JP2018167928A - Cargo handling operation allocation system - Google Patents

Abstract

To provide a cargo handling operation allocation system which enables a manned vehicle to execute cargo handling operation originally allocated to an unmanned vehicle and can reduce a chance that the unmanned vehicle and the manned vehicle travel in an identical area.SOLUTION: A cargo handling operation allocation system S comprises: an operation information storage section 21 which stores information on a plurality of cargo handling operation; an operation selection section 23 which selects manned operation to be allocated to a forklifts 1 (manned vehicles) functional in a manned operation mode and unmanned operation to be allocated to the forklifts 1 (unmanned vehicles) functional in an unmanned operation mode from the plurality of cargo handling operation; and a transmitting and receiving section 24 which transmits information on the manned operation to the manned vehicles and the information on the unmanned operation to the unmanned vehicles. The operation selection section 23 selects the manned operation and unmanned operation so that a manned vehicle travel area where all the manned vehicles travel to execute the manned operation is separated from an unmanned vehicle travel area where all the unmanned vehicles travel to execute the unmanned operation on the basis of operation contents with respect to the plurality of cargo handling operation.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a cargo handling work allocation system that allocates cargo handling work to a plurality of manned and unmanned vehicles.

  There is known a manned unmanned vehicle capable of switching between a manned operation mode that is operated by an operator's manual operation and an unmanned operation mode that operates autonomously regardless of an operator's manual operation (see, for example, Patent Document 1).

  Patent Document 1 describes a transport system with good work efficiency using a forklift that is a manned unmanned vehicle. Specifically, Patent Document 1 discloses that, outside a warehouse that is a manned vehicle traveling area, a forklift that operates in a manned operation mode is used to transport luggage, and in a warehouse that is an unmanned vehicle traveling area, unmanned operation is performed. A transport system is described that is configured to transport a load with a forklift that operates in a mode.

JP 2012-136324 A

  By the way, in the said patent document 1, it is preventing that the manned unmanned and combined vehicle (unmanned vehicle) which operate | moves in unmanned driving mode and the manned unmanned and combined vehicle (manned vehicle) which operate | moves in manned driving mode do not drive | work the same area. For the purpose, the manned vehicle traveling area and the unmanned vehicle traveling area are determined in advance. For this reason, there is a problem that the manned vehicle cannot perform the cargo handling work scheduled for the unmanned vehicle in place of the unmanned vehicle.

  The present invention has been made in view of the above circumstances, and the manned vehicle can perform the cargo handling work scheduled for the unmanned vehicle in place of the unmanned vehicle, and the manned vehicle and the unmanned vehicle are in the same area. It is an object of the present invention to provide a cargo handling work assignment system capable of reducing the chance of traveling on a road.

  In order to solve the above-described problem, the cargo handling work allocation system according to the first aspect of the present invention provides a plurality of cargo handling operations for each of a plurality of manned unmanned vehicles capable of switching between a manned driving mode and an unmanned driving mode. A work handling assignment system that selects and assigns one or more work handling operations from the work information storage unit that stores information related to the plurality of work handling operations, and the plurality of work information storage units that are stored in the work information storage unit From the cargo handling work, selecting the manned work to be assigned to the manned vehicle operating in the manned driving mode among the plurality of manned unmanned vehicles, and from the plurality of cargo handling work stored in the work information storage unit, An operation selection unit that selects an unmanned operation to be assigned to an unmanned vehicle that operates in the unmanned operation mode among the plurality of unmanned unmanned vehicles, and information related to the manned operation is A work information transmission unit that transmits information on the unmanned work to the unmanned vehicle, and the work selection unit includes all the manned vehicles that travel to perform the manned work. The manned work and the unmanned work so that a travel area and an unmanned vehicle travel area in which all the unmanned vehicles travel to perform the unmanned work are separated based on work contents related to the plurality of cargo handling work. It is characterized by selecting.

  Further, the cargo handling work allocation system according to claim 2 is the cargo handling work allocation system according to claim 1, wherein the work information storage unit is used during cargo handling work among the passages provided between a plurality of rows of racks. The work selection unit is configured to determine whether the manned vehicle travel area and the unmanned vehicle travel area are in a path provided between the racks of the plurality of rows based on the information related to the use passage. The manned work and the unmanned work are selected so as not to overlap.

  In addition, the cargo handling work allocation system according to claim 3 is the cargo handling work allocation system according to claim 1 or 2, wherein the work information storage unit stores information related to a cargo transport distance in the cargo handling work, The work selection unit selects the manned work and the unmanned work based on information related to the transport distance stored in the work information storage unit.

  Further, the cargo handling work allocation system according to claim 4 is the cargo handling work allocation system according to any one of claims 1 to 3, wherein the work information storage unit is at the time of unloading or loading in the cargo handling work. Information related to the working height at the time is stored, and the work selection unit selects the manned work and the unmanned work based on the information related to the work height stored in the work information storage unit. It is characterized by.

