JP4583183B2 - Work vehicle management system - Google Patents

Description

  The present invention relates to a work vehicle management system.

  Conventionally, contact accidents in which a work vehicle that loads and unloads parts, products, luggage, etc., contacts a worker, etc. in a factory, warehouse, etc., such as a forklift, a transport vehicle, or a towing truck. In order to prevent the occurrence of this, a warning system has been proposed that uses a wireless device or an infrared sensor to notify the approach of a work vehicle (see, for example, Patent Document 1).

Thereby, it is possible to prevent a contact accident between a large number of work vehicles that perform work on the premises and the worker.
JP 2003-317163 A

  However, in the conventional system, an alarm is generated when the work vehicle and the worker approach each other, so that it is difficult to appropriately set the timing for issuing the alarm. That is, if the alarm is generated while the distance between the work vehicle and the worker is long, the operator or the operator of the work vehicle gets used to the generation of the alarm and ignores the alarm. On the other hand, if the alarm is issued after the distance between the work vehicle and the worker is shortened, measures for avoiding the contact accident will not be in time, and the contact accident cannot be prevented accurately.

  It is also conceivable to forcibly stop the work vehicle when the work vehicle and the worker approach each other. However, when the work vehicle is a forklift and the fork is lifted high, that is, when the work vehicle is suddenly stopped in a high lift state, the work vehicle may fall down. Moreover, if the work vehicle is stopped suddenly while a load that is easily collapsed is being transported, the collapse of the load may occur.

  The present invention solves the problems of the conventional system, acquires and analyzes information on the work vehicle and information indicating the positional relationship between the work vehicle and the surrounding person, article, other vehicle, place, etc. By calculating the risk of contact accidents and fall accidents, the operator of the work vehicle, the surrounding people, the person in charge of the work vehicle management, etc. can accurately determine the risk of contact accidents and fall accidents, the factors of contact accidents and fall accidents, etc. It is an object of the present invention to provide a work vehicle management system capable of grasping the above and taking appropriate prevention measures for contact accidents.

For this purpose, in the work vehicle management system of the present invention, a management device mounted on the work vehicle and transferring information on the work vehicle, and a management for storing in the storage means the information on the work vehicle transferred from the management device. A work vehicle management system having a server, wherein the management device obtains an ID (Identification) of a target existing around the work vehicle and a target information acquisition unit that acquires a distance from the work vehicle to the target, An information acquisition unit for acquiring information from the work vehicle, an ID of the object, a distance from the work vehicle to the object, and an analysis process of the information are performed to calculate a risk of a contact accident or a fall accident , and the risk analysis processing unit for deriving a frequency information for each section obtained by dividing a degree in a plurality of stages, comprising a temporary storage unit for storing the results of the analysis, rank in the temporary storage unit It has been the result of the analysis processing transfers to the management server.

In another work vehicle management system of the present invention, the temporary storage unit stores the risk frequency information in association with the ID of the object .

In still another work vehicle management system of the present invention, the analysis processing unit weights the risk according to information on the work vehicle .

  In still another work vehicle management system of the present invention, the analysis processing unit further changes the weighting of the risk based on the ID of the object.

According to the present invention, a work vehicle management system is mounted on a work vehicle, and a management device that transfers information on the work vehicle, and a management server that stores information on the work vehicle transferred from the management device in a storage unit. The management apparatus includes: an object information acquisition unit that acquires an ID of an object existing around the work vehicle and a distance from the work vehicle to the object; An information acquisition unit for acquiring information , an ID of the target object, a distance from a work vehicle to the target object, and analysis processing of the information are performed to calculate a risk of a contact accident or a fall accident , and the risk level is determined in multiple stages. in analysis processing unit for deriving a frequency information for each section obtained by dividing, with a temporary storage unit for storing the results of the analysis, the results of the analysis stored in the temporary storage unit to the management server To feed.

  In this case, the operator of the work vehicle, the surrounding people, the person in charge of the work vehicle management, etc. can accurately grasp the danger of a contact accident or a fall accident, the cause of the contact accident or the fall accident, etc. Preventive measures can be taken.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a conceptual diagram of a work vehicle management system in an embodiment of the present invention, FIG. 2 is a side view of the work vehicle in the embodiment of the present invention, and FIG. 3 is a plan view of the work vehicle in the embodiment of the present invention. is there.

  2 and 3, reference numeral 30 denotes a forklift as a work vehicle, and includes a fork 31 that moves up and down, wheels 32, an instrument panel 33, a handle 34, a cargo handling lever 35, a seat 36, and the like. The work vehicle may be any type of vehicle such as a transport vehicle or a towing vehicle as long as it is a vehicle that loads and unloads parts, products, luggage, etc. in a factory, warehouse, etc. In the present embodiment, description will be made assuming that the forklift 30 is used. The forklift 30 may be a so-called engine vehicle that uses an internal combustion engine such as a gasoline engine as a drive source. Here, the forklift 30 is driven by a current supplied from a mounted secondary battery, that is, a battery. In the following description, it is assumed that the battery is a so-called battery car.

  A driver who drives the forklift 30, that is, an operator, gets on the seat 36, operates the handle 34, the cargo handling lever 35, an accelerator pedal (not shown), a pedal such as a brake pedal, various switches, etc. Operations such as raising and lowering 31, forward and backward movement of forklift 30, right turn and left turn are performed. The cargo handling lever 35 is usually a plurality. As a result, parts, products, luggage, etc. can be loaded and unloaded and transported on the premises such as factories and warehouses.

