JP6015539B2 - Mobile object management system - Google Patents

Description

The present invention is capable of detecting the position of a wireless tag equipped to a worker who performs work inside the work target area , and the position of the wireless tag equipped to an article transport cart that travels inside the work target area. A wireless position detection device, and a management device that manages the moving object existing in the work target area based on the detection information of the position detection device, and the article based on the detection information of the position detection device The present invention relates to a moving body management system provided with a cart side travel control unit that controls the travel of a transport cart .

  As such a mobile body management system, there are workers and article transport vehicles that perform work inside the work target area, and the work is performed based on the positions of wireless tags equipped on the workers and the article transport vehicles. There is one configured to manage the positions of the worker and the article transport vehicle existing in the target area and to control the travel of the article transport vehicle (for example, see Patent Document 1).

JP-A-2005-241301

Although there is no specific description in Patent Document 1 described above, if such a mobile management system is used, for example, when it is detected that the distance between the worker and the article transport vehicle is equal to or less than a set distance, It is possible to execute an interference avoidance application that sets the traveling upper limit speed of the article transport vehicle to a speed slower than the normal traveling speed.
In order for the interference avoidance application as described above to function properly, a worker entering the work target area must be equipped with a wireless tag. However, if there is a worker who is not equipped with a wireless tag inside the work target area, the worker cannot manage the position by the mobile body management system. It will not work.

The present invention has been made in view of the above circumstances, and its purpose is to enable a worker who is not equipped with a wireless tag to appropriately detect an inconvenient situation existing in the work target area. It is to provide a body management system.

The first characteristic configuration of the mobile management system according to the present invention is the position of the wireless tag equipped to the worker who performs the work inside the work target area , and the article transport cart that travels inside the work target area. A wireless position detection device that detects the position of the wireless tag equipped in the device, and a management device that manages the worker existing in the work target area based on detection information of the position detection device , A mobile body management system provided with a cart side travel control unit for controlling the travel of the article transport cart based on detection information of the position detection device ,
An imaging apparatus capable of capturing a specific area included in the work target area, and an image detection unit that detects the worker existing in the specific area based on a captured image of the imaging apparatus are provided, and the management apparatus includes: When the position of the article transport carriage detected by the position detection device and the position of the worker are equal to or less than a set distance, the article delivery carriage is configured to instruct a deceleration command, and the management apparatus In the case where the presence of the worker is detected by the image detection unit, if the wireless tag corresponding to the worker is not detected in the specific area by the position detection device, it is determined as an abnormal state. It is in the point which is comprised.

Even if the worker is detected in the specific area by the image detection unit, if the worker is not equipped with a wireless tag, the wireless tag is not detected by the worker by the position detection device. Therefore, even though the image detection unit detects the operator present in a particular area, if the wireless tag in a specific area by the position detecting device is not detected, the operator of the image detecting unit detects the equipped with RFID It is thought that it is not.
According to the present invention, if the wireless tag is not detected in the specific area by the position detection device even though the image detection unit has detected the moving object existing in the specific area, the management apparatus determines that the abnormal state has occurred. In addition, it is possible to provide a mobile management system that enables an operator who is not equipped with a wireless tag to appropriately detect an inconvenient situation existing in the work target area.

The second characteristic configuration of the mobile management system according to the present invention is the position of the wireless tag equipped to the worker who performs work inside the work target area , and the article transport cart that travels inside the work target area. A wireless position detection device capable of detecting the position of the wireless tag mounted on the wireless tag, and a management device for managing the worker existing in the work target area based on detection information of the position detection device , A mobile body management system provided with a cart side travel control unit that controls the travel of the article transport cart based on detection information of a position detection device ,
An imaging apparatus capable of capturing a specific area included in the work target area and an image counting unit that counts the number of workers in the specific area based on a captured image of the imaging apparatus are provided, and the management apparatus When the position of the article transport carriage detected by the position detection device and the position of the worker are equal to or less than a set distance, the article delivery carriage is configured to instruct a deceleration command, and the management apparatus Based on the detection information of the position detection device, the number of the wireless tags existing in the specific area is configured to be countable, and the prediction is based on the number of the workers counted by the image counting unit. If the quantity of the wireless tags is determined to greater than the quantity of radio tags for the workers it is counted on the basis of the detection information of the position detecting device, so as to determine an abnormal state It is in that it is configured.

