JP6053085B1 - Cargo vehicle calling device, cargo handling vehicle system, cargo handling vehicle call method, and cargo handling vehicle call device control program - Google Patents

Abstract

An object of the present invention is to reduce time for a cargo handling vehicle to wait for a driver to board. A recovery prediction unit predicts a time when a driver's fatigue is recovered. The instruction permission unit permits the driver to output a movement instruction for starting the movement of the cargo handling vehicle to the designated position by unmanned driving by the time predicted by the recovery prediction unit. [Selection] Figure 3

Description

  The present invention relates to a cargo handling vehicle calling device, a cargo handling vehicle system, a cargo handling vehicle calling method, and a control program for the cargo handling vehicle calling device, for example.

  2. Description of the Related Art In recent years, forklifts that are cargo handling vehicles that are used for loading and unloading use unmanned forklifts that do not require a driver and perform unloading and cargo handling. In such forklifts that enable unmanned operation, there are also forklifts that can perform not only unmanned operation but also switching between manned operation and unmanned operation with a switch (see, for example, Patent Document 1).

  As a reason for having both functions of unmanned driving and manned driving, in unmanned driving, for example, in order to ensure safety according to the standard of JIS D 6802, the upper limit value of the traveling speed and the lifting speed of the lift is It is set to be much slower than manned driving. Therefore, when work must be performed in a hurry, an operation by manned operation is required. According to Patent Document 1, the driver gets on and off a forklift waiting at a predetermined standby position.

JP 2012-136324 A

  By the way, in the technique described in Patent Document 1, the driver needs to get on and off the forklift at a predetermined standby position. While the driver moves to the standby position, the forklift is not operating. In order to improve the operation efficiency of the forklift, it is desired to reduce the time for which the forklift waits for the driver to board.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a cargo handling vehicle call device, a cargo handling vehicle system, and a cargo handling vehicle call that can reduce the time that the cargo handling vehicle waits for the driver to board. A method and a control program for a cargo handling vehicle call device are provided.

  According to the first aspect of the present invention, the cargo handling vehicle call device is a cargo handling vehicle call device that calls a cargo handling vehicle that enables switching between unmanned operation and manned operation, and sets a time at which the driver's fatigue is recovered. A recovery prediction unit for predicting, and an instruction permission unit for permitting the driver to output a movement instruction for starting the movement to the designated position by unmanned operation of the cargo handling vehicle by the time predicted by the recovery prediction unit. It is characterized by providing.

  According to the second aspect of the present invention, in the cargo handling vehicle calling device according to the first aspect, the instruction permission unit accepts the portable terminal owned by the driver to start accepting the input of the movement instruction. An instruction may be output.

  According to the third aspect of the present invention, when the cargo handling vehicle calling device according to the second aspect receives an input of the movement instruction from the portable terminal, the movement instruction that outputs the movement instruction to the cargo handling vehicle. It may be characterized by further comprising a section.

  According to a fourth aspect of the present invention, the cargo handling vehicle calling device according to any one of the first to third aspects further includes a recovery notification unit that notifies the driver of the time predicted by the recovery prediction unit. It may be characterized by comprising.

  According to a fifth aspect of the present invention, a cargo handling vehicle system includes a cargo handling vehicle and a cargo handling vehicle call device according to any one of the first to fourth aspects, wherein the cargo handling vehicle is instructed until an instructed time. A movement instruction receiving unit that receives a movement instruction for moving to an instructed position by unmanned driving, an automatic driving control unit that controls unmanned driving based on the moving instruction, and the position at which the automatic driving control unit is instructed to And an operation changeover switch unit that switches the operation state from unmanned operation to manned operation when the movement to is completed.

  According to a sixth aspect of the present invention, a loading / unloading vehicle calling method is a loading / unloading vehicle calling method for calling a loading / unloading vehicle that enables switching between unmanned operation and manned driving. Predicting the recovery time, and allowing the cargo handling vehicle call device to output a movement instruction to start the movement of the cargo handling vehicle to a specified position by unmanned driving by the predicted time. It is characterized by.

  According to the seventh aspect of the present invention, the control program for the cargo handling vehicle calling device restores the driver's fatigue to the computer of the cargo handling vehicle calling device that calls the cargo handling vehicle that enables switching between unmanned operation and manned driving. A procedure for predicting the time to be performed, and a procedure for permitting the driver to output a movement instruction for starting the movement of the cargo handling vehicle to a designated position by unmanned operation by the predicted time.

  According to some aspects of the present invention, the cargo handling vehicle calling device moves the cargo handling vehicle to the position of the driver by the time when fatigue is recovered. This eliminates the need for the driver to move to a predetermined standby position, thereby reducing the time that the cargo handling vehicle waits for the driver to board.

It is the schematic which shows the structure of the cargo handling system by embodiment of this invention. It is a perspective view of the forklift by the embodiment. It is a block diagram which shows the structure of the forklift by the same embodiment. It is a figure which shows the structure of the data memorize | stored in the memory | storage part of the vehicle control apparatus by the embodiment. It is a block diagram which shows the structure of the management apparatus by the embodiment. It is a figure which shows the structure of the data memorize | stored in the work plan information storage part of the management apparatus by the embodiment. It is a flowchart which shows the process which manages the working condition by the embodiment. It is a flowchart which shows the process which switches a manned driving | operation and an unmanned driving | operation by the fatigue degree by the embodiment. It is a flowchart which shows the process of unattended operation by the embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram showing a configuration of a cargo handling system according to an embodiment of the present invention. The cargo handling system includes a plurality of forklifts 100 that are cargo handling vehicles, a biological information detection device 200 attached to each driver 2, a portable terminal 210 owned by each driver, and a management device 300 that manages the forklift 100. Prepare. The forklift 100 can switch between manned traveling and unmanned traveling.

  On the road surface of the travel route of the forklift 100, a guide line and a position mark 400 for guiding the progress of the forklift 100 are provided. A plurality of position marks 400 are provided at a certain distance interval on the guide line or where the guide line intersects. The position mark 400 is, for example, a counting mark or a unique mark as disclosed in JP2013-171368A. In the present embodiment, it is assumed that the position mark 400 indicates identification information such as a barcode indicating a position or a two-dimensional code. The identification number indicating the position is specified by analyzing the image obtained by photographing the identification information.

For example, a wristband type wearable terminal device as disclosed in Japanese Patent Application Laid-Open No. 2015-154868 is applied to the biological information detection apparatus 200, and the biological information of the driver 2 is set at a predetermined interval. Detect repeatedly. In the present embodiment, for example, the pulse rate of the driver 2 for 15 seconds is repeatedly detected. In addition, the biological information detection apparatus 200 detects position information indicating a position where the own apparatus exists. The detection of the position information is performed by an NSS (Navigation Satellite System) such as GPS (Global Positioning System). In addition, the biological information detection device 200 transmits the detected biological information and position information to the transmission / reception unit 304 of the management device 300 by wireless communication means.
The management device 300 is an example of a cargo handling vehicle calling device.

