the forklift 1 is stopped and stopped by the first stop notification and then switched to the unmanned operation mode again, the forklift 1 reads the stop position stored in the position storage unit and guides it from the return position 8. Drive along the line and return to the stop position. Further, the forklift 1 reads the interrupted work content stored in the work storage unit, restarts the transport work based on the interrupted work content, and continues the transport work based on the work content. Thus, when the forklift 1 is again switched to the unattended operation mode after the end of the emergency unsteady transfer operation, the forklift 1 resumes the interrupted transfer operation.

  As described above, based on the predetermined conditions (1) to (4), the unmanned operation mode forklift 1 assigned to the unsteady transfer work is determined. However, there is not always a forklift 1 that satisfies the first condition (1). Therefore, the following configuration is provided for the case where there is no unmanned operation mode forklift 1 in which no workpiece is placed.

  The management device 9 includes an end time calculation unit that calculates the remaining time until the transfer work based on the work content is completed. The end time calculation unit is necessary for the work contents of the transport work currently performed by the forklift 1, the current position of the forklift 1 and the distance traveled by the forklift 1 from the current position of the forklift 1 to the end of the transport work, and for receiving and transferring the work. The time is calculated, thereby calculating the remaining time until the work is delivered and the transfer work is finished.

  When there is no forklift 1 that satisfies the condition (1), the object determining unit determines whether the forklift in the unmanned operation mode is based on the remaining time until the forklift 1 in the unmanned operation mode is completed. 1, one forklift 1 that finishes the ongoing conveyance work earliest is determined as a notification target.

  The stop notification unit is not a first stop notification for a forklift 1 that is determined as a notification target when there is no forklift 1 that satisfies the condition (1), but a stop that indicates that the forklift 1 is stopped after the ongoing transfer operation is completed. A second stop notification indicating the request is transmitted.

  When the forklift 1 receives the second stop notification, the forklift 1 does not immediately stop and stop the transfer work, but stops after the transfer work in progress is finished, and does not start the next transfer work. The management device 9 transmits to the emergency work notification unit 6 the position at which the forklift 1 that transmits the second stop notification ends the transport operation (becomes the stop position) and the remaining time until the end of the transport operation. The stop position is displayed on the display unit of the emergency work notification unit 6, and the remaining time until the end of the transfer work is displayed in real time.

  The emergency worker 7 uses the information displayed on the display unit to board the forklift 1 that has stopped after finishing the transfer work. Since the forklift 1 has finished the transfer operation, no work is placed thereon. The emergency worker 7 switches this to the manned operation mode and steers it to start an emergency unsteady transfer operation.

The emergency worker 7 stops the forklift 1 at the return position 8 after completing the unsteady transfer work, and then switches from the manned operation mode to the unmanned operation mode by the switching unit.
When the forklift 1 is stopped by receiving the second stop notification as described above and then switched to the unmanned operation mode again, the forklift 1 performs the transfer work based on the next work content stored in the work storage unit, Conveying work based on work contents will be continued.

  According to the second embodiment described above, as in the first embodiment, the forklift 1 necessary for the unsteady transfer work can be secured immediately from the unmanned area 3, and further, the suspension is interrupted after the unsteady transfer work is completed. It is possible to easily resume the transporting operation.

  Unlike the first embodiment, only some of the forklifts 1 in the unmanned operation mode are stopped, so that the other forklifts 1 in the unattended operation mode continue the conveyance work without stopping. Therefore, even when an unsteady transfer work occurs, it is possible to minimize a decrease in work efficiency of the steady transfer work in the unmanned area 3.

  In addition, the forklift 1 in the unmanned operation mode that is transporting the workpiece is excluded from the notification target according to the condition (1), so that the workpiece is placed on the forklift 1 operated by the emergency worker 7. There is no, and it is immediately started to unsteady conveyance work.

  In addition, because the forklift 1 with the remaining amount of battery less than the predetermined value is excluded from the notification target according to the condition (2), the forklift 1 operated by the emergency worker 7 moves out of battery during the unsteady transfer work. It is prevented that it disappears.

  In addition, because the forklift 1 that is scheduled to transport a highly important workpiece is excluded from the notification target according to the condition (3), it is possible to prevent the conveyance operation for conveying the important workpiece from being interfered with the unsteady conveyance operation. Is done.

  Further, because the forklift 1 located near the emergency worker 7 is subject to notification according to the condition (4), the emergency worker 7 can quickly access the stopped forklift 1.

  When there is no forklift 1 in the unmanned operation mode in which no workpiece is placed, the forklift 1 that finishes the transfer work earliest is assigned to the emergency worker 7. Therefore, even when there is no forklift 1 that satisfies the condition (1), the emergency worker 7 can secure the forklift 1 on which no workpiece is placed without waiting for almost.

1 Forklift 2 Manned area 3 Unattended area 4 Warehouse 5 Rack 6 Emergency work notification section 7 Emergency worker 8 Return position 9 Management device

The present invention is a transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
An emergency work notification unit that transmits an emergency notification indicating the necessity of urgent transport work to the forklift,
The forklifts are respectively
And SWITCHING unit for switching between the manned operation mode and the unattended operation mode,
A work storage unit for storing the work content of the transfer work in the unmanned operation mode,
When the emergency notification is received, if it is the manned operation mode, it is not stopped, and if it is the unmanned operation mode, the transfer work based on the work content in progress is interrupted and stopped, and the interrupted transfer work The work content is stored in the work storage unit as a suspended work content,
After switching from the manned operation mode to the unmanned operation mode again by the switching unit after stopping due to the reception of the emergency notification, the conveyance work based on the interrupted work content stored in the work storage unit is resumed. Features.