When an operator is detected in a specific area by the image detection unit, if the worker is not equipped with a wireless tag, the wireless tag is predicted based on the number of workers in the specific area counted by the image counting unit than quantity, it becomes not less the quantity of the wireless tag detected in a specific area by the position detecting device. Therefore, when the number of wireless tags predicted based on the number of workers in the specific area counted by the image counting unit is larger than the number of wireless tags counted by the position detection device, the image detecting unit detects It is considered that there are some workers who are not equipped with wireless tags.
According to the present invention, when the number of wireless tags predicted based on the number of workers in the specific area counted by the image counting unit is larger than the number of wireless tags counted by the position detection device, management is performed. Since the apparatus determines that the apparatus is in an abnormal state, it is possible to provide a mobile management system capable of appropriately detecting an inconvenient situation existing in the work target area by an operator who is not equipped with a wireless tag.

According to a third feature configuration of the mobile management system according to the present invention, in addition to the first or second feature configuration, the work target area is set in a room surrounded by a wall surface, In part, an entrance / exit for the worker to enter / exit into the room is provided, and the specific area is set to a part of the work area where the entrance / exit is provided.

  That is, the moving body that enters and exits the work target area always passes through the specific area that is the part provided with the entrance / exit in the work target area. For this reason, when a mobile body that is not equipped with a wireless tag attempts to enter the work target area, the entry of the mobile body that is not equipped with the wireless tag in the specific area will be detected. It can be reliably detected without omission at the initial stage that a moving body that is not equipped with is in a state where it exists in the work target area.

  In a fourth feature configuration of the mobile management system according to the present invention, in addition to the first or second feature configuration, the work target area is set to an open space that does not contain surrounding objects. It is an area, and the specific area is continuously set in an annular shape along an outer edge of the work target area.

That is, when the work target area is an area set in an open space where there is no surrounding object, the specific area is set continuously in an annular shape along the outer edge of the work target area. When entering from the outside to the inside of the work target area, it always passes through the specific area. Therefore, when the operator that is not equipped with the wireless tag tries entrance from the outside to the work target area, will be the mobile always exists a state located in a particular region of the annular, the operator It is detected that has entered the work target area. Therefore, it can be reliably detected in an initial stage that an operator who is not equipped with the wireless tag is in a state where the worker exists inside the work target area.

Plan view showing a moving object and a specific area in the work target area Control block diagram of mobile management system Perspective view of goods transport cart The flowchart which shows the abnormal condition discrimination | determination process of 1st Embodiment. The flowchart which shows the abnormal condition discrimination | determination process of 2nd Embodiment. The top view which shows another example of the specific area | region in a work object area | region

Hereinafter, an embodiment in which a mobile management system according to the present invention is applied to an article storage facility will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, a work target area E is set in a room surrounded by a wall surface W. This work target area E is used as an article storage facility, and the article is stored in a flat state (the article placed on the pallet is placed on the floor surface). In the work target area E, a plurality of stations or the like (not shown) as article transfer locations are provided on the side of the travel route L set in the work target area E, and the work target area E is located on the travel route L over the plurality of stations. An article transport carriage 1 that can run on the floor along the floor is provided. Then, the article transport carriage 1 autonomously travels along the travel route L and transports articles (pallets and loads placed and supported thereon) between a plurality of stations and the like.
Further, in the article transport facility, the worker 2 entering from the outside is walking on the floor surface, and the forklift 3 is freely traveling on the floor surface by maneuvering the driver who has boarded.
In FIG. 1, the travel route L is illustrated by a solid line, but this indicates a virtual travel route on which the article transport cart 1 should travel, and a rail for guiding the article transport cart 1 is installed. It has not been.

As shown in FIG. 2, the article transport carriage 1 has a traveling motor 5 that rotates a driving traveling wheel (not shown) and a driven traveling wheel (not shown) rotated about a vertical axis. And a steering motor 6 for changing the direction of the driven wheels. The article transporting carriage 1 is configured to travel by driving and driving wheels that are driven to rotate by the traveling motor 5, and to change the traveling direction by changing the direction of the driven traveling wheels by the steering motor 6. ing.
The travel motor 5 and the steering motor 6 constitute a travel drive unit 7, and the article transport cart 1 is configured to travel along the travel path L by the operation of the travel drive unit 7. .