  Further, the forklift 30 is equipped with a management device 10 as shown in FIG. The management device 10 is a kind of computer, and includes a control unit 11 including a calculation unit such as a CPU and an MPU, a storage unit such as a semiconductor memory, and a time measuring unit that measures the current time and transmits the current time to the control unit 11. RTC (Real Time Clock) 12, a temporary storage unit 13a for temporarily storing data, and a memory 13 as a storage means including a vehicle & danger information storage unit 13b for storing vehicle information and danger information, A display unit 14 comprising a CRT, a liquid crystal display panel, an LED (Light Emitting Diode) display panel, etc. disposed on the instrument panel 33, an input key, and a connection function with an external input device are provided. 11, an input device 18 for inputting to the communication device 11, a communication device for communicating with the network 21 Communication circuit 16 connected to the external device 16a such as an external storage device, as well, has an interface 17 that receives signals from the various measuring devices and the like.

  The interface 17 includes a load measuring device 17a that measures the load received by the fork 31, a vehicle speed measuring device 17b that measures the vehicle speed of the forklift 30, a cargo handling lever operation measuring device 17c that measures the operating status of the cargo handling lever 35, a fork A height measuring device 17d for measuring the height of 31 and a position measuring device 17e for measuring the position of the forklift 30 having a GPS (Global Positioning System) sensor function or a wireless LAN (Local Area Network) positioning function are connected. Has been.

  Further, an RFID reader / writer 25 that communicates with an RFID (Radio Frequency Identification) tag 26 a included in the object 26 is connected to the interface 17. Here, the object 26 is a person such as various devices, equipment, goods such as luggage, dangerous places and workers in the premises, such as a factory, a warehouse, etc., and is in contact with the forklift 30. A thing or place that has the potential to fall or fall. When the object 26 is an article, the RFID tag 26a is attached to the object 26 in advance. When the object 26 is a person, the RFID tag 26a is embedded in, for example, an ID card. It is carried by the object 26 in the form. Further, the RFID tag 26a can be attached to another work vehicle, a specific passage as an important place on the premises, near an entrance / exit, a step in a loading yard, a designated area such as a platform edge, and expensive and damaged. It can also be attached to facility equipment such as easy machine tools. The RFID tag 26a has an antenna, a transmission / reception unit, and a storage unit (not shown), and functions as a non-contact communication type portable storage medium. Further, the number of the object 26 and the RFID tag 26a may be any number and may be singular, but is usually plural.

  The RFID reader / writer 25 communicates with the RFID tag 26a through the antenna 22, identifies each RFID tag 26a based on the ID assigned to each RFID tag 26a, and communicates with each RFID tag 26a. It has a function to measure distance. The RFID reader / writer 25 measures the distance from the RFID tag 26a based on, for example, the return time of the signal from the RFID tag 26a, the signal intensity, the periodic change in reception sensitivity, and the like. In addition, when other radio | wireless means, a sound wave, and the target object 26 are persons, distance can also be measured using infrared rays. Further, when the RFID tag 26a is embedded on the floor of the premises, the position of the forklift 30 can be measured based on the embedded position.

  Then, a plurality of the antennas 22 may be appropriately arranged according to a range in which the presence of the object 26 around the forklift 30 is desired to be detected. In this case, the antenna 22 is attached to a portion of the forklift 30 as shown in FIGS. 2 and 3, for example. 2 and 3, reference numeral 23 denotes a communicable area of each antenna 22, which can communicate with the RFID tag 26 a existing in the communicable area 23. For example, the communicable area 23 of the antenna 22 disposed in the vicinity of the instrument panel 33 covers the riding section of the operator and is suitable for communicating with the RFID tag 26a of the operator who is on board. Yes.

  Here, the RFID tag 26a is preferably used by being embedded in an identification card for identifying each operator, that is, an ID card. The RFID tag 26a stores an operation ID, which is identification information for identifying an operator who has the ID card, and the operator is installed in a premises such as a factory or warehouse where the forklift 30 is operated. When an operator enters or exits, communication between the RFID reader / writer of the entrance / exit management system disposed at the entrance / exit of the premises and the RFID tag 26a makes it possible to grasp the entrance / exit of each operator. can do. Further, a daily report showing the work status for each operator can be created based on the operation ID. Further, the ID card can be used as an electronic card key for the forklift 30. That is, unless the RFID reader / writer 25 of the management apparatus 10 communicates with the RFID tag 26a embedded in the ID card to acquire the operation ID, the forklift 30 does not operate even if the operation key of the forklift 30 is turned on. It can also be done.

  Further, for example, the communicable area 23 of the antenna 22 disposed behind the seat 36 covers the rear of the forklift 30 and can detect the object 26 approaching the rear of the forklift 30. . When all the objects 26 that are close to the periphery of the forklift 30 are detected, a plurality of antennas 22 can be disposed at appropriate portions on the peripheral surface of the forklift 30 as shown in FIG. Thereby, the sum total of the communicable area 23 covers the periphery of the forklift 30 without omission, and all the objects 26 approaching the periphery of the forklift 30 can be detected. Note that the number of antennas 22, the parts to be attached, and the like can be changed as appropriate according to the size of the communicable area 23 of each antenna 22. Furthermore, when the communicable area 23 of one antenna 22 is sufficiently wide, the communicable area 23 is arranged around the forklift 30 by arranging the antenna 22 on, for example, a head guard above the seat 36. You may make it cover without omission.

  The management device 10 may be configured independently, or may be configured integrally with another control device or the like. For example, the management device 10 is an ECU (Electronic Control Unit) for controlling the operation of the forklift 30, a microcomputer that controls the display of the instrument panel 33, or processes signals from various sensors. It may be configured integrally with the control device, or may be incorporated as a part of the control device.

  Here, the network 21 is, for example, a DoPa (R) network as a mobile data communication service provided by NTT DoCoMo, Inc. Any network such as a wired or wireless public communication line network, a dedicated communication line network, the Internet, a mobile phone network, an intranet, or a combination of these may be used.