  Further, the cargo handling work allocation system according to claim 5 is the cargo handling work allocation system according to claim 1 or 2, wherein the work information storage unit stores information related to a work required time in the cargo handling work, The work selection unit selects the manned work and the unmanned work based on information related to the required work time stored in the work information storage unit.

  According to the present invention, it is possible for a manned vehicle to perform a cargo handling operation scheduled for the unmanned vehicle in place of the unmanned vehicle, and to reduce the opportunity for the manned vehicle and the unmanned vehicle to travel in the same area. A simple cargo handling work assignment system can be provided.

1 is a schematic diagram of a cargo handling work assignment system according to an embodiment of the present invention. It is a block diagram which shows schematic structure of the manned unmanned combined vehicle and management apparatus which concern on the embodiment. It is a top view which shows the area where the cargo handling work which concerns on the embodiment is performed. (A) is a table | surface which shows an example of the information which concerns on the cargo handling work memorize | stored in the work information storage part, (B) is an example of the operation information of the manned unmanned vehicle currently memorize | stored in the operation information storage part. It is a table | surface which shows. (A) is a table | surface which shows an example of the cargo handling work allocated to the manned unmanned combined vehicle, (B) is a top view which shows the unmanned vehicle travel area according to (A). (A) is a table | surface which shows an example of the information which concerns on the updated cargo handling work, (B) is a table | surface which shows an example of the operating information of the updated manned unmanned vehicle. (A) is a table | surface which shows an example of the cargo handling work allocated to the manned unmanned combined vehicle based on the information which concerns on the conveyance distance of a load, (B) is the manned vehicle travel area and unmanned according to (A) It is a top view which shows a vehicle travel area. (A) is a table | surface which shows an example of the cargo handling operation | work allocated to the manned unmanned vehicle based on the information which concerns on a work lift, (B) is the manned vehicle driving | running area and unmanned vehicle according to (A) It is a top view which shows a travel area. (A) is a table | surface which shows an example of the cargo handling work allocated to the manned unmanned vehicle based on the information which concerns on work required time, (B) is the manned vehicle travel area and unmanned vehicle according to (A) It is a top view which shows a travel area.

An embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the cargo handling work assignment system S includes a plurality of forklifts 1 and a management device 2. The cargo handling work allocation system S allocates a cargo handling work to be performed to each of the forklifts 1 using the management device 2.

  The forklift 1 is a manned and unmanned combination that can switch between a manned operation mode that operates by manual operation of an operator (not shown) on the forklift 1 and an unmanned operation mode that operates autonomously without manual operation. It is a car. The forklift 1 receives information related to the cargo handling work assigned by the management device 2. In the manned operation mode, the forklift 1 presents information related to the cargo handling work to the operator, and the operator operates the forklift 1 according to the information related to the cargo handling work, thereby performing the cargo handling work assigned to the forklift 1. Further, in the unmanned operation mode, the forklift 1 operates autonomously based on information related to the cargo handling work, thereby performing the cargo handling work assigned to the forklift 1.

  The management device 2 includes a cargo handling work assignment device 2A and a wireless communication device 2B. The cargo handling work allocating apparatus 2A selects and allocates one or more cargo handling works from the plurality of cargo handling works to each of the plurality of forklifts 1. The wireless communication device 2B wirelessly transmits information related to the cargo handling work assigned to the forklift 1 to the forklift 1.

  In the present embodiment, the cargo handling work assigned to the forklift 1 receives a load N at a predetermined loading location P, transports the load N from the loading location P to a predetermined unloading location, and a predetermined position in the rack R. This is a warehousing operation for placing the luggage N on the door. The forklift 1 reciprocates between the loading place P and the unloading place in order to perform a plurality of cargo handling operations. Note that the forklift 1 operating in the unmanned operation mode waits for a predetermined time at a predetermined standby place Q (see FIG. 3) so that an operator can get on the forklift 1 before moving to the loading place P.

FIG. 2 shows a functional block diagram of the forklift 1 and the management device 2.
As shown in FIG. 2, each of the forklifts 1 includes a transmission / reception unit 11, a work plan storage unit 12, a work plan presentation unit 13, a manned operation unit 14, a control unit 15, and mode switching. A switch 16 and an operation mode detection unit 17 are provided.

  The transmission / reception unit 11 communicates with the management device 2 wirelessly. The transmission / reception unit 11 is a work information reception unit that receives information related to the cargo handling work transmitted from the management device 2. The information related to the cargo handling work received by the transmission / reception unit 11 includes the information on the cargo N to be transported, the information on the unloading position of the cargo N, the information on the unloading location of the cargo N, and the use path during the cargo handling work. Information is included, and this information is associated with each cargo handling operation.