Preferably, each of the forklifts is
A cargo handling section for placing a workpiece;
And a work detecting unit for the handling section detects whether or not mounting the workpiece,
The target determining unit
Based on the detection result from the workpiece detecting section, remove the forklift that mounting the workpiece from the notification target.

Preferably, the management device is
An end time calculating unit that calculates the remaining time until the end of the conveyance work that the forklift in the unmanned operation mode is performed;
The target determining unit
When there is no forklift in the unattended operation mode in which the workpiece is not placed, the forklift that is calculated by the end time calculator is determined as the notification target,
The stop notification unit
The For the forklift in which the target determination unit has determined as the notified when there is no the forklift of the unattended operation mode that does not place the workpiece, and sends the second stop notification indicating a stop request,
The forklift is
When the second stop notification is received, the conveyance work based on the work content in progress is terminated and then stopped.
After the stop due to the reception of the second stop notification, when the switching unit is switched again to the unattended operation mode, the transfer work based on the next work content stored in the work storage unit is performed.

Claims (9)

A transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
An emergency work notification unit that transmits an emergency notification indicating the necessity of urgent transport work to the forklift,
The forklifts are respectively
A mode switching unit for switching between the manned operation mode and the unattended operation mode;
A work storage unit for storing the work content of the transfer work in the unmanned operation mode,
When the emergency notification is received, if it is the manned operation mode, it is not stopped, and if it is the unmanned operation mode, the transfer work based on the work content in progress is interrupted and stopped, and the interrupted transfer work The work content is stored in the work storage unit as a suspended work content,
After switching from the manned operation mode to the unmanned operation mode again by the switching unit after stopping due to reception of the emergency notification, the conveyance work based on the interrupted work content stored in the work storage unit is resumed.
A conveyance system characterized by that. The forklifts are respectively
A position storage unit that stores a position when stopped by receiving the emergency notification as a stop position;
After the stop due to the reception of the emergency notification, when the switching unit is switched to the unattended operation mode again, it returns to the stop position stored in the position storage unit and is stored in the work storage unit The transport system according to claim 1, wherein the transport work based on the suspended work content is resumed. A transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
A management device capable of communicating with the forklift and managing the forklift;
An emergency work notification unit that transmits an emergency notification indicating the necessity of urgent transport work to the management device, and
The management device
A stop notification unit that transmits a first stop notification indicating a stop request to the forklift in the unmanned operation mode upon reception of the emergency notification;
The forklifts are respectively
A switching unit for switching between the manned operation mode and the unmanned operation mode;
A work storage unit for storing the work content of the transfer work in the unmanned operation mode,
When the first stop notification is received, the transfer work based on the work content in progress is interrupted and stopped, and the work content of the interrupted transfer work is stored as the interrupt work content in the work storage unit,
After the stop due to the reception of the first stop notification, when the switching unit is switched to the unattended operation mode again, the transfer work based on the interrupted work content stored in the work storage unit is resumed.
A conveyance system characterized by that. The management device
A target determining unit that determines a predetermined number of the forklifts as a notification target based on a predetermined condition from among a plurality of the forklifts in the unattended operation mode,
The stop notification unit transmits the first stop notification only to the forklift determined as the notification target by the target determination unit.
The conveyance system according to claim 3 characterized by things. The forklifts are respectively
A cargo handling section for placing a workpiece;
A workpiece detection unit that detects whether or not the cargo handling unit is placing a workpiece,
The target determining unit
Based on the detection result from the workpiece detection unit, remove the forklift on which the workpiece is placed from the notification target,
The transport system according to claim 4. The forklift is
A battery as a drive source;
A remaining amount detecting unit for detecting the remaining amount of the battery,
The target determining unit
Removing the forklift whose remaining amount of battery detected by the remaining amount detection unit is less than a predetermined value from the notification target;
The conveyance system according to claim 4 or 5, characterized by things. The management device
A work management unit that assigns the work content to the forklift in the unmanned operation mode, the work content includes the importance of the work to be transported,
The target determining unit
At the time of receiving the emergency notification, remove the forklift that is to be transported based on the work content with high importance from the notification target,
The conveyance system according to any one of claims 4 to 6, wherein The management device
A distance calculation unit that calculates the distance from an emergency worker who performs an emergency transport operation to the forklift in the unmanned operation mode,
The target determining unit
When the number of forklifts that can be notified is larger than the predetermined number, the predetermined number of the forklifts that are close to the emergency worker calculated by the distance calculation unit among the forklifts that can be notified Is determined as the notification target,
The conveyance system according to any one of claims 4 to 7, wherein the conveyance system is characterized. The management device
An end time calculating unit that calculates the remaining time until the end of the conveyance work that the forklift in the unmanned operation mode is performed;
The target determining unit
When there is no forklift in the unattended operation mode in which the workpiece is not placed, the forklift that is calculated by the end time calculator is determined as the notification target,
The stop notification unit
Sending a second stop notification indicating a stop request to the forklift determined by the target determination unit as the notification target when there is no forklift in the unattended operation mode in which the workpiece is not placed,
The forklift is
When the second stop notification is received, the conveyance work based on the work content in progress is terminated and then stopped.
After the stop by receiving the second stop notification, when the switching unit is switched to the unattended operation mode again, the transfer work based on the next work content stored in the work storage unit is performed.
The conveyance system according to claim 4, wherein:

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