  Reference numeral 20 denotes a management server connected to the network 21, which is a kind of computer provided with arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory and a magnetic disk, and a communication interface. The management server 20 may be a single computer or a so-called distributed server in which a plurality of computers are organically coupled. The management server 20 stores the information received from the management device 10 in a storage means and accumulates it.

  In the present embodiment, the management device 10 includes an information acquisition unit that acquires information from the forklift 30, an analysis processing unit that performs an analysis process of the information, a temporary storage unit that stores a result of the analysis process, from a functional standpoint, And the communication part which transmits the result of the said analysis process stored in this temporary storage part to the management server 20 at transmission time is provided. In this case, the risk level of the contact accident is calculated by the analysis process, and the calculated risk level record is included in the result of the analysis process. Thereby, the result of the analysis process stored in the temporary storage unit is recorded in the management server 20. Here, the interface 17, the load measuring device 17a, the vehicle speed measuring device 17b, the cargo handling lever operation measuring device 17c, the lift measuring device 17d, the position measuring device 17e, the RFID reader / writer 25, and the like correspond to the information acquisition unit, and the control unit. 11 corresponds to an analysis processing unit, the memory 13 corresponds to a temporary storage unit, and the communication circuit 16 and the external device 16a correspond to a communication unit. In addition, the result of the statistical processing stored in the temporary storage unit can be transferred to the management server 20 via the external storage unit without being transmitted by the communication unit. In this case, the result of the statistical processing stored in the temporary storage unit is stored in a removable external memory as external storage means, and the external memory is attached to the management server 20 and transferred to the management server 20. The external memory is, for example, a memory card such as a compact flash (R), but if it is removable such as a magnetic disk, magnetic tape, CD-R, DVD-ROM, MO, stick memory, It may be in any form. In addition, instead of the external memory, a result of statistical processing can be transferred using a movable computer having a storage means such as a notebook personal computer or a PDA (Personal Digital Assistant).

  And the management apparatus 10 acquires various information, such as operation information of the forklift 30, status information, etc., performs calculation as needed about the acquired information, and indexes it. By calculation, for example, information generated by a plurality of conditions such as load operating time can be obtained. Since the calculation is performed before accumulating the acquired information, information generated by a plurality of conditions can be obtained even if post-processing of the accumulated information is performed.

  Further, the management device 10 calculates the degree of risk based on the acquired ID of the object 26 existing around the forklift 30 and the distance from the forklift 30 to the object 26. The degree of risk is weighted according to other vehicle state information, for example, vehicle speed, load, or lift. Further, the weighting of the risk can be changed based on the attribute of the object 26. Furthermore, the management apparatus 10 divides the acquired information or the information obtained by the calculation into threshold values and accumulates them. That is, statistical processing is performed to generate frequency information. In this case, a plurality of stages are divided according to values in advance, and the information is applied to the corresponding stage according to the value, and the frequency of occurrence of the stage is incremented. The number of stages is determined for each type of information, and a value that is classified for each stage, that is, a threshold is also set for each type of information. Then, the sampled information or the information obtained by calculation of the information is classified by threshold value, and the cumulative value at the corresponding stage is incremented. Thus, frequency information is generated so as to indicate how often information corresponding to each stage appears. Thereby, a storage area and a communication amount can be reduced, and an in-vehicle device having a small storage capacity, a communication medium having a low communication speed, or an external storage device having a small storage capacity can be used.

  The threshold is set by setting the maximum value of the corresponding information and equally dividing the maximum value according to the number of steps. If threshold values are set in advance for each piece of information, it is necessary to store a large number of threshold values in the memory 13, and the storage capacity of the memory 13 is compressed. Further, it is necessary to include a threshold in the form for communicating the information, and the amount of data to be communicated increases. Furthermore, if the threshold value is set in common for all models of the forklift 30, it becomes impossible to deal with information such as a load that varies greatly for each model. In order to solve such a problem, in the present embodiment, the threshold value is set by setting the maximum value of the corresponding information and equally dividing the maximum value according to the number of steps.

  In addition, the management device 10 can accumulate the accumulated information and the accumulated information divided for each threshold for each aggregation category. Here, the total for each totaling category is, for example, the total for each operator who operates the forklift 30. In addition, the management server 20 can also accumulate for every establishment. Normally, the forklift 30 is operated by an unspecified number of operators who work in factories, warehouses, etc., so it is desirable to accumulate information for each operator. The operator is grasped by the operation ID given to each operator in advance, and the operation ID is input by operating the instrument panel 33 when the operator operates the forklift 30 or reading the ID card. It is acquired by letting.

  The management apparatus 10 dynamically creates a storage area for information accumulated for each operator for each section time. Since there are many operators who may drive each forklift 30, if a storage area corresponding to all operators is set in advance, a huge storage area is required. Therefore, in the present embodiment, the storage area is set every time an operation ID given to each operator is acquired. In addition, the management device 10 stores information in the memory 13 for each predetermined length of time. The section of the predetermined length of time is referred to as section time.

  By the way, when the information is divided by the section time, when the fork 31 is loaded, that is, in a state where the load is received, the section time that is the boundary of the section time is straddled (or crossed). Which section time information should be processed becomes a problem. Therefore, in the management device 10, it is set in advance as to which section time information is processed for information that is not interrupted in the section time. For example, the number of times of cargo handling is processed as information of the section time when the cargo is unloaded.

  The management apparatus 10 transmits the information stored in the memory 13 to the management server 20 via the network 21 at a predetermined transmission time. The transmission time is preferably set in a time zone in which the forklift 30 is not operating and the vehicle is parked in a place where it can be connected to the network 21, and is set, for example, around midnight. If transmission is impossible at the communication time, transmission is attempted again at the next key-on, that is, when the forklift 30 starts operation next time. If transmission is impossible, there is a high possibility that the forklift 30 is parked in a place where the forklift 30 cannot be connected to the network 21, for example, a place where radio waves are blocked by a wall or the like. This is because it is considered meaningless to attempt transmission. The storage capacity of the memory 13 is large enough to store information with a data amount that is twice or more the amount of data transmitted in one transmission. Thereby, even if information for one day is not transmitted or collected, the information for one day can be transmitted during work on the next day.