  The transmission / reception unit 11 is also an operation information transmission unit that transmits operation information of the forklift 1 to the management device 2. The operation information of the forklift 1 transmitted by the transmission / reception unit 11 includes information on the work status of the forklift 1 and information on the operation mode. The work status of the forklift 1 is transmitted when the forklift 1 starts the operation of the cargo handling work and when the forklift 1 completes the operation of the cargo handling work, and information on the operation mode of the forklift 1 is an operation mode detection described later. Sent when the switching between the manned operation mode and the unmanned operation mode is detected by the unit 17.

  The work plan storage unit 12 stores information related to the cargo handling work received by the transmission / reception unit 11 as a work plan. Thus, the work information storage unit 21 stores information related to the cargo handling work selected by the management device 2. The work information storage unit 21 updates the work plan when the management device 2 reselects the cargo handling work.

  The work plan presentation unit 13 presents the work plan (information relating to the cargo handling work) stored in the work plan storage unit 12 to the operator boarding the forklift 1 in the manned operation mode. In the manned operation mode, the operator operates the forklift 1 using the manned operation unit 14 configured with a lever or the like so as to execute the presented work plan.

  In the manned operation mode, the control unit 15 controls the operation of the forklift 1 based on the operation of the manned operation unit 14 by the operator, and in the unmanned operation mode, the work plan stored in the work plan storage unit 12. Based on the above, the operation of the forklift 1 is controlled.

  The mode switch 16 is a switch for switching between a manned operation mode and an unmanned operation mode, and is operated by an operator who has boarded the forklift 1. The operation mode detection unit 17 detects whether the forklift 1 operates in the manned operation mode or the unmanned operation mode by detecting switching between the manned operation mode and the unmanned operation mode.

  As shown in FIG. 2, the management device 2 includes a work information storage unit 21, an operation information storage unit 22, a work selection unit 23, and a transmission / reception unit 24.

The work information storage unit 21 stores information related to a plurality of cargo handling operations. In the work information storage unit 21, information related to the cargo handling work to be performed by the forklift 1 is stored in advance. The information related to the cargo handling work includes information on the cargo N to be transported, information on the work content, and the like, and these pieces of information are associated with each cargo handling work. Specifically, the work information storage unit 21 stores at least one of the following (information A) to (information C).
(Information A) Information related to the transport distance of the load N at the time of cargo handling work (Information B) Information related to the work lifting height at the time of cargo handling work (Information C) Information related to the work required time at the time of cargo handling work

  The operation information storage unit 22 stores operation information of a plurality of forklifts 1. The operation information of the forklift 1 stored in the operation information storage unit 22 includes information on the work status of the forklift 1 and information on the operation mode of the forklift 1, and these information are associated with each forklift 1. .

  The work selection unit 23 selects, as a manned work, a cargo handling work to be assigned to the forklift 1 (manned vehicle) operating in the manned operation mode from a plurality of cargo handling works stored in the work information storage unit 21. The cargo handling work assigned to the forklift 1 (unmanned vehicle) operating in the mode is selected as the unmanned work. At this time, the work selection unit 23 prevents the manned vehicle traveling area where all the manned vehicles travel for performing the manned work from the unmanned vehicle traveling area where all the unmanned vehicles travel for performing the unmanned operation. In addition, manned work and unmanned work are selected based on the work contents related to a plurality of cargo handling work and the information related to the use passage used at the time of the cargo handling work. Specifically, the work selection unit 23 selects manned work and unmanned work based on any one of the above (information A) to (information C). When selecting the manned work and the unmanned work based on (Information A), the work selection unit 23 selects the work handling work with a long transport distance of the load N as the manned work, and the work handling work with a short transport distance of the load N. Is selected for unattended work. In addition, when the work selection unit 23 selects manned work and unmanned work based on (information B), the work selection unit 23 selects a work having a high work lift at the time of loading as a manned work, Select work with low work lift when loading as manned work. In addition, when selecting the manned work and the unmanned work based on (information C), the work selection unit 23 selects the work handling work having a long work required time as the manned work, and performs the manpower work having a short work required time. Select for work. In this way, the work selection unit 23 selects, as a manned vehicle, a cargo handling work that takes time to complete the work in an unmanned vehicle such as a work in the back of a warehouse or a work with a high work height.

  The work selection unit 23 also detects the number of forklifts 1 detected to operate in the manned operation mode (hereinafter referred to as “number X”) and the number of forklifts 1 detected to operate in the unmanned operation mode (hereinafter “ Based on the number Y), manned work and unmanned work are selected so that the manned vehicle travel area and the unmanned vehicle travel area are separated. Specifically, the work selection unit 23 selects manned work and unmanned work so that the number of manned work increases as the value of “number X / (number X + number Y)” increases.