As shown in FIG. 3, the article transport facility is provided with a plurality of reflectors 9 so as to correspond to the travel path L by using a wall portion located on the side of the travel path L, etc. A light projecting / receiving unit 10 that scans laser light in a horizontal plane and receives reflected light reflected by the reflecting plate 9 is provided on the upper portion of the transport carriage 1.
Further, the article transport carriage 1 includes a distance detection unit 11 for detecting a travel distance such as a rotary encoder that outputs a pulse signal in accordance with rotation of a driving travel wheel, and a rate gyro that detects the direction of the article transport carriage 1. Etc. are provided.
The light projecting / receiving unit 10, the distance detecting unit 11, and the azimuth detecting unit 12 constitute a traveling position detecting unit 13 that detects the traveling position of the article transport carriage 1, and the traveling position detecting unit 13 is configured to convey the article. It is provided in the cart 1.

  As shown in FIG. 2, the article transport cart 1 is provided with a cart-side controller H <b> 1 as a cart-side travel control unit that controls the operation of the travel drive unit 7. The cart-side controller H1 moves the article transport cart 1 to the travel route L based on the travel position information detected by the travel position detection unit 13 and the travel command information from the ground-side controller H2 as the ground-side travel control unit. In order to travel along the target travel position along the target travel speed, the operation of the travel drive unit 7 is controlled.

That is, the cart-side controller H1 confirms the current position of the article transport cart 1 based on the scanning angle information of the reflected light received by the light projecting / receiving unit 10 and the position information of the plurality of reflecting plates 9, and the current position information. On the basis of the detection information of the distance detection unit 11 and the detection information of the azimuth detection unit 12, the article transport carriage 1 is set at a target travel position corresponding to a station or the like designated by a travel command commanded from the ground-side controller H2. Is configured to control the operation of the traveling motor 5 and the steering motor 6 so as to travel along the traveling route L at the target traveling speed.
The travel route L is a virtual route that the article transport cart 1 should travel as described above. Route information of the travel route L is stored as map data in the cart side controller H1, and the cart side controller H1 sets a route along the travel route L when a travel command is issued.

As shown in FIG. 1, the article transport facility is provided with a ground-side controller H2 that issues a travel command to the article transport cart 1, and various information is transmitted to and received from the cart-side controller H1 and the ground-side controller H2. A transmitting / receiving device is provided.
The ground-side controller H2 is configured to transmit a travel command designating a transfer source station or the like to which the article is transferred or a transfer destination station or the like to the cart controller H1. The trolley side controller H1 is configured to control the operation of the travel drive unit 7 based on the travel position information and the travel command information, and to transmit the travel position information of the article transport cart 1 to the ground side controller H2.

The article transport facility includes a wireless position measurement system 19 that measures the position of the article transport carriage 1 within the work target area E, the position of the operator 2, and the position of a moving body such as the forklift 3 as a position detection device. ing.
In addition, the article conveyance facility includes the operator 2 detected by the wireless position measurement system 19, the position information of the forklift and the traveling position information of the article conveyance carriage 1, from the article conveyance carriage 1 to the interference object. When the distance becomes equal to or less than the set distance, a management server H3 is provided as an external management unit that issues a deceleration command to the article transport cart 1. Further, an alarm device 31 is provided in the article transport facility. The alarm device 31 is configured to be able to execute various alarm operations such as sounding a warning sound and lighting a warning light based on an operation command from the management server H3.

As shown in FIGS. 1 and 2, a wireless position measurement system 19 is equipped with a wireless tag 22 that is mounted on an operator 2 or a forklift 3 and can output a positioning wireless signal that is a wireless signal for position measurement. A plurality of master units 23 configured to be able to receive positioning radio signals from radio tags 22 existing in the target area E, and a position measurement process for calculating the position of the radio tag 22 based on the reception information of the master unit 23 The tag position measuring device 24 is configured to be provided. Information for position measurement can be communicated from the wireless tag 22 to the parent device 23 by UWB wireless communication.
In addition, the wireless position measurement system 19 is configured so that the position of the wireless tag 22 detected by the position measurement function is the position of the mobile body equipped with the wireless tag 22. Each of the workers 2 is equipped with one wireless tag 22. Each of the article transport cart 1 and the forklift 3 is equipped with two wireless tags 22 that are separated from each other in the longitudinal direction of travel.
Further, the wireless position measurement system 19 can determine the type of the wireless tag 22 existing in the closed region defined by the plurality of designated position coordinates, and can count the number of the wireless tags.