  Thereby, the management apparatus 10 mounted on the forklift 30 can reduce the amount of data to be communicated and can communicate with the management server 20 by using the general-purpose communication infrastructure. In this case, since the amount of data to be communicated is small, the communication cost can be reduced. Further, since the amount of information stored in the memory 13 can be reduced, the storage capacity of the memory 13 can be reduced, and the cost of the management apparatus 10 can be reduced.

  In addition, the management server 20 collects information received from the management device 10 and aggregates the information for each operation ID so that the information can be organized and displayed as information for each operator. Further, the information can be organized and displayed as information for each object 26. Thereby, it is possible to grasp the object 26 that can cause a contact accident.

  Next, the operation of the work vehicle management system configured as described above will be described. First, the operation of storing information on the forklift 30 in the memory 13 will be described.

  4 is a diagram illustrating an example of information acquired by the management device according to the embodiment of the present invention, FIG. 5 is a diagram illustrating an example of a two-dimensional map for classifying the risk level according to the embodiment of the present invention, and FIG. Is a diagram showing an example of information stored in the memory according to the embodiment of the present invention, FIG. 7 is a first flowchart showing an operation of storing information in the memory according to the embodiment of the present invention, and FIG. It is a 2nd flowchart which shows the operation | movement which stores information in the memory in embodiment.

  First, the management apparatus 10 acquires various information as shown in FIG. 4 from various sensors. That is, various information is sampled. For example, operation information indicating the operation of the forklift 30 by the operator, state information indicating the operating state of the forklift 30, load information indicating the load received by the fork 31, error information indicating abnormality and warning in each part of the forklift 30, driving the forklift 30 The operation ID as the operator ID, the surrounding person ID as the ID of the person when the object 26 around the forklift 30 is a person, and the article when the object 26 around the forklift 30 is an article If the surrounding equipment ID is an ID and the object 26 is a place, the area ID is acquired.

  Here, the area ID may be obtained from the position coordinate information acquired by the position measuring device 17e. For example, ID information indicating the position is transmitted to various places such as a wall of a factory or a warehouse, a pillar, or a passage. Based on the signal received by the RFID reader / writer 25 from the RFID tag 26a when the forklift 30 passes in the vicinity of the RFID tag 26a, the RFID tag 26a is embedded or pasted. Can get. Of course, in this case, the position measuring device 17e is unnecessary. The area ID does not have to indicate an exact position. For example, in a factory, a warehouse, or the like, it is possible to determine a dangerous place where the forklift 30 is located, that is, an entrance / exit, a platform edge, or the like. It may be as much as possible.

  The operation information is information indicating whether or not the operator has operated the cargo handling lever 35, an accelerator pedal, a pedal such as a brake pedal, various switches, and the like, and includes the key SW (switch) and the rudder angle. Handle angle, lift lever operation, tilt lever operation, reach lever operation, ATT operation, etc. are included. Further, the state information is information such as the vehicle speed of the forklift 30, the travel distance, and the battery terminal voltage. The load information is a kind of state information, but here, it is assumed that the load information is processed separately from the state information. The load information can be acquired by a load measuring device 17a including a load cell that directly measures the load received by the fork 31, a hydraulic pressure detector that measures the hydraulic pressure in the hydraulic cylinder device for raising and lowering the fork 31, and the like.

  Furthermore, the error information is information acquired by self-diagnosis of the forklift 30 and can be acquired by a self-diagnosis device provided in a normal forklift 30 and is acquired as an error number. The operation ID is acquired by operating the instrument panel 33 when the operator operates the forklift 30 and inputting it, or reading an ID card. The operation ID is a delimiter for counting the data of the forklift 30, that is, the area ID, operation information, state information, load information, and error information.

  Subsequently, the management device 10 determines whether or not the acquired operation ID is the first operation ID in the current section time. In the present embodiment, the acquired information is stored and processed in the memory 13 for each section time. A storage area for storing information in the memory 13 is set every time an operation ID is acquired. This eliminates the need to previously set storage areas corresponding to all operation IDs. Normally, the forklift 30 is operated by an unspecified number of operators who work in factories, warehouses, and the like. Therefore, if a storage area corresponding to all the operation IDs is set in advance, a huge storage area is required. Therefore, in this embodiment, the storage area for storing information is set every time an operation ID is acquired.

  Here, when it is the first operation ID in the current section time, a storage area corresponding to the operation ID is set, that is, a new storage area for each operation ID is secured.

  Subsequently, the management device 10 determines whether or not the acquired vehicle information is greater than or equal to a threshold value. Here, the vehicle information, that is, the vehicle state information is information for weighting the degree of danger, and includes, for example, vehicle speed, load, and lift height. And when any of the said vehicle state information becomes more than a predetermined threshold value, area ID, surrounding person ID, and surrounding equipment ID as surrounding ID are acquired by using it as a trigger. In this case, the distance from the forklift 30 to the RFID tag 26a corresponding to the area ID, the surrounding person ID, and the surrounding equipment ID is also acquired. If the vehicle state information is not equal to or greater than the threshold, the vehicle speed information and the risk of falling are classified according to a predetermined threshold as will be described later.