  As described above, the work selection unit 23 assigns one or more cargo handling work to each of the forklifts 1 by selecting the manned work and the unmanned work. Further, the work selection unit 23 reselects the manned work and the unmanned work when the operation mode detection unit 17 provided in any of the plurality of forklifts 1 detects the switching between the manned operation mode and the unmanned operation mode. .

  The transmission / reception unit 24 communicates with the forklift 1 wirelessly. The transmission / reception unit 24 transmits information related to the manned work selected by the work selecting unit 23 to the forklift 1 (that is, the manned vehicle) detected by the operation mode detection unit 17 to operate in the manned operation mode. Information related to the unmanned work selected by the work selecting unit 23 is transmitted to the forklift 1 (ie, unmanned vehicle) that has been detected by the detecting unit 17 to operate in the unmanned operation mode.

  The transmitting / receiving unit 24 is also an operation information receiving unit that receives the operation information of the forklift 1 transmitted from the forklift 1. When the transmission / reception unit 24 receives the operation information of the forklift 1, the information on the work status stored in the work information storage unit 21 is updated, and the work status of the forklift 1 stored in the operation information storage unit 22 is updated. And the information of the operation mode of the forklift 1 is updated.

  The flow of cargo handling work allocation by the cargo handling work allocation system S will be described using a specific example. In this specific example, as shown in FIG. 3, the cargo handling work allocation system S includes three forklifts 1A, 1B, and 1C as the forklift 1, and the forklifts 1A, 1B, and 1C each include a plurality of rows of racks R1. It is assumed that cargo handling work is performed using the passages A1 to A6 provided between? R8.

  The racks R1 to R4 are provided in parallel at intervals so that passages A1 to A3 are formed between the racks R1 to R4. The racks R5 to R8 are provided in parallel at intervals so that passages A4 to A6 are formed between the racks R5 to R8, and are provided closer to the loading place P than the racks R1 to R4. The passages A1 to A3 provided between the racks R1 to R4 and the passages A4 to A6 provided between the racks R5 to R8 are connected in a straight line, and the forklifts 1A, 1B, and 1C are connected to the passages A4 to A6. It is assumed that the vehicle enters the passages A1 to A3 via.

  In this specific example, the work information storage unit 21 stores information related to the cargo handling operation shown in FIG. 4A, and the operation information storage unit 22 stores the forklift 1 shown in FIG. 4B. It is assumed that the operation information related to is stored. In FIG. 4A, the information of “unloading place” and “use passage during cargo handling work” is information related to the transport distance of the cargo, and the information of “work lift” is the work lift during loading. The “work required time” information is information related to the work required time from unloading to loading that has been measured in the past unloading operation with an unmanned vehicle.

  The work selection unit 23 grasps that all of the forklifts 1A, 1B, and 1C are operating in the unattended operation mode based on the information on the operation mode of the forklift 1 stored in the operation information storage unit 22. Therefore, the manned vehicle traveling area and the unmanned vehicle traveling area do not overlap, and the work selection unit 23 appropriately selects the unmanned work assigned to the forklifts 1A, 1B, and 1C from the plurality of cargo handling works W1 to W8. For example, the work selection unit 23 selects unloading work W1, W4, and W7 as unmanned work to be assigned to the forklift 1A from the plurality of cargo handling works W1 to W9 stored in the work information storage unit 21, and is assigned to the forklift 1B. Cargo handling work W2, W5, W8 is selected as the work, and cargo handling work W3, W6, W9 is selected as the unmanned work assigned to the forklift 1C.

  As shown in FIG. 5A, when the cargo handling operations W1 to W9 are appropriately assigned to the forklifts 1A, 1B, and 1C, the forklifts 1A, 1B, and 1C start the cargo handling operations W1 to W9 in the unmanned operation mode. Specifically, the forklift 1A sequentially performs the cargo handling operations W1, W4, and W7, the forklift 1B sequentially performs the cargo handling operations W2, W5, and W8, and the forklift 1C sequentially performs the cargo handling operations W3, W6, and W9. At this time, as shown in FIG. 5B, the unmanned vehicle travel area in which the forklifts 1A, 1B, and 1C that are unmanned vehicles travel includes all of the passages A1 to A6.

  When the forklift 1C completes the cargo handling work W3, the information related to the cargo handling work stored in the work information storage unit 21 is updated as shown in FIG. Then, when the forklift 1C waits at the standby place Q before starting the cargo handling work W6, when the operator gets on the forklift 1C and switches the operation mode of the forklift 1C from the unmanned operation mode to the manned operation mode, the operation is started. The operation information related to the forklift 1 stored in the information storage unit 22 is updated as shown in FIG. At this time, based on the detection of switching between the unmanned operation mode and the manned operation mode in the forklift 1C, the work selection unit 23 reselects the unmanned work to be assigned to the forklifts 1A and 1B, and the manned to be assigned to the forklift 1C. Select work.