  FIG. 2 is a perspective view showing a forklift 100 according to an embodiment of the present invention. A forklift 100, which is a cargo handling vehicle, is provided with a pair of straddle arms 102 extending forward, one at the end in the width direction of the vehicle main body 101, in front of the vehicle main body 101. The pair of straddle arms 102 is provided with a mast 103 that extends above the vehicle body 101. The mast 103 is attached with a fork 104 that moves up and down while supporting an object to be handled (hereinafter referred to as luggage), and the mast 103 guides the fork 104 to move up and down. In the forklift 100, a front wheel 115 is provided on the straddle arm 102 and a rear wheel 116 is provided on the vehicle main body 101.

The fork 104 moves up and down along the mast 103. Control for moving the fork 104 up and down along the mast 103 is called lift control. Further, the control for rotating the base portion of the fork 104 and tilting the front end portion of the fork 104 in the vertical direction is referred to as tilt control. The mast 103 advances and retreats along the straddle arm 102 together with the fork 104. Control for moving the mast 103 and fork 104 back and forth along the straddle arm 102 is referred to as reach control.
Note that the mast 103 and the fork 104 are operated by a hydraulic circuit.

  The vehicle body 101 is provided with a driver seat 117 on which the driver 2 is boarded. The driver's seat 117 is provided with a lift lever 106, a tilt lever 107, a reach lever 108, an accelerator lever 109, a brake pedal 110, a steering handle 111, a display 114, and a floor switch 118.

  The accelerator lever 109 is operated by the driver 2 when driving the motor to move the vehicle main body 101 forward or backward. The brake pedal 110 is operated by the driver 2 when the traveling speed is reduced when the vehicle body 101 is moving forward or backward, or when the vehicle body 101 is stopped. The steering handle 111 is operated by the driver 2 when changing the traveling direction of the vehicle main body 101. The lift lever 106, the tilt lever 107, and the reach lever 108 are levers that are operated by the driver 2 during lift control, tilt control, and reach control, respectively.

  The display 114 displays information such as the travel speed of the forklift 100, the travel distance, the load of the fork 104 detected by the load sensor 112, and information indicating whether the operation state is an unmanned operation state or a manned operation state. In addition, when switching from manned driving to unmanned driving, or when switching from unmanned driving to manned driving, information that informs the driver 2 in advance of switching is displayed. The information that informs the driver 2 in advance of switching may be, for example, notification information that displays a blinking mark on a part of the display 114, or notification that a sound is notified if a speaker is incorporated. It may be information, or may be information that indicates a time until switching to the display 114 and counts down.

  The vehicle control device 105 is built in the vehicle main body 101 and performs control of traveling of the forklift 100, control of the fork 104, control of switching between manned operation and unmanned operation, and the like. The load sensor 112 detects the load of the fork 104, that is, the weight of the load lifted by the fork 104. The camera 113 is an optical imaging unit such as a CCD (Charge Coupled Device). The camera 113 is laid on the road surface of the travel route, and indicates a guide line that guides the progress of the forklift 100 during unmanned operation, and a position that is provided at a certain distance interval on the guide line or where the guide line intersects The mark 400 is sequentially photographed at a predetermined frequency (for example, 30 times / second), and information on the photographed image is output to the vehicle control device 105.

  The floor switch 118 is a switch laid on the floor of the driver's seat 117. When the driver gets on the forklift 100, the floor switch 118 is turned on by the weight of the driver. On the other hand, when the driver gets off the forklift 100, the floor switch 118 is turned off.

  FIG. 3 is a block diagram showing the configuration of the forklift according to the present embodiment. Hereinafter, the configuration of the forklift 100 other than the configuration described in FIG. 2 will be described. The vehicle control device 105 of the forklift 100 includes a transmission / reception unit 501, a work status management unit 502, an automatic operation control unit 503, an operation changeover switch unit 504, a travel control unit 508, a cargo handling control unit 509, a load detection unit 510, and a position detection unit 511. , A storage unit 512, and a boarding determination unit 513.

  The transmission / reception unit 501 is a wireless communication unit such as WiFi (registered trademark), for example, and transmits / receives information to / from the management apparatus 300. The work status management unit 502 detects information indicating the work status based on information output from the travel control unit 508, the cargo handling control unit 509, the load detection unit 510, and the position detection unit 511. Here, the information indicating the work status is, for example, information indicating whether the work is in progress or the work is complete. In addition, when the work is completed, the work status management unit 502 transmits work specifying information indicating the work to the management apparatus 300 in order to notify the completion of the work. In addition, the transmission / reception unit 501 receives a switching instruction for switching between unmanned operation and manned operation from the management device 300. The transmission / reception unit 501 is an example of a movement instruction reception unit.

  The operation switching switch unit 504 is a switch that switches between manned operation and unmanned operation, and switches the operation state based on an instruction received from the management device 300. Further, when the transmission / reception unit 501 receives an unmanned travel instruction, the operation changeover switch unit 504 switches to unmanned operation when the operation state at that time is a manned operation state. Moreover, when the transmission / reception part 501 receives the manned driving | running | working instruction | indication, the driving | operation changeover switch part 504 switches to manned driving, when the driving | running state at that time is an unmanned driving | running state. Further, when the information indicating the work status indicates that the work is in progress, the operation changeover switch unit 504 waits until the work is completed without switching the operation state, and the information indicating the work status indicates that the work is completed. Switch the operating state when indicated. Further, the operation changeover switch unit 504 writes and stores information indicating the operation state after switching, that is, the current operation state, in the operation state information 512B of the storage unit 512.

  In the manned operation state, the cargo handling control unit 509 operates the lift lever 106, the tilt lever 107, and the reach lever 108 by the driver 2 to drive the hydraulic circuit to perform lift control and tilt on the fork 104. Control and reach control are performed. In addition, in the unmanned operation state, the cargo handling control unit 509 receives control instruction information from the automatic operation control unit 503, drives the hydraulic circuit, and performs lift control, tilt control, and reach control on the fork 104. Do. In addition, the cargo handling control unit 509 outputs information indicating the type of control performed by driving the hydraulic circuit. For example, in the case of lift control, the cargo handling control unit 509 outputs information indicating whether the fork 104 is lifted and a load is lifted, whether the fork 104 is lowered and the load is lowered. Hereinafter, raising the fork 104 to lift the load is referred to as lift-up, and lowering the fork 104 to lower the load is referred to as lift-down.

  In the manned driving state, the traveling control unit 508 receives the operation of the accelerator lever 109, the brake pedal 110, and the steering handle 111 by the driver 2 and drives the motor to move the front wheel 115 and the rear wheel 116 to move the forklift 100. Let it run. In the unmanned operation state, the travel control unit 508 receives control instruction information from the automatic operation control unit 503, drives the motor to move the front wheels 115 and the rear wheels 116, and causes the forklift 100 to travel. Moreover, the traveling control unit 508 sequentially outputs information indicating the traveling speed.