  As described above, when the vehicle state information is equal to or greater than the threshold value, the surrounding ID is acquired. For example, when the forklift 30 is stopped and there is no danger even when approaching, the surrounding ID is obtained. Does not attempt to acquire itself. On the other hand, while the vehicle state information is greater than or equal to the threshold value, an attempt is made to acquire a surrounding ID at a predetermined cycle, for example, every second. Of course, it is possible to always try to acquire the surrounding ID by communicating with the RFID tag 26a at a predetermined cycle. However, if the vehicle state information is not equal to or greater than the threshold value, the risk level is not stored in the memory 13. There is no point in acquiring the surrounding ID by communicating with the RFID tag 26a. Therefore, from the viewpoint of power consumption and from the viewpoint of the influence of electromagnetic waves on the human body, it is desirable not to attempt to acquire the surrounding ID itself when the vehicle state information is not equal to or greater than the threshold value.

  And after acquiring surrounding ID and the corresponding distance, the management apparatus 10 judges whether ID exists in a communication area. That is, it is determined whether the RFID tag 26a corresponding to the surrounding ID, that is, the area ID, the surrounding person ID, and the surrounding equipment ID exists in the communicable area 23 of the antenna 22. When the RFID tag 26a corresponding to the surrounding ID does not exist in the communicable area 23, the vehicle speed information and the risk of falling are classified according to a predetermined threshold. When the RFID tag 26a corresponding to the surrounding ID exists in the communicable area 23, the management device 10 calculates the risk based on the vehicle state information and the distance to the RFID tag 26a corresponding to the surrounding ID. . More specifically, the degree of risk is calculated based on the vehicle speed and the distance to the RFID tag 26a corresponding to the surrounding ID, and the degree of risk is calculated based on the lift and the distance to the RFID tag 26a corresponding to the surrounding ID. The risk is calculated based on the load and the distance to the RFID tag 26a corresponding to the surrounding ID, and the risk is calculated based on the vehicle speed and load and the distance to the RFID tag 26a corresponding to the surrounding ID. To do.

  In this case, as shown in FIG. 5, the management device 10 creates a relationship between the distance to the RFID tag 26 a corresponding to the vehicle state information and the surrounding ID that is created in advance and stored in the memory 13 and the risk level. The degree of risk is calculated with reference to a two-dimensional map indicating. FIG. 5 is a two-dimensional map showing the relationship between the distance to the RFID tag 26a corresponding to the load and surrounding ID and the degree of danger. In the example shown in FIG. 5, the risk is classified into a risk A, a risk B, a risk C and no risk in descending order, the load is high, and the distance to the RFID tag 26 a corresponding to the surrounding ID is shown. The shorter the is, the higher the risk. In FIG. 5, A indicates an area of risk A, B indicates an area of risk B, C indicates an area of risk C, and D indicates an area without risk. E indicates a region where the surrounding ID is not acquired. In addition, a three-dimensional map including three axes of distances to the RFID tag 26a corresponding to the vehicle speed, load, and surrounding ID is used.

  And the management apparatus 10 memorize | stores the calculated risk degree, ie, the frequency | count of each risk rank, in memory | storage means, such as the memory 13, as frequency information. Thereby, the frequency | count which became each risk degree, ie, the time of control cycle time, can be made into frequency information. Further, when the number of times of each risk rank is stored, a storage area can be divided and stored for each surrounding ID. In this case, the storage area divided for each peripheral ID becomes large, but there is no technical problem.

  Note that the degree of risk can be weighted according to the attribute of the surrounding ID. For example, when it is recognized from the surrounding equipment ID that the corresponding article is important, the degree of danger is increased. When the area ID is recognized as a platform, the degree of danger is increased. Or the degree of danger can be increased if it is recognized from the surrounding person ID that the visitor is unfamiliar with the circumstances of the premises.

  Subsequently, the management apparatus 10 determines whether or not the calculated risk level is the risk level A. If the risk is not A, the vehicle speed information and the fall risk are classified according to a predetermined threshold. If the risk is A, the management apparatus 10 determines whether or not the corresponding surrounding ID is the first surrounding ID. If the ID is not the first surrounding person ID, the management device 10 adds the danger time for each surrounding person ID. In the case of the first surrounding person ID, after storing the new surrounding person ID in the storage means such as the memory 13, the danger time is added for each surrounding person ID. Thereby, the person around the forklift 30 exposed (exposed) to a high degree of risk can be grasped. The storage method is similar to the error storage method. An empty column is prepared on the record, and the first ambient person ID is newly stored at the risk A and in the same time interval. Subsequently, the danger time is accumulated. In the present embodiment, the risk calculated based on all vehicle state information is stored if the risk is A, but calculated based on predetermined vehicle state information. Only the risk level may be stored, for example, only when the risk level is the risk level A based on the height and the distance to the RFID tag 26a corresponding to the surrounding ID. Furthermore, a storage area may be prepared separately, and the risk calculated based on each vehicle state information may be classified and stored for each vehicle state information.

  Note that an alarm may be generated when the calculated degree of risk reaches a predetermined threshold. For example, an alarm generation function can be added to the display unit 14 of the management apparatus 10 to generate an alarm by sound, light, vibration, or the like, and an alarm can be generated for the operator. In addition, an alarm generation device for generating such an alarm can be added to the management device 10 separately. In addition, the vehicle state information for calculating the threshold and the risk level for generating an alarm can be arbitrarily set. Furthermore, the alarm generation timing and alarm level may be changed in accordance with the risk level value. In this case, it becomes possible to generate an alarm at an appropriate timing based on the distance and vehicle state information, and by operating together with the accumulated risk data as described above, it is possible to further prevent accidents. You can expect.

  Subsequently, the management device 10 classifies the vehicle speed information and the risk of falling by a predetermined threshold. In this case, the fall risk level is calculated to classify the fall risk level. That is, based on the vehicle speed, the steering angle of the steering wheel, the steering wheel operating speed, and the load, the degree of overturning risk that the forklift 30 falls is calculated, for example, evaluated in three stages, and the evaluation result is stored. Note that the fall risk calculation is well known as described in JP-A-9-315797, JP-A-2001-206695, and the like, so the description thereof is omitted.