  As shown in FIG. 1, a part of the wall surface W surrounding the work target area E is provided with an entrance G through which the article transport carriage 1, the worker 2, the forklift 3, and the like enter and leave the work target area E. A camera 20 is provided on the ceiling of a portion located in front of the entrance / exit G in the work target area E with the floor surface of the work target area E as the imaging direction. The camera 20 is configured to be able to continuously capture moving images. Also, as shown in FIG. 2, the image captured by the camera 20 is transmitted to the image determination unit H4. The image discriminating unit H4 is configured to analyze the content of the image captured by the camera 20 and discriminate whether or not the worker 2 is in the image.

Then, when the presence of the worker 2 is detected by the image determination unit H4, the management server H3 acquires information on the type and coordinates of the wireless tag 22 existing in the work target area E from the wireless position measurement system 19. Then, it is determined whether or not the wireless tag 22 mounted on the operator 2 is detected in an area set in advance in coordinates according to the imaging area S of the camera 20. If the wireless tag 22 is not detected in the imaging area of the camera 20 by the wireless position measurement system 19 even though the operator 2 is detected by the image determination unit H4, it is determined as an abnormal state and an alarm is given. The device 31 is configured to operate. In the present embodiment, the management server H3 corresponds to a management device, the image determination unit H4 corresponds to an image detection unit, and the imaging region S of the camera 20 corresponds to a specific region.
That is, when the presence of the worker 2 is detected by the image determination unit H4, when the wireless tag 22 is not detected in the imaging region S by the wireless position measurement system 19, it is determined to be in an abnormal state. Yes. In addition, the imaging area S is set at a portion located in front of the entrance / exit in the work target area.

Next, a flowchart illustrating the abnormal state determination process will be described with reference to FIG. The processing of this flowchart is executed by the management server H3 at each set interval.
The management server H3 first instructs the image determination unit H4 to acquire a captured image of the camera 20 (step # 11). The image discriminating unit H4 discriminates whether or not the worker 2 is present in the acquired image and transmits the result to the management server H3 (step # 12).
The management server H3 determines whether or not there is a moving body based on the transmission information of the image determination unit H4 (step # 13). If it is determined that there is a moving body, then the wireless position measurement is continued. The position coordinates of the wireless tag 22 managed by the system 19 and the type of the wireless tag 22 are acquired (step # 14).
The management server H3 determines whether the position coordinates of the wireless tag 22 equipped to the operator 2 among the position coordinates of the wireless tag 22 acquired in step # 14 exist on the coordinate plane corresponding to the imaging region S of the camera 20. It is determined whether or not (step # 15). If it is determined that the wireless tag 22 provided to the worker 2 does not exist in the imaging area S of the camera 20, the alarm device 31 is activated (step # 16). Note that when it is determined in step # 13 that there is no moving object based on the transmission information of the image determination unit H4, and in step # 15, and in the imaging region S of the camera 20, the wireless tag equipped to the worker 2 If it is determined that 22 exists, this flow is terminated without performing other processing.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. This second embodiment is different from the first embodiment only in the abnormal state determination processing executed by the management server H3, and therefore executed by the management server H3. Only the abnormal state determination process to be performed will be described, and the description of overlapping parts will be omitted.