  Specifically, the work selection unit 23 operates the forklifts 1A and 1B in the unmanned operation mode and the forklift 1C in the manned operation mode based on the operation mode information of the forklift 1 stored in the operation information storage unit 22. Know that it ’s working. Then, the work selection unit 23 performs the forklifts 1A, 1B, and 1B so that the manned vehicle traveling area in which the forklift 1C that is a manned vehicle travels and the unmanned vehicle traveling area in which the forklifts 1A and 1B that are unmanned vehicles travel do not overlap. Set manned work and unmanned work assigned to 1C. At this time, the work selection unit 23 selects manned work and unmanned work according to any of the following (specific example 1) to (specific example 3). Further, the work selection unit 23 grasps that one-third of the total number of forklifts 1 is operating in the manned operation mode, and one-third (2 of the six unloading work W4 to W9 (2 One cargo handling operation) is selected as a manned operation and the other is selected as an unmanned operation.

(Specific example 1)
Based on the information related to the transport distance of the load N stored in the work information storage unit 21, the work selection unit 23 selects the load N as a manned operation to be assigned to the forklift 1C from a plurality of unloaded load handling operations W4 to W9. The cargo handling work W7 that is determined to be the longest transport distance and the cargo handling work W8 that uses the passage A6 used in the cargo handling work W7 are selected. And the operation | work selection part 23 selects suitably the unmanned operation | work allocated to forklift 1A, 1B from the other cargo handling work W4-W6, W9. For example, the work selection unit 23 selects the cargo handling work W4, W5 as the unmanned work assigned to the forklift 1A, and selects the cargo handling work W6, W8 as the unmanned work assigned to the forklift 1B.

  As described above, as shown in FIG. 7A, when the cargo handling operations W4 to W9 are appropriately reassigned to the forklifts 1A, 1B, and 1C, the forklift 1A performs the cargo handling operations W4 and W5 after the cargo handling operation W1 is completed. Are sequentially performed in the unmanned operation mode, and the forklift 1B sequentially performs the cargo handling operations W6 and W9 in the unmanned operation mode after the completion of the cargo handling operation W2. On the other hand, the forklift 1C sequentially performs the cargo handling operations W7 and W8 in the manned operation mode. At this time, as shown in FIG. 7B, the manned vehicle travel area in which the forklift 1C, which is a manned vehicle, travels includes passages A3 and A6 that are used during the work of the cargo handling operations W7 and W8. The unmanned vehicle traveling area in which the forklifts 1A and 1B travel includes passages A4 and A5 that are used during the work of the cargo handling operations W4 to W6 and W9. Therefore, the forklift 1C, which is a manned vehicle, and the forklifts 1A, 1B, which are unmanned vehicles, do not pass each other in the paths A1 to A6 between the racks R1 to R8.

  The forklift 1C, which is a manned vehicle, can quickly carry out the cargo handling work W7 in which the transport distance of the load N is long by skillfully operating the forklift 1C as compared with the case of operating in the unmanned operation mode. . For this reason, compared with the case where all of the forklifts 1A, 1B, and 1C operate in the unmanned operation mode, the cargo handling operations W1 to W9 can be expected to be completed quickly.

(Specific example 2)
The work selection unit 23 is a manned work to be assigned to the forklift 1C from a plurality of unworked cargo handling work W4 to W9, based on the information related to the work lifting height at the time of loading stored in the work information storage unit 21. The cargo handling work W5 having the highest work lifting height and the cargo handling work W6 having the second highest work lifting height while using the passage A4 used in the cargo handling work W5 are selected. And the operation | work selection part 23 selects suitably the unmanned operation | work allocated to forklift 1A, 1B from the other cargo handling work W4, W7-W9. For example, the work selection unit 23 selects the cargo handling work W4, W8 as the unmanned work assigned to the forklift 1A, and selects the cargo handling work W7, W9 as the unmanned work assigned to the forklift 1B.

  As described above, as shown in FIG. 8A, when the cargo handling operations W4 to W9 are appropriately reassigned to the forklifts 1A, 1B, and 1C, the forklift 1A performs the cargo handling operations W4 and W8 after the cargo handling operation W1 is completed. Are sequentially performed in the unmanned operation mode, and the forklift 1B sequentially performs the cargo handling operations W7 and W9 in the unmanned operation mode after the completion of the cargo handling operation W2. On the other hand, the forklift 1C sequentially performs the cargo handling operations W5 and W6 in the manned operation mode. At this time, as shown in FIG. 8 (B), the manned vehicle traveling area in which the forklift 1C, which is a manned vehicle, travels includes a passage A4 that is used during the work of the cargo handling operations W5 and W6, and is an unmanned vehicle. The unmanned vehicle traveling area in which the forklifts 1A and 1B travel includes passages A3, A5, and A6 that are used during the work of the cargo handling operations W4, W7 to W9. Therefore, the forklift 1C, which is a manned vehicle, and the forklifts 1A, 1B, which are unmanned vehicles, do not pass each other in the paths A1 to A6 between the racks R1 to R8.