  The load detection unit 510 sequentially outputs information indicating whether or not the load is loaded based on the weight value of the load lifted by the fork 104, which is sequentially output by the load sensor 112. The position detection unit 511 analyzes the image of the guide line and the position mark 400 sequentially photographed by the camera 113 and sequentially outputs information indicating the deviation from the guide line and information indicating the position.

  When the automatic driving control unit 503 is switched to the unmanned driving state, the automatic driving control unit 503 receives the work specifying information indicating the planned work transmitted from the management device 300. In addition, the automatic operation control unit 503 outputs control instruction information to the travel control unit 508 and the cargo handling control unit 509 based on the received work specifying information, and moves the forklift 100 toward the place where the load is loaded. Traveling is performed, the load is lifted by the fork 104, traveled to the destination of the load, and the load is lowered at the destination. In addition, the automatic operation control unit 503 outputs control instruction information to the travel control unit 508 so as to travel along the guide line based on information indicating the deviation from the guide line output by the position detection unit 511 and the position. To do. In addition, when the automatic operation control unit 503 receives an instruction to switch to manned operation from the management device 300, the automatic operation control unit 503 outputs control instruction information to the travel control unit 508, and the position indicated by the position information included in the received switching instruction. Until the forklift 100 is driven.

  FIG. 4 is a diagram illustrating a configuration of data stored in the storage unit of the vehicle control device according to the present embodiment. The storage unit 512 stores the operation state information 512B and the work state table 512C shown in FIG. The driving state information 512B is information indicating the driving state written by the driving changeover switch unit 504 as described above. The work status table 512 </ b> C is a table having items of “lift-up position”, “lift-down position”, and “completion state”, and a record is generated each time work is performed by the work status management unit 502. In the item, information indicating the position where the load is lifted up, information indicating the position where the load is lifted down, and information indicating the completion state of the work are written.

  FIG. 5 is a block diagram illustrating the configuration of the management apparatus according to the present embodiment. The management apparatus 300 includes a work plan information storage unit 301, a work plan information selection unit 302, a work done information writing unit 303, a transmission / reception unit 304, a vehicle state writing unit 305, a fatigue level calculation unit 306, a fatigue level determination unit 307, An instruction generation unit 309, a recovery notification unit 310, a recovery prediction unit 311, and an instruction permission unit 312 are provided. The transmission / reception unit 304 transmits / receives information to / from the transmission / reception unit 501 of the vehicle control device 105 of the forklift 100 and the biological information detection device 200 by wireless communication means. The work plan information storage unit 301 stores a work plan information table 301A, a vehicle table 301B, a driver table 301C, and a reference value table 301D shown in FIG.

  The work plan information table 301A includes items of “vehicle ID (Identification)”, “package ID”, “loading position ID”, “transfer destination position ID”, and “completion state” constituting the work plan information. In the item “Vehicle ID”, an identification number assigned in advance for each forklift 100 is written. In the “package ID” item, an identification number assigned in advance for each package is written. In the item “loading position ID”, an identification number indicating the position where the load is loaded before transfer is written. In the item “transfer destination position ID”, an identification number indicating the position of the package transfer destination is written. In the “completed state” item, “completed” is written when the transfer of the package is completed, and “incomplete” is written when the transfer of the package is not completed. When the package to be transported is newly loaded, for example, by the operation of the operator of the management apparatus 300, the “package ID”, “loading position ID”, “transfer destination position ID” associated with the package. , And “uncompleted” is written as initial information in the item “completion state”. The above-described work specifying information includes an identification number indicating the position where the package written in the “loading position ID” item is loaded and the package written in the “transfer destination position ID” item. Information including an identification number indicating the position of the transfer destination.

  The vehicle table 301B has items of “vehicle ID”, “position”, “driving state”, and “completion state”. In the item “Vehicle ID”, an identification number assigned in advance for each forklift 100 is written. In the “position” item, information indicating the position of the forklift 100 is written. Examples of information indicating the position of the forklift 100 include an identification number of the position mark 400 and position information obtained by NSS. In the “operating state” item, “unmanned operation” or “manned operation” is written as the operation state of the forklift 100. In the “completed state” item, “working” is written when the package is being transferred. If the package is not being transferred, “Complete” is written.

  The driver table 301C has items of “terminal ID” and “vehicle ID”. In the item “terminal ID”, an identification number given in advance for each biological information detection apparatus 200 is written. In the item “Vehicle ID”, an identification number of the forklift 100 operated by the driver 2 wearing the biological information detecting device 200 is written.

  The reference value table 301D has items of “terminal ID” and “determination reference value”. In the item “terminal ID”, an identification number given in advance for each biological information detection apparatus 200 is written. In the item “judgment reference value”, the normal biological information of the driver 2 measured by the biological information detecting device 200 before the work is written. As an example of the determination reference value, when detecting the pulse rate as the biological information, the value of the pulse rate for one minute in the normal time of the driver 2 may be mentioned.

  The work plan information selection unit 302 includes, in the information included in the work plan information table 301A stored in the work plan information storage unit 301, the identification number of the forklift 100 whose “vehicle ID” is the transmission target of the work item information. And the work plan information in which the item “completion state” is “incomplete” is read. The work plan information selection unit 302 includes information including an identification number indicating the position of the item “loading position ID” from the read work plan information and an identification number indicating the position of the item “transfer destination position ID”; That is, the work specifying information is selected and transmitted to the vehicle control device 105 of the forklift 100 through the transmission / reception unit 304. When the work completion information writing unit 303 receives the work identification information indicating the completed work from the vehicle control device 105 of the forklift 100 through the transmission / reception unit 304, the work plan corresponding to the combination of identification numbers included in the work identification information. The information in the information table 301A is detected, and the “completed state” item of the information is rewritten from “incomplete” to “completed”.

The vehicle state writing unit 305 updates information included in the vehicle table 301 </ b> B stored in the work plan information storage unit 301 based on information received from the forklift 100 through the transmission / reception unit 304.
The fatigue level calculation unit 306 receives the biological information output from the biological information detection device 200 through the transmission / reception unit 304, and calculates the fatigue level based on the received biological information. The fatigue level determination unit 307 determines whether the driver 2 is fatigued and whether the driver 2 has recovered from fatigue based on the fatigue level calculated by the fatigue level calculation unit 306. The instruction generation unit 309 generates instruction information for the forklift 100 according to the determination result of the fatigue level determination unit 307. The instruction information generated by the instruction generation unit 309 is transmitted to the forklift 100 via the transmission / reception unit 304. The instruction generation unit 309 is an example of a movement instruction unit. The recovery notification unit 310 transmits a recovery notification indicating the recovery time predicted by the recovery prediction unit 311 to the portable terminal 210 via the transmission / reception unit 304. The recovery prediction unit 311 calculates the fatigue recovery rate based on the fatigue level history calculated by the fatigue level calculation unit 306. The recovery predicting unit 311 predicts the time when the driver 2 recovers from fatigue based on the calculated fatigue recovery rate. The instruction permission unit 312 outputs a display instruction for displaying a calling screen for calling the forklift 100 on the portable terminal 210. The management apparatus 300 can accept an input of a movement instruction from the driver 2 by displaying a call screen on the mobile terminal 210. That is, the instruction permission unit 311 permits the driver 2 to output a movement instruction when the fatigue level determination unit 307 determines that the driver 2 has recovered from fatigue.