  And the management apparatus 10 adds vehicle speed and the calculated fall risk degree to operation ID and the memory area classified by threshold value, and performs frequency information conversion. In this case, various information acquired or calculated for each section time as a predetermined length of time section is classified by threshold value and added to a storage area for frequency information conversion. Thereby, the said vehicle speed can be made into a histogram. That is, in the section time, for example, the frequency of traveling at 0 to 5 [km / h], the frequency of traveling at 5 to 10 [km / h], the frequency of traveling at 10 to 15 [km / h], etc. be able to. Since the threshold value is set by equally dividing the maximum value of the vehicle speed as information according to the number of steps as described above, it is necessary to give it to the storage area of the storage means such as the memory 13. There is no. In addition, the terminal voltage of the battery, the current value supplied from the battery, and the like can be classified by the threshold value and made into a histogram in the same manner as the vehicle speed.

  Subsequently, the management apparatus 10 performs error confirmation and confirms error information. If an error has occurred, the error is stored in storage means such as the memory 13. If the same error occurs again in the same section time, the stored information is overwritten. That is, the number of times the same error has occurred is ignored. Here, it is assumed that the error is not directly related to the stoppage of the operation of the forklift 30. That is, the error is an error that causes a self-recovery. Thereby, for example, it is possible to grasp an error that occurs only when the morning forklift 30 starts operation. An error that is directly connected to the stoppage of the forklift 30 is monitored in a separate control routine and is reported to the operator as soon as it occurs.

  Subsequently, the management device 10 determines whether or not the forklift 30 is operating, that is, whether or not the forklift 30 is in operation, and whether or not the forklift 30 is loaded on the fork 31, that is, is in a loaded state. Determine whether or not. And at least when it is in the operating state, the management device 10 calculates the operating time. The operating time is the same as the sampling time. Further, at least in the load state, the management device 10 calculates the load time. Furthermore, when it is in the operating state and in the load state, the management device 10 calculates the load operation time. As a result, the load operation time that cannot be grasped after frequency informationization, that is, the time when the forklift 30 is in the load operation state as the operation state while the fork 31 is loaded is obtained as information. be able to.

  The operating state includes operation information on the cargo handling lever 35, an accelerator pedal, a brake pedal, and other switches, various switches, or the like, that is, a state in which cargo handling is being performed, or the vehicle speed is not 0, that is, the forklift 30 is It is in a running state. The load state is a state where the load information exceeds a set value. And the management apparatus 10 adds each of the calculated said operation time, load time, and load operation time to the storage area according to operation ID. Further, if necessary, it is also possible to calculate the load travel distance as the time when the vehicle is in the running state and in the loaded state, and add it to the storage area for each operation ID. Furthermore, the load operating state can be finely divided into a load handling state, a load traveling state, and the like.

  Subsequently, the management device 10 calculates a load load as a load received by the fork 31 due to the load, and determines whether or not the load state has ended. If the load state has not ended, the load and the travel distance in the load state are temporarily stored. Thereby, even if the section time passes, the load and the travel distance in the loaded state can be taken over to the next section time.

  In addition, when the load state ends, the management device 10 classifies the load load with a threshold value. In this way, since the load load is classified by a threshold value when the load state ends, when the load state remains in the load state and crosses the section time that is the boundary of the section time, the load load is the load state has ended, that is, It is processed as information on the section time when the load is unloaded, and stored in a storage area corresponding to the section time. And the management apparatus 10 adds the said load to operation ID and the memory area classified by threshold value, and performs frequency information conversion.

  Information such as the number of times of cargo handling and the distance traveled once is similarly processed. In other words, for information such as load time, the events that occurred within the section time are accumulated within the section time, but for information such as the load frequency, the number of cargo handling operations, and the load mileage for one time, etc. The calculation is made when the load state ends.

  In addition, the management device 10 calculates the travel distance during the current load state. Then, one load travel distance is added to the operation ID and the storage area for each threshold value, and frequency informationization is performed. Here, one load travel distance is stored at a load state break, but may be stored at a single load break similarly to the number of cargo handling operations described later.

  Subsequently, the management apparatus 10 determines whether the package is different from the previous load state. If the cargo is different, the cargo handling operation count is added once to the storage area for each operation ID. Even if the load state is interrupted in the middle, when the load is grounded and then lifted again to travel, the number of cargo handling operations is not added. That is, no matter how many times the same luggage is lifted, the number of times of cargo handling work is set to one. It can be determined that the same package is provided by providing a pallet detection switch. Further, for example, if the forklift 30 moves backward from the end of the previous load state to the start of the current load state, that is, if it is back, it may be determined that the current baggage is not the same as the previous baggage. Good.

  Subsequently, the management apparatus 10 determines whether or not the section time has ended. If not, the management apparatus 10 samples various information again and repeats the above-described operation. When the processing is completed, each storage area is closed, various information is sampled again, and the above operation is repeated.

  Thereby, as shown in FIG. 6, various types of information are stored in the memory 13 as records for each section time. In FIG. 6, for convenience of illustration, the table for storing the records is divided into three of FIGS. 6A to 6C, but the three tables are connected horizontally to form a single table. Can be a table. In addition, each line of the table | surface shown to Fig.6 (a)-(c) respond | corresponds mutually. That is, the nth row from the top in each table of FIGS. 6A to 6C corresponds to each other.

  In the example shown in FIG. 6, since the section time is divided every 15 minutes, the break times are 7:30, 7:45, 8:00. Further, looking at the column of operation IDs, it can be seen that when the operation ID is changed, a row as a storage area is newly set even within the same section time. Further, the numerical value of the eighth row from the top in the key-on time column is 10. For example, if the current time is 8:55, the numerical value increases. If so, a record is created. If there is no operation, no record is created.