  The forklift 1C, which is a manned vehicle, can quickly carry out the cargo handling operations W5 and W6, which have a high work lifting height during loading, by skillfully operating the forklift 1C as compared with the case of operating in the unmanned operation mode. Is possible. For this reason, compared with the case where all of the forklifts 1A, 1B, and 1C operate in the unmanned operation mode, the cargo handling operations W1 to W9 can be expected to be completed quickly.

(Specific example 3)
The work selection unit 23 performs a cargo handling work as a manned work to be assigned to the forklift 1C from a plurality of unworked cargo handling works W4 to W9 based on information related to the past work required time stored in the work information storage unit 21. Sometimes the cargo handling work W4, W9 is selected which uses the same area and has the longest total work time. And the operation | work selection part 23 selects suitably the unmanned operation | work allocated to forklift 1A, 1B from the other cargo handling work W5-W8. For example, the work selection unit 23 selects the cargo handling work W5, W8 as the unmanned work assigned to the forklift 1A, and selects the cargo handling work W6, W7 as the unmanned work assigned to the forklift 1B.

  As described above, as shown in FIG. 9A, when the cargo handling operations W4 to W9 are appropriately reassigned to the forklifts 1A, 1B, 1C, the forklift 1A performs the cargo handling operations W5, W8 after the completion of the cargo handling operation W1. Are sequentially performed in the unmanned operation mode, and the forklift 1B sequentially performs the cargo handling operations W5 and W7 in the unmanned operation mode after the completion of the cargo handling operation W2. On the other hand, the forklift 1C sequentially performs the cargo handling operations W4 and W9 in the manned operation mode. At this time, as shown in FIG. 9 (B), the manned vehicle traveling area in which the forklift 1C, which is a manned vehicle, travels includes a passage A5 used during the work of the cargo handling operations W4 and W9, and is an unmanned vehicle. The unmanned vehicle traveling area in which the forklifts 1A and 1B travel includes passages A3, A4, and A6 that are used during the work of the cargo handling operations W5 to W8. Therefore, the forklift 1C, which is a manned vehicle, and the forklifts 1A, 1B, which are unmanned vehicles, do not pass each other in the paths A1 to A6 between the racks R1 to R8.

  The forklift 1C, which is a manned vehicle, allows the operator to operate the forklift 1C more skillfully than when operating in the unmanned operation mode. Can be done. For this reason, compared with the case where all of the forklifts 1A, 1B, and 1C operate in the unmanned operation mode, the cargo handling operations W1 to W9 can be expected to be completed quickly.

In the above embodiment, the following effects can be obtained.
(1) Using the management device 2, all manned vehicles (forklifts 1 that operate in the manned operation mode) travel in manned vehicle traveling areas for performing manned work, and all unmanned vehicles (operate in the unmanned operation mode). The manned work and the unmanned work can be selected so that the forklift 1) does not overlap with the unmanned vehicle traveling area where the forklift 1) travels to perform the unmanned work. Therefore, the manned vehicle can perform the cargo handling work scheduled for the unmanned vehicle in place of the unmanned vehicle, and the opportunity for the unmanned vehicle and the manned vehicle to travel in the same area can be reduced. As a result, the work efficiency of the cargo handling operations W1 to W9 by the plurality of forklifts 1 can be improved, and the manned vehicle and the unmanned vehicle can be prevented from colliding. Also, manned and unmanned work are selected so that the manned vehicle traveling area and the unmanned vehicle traveling area are separated based on the work contents related to multiple cargo handling operations. By assigning such cargo handling work to manned vehicles, further improvement in work efficiency of the cargo handling works W1 to W9 can be expected.

  (2) The work information storage unit 21 stores information related to the usage path used during cargo handling work among the paths A1 to A6, and the work selection unit 23 uses the racks R1 to R8 based on the information related to the usage path. Manned work and unmanned work are selected so that the manned vehicle traveling area and the unmanned vehicle traveling area do not overlap in the passages A1 to A6 provided therebetween. For this reason, it is possible to prevent the forklift 1C, which is a manned vehicle, and the forklifts 1A, 1B, which are unmanned vehicles, from colliding in the paths A1 to A6 between the racks R1 to R8.

  (3) By selecting the manned work and the unmanned work based on the information related to the transport distance, the unloading work in the back of the warehouse that takes time to complete the work can be assigned to the manned car.

  (4) By selecting the manned work and the unmanned work based on the information related to the work lifting height, in the unmanned vehicle, it is possible to assign the handling work having a high work lifting time which takes time to complete the work to the manned vehicle.

  (5) By selecting the manned work and the unmanned work based on the information related to the work required time, it is possible to assign the unloading work that has taken time until the completion of the work in the unmanned vehicle to the manned vehicle. .