(Location information management process)
Here, a method for causing the management device 300 to update the position information of the forklift 100 will be described.
The position detection unit 511 of the vehicle control device 105 of the forklift 100 periodically detects the position of the forklift 100 while the forklift 100 is traveling, regardless of whether the operation state is manned operation or unmanned operation. Specifically, the position detection unit 511 analyzes the image of the position mark 400 sequentially captured by the camera 113 and extracts the identification number of the position mark 400 as position information. The work status management unit 502 transmits the position information detected by the position detection unit 511 to the management apparatus 300. As a result, the vehicle state writing unit 305 of the management device 300 stores the “position” of the vehicle table 301B among the information stored in the work plan information storage unit 301, where “vehicle ID” indicates the identification number of the transmission source of the position information. To the received position information. Thereby, the vehicle table 301B can store the latest position information of each forklift 100.

(Work status management process)
FIG. 7 is a flowchart showing a process of updating the work status table 512C and the work plan information table 301A according to the work progress status in the forklift 100 and the management apparatus 300, respectively. The process of the flowchart is a process that is continuously performed regardless of whether the forklift 100 is in a manned operation state or an unmanned operation state.

  The work status management unit 502 of the vehicle control device 105 of the forklift 100 detects that lift control for raising and lowering the fork 104 has been started based on information indicating the type of control output from the cargo handling control unit 509 (step Sa1). ). The work status management unit 502 determines whether the forklift 100 is traveling or stopped based on the information indicating the traveling speed output by the traveling control unit 508 that drives the motor (step Sa2).

  If it is determined that the vehicle is traveling (step Sa2: traveling), it is assumed that the load is not being lifted or lowered at the load storage position or the transfer destination position. The processing from step Sa1 is repeated. When it is determined that the vehicle is stopped (step Sa2: stopped), the work status management unit 502 indicates the position that the position detection unit 511 analyzes and outputs based on the images of the position marks 400 that are sequentially captured by the camera 113. An identification number is acquired from the position detection part 511 (step Sa3). When the work status management unit 502 detects the end of the lift control by the cargo handling control unit 509, the work status management unit 502 determines whether the performed lift control is lift-up or lift-down (step Sa4).

  When it is determined that the lift control performed is lift-up (step Sa4: lift-up), the work status management unit 502 outputs information indicating the weight of the load loaded on the fork 104 output from the load detection unit 510. Based on the above, it is determined whether or not there is a load (step Sa5). For example, if the information indicating the weight indicates 0 [kg], it is determined that there is no load, and if the information indicating the weight indicates a value greater than 0 [kg], it is determined that the load is present. To do. When it is determined that there is a load (step Sa5: with load), it is assumed that the load is lifted by the fork 104. Therefore, the work status management unit 502 transmits start information indicating that work has been started to the management apparatus 300 via the transmission / reception unit 501 (step Sa6). When the vehicle state writing unit 305 of the management apparatus 300 receives the start information via the transmission / reception unit 304, the vehicle state writing unit 305 updates the vehicle table 301B stored in the work plan information storage unit 301. Specifically, the vehicle state writing unit 305 includes the “completion state” of the vehicle table 301 </ b> B in the information indicating that the “vehicle ID” stored in the work plan information storage unit 301 indicates the identification number of the transmission source of the start information. Rewrite the item as “work in progress”.

  In addition, the work status management unit 502 generates one record including items of “lift-up position”, “lift-up position”, and “completion state” in the work status table 512C of the storage unit 512, and displays “lift-up position”. The identification number indicating the position acquired from the position detection unit 511 in step Sa3 is written in the item "." In addition, the work status management unit 502 writes “work in progress” indicating that the work is in progress to the item “completion state”, and repeats the processing from step Sa1 (step Sa7). On the other hand, if it is determined in step Sa5 that there is no load (step Sa5: no load), it is assumed that the fork 104 is simply raised, and thus the processing from step Sa1 is repeated.

  In step Sa4, when it is determined that the lift control performed is lift-down (step Sa4: lift-down), the work status management unit 502 displays the load loaded on the fork 104 output from the load detection unit 510. Based on the information indicating the weight, it is determined whether there is a load (step Sa8). When it is determined that there is no load (step Sa8: no load), it is assumed that the load is unloaded. Therefore, the work status management unit 502 reads the identification number indicating the position from the “lift-up position” item in which the “completion state” item is “working” in the work status table 512C of the storage unit 512. The work status management unit 502 transmits the work identification information including the read identification number indicating the lift-up position and the identification number indicating the lift-down position acquired from the position detection unit 511 in step Sa3 through the transmission / reception unit 501. It transmits to the management apparatus 300 (step Sa9). When the vehicle state writing unit 305 of the management apparatus 300 receives the completion information via the transmission / reception unit 304, the vehicle state writing unit 305 updates the vehicle table 301B stored in the work plan information storage unit 301. Specifically, the vehicle state writing unit 305 stores the “completion state” of the vehicle table 301B among the information indicating that the “vehicle ID” stored in the work plan information storage unit 301 indicates the identification number of the transmission source of the completion information. Change the item to “Complete”. In addition, the work completion information writing unit 303 of the management apparatus 300 updates the work plan information table 301A stored in the work plan information storage unit 301 based on the completion information. Specifically, the work completion information writing unit 303 includes an identification number of a transmission source of work identification information, an identification number indicating a lift-up position included in the work identification information, and an identification number indicating a lift-down position. The work plan information that matches the combination is detected from the work plan information table 301 A of the work plan information storage unit 301. The work completion information writing unit 303 rewrites the “completed state” item of the detected work plan information from “incomplete” to “completed”.

  The work status management unit 502 adds a position detection unit to the “lift-down position” item that is blank in the information that the “completion state” item is “working” in the work status table 512C of the storage unit 512. An identification number indicating the position acquired from 511 is written. In addition, the work status management unit 502 writes “completed” indicating that the work is completed in the item “completion state”, and repeats the processing from step Sa1 (step Sa10). On the other hand, if it is determined in step Sa8 that there is a load (step Sa8: with load), it is assumed that the fork 104 is simply lowered while the load is loaded, so the processing from step Sa1 is performed. repeat.

As described above, the management apparatus 300 detects completed work and unfinished work by referring to the item “completed state” of the work plan information stored in the work plan information table 301A. Can do. In addition, by referring to the item “completed state” stored in the vehicle table 301B, information indicating a work status indicating whether each forklift 100 is in a working state or a state in which the work has been completed. Can be detected.
Further, by referring to the item of “completed state” in the work status table 512C stored in the storage unit 512 of the vehicle control device 105, whether or not the vehicle control device 105 is in a working state or the work is performed. It is possible to detect information indicating the work status as to whether it is in a completed state.