  The table is preferably created in a CSV (Comma Separated Value) format. In this case, the title of each column is determined by the location, so there is no need to describe it. In the column of load travel time, the accumulated time traveled in the load state is stored. In addition, the load travel distance column stores the accumulated distance traveled in the load state. Further, the travel distance column stores the travel distance of the forklift 30 for each section time. The unit is [km].

  A preset maximum load is stored in the set maximum load column. Thus, even if the threshold value is not stored, if the number of stages classified for frequency informationization is set to 3, for example, the first stage is less than 500, the second stage is 500 or more and less than 1000, the third stage Is understood to be 1000 or more and less than 1500. In addition, although the vehicle speed is frequency information divided into three stages, the number of stages can be changed as appropriate. In addition, the vehicle speed risk degree stores the time that is considered dangerous based on a comprehensive judgment in consideration of people and equipment existing in the vicinity.

  In addition, the height risk A column stores the time at which the risk is A based on a composite determination based on the distance from the article or person that is the object 26 around the forklift 30.

  Furthermore, the ID of the object 26 that has become the risk A by approaching the forklift 30 during the corresponding section time is stored in the column of the risk A surrounding ID. In the example shown in FIG. 6, the ID of the object 26 is stored for the risk calculated based on all the vehicle status information if the risk is A. The risk level calculated based on the risk level can be divided and stored. Moreover, although the number of IDs of the object 26 to be stored is up to 3, the number of IDs of the object 26 to be stored can be increased as necessary. In the example shown in FIG. 6, it is stored that the person whose ID is X has approached the forklift 30 in a dangerous state for 40 seconds. By collecting such information across the vehicle by the management server 20, that is, for all forklifts 30, it is possible to grasp the dangerous behavior of the person whose ID is X.

  The management server 20 may store the master parameter and transmit the master parameter to the management apparatus 10. In this case, since the management apparatus 10 classifies various types of information according to the master parameter, it is not necessary to transmit a threshold value or a maximum value. Furthermore, various parameters are normally input from the input device 18, but when a master parameter is transmitted from the management server 20 to the management device 10, the input of parameters from the input device 18 is performed. Can be omitted.

Next, a flowchart will be described.
Step S1: Obtain operation information, state information, load information, error information, and operation ID.
Step S2: It is determined whether or not the acquired operation ID is the first operation ID in the current section time. If it is the first operation ID in the current section time, the process proceeds to step S3, and if it is not the first operation ID in the current section time, the process proceeds to step S4.
Step S3: A new storage area for each operation ID is secured.
Step S4: It is determined whether or not the acquired vehicle state information is greater than or equal to a threshold value. If the vehicle state information is greater than or equal to the threshold, the process proceeds to step S5, and if the vehicle state information is not greater than or equal to the threshold, the process proceeds to step S13.
Step S5: Acquire surrounding ID and distance.
Step S6: It is determined whether or not a surrounding ID exists in the communication area. When the surrounding ID exists in the communication area, the process proceeds to step S7, and when the surrounding ID does not exist in the communication area, the process proceeds to step S13.
Step S7: The risk level is calculated based on the vehicle state information and the distance to the RFID tag 26a corresponding to the surrounding ID.
Step S8: The frequency of each risk rank is stored in the storage means such as the memory 13 as frequency information.
Step S9: It is determined whether or not the risk is A. If the risk is A, the process proceeds to step S10. If the risk is not A, the process proceeds to step S13.
Step S10: It is determined whether it is the first surrounding person ID. If it is the first surrounding person ID, the process proceeds to step S11. If it is not the first surrounding person ID, the process proceeds to step S13.
Step S11: Store the new surrounding person ID in the storage means such as the memory 13.
Step S12 The danger time is added for each surrounding person ID.
Step S13: Classify the vehicle speed information and the falling risk level with a predetermined threshold.
Step S14: The vehicle speed and the calculated risk of falling are added to the operation ID and the storage area for each threshold value, and frequency information is generated.
Step S15 An error check is performed.
Step S16: The error is stored in the memory 13 and stored.
Step S17: It is determined whether it is in an operating state and whether it is in a load state. If it is in the operating state, the process proceeds to step S18. If it is in the loaded state, the process proceeds to step S19. If it is in the operating state and is in the loaded state, the process proceeds to step S20.
Step S18: The operating time is calculated.
Step S19: Calculate the load time.
Step S20 The load operating time is calculated.
Step S21: Add each to the storage area for each operation ID.
Step S22: Load load is calculated.
Step S23: It is determined whether or not the load state has ended. If the load state has ended, the process proceeds to step S25, and if the load state has not ended, the process proceeds to step S24.
Step S24: The load and the travel distance in the loaded state are temporarily stored. Thereby, even if the section time passes, the load and the travel distance in the loaded state can be taken over to the next section time.
Step S25: The load is classified by a threshold value.
Step S26: The load is added to the operation ID and the storage area for each threshold value, and frequency information is generated.
Step S27 The distance traveled during the current load state is calculated.
Step S28: One load travel distance is added to the operation ID and the storage area for each threshold value, and frequency information is generated.
Step S29: It is determined whether or not the load is different from the previous load state. If the load is different from the previous load state, the process proceeds to step S30. If the load is the same as the previous load state, the process proceeds to step S31.
Step S30 The number of cargo handling operations is added once to the storage area for each operation ID.
Step S31: It is determined whether or not the section time has ended. If the section time has ended, the process proceeds to step S32. If the section time has not ended, the process returns to step S1.
Step S32 Each storage area is closed, and the process returns to Step S1.

  As described above, in the present embodiment, the management device 10 mounted on the forklift 30 determines the positional relationship between information such as operation information and status information of the forklift 30 and surrounding persons, articles, other vehicles, places, and the like. The obtained information is acquired and analyzed, and the risk of a contact accident or a fall accident is calculated. Further, the management apparatus 10 performs statistical processing on the obtained information to generate frequency information. Thereby, the data amount of the information can be compressed and stored in the memory 13, the storage capacity of the memory 13 can be reduced, and the cost of the management apparatus 10 can be reduced.