  (6) The work selection unit 23 selects manned work and unmanned work based on the number of manned vehicles and the number of unmanned vehicles. For this reason, cargo handling work corresponding to the number of manned vehicles and unmanned vehicles can be selected as manned work and unmanned work.

  (7) When the operation mode detection unit 17 detects the switching between the manned operation mode and the unmanned operation mode, the operation selection unit 23 reselects the manned operation and the unmanned operation. For this reason, the work selection unit 23 can flexibly select manned work and unmanned work according to switching between the manned operation mode and the unmanned operation mode.

  The present invention is not limited to the above embodiment, and the above configuration can be changed as appropriate. For example, the embodiment described above may be modified as follows, or may be implemented by combining the following modifications.

  The forklift 1 does not have to wait at the standby place Q. In this case, an operator may board the forklift 1 by forcibly stopping the forklift 1 that is traveling in the passages A1 to A6.

  -The work information storage part 21 does not need to memorize | store the information which concerns on the use passage utilized at the time of cargo handling work. That is, of the passages A1 to A6, the utilization passage used at the time of the cargo handling work can be appropriately derived by the management device 2 based on the information on the loading place P and the unloading place. Further, the manned vehicle traveling area and the unmanned vehicle traveling area set by the present invention are not limited to the paths A1 to A6 between the racks R1 to R8.

  The work information storage unit 21 not only transmits information related to manned work to the forklift 1 that is detected to operate in the manned operation mode, but also an operator who has boarded the forklift 1 performs cargo handling performed by another forklift 1. In order to acquire information related to work, information related to unmanned work may be transmitted. That is, the present invention does not deny sending information related to unmanned work to the forklift 1 that has been detected to operate in the manned operation mode, and the forklift that has been detected to operate in the unmanned operation mode. It does not deny sending information on manned work to 1.

  The cargo handling work assigned to the forklift 1 may be a delivery work for transporting the cargo in the rack R to a predetermined unloading place outside the rack R. In this case, the work information storage unit 21 stores in advance information related to the work height at the time of unloading at the time of cargo handling work, and the work selection unit 23 is based on the information related to the work height at the time of unloading. Manned work and unmanned work may be selected. In addition, the cargo handling operation assigned to the forklift 1 may be a transfer operation for transferring the cargo in the rack R to another rack R. In this case, the work information storage unit 21 stores in advance information related to the work lift during loading and unloading, and the work selection unit 23 stores information related to the work lift during loading and loading. Manned work and unmanned work may be selected based on information related to the working height at the time.

  The work selection unit 23 is manned based on both the information related to the transport distance of the luggage N and the information related to the work lift, as well as the information related to the transport distance of the luggage N and the information related to the work lift. Work and unmanned work may be selected.

1,1A, 1B, 1C Forklift (Manned unmanned vehicle)
2 management device 2A cargo handling work allocation device 2B wireless communication device 17 operation mode detection unit 21 work information storage unit 23 work selection unit 24 transmission / reception unit (work information transmission unit)
A1-A6 Passage R1-R8 Rack S Cargo work allocation system

In order to solve the above-described problem, the cargo handling work allocation system according to the first aspect of the present invention provides a plurality of cargo handling operations for each of a plurality of manned unmanned vehicles capable of switching between a manned driving mode and an unmanned driving mode. A work handling assignment system that selects and assigns one or more work handling operations from the work information storage unit that stores information related to the plurality of work handling operations, and the plurality of work information storage units that are stored in the work information storage unit From the cargo handling work, selecting the manned work to be assigned to the manned vehicle operating in the manned driving mode among the plurality of manned unmanned vehicles, and from the plurality of cargo handling work stored in the work information storage unit, An operation selection unit that selects an unmanned operation to be assigned to an unmanned vehicle that operates in the unmanned operation mode among the plurality of unmanned unmanned vehicles, and information related to the manned operation is Transmitted to humans vehicle, the information relating to the unmanned work and a work information transmitting unit that transmits to the unmanned vehicle, the work information storing unit stores the information relating to the transport distance of cargo in the cargo handling operation, the The operation selection unit includes a plurality of manned vehicle traveling areas in which all the manned vehicles travel to perform the manned work and unmanned vehicle traveling areas in which all the unmanned vehicles travel to perform the unmanned operation. The manned work and the unmanned work are selected based on the information related to the transport distance stored in the work information storage unit so as to be divided based on the work content related to the cargo handling work. .