(Switching between manned and unmanned driving)
FIG. 8 is a flowchart illustrating a process of switching between manned driving and unmanned driving according to the degree of fatigue of the driver 2 by the management device 300. The biological information detection device 200 attached to the driver 2 detects the biological information of the driver 2. Here, the biometric information detected by the biometric information detection apparatus 200 is, for example, the pulse rate of the driver 2 measured for 15 seconds. The biological information detection device 200 transmits information on the detected pulse rate for 15 seconds to the management device 300. The fatigue level calculation unit 306 of the management device 300 receives the biological information output from the biological information detection device 200 through the transmission / reception unit 304, that is, information on the pulse rate for 15 seconds (step Sb1).

  The fatigue level calculation unit 306 calculates the fatigue level from the received biological information. For example, the fatigue level calculation unit 306 calculates the pulse rate for 1 minute by quadrupling the received 15-second pulse rate, and outputs the calculated value to the fatigue level determination unit 307 as information indicating the fatigue level (step S30). Sb2). When the fatigue level determination unit 307 receives information indicating the fatigue level from the fatigue level calculation unit 306, the fatigue level determination unit 307 corresponds to the driver 2 with reference to the vehicle table 301B and the driver table 301C stored in the work plan information storage unit 301. It is determined whether the current operation state of the forklift 100 to be operated is a manned operation state or an unmanned operation state (step Sb3). Specifically, the forklift 100 corresponding to the biological information detecting device 200 that is the pulse rate transmission source is specified with reference to the driver table 301C, and the driving state of the forklift is specified with reference to the vehicle table 301B.

  When it is determined that the fatigue level determination unit 307 is in a manned driving state (step Sb3: manned driving state), in the reference value table 301D of the work plan information storage unit 301, the biological information detection device 200 that is the transmission source of the pulse rate. The determination reference value associated with the identification number is read out. Here, it is assumed that the value of the pulse rate for one minute in the normal time of the driver 2 stored in advance as the determination reference value is read. The fatigue level determination unit 307 calculates a first threshold value by adding a predetermined first value to the pulse rate for one minute in normal times. For example, it is generally said that if the pulse rises from 5 to 10 beats, it is said that the user is tired. Here, 10 beats are added as the first predetermined value. The fatigue level determination unit 307 determines whether or not the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 306 is greater than or equal to the first threshold (step Sb4). Note that the first predetermined value may be stored in advance in the work plan information storage unit 301 or may be incorporated in advance in the program.

  When the fatigue level determination unit 307 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 306 is not equal to or greater than the first threshold value (step Sb4: No), the processing from step Sb1 is repeated. It is. On the other hand, when the fatigue level determination unit 307 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 306 is equal to or greater than the first threshold (step Sb4: Yes), the determination result is obtained. In response, the instruction generation unit 309 determines whether or not the work of the forklift 100 corresponding to the driver 2 is completed (step Sb5).

The instruction generation unit 309 refers to the vehicle table 301B of the work plan information storage unit 301, and when the “completed state” item of the information associated with the identification number of the forklift 100 is “working”, It is determined that the current work is not completed. When it is determined that the current work has not been completed (step Sb5: No), the instruction generation unit 309 sends a presentation instruction for presenting a notice of switching from the manned operation to the unmanned operation via the transmission / reception unit 304. And repeat the process of step Sb5 (step Sb6). As a result, the vehicle control device 105 of the forklift 100 corresponding to the driver 2 presents a notice of switching from the manned operation to the unmanned operation on the display 114.
On the other hand, when the item “completion state” is “completed” (step Sb5: Yes), the instruction generation unit 309 determines that the current work is completed, and uses the forklift 100 via the transmission / reception unit 304. In addition, a switching instruction to switch from manned operation to unmanned operation is transmitted (step Sb7). Then, the instruction generation unit 309 rewrites the “operating state” item of the forklift 100 in the vehicle table 301B of the work plan information storage unit 301 to “unmanned operation” (step Sb8) and returns to the process of step Sb1.
Thereby, the operation changeover switch unit 504 of the vehicle control device 105 of the forklift 100 rewrites the operation state information 512B in the storage unit 512 to information indicating the unmanned operation state. By rewriting the information stored in the driving state information 512B, the driving state displayed on the display 114 is also changed to the unmanned driving state. The operation changeover switch unit 504 switches from manned operation to unmanned operation, and starts the unmanned operation process of FIG. 9 to be described later.

  On the other hand, when it is determined in step Sb3 that the vehicle is in the unmanned operation state (step Sb3: unmanned operation state), the recovery prediction unit 311 transmits the fatigue degree calculation unit 306 after the time when the switching instruction to unmanned operation is transmitted in step Sb7. It is determined whether or not the fatigue recovery rate can be calculated based on the fatigue level history calculated in step Sb9. For example, when the recovery predicting unit 311 calculates the recovery speed based on the transition of the fatigue level in the past 10 minutes, the recovery predicting unit 311 has an elapsed time of 10 from the time when the switching instruction to the unmanned operation is transmitted in step Sb7. It is determined whether it is more than minutes. Further, for example, when the recovery predicting unit 311 calculates the recovery speed based on the fatigue level for the past 100 times, the recovery predicting unit 311 performs the fatigue level of step Sb2 after the time when the switching instruction to unmanned operation is transmitted in step Sb7. It is determined whether or not the calculation of has been executed 100 times. If the fatigue recovery rate cannot be calculated (step Sb9: No), the process returns to step Sb1. On the other hand, when the recovery rate of fatigue can be calculated (step Sb9: Yes), the recovery prediction unit 311 calculates the recovery rate of the driver 2 (step Sb10). The recovery rate is represented by the amount of decrease in fatigue per unit time. In the reference value table 301D of the work plan information storage unit 301, the recovery prediction unit 311 determines the determination reference value associated with the identification number of the biological information detection device 200 that is the pulse rate transmission source, that is, the normal value of the driver 2. Read the value of the pulse rate per minute. The recovery prediction unit 311 calculates a second threshold value by adding a predetermined second value to the pulse rate for one minute in normal times. Here, if the second predetermined value is set to the same value as the first predetermined value, after switching from the manned operation to the unmanned operation, the driver 2 is only slightly recovered from the fatigue. Since the driving is switched to the manned driving, when the value is sufficiently smaller than the first predetermined value, for example, the first predetermined value is 10 beats as described above, for example, about 0 to 5 beats It is necessary to set a predetermined value of 2. The recovery predicting unit 311 determines that the fatigue level of the driver 2 is the second threshold based on the fatigue level of the driver 2 last calculated by the fatigue level calculating unit 306, the recovery speed of the driver 2, and the current time. The following time is predicted (step Sb11). Specifically, the recovery predicting unit 311 adds the time obtained by dividing the fatigue level of the difference between the fatigue level of the driver 2 and the second threshold value by the recovery speed to the current time, so that the driver The time when the degree of fatigue of 2 is equal to or less than the second threshold is obtained. The second predetermined value may be stored in advance in the work plan information storage unit 301, or may be previously incorporated in the program.