In the second embodiment, the image determination unit H4 is configured to analyze the content of the image captured by the camera 20 and count the number of workers 2 in the image.
When the number of workers 2 is counted by the image determination unit H4, the management server H3 acquires information on the type and coordinates of the wireless tag 22 present in the work target area E from the wireless position measurement system 19, Based on the detection information of the wireless position measurement system 19, the number of wireless tags 22 equipped on the worker 2 is counted in an area set in advance in coordinates along with the imaging area of the camera 20. . The number Nc of workers 2 counted by the image discrimination unit H4 and the number of wireless tags 22 existing in the imaging region S of the camera 20 among the positions of the wireless tags 22 measured by the wireless position measurement system 19 When the number Nc of the workers 2 counted by the image discriminating unit H4 is larger, it is discriminated as an abnormal state and the alarm device 31 is activated. In the present embodiment, the management server H3 corresponds to a management device, the image determination unit H4 corresponds to an image counting unit, and the imaging area of the camera 20 corresponds to a specific area.
That is, the management server H3 is configured to be able to count the number of the wireless tags 22 existing in the specific area based on the detection information of the wireless position measurement system 19, and the operator counted by the image determination unit H4. When it is determined that the number of wireless tags 22 predicted based on the number 2 is larger than the number of wireless tags counted based on the detection information of the wireless position measurement system 19, it is determined that the state is abnormal. It is configured.

Next, a flowchart showing an abnormal state determination process will be described with reference to FIG. The processing of this flowchart is executed by the management server H3 at each set interval.
The management server H3 first instructs the image determination unit H4 to acquire a captured image of the camera 20 (step # 21). The image determination unit H4 counts the quantity Nc of the worker 2 in the acquired image, and transmits the result to the management server H3 (step # 22).
Subsequently, the management server H3 acquires the position coordinates of the wireless tag 22 and the type of the wireless tag 22 managed by the wireless position measurement system 19 (step # 23), and uses the position coordinates of the wireless tag 22 of the operator 2 as the position coordinates. Based on this, the number Nr of the wireless tags 22 of the worker 2 located on the coordinate plane corresponding to the imaging region S of the camera 20 is counted (step # 24).
Then, the management server H3 obtains the number Nc of the workers 2 counted by the image determination unit H4 and the number Nr of the wireless tags 22 of the workers 2 located on the coordinate plane corresponding to the imaging area S of the camera 20. In comparison (step # 25), when the number Nc of workers 2 is larger, the alarm device 31 is activated (step # 26). The comparison result between the number Nc of workers 2 counted by the image determination unit H4 in step # 25 and the number Nr of the wireless tags 22 of the workers 2 located on the coordinate plane corresponding to the imaging area S of the camera 20 If the number Nc of the workers 2 counted by the image determination unit H4 is not larger (that is, Nc = Nr or Nc <Nr), this flow is terminated without performing other processing. .

[Another embodiment]
(1) In the first or second embodiment, the example in which the mobile body management system is applied to the article storage facility has been described. However, the present invention is not limited to such a configuration, and is within the work symmetry area. As long as the mobile body equipped with the wireless tag 22 is a facility that performs work, it can be applied to various types of equipment such as production facilities.

(2) In the first or second embodiment, when the management server H3 detects the presence of the worker 2 in the image determination unit H4, the wireless position measurement system 19 sets the wireless tag 22 in a specific area. When the wireless tag 22 is not detected or the number of the wireless tags 22 estimated based on the number of the workers 2 counted by the image determination unit H4 is counted based on the detection information of the wireless position measurement system 19, When it is determined that the number is larger than the quantity, the abnormal state is determined. However, the present invention is not limited to such a configuration. For example, the image determination unit H4 includes the article transport carriage 1 and the forklift 3. When the wireless tag 22 is not detected in the specific area by the wireless position measurement system 19 or when the article conveying cart 1 or the fork riff counted by the image determination unit H4 is detected. As a configuration for determining an abnormal state when it is determined that the number of wireless tags 22 predicted based on the number 3 is larger than the number of wireless tags counted based on the detection information of the wireless position measurement system 19. Good.

(3) In the first or second embodiment, the work target area E is set in a room surrounded by the wall surface W, and the specific area is set in a portion located in front of the entrance / exit G in the work target area E. However, the present invention is not limited to such a configuration. For example, as shown in FIG. 6, the work target area E is set to an open space in which no other surrounding objects exist, and the camera 20 is used. The cameras 20a to 20j may be provided in a ring shape continuously along the outer edge of the work target area E in such a manner that there is no gap between the imaging areas of the adjacent cameras 20. By arranging the cameras 20a to 20j in this way, the imaging areas Sa to Sj of the cameras 20a to 20j are continuously set in an annular shape along the outer edge of the work target area E. 4 or 5 is performed for each of the imaging regions Sa to Sj of the cameras 20a to 20j, so that the wireless tag 22 is installed in the imaging regions Sa to Sj that are continuously set in an annular shape. Since it is possible to detect that an unmoving mobile body has entered, it is possible to appropriately detect that there is a mobile body that is not equipped with the wireless tag 22 in the work target area E. In the first or second embodiment, the specific area is set as a part of the work target area E. However, the imaging area S (Sa to Sj) of one or more cameras 20 and the work The target area E may be set to be the same area.