In addition, the cargo handling work allocation system according to claim 2 performs one or more cargo handling works from a plurality of cargo handling works for each of a plurality of manned unmanned vehicles capable of switching between a manned driving mode and an unmanned driving mode. A loading / unloading work assignment system for selecting and allocating, wherein a plurality of manned operations are performed from a plurality of loading / unloading operations stored in the work information storage unit and a work information storage unit that stores information on the plurality of loading / unloading operations. While selecting a manned work to be assigned to a manned vehicle that operates in the manned driving mode among unmanned vehicles, and from the plurality of cargo handling operations stored in the work information storage unit, the plurality of manned unmanned vehicles Among them, a work selection unit for selecting an unmanned work to be assigned to an unmanned vehicle operating in the unmanned operation mode, and transmitting information on the manned work to the manned vehicle, the unmanned work A work information transmission unit that transmits information related to the unmanned vehicle, the work information storage unit stores information related to a work height at the time of loading or loading in the cargo handling work, and the work selection The section includes the manned vehicle traveling area in which all the manned vehicles travel to perform the manned work and the unmanned vehicle traveling area in which all the unmanned vehicles travel to perform the unmanned operation. The manned work and the unmanned work are selected based on the information related to the work height stored in the work information storage unit so as to be divided based on the work content related to the work .

According to a third aspect of the present invention, there is provided a cargo handling work allocation system that performs one or more cargo handling operations from a plurality of cargo handling operations to each of a plurality of manned unmanned vehicles capable of switching between a manned operation mode and an unmanned operation mode. A loading / unloading work assignment system for selecting and allocating, wherein a plurality of manned operations are performed from a plurality of loading / unloading operations stored in the work information storage unit and a work information storage unit that stores information on the plurality of loading / unloading operations. While selecting a manned work to be assigned to a manned vehicle that operates in the manned driving mode among unmanned vehicles, and from the plurality of cargo handling operations stored in the work information storage unit, the plurality of manned unmanned vehicles Among them, a work selection unit for selecting an unmanned work to be assigned to an unmanned vehicle operating in the unmanned operation mode, and transmitting information on the manned work to the manned vehicle, the unmanned work A work information transmitting unit that transmits information related to the unmanned vehicle, the work information storage unit stores information related to a work required time in the cargo handling work, and the work selection unit includes all the manned vehicles. A manned vehicle traveling area that travels to perform the manned work, and an unmanned vehicle traveling area in which all the unmanned vehicles travel to perform the unmanned work, based on the work contents related to the plurality of cargo handling operations. The manned work and the unmanned work are selected based on information related to the work required time stored in the work information storage unit so as to be divided .

The cargo handling work allocation system according to claim 4 is the cargo handling work allocation system according to any one of claims 1 to 3 , wherein the work information storage unit is a path provided between a plurality of rows of racks. Information related to the use passage used during cargo handling work, and the work selection unit is configured to determine the manned vehicle travel area and the passage in the passage provided between the plurality of rows of racks based on the information related to the use passage. The manned work and the unmanned work are selected so that the unmanned vehicle traveling area does not overlap .

Claims (5)

A loading / unloading work assignment system for selecting and allocating one or more loading / unloading work from a plurality of loading / unloading work to each of a plurality of manned and unmanned vehicles capable of switching between a manned driving mode and an unmanned driving mode,
A work information storage unit for storing information related to the plurality of cargo handling operations;
The manned work to be assigned to the manned vehicle operating in the manned operation mode is selected from the plurality of manned and unmanned vehicles from the plurality of cargo handling operations stored in the work information storage unit, and the work information storage A work selection unit for selecting an unmanned work to be assigned to an unmanned vehicle operating in the unmanned driving mode among the plurality of manned unmanned combined vehicles from the plurality of cargo handling work stored in a unit;
An information on the manned work is transmitted to the manned vehicle, and an information on the unmanned work is transmitted to the unmanned vehicle.
The work selection unit includes a manned vehicle travel area in which all the manned vehicles travel to perform the manned work, and an unmanned vehicle travel area in which all the unmanned vehicles travel to perform the unmanned operation. The manned work assignment system, wherein the manned work and the unmanned work are selected so as to be divided based on work contents related to a plurality of work handling work. The work information storage unit stores information related to a use passage used during cargo handling work among passages provided between a plurality of rows of racks,
The work selection unit, based on the information on the use passage, the manned work and the unmanned vehicle travel area so that the manned vehicle travel area and the unmanned vehicle travel area do not overlap in the passage provided between the plurality of rows of racks. The unloading work assignment system according to claim 1, wherein unmanned work is selected. The work information storage unit stores information related to a load transport distance in the cargo handling work,
The work handling unit according to claim 1 or 2, wherein the work selection unit selects the manned work and the unmanned work based on information related to the transport distance stored in the work information storage unit. Work assignment system. The work information storage unit stores information related to a work height at the time of loading or loading in the cargo handling work,
The said work selection part selects the said manned work and the said unmanned work based on the information which concerns on the said work height memorize | stored in the said work information storage part. The cargo handling work allocation system according to one item. The work information storage unit stores information related to work required time in the cargo handling work,
The said work selection part selects the said manned work and the said unmanned work based on the information which concerns on the said work required time memorize | stored in the said work information storage part. Handling work assignment system.

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