Next, the instruction | indication permission part 311 outputs the display instruction | indication which displays the calling screen of the forklift 100 on the portable terminal 210 which the driver | operator 2 owns (step Sb12). The display instruction includes a list in which the identification number and the position of the forklift 100 whose driving state is unmanned operation are associated with each other. Thereby, the calling screen of the forklift 100 is displayed on the portable terminal 210. On the calling screen, a list of forklifts 100 included in the display instruction and an input form of the calling position of the forklifts 100 are displayed. When the driver 2 selects one forklift 100 from the list by operating the portable terminal 210 and designates the calling position, the portable terminal 210 instructs the management device 300 to call the forklift 100 indicated by the selected icon. Output. That is, the calling instruction includes the identification number of the forklift 100 and the position information of the calling position.
When the instruction permission unit 311 outputs a display instruction, the recovery notification unit 310 transmits a recovery notification indicating the recovery time predicted by the recovery prediction unit 311 to the mobile terminal 210 via the transmission / reception unit 304 (step Sb13). . Thereby, the driver 2 can know that the forklift 100 can be called by recognizing the recovery notification received by the mobile terminal 210. This also allows the driver 2 to know the time when the forklift 100 arrives at the calling position.

  The instruction generation unit 309 waits for reception of a call instruction from the mobile terminal 210 (step Sb14). Until a call instruction is received from the portable terminal 210 (step Sb14: No), the process returns to step Sb14 and continues to wait for reception. On the other hand, when the call instruction is received from the portable terminal 210 (step Sb14: Yes), the instruction generation unit 309 adds the recovery time predicted by the recovery prediction unit 311 to the forklift 100 indicated by the identification number included in the call instruction, and the call instruction. The instruction for switching to the manned operation including the position information included in is output (step Sb15). The switching instruction instructs to start the movement to the calling position by the recovery time and switch to the manned operation after reaching the calling position. The switching instruction is an example of a movement instruction.

The instruction generation unit 309 rewrites the “operating state” item of the forklift 100 in the vehicle table 301B of the work plan information storage unit 301 to “manned operation” (step Sb16). And the management apparatus 300 returns to the process of step Sb1.
Thereby, the operation changeover switch unit 504 of the vehicle control device 105 of the forklift 100 rewrites the operation state information 512B in the storage unit 512 to information indicating the manned operation state. By rewriting the information stored in the driving state information 512B, the driving state displayed on the display 114 is also changed to the manned driving state.

(Processing of unmanned operation)
FIG. 9 is a flowchart showing forklift processing when an instruction to switch to unmanned operation is received. When the transmission / reception unit 501 receives an instruction to switch to unmanned operation, the boarding determination unit 513 determines whether or not the floor switch 118 is in an off state (step Sc1). When the floor switch 118 is in the on state (step Sc1: No), the process of step Sc1 is continued without starting the automatic operation control unit 503. That is, the forklift 100 does not start the unmanned operation control until the driver 2 gets off after receiving the instruction to switch to the unmanned operation. When the floor switch 118 is turned off (step Sc1: Yes), the operation changeover switch unit 504 activates the automatic operation control unit 503 to start automatic operation processing (step Sc2). The operation changeover switch unit 504 stops the control of the cargo handling control unit 509 by operating the lift lever 106, the tilt lever 107, and the reach lever 108 of the driver 2, and the cargo handling control unit 509 performs a control instruction from the automatic operation control unit 503. It switches so that it may operate | move according to information (step Sc3). The driving changeover switch unit 504 stops the control of the traveling control unit 508 by operating the accelerator lever 109, the brake pedal 110, and the steering handle 111 of the driver 2, and the traveling control unit 508 controls the control instruction from the automatic driving control unit 503. It switches so that it may operate | move according to information (step Sc4).

  When the automatic operation control unit 503 is activated by the operation changeover switch unit 504, the automatic operation control unit 503 transmits information indicating that work specific information is requested to the work plan information selection unit 302 of the management apparatus 300 through the transmission / reception unit 501 (step Sc5). . As a result, the work plan information selection unit 302 reads work plan information whose “completed state” item is “incomplete” from the work plan information table 301 A of the work plan information storage unit 301. The work plan information selecting unit 302 selects work specifying information including an identification number indicating a loading position and an identification number indicating a transfer destination position from the read work plan information, and through the transmission / reception unit 304, the automatic operation control unit 503. Send to. For example, in the example of FIG. 6, since the “completion state” of the record with the package ID “002” is “incomplete”, the storage location ID “204” and the transfer destination location ID “340” are read and transmitted. To do.

  The automatic operation control unit 503 receives the work identification information through the transmission / reception unit 501 (step Sc6). Next, the automatic operation control unit 503 determines whether or not unattended operation stop instruction information is received from the operation changeover switch unit 504 (step Sc7). If it is determined that unattended operation stop instruction information has not been received from the operation switching switch unit 504 (step Sc7: No), the automatic operation control unit 503 operates the travel control unit 508 based on the received work specifying information. Then, the forklift 100 is advanced to the loading position indicated by the work identification information, the cargo handling control unit 509 is operated, the luggage is lifted, and the luggage is transported to the transfer destination position indicated by the work identification information. (Step Sc8). The automatic operation control unit 503 repeats the process from step Sc5.

  On the other hand, when it is determined in step Sc7 that unattended operation stop instruction information is received from the operation changeover switch unit 504 (step Sc7: Yes), the automatic operation control unit 503 performs the cargo handling indicated by the work identification information received in step Sc6. It is determined whether the completion time at which the work is completed exceeds the recovery time included in the received switching instruction (step Sc9). Specifically, the automatic operation control unit 503 divides the route from the current position to the destination position indicated by the work identification information via the loading position indicated by the work identification information by the unmanned operation speed. To calculate the travel time. Next, the automatic operation control unit 503 predicts the completion time of the cargo handling work by adding the travel time and the time required for the lift to the current time. Then, the automatic operation control unit 503 compares the predicted completion time with the recovery time included in the switching instruction.

  When the completion time does not exceed the recovery time (step Sc9: No), the processing from step Sc5 is repeated. On the other hand, when the completion time exceeds the recovery time (step Sc9: Yes), the automatic operation control unit 503 operates the travel control unit 508 to advance the forklift 100 to the position indicated by the position information included in the received switching instruction. (Step Sc10). Next, the operation changeover switch unit 504 stops the automatic operation control unit 503 (step Sc11). The operation changeover switch unit 504 starts accepting control of the cargo handling control unit 509 by operating the lift lever 106, the tilt lever 107, and the reach lever 108 of the driver 2 (step Sc12). The driving changeover switch unit 504 starts control of the travel control unit 508 by operating the accelerator lever 109, the brake pedal 110, and the steering handle 111 of the driver 2 (step Sc13). As a result, the forklift 100 can arrive at the place where the driver 2 is present when the fatigue of the driver 2 is recovered.

  7 and 9 are processes performed in parallel by the respective functional units included in the vehicle control device 105.