  Then, the management device 10 calculates the degree of risk based on the acquired ID of the object 26 existing around the forklift 30 and the distance from the forklift 30 to the object 26. In this case, the degree of risk is weighted according to vehicle state information such as vehicle speed, load, and lift. Furthermore, the weighting of the risk level can be changed based on the ID of the object 26. Therefore, an appropriate degree of risk can be calculated according to the risk of a contact accident or a fall accident.

  The management device 10 transmits information for one day stored in the memory 13 to the management server 20 via the network 21 at a predetermined transmission time. In this case, since the data amount of the information is small, a general-purpose communication infrastructure can be used. Further, since the data amount of the information is small, the communication time can be shortened and the communication cost can be reduced.

  Furthermore, the management server 20 collects information received from the management apparatus 10 and aggregates the information for each operation ID so that the information can be organized and displayed as information for each operator. Further, the information can be organized and displayed as information for each object 26. As a result, it is possible to grasp the object 26 that can cause a contact accident or a fall accident. For this reason, the operator of the forklift 30, the surrounding people, the person in charge of work vehicle management, etc. can accurately grasp the danger of contact accidents and fall accidents, the factors of contact accidents and fall accidents, etc. Appropriate prevention measures can be taken.

  By the way, the management server 20 can accumulate and manage information such as the degree of risk related to each forklift 30 received from the management device 10. For example, the information can be managed for each forklift 30, and a vehicle database for each forklift 30 can be created. As a result, failure analysis of each forklift 30, appropriate vehicle management, discovery of repair points required, discovery of replacement parts, prevention of failure occurrence, prevention of contact accidents and fall accidents, and the like can be performed. Further, for example, the information can be managed for each owner of the forklift 30, that is, for each customer who purchased the forklift 30, and a CRM (Customer Relationship Management) database can be created. Furthermore, for example, a daily report indicating the work status for each operator can be created based on the operation ID. Furthermore, guidance for safe driving, guidance for economic driving, operation management of the forklift 30 and the like can be performed. Furthermore, a proposal for optimizing TCO (Total Cost of Ownership) can be made to the customer.

  The present invention can be applied to any type of work vehicle such as a transport vehicle or a tow vehicle. However, when the work vehicle is a forklift, the following aspects (1) to (3) From this, particularly remarkable effects are exhibited.

  (1) Generally, forklifts do not perform routine work: For example, even if information such as the degree of danger is accumulated without dividing it by section time, it becomes difficult to know what and what was being done. . Moreover, if the sampled information is stored as it is, the amount of data becomes enormous. Furthermore, compared with a construction machine or the like, one operation can be completed in a short time, and thus detailed monitoring is required. For example, compared to a single operation of digging a hole with a construction machine, a single operation of transporting a load from point A to point B with a forklift is completed in a short time.

  (2) Generally, a forklift is used in a narrow place: Therefore, it is difficult to safely separate the forklift and a person, and there are many accidents where the forklift and the person come into contact with each other. For example, in the case of construction machinery, it is possible to prevent people who are not related to the work from entering the work site, whereas in the case of a forklift, people who are not related to the cargo handling work perform the cargo handling work. It is difficult to keep out of the place. Therefore, it is particularly effective to perform weighting by combining ID information held by a person or facility and the risk of forklifts.

  (3) Generally, a forklift is not limited to an operator: A cargo handling operation by a forklift is generally performed by a plurality of operators in one day. For example, in the case of a construction machine, the operator does not change frequently during one day, whereas in the case of a forklift, the operator frequently changes in one day. For this reason, it is particularly effective to accumulate information such as the degree of risk by dividing it by section time or accumulating information for each operator.

  The present invention is not limited to the above-described embodiment, and various modifications can be made based on the spirit of the present invention, and they are not excluded from the scope of the present invention.

It is a conceptual diagram of the work vehicle management system in embodiment of this invention. 1 is a side view of a work vehicle in an embodiment of the present invention. It is a top view of the work vehicle in embodiment of this invention. It is a figure which shows the example of the information which the management apparatus in embodiment of this invention acquires. It is a figure which shows the example of the two-dimensional map for classifying the risk level in embodiment of this invention. It is a figure which shows the example of the information stored in the memory in embodiment of this invention. It is a 1st flowchart which shows the operation | movement which stores information in the memory in embodiment of this invention. It is a 2nd flowchart which shows the operation | movement which stores information in the memory in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Management apparatus 11 Control part 13 Memory 13a Temporary memory | storage part 17 Interface 17a Load measuring device 17b Vehicle speed measuring device 17c Handling lever operation measuring device 17d Lifting height measuring device 17e Position measuring device 20 Management server 25 RFID reader / writer 26 Object 30 Forklift

Claims (4)

A work vehicle management system comprising a management device mounted on a work vehicle and transferring information on the work vehicle, and a management server storing information on the work vehicle transferred from the management device in storage means,
The management device includes an object information acquisition unit that acquires an ID of an object existing around the work vehicle and a distance from the work vehicle to the object, an information acquisition unit that acquires information from the work vehicle, and the object ID, the distance from the work vehicle to the object and the information are analyzed, the risk of contact accident or fall accident is calculated, and the risk is derived as frequency information for each section divided in multiple stages And a temporary storage unit for storing the result of the analysis process, and the result of the analysis process stored in the temporary storage unit is transferred to the management server. The work vehicle management system according to claim 1, wherein the temporary storage unit stores the frequency information of the risk level in association with an ID of the object. The work vehicle management system according to claim 2, wherein the analysis processing unit weights the risk according to information on the work vehicle. The work vehicle management system according to claim 1, wherein the analysis processing unit changes the weighting of the degree of risk based on an ID of the object.

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