(4) In the first or second embodiment, the configuration in which the alarm device 31 is activated when the management server H3 is determined to be in an abnormal state is illustrated, but other processing is performed when the management server H3 is determined to be in an abnormal state. It may be. For example, when it is determined that the state is abnormal, there is a possibility that a suspicious person has invaded, so the entrance G may be closed so that the suspicious person cannot leave the work target area E.

(5) In the first or second embodiment, the example in which one wireless tag 22 is provided for each of the plurality of workers 2 has been described. However, the wireless tag 22 that is provided for each of the plurality of workers 2. The number may be two or more.
In this case, in step # 25 of FIG. 5 in the second embodiment, the number Nc of workers 2 counted by the image determination unit H4 and the position of the wireless tag 22 measured by the wireless position measurement system 19 are included. Rather than comparing the number Nr of wireless tags 22 existing in the imaging region S of the camera 20, for example, when one worker 2 is equipped with two wireless tags 22, Nc × 2 The number Nr of the wireless tags 22 is compared. That is, the camera 20 out of the number of wireless tags 22 predicted based on the number Nc of workers 2 counted by the image determination unit H4 and the position of the wireless tag 22 measured by the wireless position measurement system 19. The number Nr of the wireless tags 22 existing in the imaging region S is compared.

2 Moving body 20 Imaging device 19 Position detection device 22 RFID tag E Work target area G Entrance / exit H3 Management device H4 Image discrimination unit W Wall surface

Claims (4)

A wireless position for detecting the position of the wireless tag equipped to the worker who performs the work inside the work target area , and the position of the wireless tag equipped to the article transport cart that travels inside the work target area. A detection device;
A management device that manages the worker existing in the work target area based on detection information of the position detection device ; and
A mobile body management system provided with a cart side travel control unit for controlling the travel of the article transport cart based on detection information of the position detection device ,
An imaging device capable of capturing a specific area included in the work target area, and an image detection unit that detects the worker existing in the specific area based on a captured image of the imaging apparatus are provided,
The management device is configured to command a deceleration command to the article transport cart when the position of the article transport cart detected by the position detection device and the position of the operator are equal to or less than a set distance, and
When the management device detects the presence of the worker in the image detection unit and the position detection device does not detect the wireless tag corresponding to the worker in the specific area, A mobile management system configured to discriminate. A wireless type capable of detecting the position of the wireless tag equipped to the worker who performs the work inside the work target area , and the position of the wireless tag equipped to the article transport cart traveling inside the work target area . A position detection device;
A management device for managing the worker existing in the work target area based on the detection information of the position detection device is provided ,
A mobile body management system provided with a cart side travel control unit for controlling the travel of the article transport cart based on detection information of the position detection device ,
An imaging device capable of imaging a specific area included in the work target area, and an image counting unit that counts the number of workers in the specific area based on a captured image of the imaging apparatus are provided,
The management device is configured to command a deceleration command to the article transport cart when the position of the article transport cart detected by the position detection device and the position of the operator are equal to or less than a set distance, and
The management device is configured to be able to count the number of the wireless tags present in the specific area based on the detection information of the position detection device, and the number of the workers counted by the image counting unit When it is determined that the number of wireless tags predicted based on the number of wireless tags is larger than the number of wireless tags for the worker counted based on the detection information of the position detection device, it is determined that the state is abnormal. Mobile management system configured to The work target area is set in a room surrounded by a wall surface, a part of the wall surface is provided with an entrance for the worker to enter and leave the room, and the specific area is the work area in the work target area. The mobile body management system according to claim 1 or 2, wherein the mobile body management system is set in a portion provided with an entrance / exit. The work target area is an area set in an open space in which there are no other surrounding objects,
The mobile body management system according to claim 1 or 2, wherein the specific area is continuously set in an annular shape along an outer edge of the work target area.

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