  With the configuration of the above embodiment, the management apparatus 300 outputs a movement instruction for moving the forklift 100 to a position where the driver 2 is in unmanned operation based on the time when the driver 2 is predicted to recover from fatigue. To do. Thereby, compared with the case where the driver | operator 2 recovered from fatigue moves to a predetermined standby position and gets on the forklift 100, the time during which the forklift 100 is not operated can be reduced. In addition, when the driver 2 recovers from fatigue, the management device 300 transmits a recovery notification for notifying that the driver 2 has recovered from fatigue to the portable terminal 210 owned by the driver 2 together with the output of the movement instruction. Thereby, the driver 2 can know the timing of boarding the forklift 100.

  In addition, the management device 300 outputs a movement instruction to the forklift 100 that is operating unattended, which is closest to the position where the driver 2 is located. Thereby, the time for the driver 2 to wait for the arrival of the forklift 100 can be shortened. In particular, the management device 300 according to the present embodiment outputs a movement instruction to the forklift 100 that is unmanned and is not in a cargo handling operation, that is closest to the position where the driver 2 is located. Thus, the driver 2 does not need to wait for completion of the cargo handling work of the forklift 100.

  In the above embodiment, when the operation changeover switch unit 504 switches from the manned operation to the unmanned operation, the operation is switched after the completion of the work. However, the embodiment of the present invention is not limited to the configuration. . The unmanned operation may be switched immediately without waiting for the completion of the work. In this case, the automatic operation control unit 503 of the vehicle control device 105 detects the current position and the work status table 512C of the storage unit 512. If there is information whose “completion state” is “working”, the work may be continued with reference to the latest work specifying information received from the management apparatus 300. Good. In this case, since the work is continued without error, an identification number indicating the position of the loading position ID in the latest work identification information and an identification number indicating the position of the lift-up position in the work status table 512C are provided. It is also necessary to determine that they match.

  Moreover, in said embodiment, although it is set as the structure provided with the management apparatus 300 in the cargo handling vehicle system 1, the structure of this invention is not restricted to the said embodiment. The biological information detection apparatus 200, the forklift 100, and the position mark 400 may be provided, and the management apparatus 300 may not be provided. In this case, the biological information detection apparatus 200 or the portable terminal 210 has a configuration corresponding to the transmission / reception unit 304, the fatigue level calculation unit 306, the fatigue level determination unit 307, the instruction generation unit 309, the recovery notification unit 310, and the recovery prediction unit 311. Like that. Thereby, even if there is no management apparatus 300, the biometric information detection apparatus 200 or the portable terminal 210 can transmit a switching instruction | indication and a movement instruction | command to the forklift 100. Also, in this case, a work plan information table 301A storing work plan information for each vehicle control device 105 of the forklift 100 is stored in the storage unit 512, and the vehicle control device 105 selects the work completed information writing unit 303, the work plan information selection. The unit 302 is provided. Thereby, the forklift 100 can continue the work in the unmanned operation based on the work plan information stored in the storage unit 512.

In the above embodiment, the list of forklifts 100 and the input form of the call position are displayed on the call screen displayed on the mobile terminal 210. However, the configuration of the present invention is limited to the embodiment. Absent. For example, only the input form for the call position may be displayed on the call screen. That is, in this case, the identification number of the forklift 100 is not included in the calling instruction, and the instruction generation unit 309 of the management device 300 is selected forcibly from the forklift associated with the driver 2 on the driver table 301C or randomly. A switching instruction is transmitted to the forklift 100.
Moreover, the portable terminal 210 may display the time when each forklift 100 included in the list arrives at the calling position when the calling position is input to the input form of the calling position. Accordingly, the driver 2 can select a forklift 100 that can be called that arrives at a desired time.

  In the above-described embodiment, the camera 113 of the forklift 100 captures the position mark 400, and the position detection unit 511 analyzes the image obtained by capturing and outputs information indicating the position. The configuration of the present invention is not limited to the embodiment. The position detection unit 511 may acquire the position information based on the NSS without including the position mark 400 or the camera 113. Further, the forklift 100 may be provided with a magnetic sensor instead of the camera 113, and a magnetism member may be provided on the travel route instead of the guide line and the position mark 400. In this case, the position detection unit 511 analyzes a signal detected by the magnetic sensor from the magnetic generator, and outputs information indicating the position.

In the above embodiment, the storage unit 512 of the vehicle control device 105 stores the work status table 512C, and the work status management unit 502 sets the item “completed state” to “work” according to the progress of the work. Rewrite from “medium” to “complete”. The operation changeover switch unit 504 refers to the item of “completion state” and determines whether or not the current work is completed in step Sb5. The configuration of the present invention is the same as that of the embodiment. Not limited.
For example, when the work status management unit 502 obtains output information of the load detection unit 510 that outputs whether or not a load is loaded based on the weight value output by the load sensor 112, and the load is loaded, Information indicating the work status indicating “work in progress” is output. When no load is loaded, the information is output as information indicating the work status indicating “completion”. You may make it switch from manned operation to unmanned operation based on the information which shows a condition.
In addition, when the work status management unit 502 acquires information indicating lift up and lift down, which is the type of lift control output by the cargo handling control unit 509, as information indicating the work status. When it is lifted down, it is output as indicating “completed”, and the operation changeover switch unit 504 switches from manned operation to unmanned operation based on the information indicating the work status. It may be.
Further, in the process of FIG. 7, when it is assumed that the vehicle travels while being lifted up or travels while being lifted down, the configuration in which the travel state is not determined in step Sa <b> 2 may be used.

  In the above embodiment, the biological information detected by the biological information detection apparatus 200 is a pulse rate for 15 seconds, but the configuration of the present invention is not limited to this embodiment. For example, instead of the pulse rate, biological information such as heart rate, sweating volume, blood pressure, respiratory rate, oxygen saturation, and body temperature may be detected. Further, for example, the fatigue level calculation unit 306 or the biological information detection apparatus 200 may calculate the fatigue level by substituting one type or a plurality of types of biological information into a predetermined function.

In the above embodiment, the driver's 2 pulse rate detected by the biological information detection device 200 is quadrupled, and fatigued with reference to a pre-measured normal one-minute pulse rate. However, the configuration of the present invention is not limited to the embodiment.
For example, the standard deviation of the pulse rate for 15 seconds detected by the biological information detection apparatus 200 may be repeatedly calculated, and the fatigue may be determined when the standard deviation value exceeds a predetermined value.
In addition, the pulse rate for 15 seconds at normal time is measured, the pulse rate at normal time is subtracted from the pulse rate for 15 seconds detected by the biological information detecting device 200, and the difference is repeatedly added and added. It may be determined that the user is tired if the value exceeds a predetermined value.
In addition, when a value obtained by adding a predetermined value to a pulse rate for 15 seconds in normal times is used as a reference value, and the pulse rate measured every 15 seconds exceeds the reference value continuously a predetermined number of times It may be determined that the user is tired.

  In the above embodiment, the fatigue degree calculation unit 306 of the management apparatus 300 calculates the fatigue degree based on the biological information. However, the configuration of the present invention is not limited to the embodiment, and the biological information detection is performed. The apparatus 200 may include the fatigue level calculation unit 306, and the biological information detection apparatus 200 may calculate the fatigue level. Further, the fatigue level calculation unit 306 may not be provided, and it may be determined whether the driver 2 is tired by using the biological information detected by the biological information detection device 200 as information indicating the fatigue level as it is.

  Further, in the above embodiment, the first predetermined value and the second predetermined value used in Step Sb4 and Step Sb9 in FIG. 8 are different values, and the first threshold value and the second threshold value are different values. However, the configuration of the present invention is not limited to the embodiment, and the first predetermined value and the second predetermined value may be the same value.

  In the above embodiment, the first threshold value used for determining whether or not the driver 2 is tired in step Sb4 in FIG. 8 and whether or not the driver 2 is recovering from fatigue in step Sb9. As the second threshold value used for the determination, the first threshold value is set to a value larger than the second threshold value, so that the driver 2 is sufficiently recovered from fatigue and switched from unmanned driving to manned driving. However, the configuration of the present invention is not limited to the embodiment. For example, when biometric information whose value decreases with increasing fatigue is applied as the fatigue level, the second threshold needs to be set as a value greater than the first threshold.

Further, in the above embodiment, in step Sb15 of FIG. 8, for example, when the operation changeover switch unit 504 switches from unmanned operation to manned operation, the work performed in the unmanned operation state is stored in the work situation table 512C. The information may be output to the display 114 based on the information.
The configuration for displaying the work performed in the unattended operation state on the display 114 can be realized by the following configuration, for example. In the work state table 512C of the storage unit 512, an item “operation state” is further provided, and the work state management unit 502 is a work performed in the manned operation state or a work performed in the unmanned operation state. When the record is generated or “completed” is written in the “completed state” item, the information indicating whether or not is written with reference to the operation state information 512B. Then, when switching from unmanned operation to manned operation, the operation switching switch unit 504 selects a record in which the item “driving state” indicates the unmanned driving state from the work situation table 512 </ b> C and outputs the selected record to the display 114.
With this configuration, when the driver 2 is not in the driver's seat 117 during the unmanned driving state, the work performed during the unmanned driving state is confirmed when the driver 2 changes to the manned driving state. be able to.

  In the above-described embodiment, in the unmanned operation process of FIG. 9, the automatic operation control unit 503 requests the work specifying information from the management apparatus 300 and receives the work specifying information from the management apparatus 300 in Step Sc5. However, the configuration of the present invention is not limited to the embodiment. For example, the work plan information selection unit 302 of the management apparatus 300 writes “completed” in the item “completed state” regardless of whether it is an unmanned driving state or a manned driving state. Each time, the work plan information whose “completed state” item is “incomplete” is read, and the work specifying information included in the read work plan information is transmitted to the vehicle control device 105. In the vehicle control device 105, when the work specifying information is received, the work control information 105 is displayed on the display 114, and in the case of the manned driving state, the driver 2 performs work with reference to the work specifying information displayed on the display 114. Thus, when it is set as the structure which transmits work specific information from the management apparatus 300 continuously, the process of the request | requirement of work specific information like step Sc5 does not need to be performed in an unmanned driving state.

  Further, in the above embodiment, the determination is made based on whether or not it is equal to or higher than the first threshold value in the determination in step Sb4 in FIG. 8, and is the second threshold value or less in the determination in step Sb9. Although the determination is made based on whether or not, the configuration of the present invention is not limited to the embodiment. These determination methods are examples, and for example, determination may be performed based on whether or not the first threshold value is exceeded in Step Sb4, or in the determination of Step Sb9, it is less than the second threshold value. The determination may be made based on whether or not.

  The management apparatus 300 in the above-described embodiment is realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system serving as a server or a client in that case may be included and a program held for a certain period of time. Further, the program may be a program for realizing a part of the above-described functions, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system. You may implement | achieve using programmable logic devices, such as FPGA (Field Programmable Gate Array).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Cargo vehicle system 2 Driver | operator 100 Forklift 105 Vehicle control apparatus 106 Lift lever 107 Tilt lever 108 Reach lever 109 Acceleration lever 110 Brake pedal 111 Steering handle 112 Load sensor 113 Camera 114 Display 118 Floor switch 200 Living body information detection apparatus 300 Management apparatus 301 Work plan information storage unit 302 Work plan information selection unit 303 Worked information writing unit 304 Transmission / reception unit 305 Vehicle state writing unit 306 Fatigue degree calculation unit 307 Fatigue degree determination unit 309 Instruction generation unit 310 Recovery notification unit 311 Recovery prediction unit 312 Instruction permission unit 400 Position mark 501 Transmission / reception unit 502 Work condition management unit 503 Automatic operation control unit 504 Operation changeover switch unit 508 Travel control unit 509 Cargo handling control unit 510 Load detection unit 511 Position Out section 512 storage unit 513 boarding determination unit

Claims (7)

A cargo handling vehicle calling device that calls a cargo handling vehicle that enables switching between unmanned driving and manned driving,
A recovery prediction unit for predicting the time when the driver's fatigue recovers;
An instruction permission unit for permitting an output of a movement instruction for starting movement by the driver to a designated position by unmanned driving of the cargo handling vehicle by the time predicted by the recovery prediction unit. Vehicle call device. The cargo handling vehicle calling device according to claim 1, wherein the instruction permission unit outputs a reception instruction for starting reception of the input of the movement instruction to a portable terminal owned by the driver. The cargo handling vehicle calling device according to claim 2, further comprising: a movement instruction unit that outputs the movement instruction to the cargo handling vehicle when an input of the movement instruction is received from the portable terminal. The cargo handling vehicle calling device according to any one of claims 1 to 3, further comprising a recovery notification unit that notifies the driver of the time predicted by the recovery prediction unit. A cargo handling vehicle,
A cargo handling vehicle calling device according to any one of claims 1 to 4,
The cargo handling vehicle is
A movement instruction receiving unit that receives a movement instruction to move to an instructed position by an unattended operation by an instructed time;
An automatic operation control unit that controls unmanned operation based on the movement instruction;
A cargo handling vehicle system comprising: a driving changeover switch that switches a driving state from unmanned driving to manned driving when the automatic driving control unit completes movement to the instructed position. A loading vehicle calling method for calling a loading vehicle that enables switching between unmanned driving and manned driving,
The cargo handling vehicle call device predicts when the driver's fatigue will recover,
The loading / unloading vehicle calling method, wherein the loading / unloading vehicle calling device permits the driver to output a movement instruction to start the unloading operation of the loading / unloading vehicle to a designated position by the predicted time. . In the computer of the cargo handling vehicle call device that calls the cargo handling vehicle that enables switching between unmanned operation and manned operation,
A procedure to predict when the driver's fatigue will recover,
A control program for a loading vehicle call device for executing a procedure for permitting the driver to output a movement instruction for starting movement of the loading vehicle to a specified position by unmanned driving by the predicted time.

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