JP6066241B1 - Transport system - Google Patents

Abstract

A transport system capable of immediately securing a forklift in an unmanned operation mode for emergency unsteady transport work is provided. When an emergency worker 8 uses an emergency work notification unit 7 when an urgent transportation work is necessary, a forklift 1A in a specific unmanned operation mode in an unmanned area 3 The work is interrupted and stopped after moving into the evacuation area 10 that does not interfere with the transport work of the other forklift 1B. At this time, the forklift 1A stores the interrupted work content as the interrupted work content. The emergency worker 8 sets the forklift 1A in the manned operation mode and performs an emergency transport operation. When the emergency worker 8 who has finished the emergency transport work puts the forklift 1A into the unattended operation mode again, the forklift 1A resumes the transport work based on the stored interrupted work content. [Selection] Figure 2

Description

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

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

Japanese Patent No. 5196451 Japanese Patent No. 5196454

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

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

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

The present invention is a transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
A management device capable of communicating with each forklift and managing the forklift;
An emergency work notifying unit that transmits an emergency notice indicating the necessity of urgent transport work to the forklift, and
The forklift is
A switching unit for switching between the manned operation mode and the unmanned operation mode;
A work storage unit for storing work contents in the unattended operation mode,
The management device
A travel path storage unit in which a travel path on which the forklift travels in the unmanned operation mode is stored;
A stop notification unit that transmits a stop notification indicating a stop request to some of the forklifts in the unmanned operation mode when receiving the emergency notification;
Based on the travel path stored in the travel path storage unit and the path on the travel path on which the forklift in the unattended operation mode in which the stop notification is not notified is scheduled to travel, the non-notification target An area determining unit that determines an evacuation area on the travel path that does not become an obstacle to the transfer work based on the work content performed by the forklift,
The forklift is
When the stop notification is received, the transfer work based on the work content in progress is interrupted, the work content of the interrupted transfer work is stored as the interrupt work content in the work storage unit, and the area determination unit Move to the determined evacuation area and stop,
When the switching unit switches again to the unattended operation mode after stopping by receiving the stop notification, the transfer work based on the suspended work content stored in the work storage unit is resumed.

Preferably, the position of the forklift on the travel path can be specified,
The area determining unit
The route is specified based on the position of the non-notification target forklift on the travel path when the emergency notification is received and the work content of the transfer work performed by the non-notification target forklift.

Preferably, the forklift is
A position storage unit that stores a position when the conveyance work is interrupted by receiving the stop notification as an interruption position;
When the switching unit switches again to the unattended operation mode after stopping due to reception of the stop notification, it moves to the interrupted position stored in the position storage unit, and the interrupting work stored in the work storage unit Resume the transfer work based on the contents.

Preferably, the emergency work notification unit is
A display unit for displaying the evacuation area determined by the area determination unit is provided.

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

  Further, the forklift that has received the stop notification stops in the evacuation area determined by the area determination unit, so that it does not become an obstacle to the forklift conveyance work in other unattended operation modes.

It is the schematic of the conveyance system which concerns on one Example of this invention. It is a figure for demonstrating the step which determines an evacuation area in the conveyance system of FIG.

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

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

  In the warehouse 4, that is, in the unmanned area 3, a plurality of racks 5 for placing workpieces are arranged at appropriate intervals. Further, the unmanned area 3 is provided with a travel path on which the forklift 1 travels. The travel path is formed of a path formed between the racks 5 adjacent to each other or between the rack 5 and the wall of the warehouse 4 and is provided in a lattice shape.

  In this embodiment, an image guidance system is employed so that the forklift 1 can automatically travel on the travel path. That is, although not shown, a guide line colored with a color different from the road surface of the travel road is provided on the road surface along the travel road, and a camera for imaging this is provided on the forklift 1. Instead, a magnetic induction method in which a magnetic tape is provided on the road surface along the traveling path and a magnetic sensor for detecting the magnetic tape is provided in the forklift 1 may be employed.

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

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

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

  The forklift 1 includes a work storage unit for storing work contents of the transfer work in the unmanned operation mode, and a position storage unit used when an emergency unsteady transfer work described later occurs.

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

  In the manned operation mode, the forklift 1 drives the cargo handling unit or the traveling unit according to the input of the operation unit by the operator.

  In the unmanned operation mode, the forklift 1 travels along the travel path of the unmanned area 3 by driving the travel unit based on the detection result of the guide line, the unique mark, and the count mark by the camera and the image processing unit. In the case of the magnetic induction method, traveling along the traveling path of the forklift 1 is performed by driving the traveling unit based on the magnetic tape by the magnetic sensor and the detection result of the magnetic body.

  The transport system includes a forklift 1 and a management device 6 that manages the transport work. The management device 6 is configured to be able to selectively communicate with each forklift 1.

  The management device 6 includes a work database. The work database includes an all work storage unit in which work contents of all the transport work of the day are stored. The contents of each work stored in the entire work storage unit are the work to be transported, the importance of the work, the receiving position at which the forklift 1 receives the work with the rack 5, and the work with the forklift 1 between the rack 5. The delivery position etc. are included. Furthermore, the work database includes a travel path storage unit in which the travel path of the unmanned area 3 is stored.

  The management device 6 includes a work management unit that manages a regular transport work performed for each forklift 1 operated in the unattended operation mode in one day. The work management unit reads the work contents of the daily transfer work from the entire work storage unit of the work database and assigns it to each forklift 1 operated in the unattended operation mode. Then, the work management unit transmits the assigned work content to each forklift 1.

  The forklift 1 receives a plurality of work contents assigned to itself and stores them in the work storage unit. The forklift 1 drives the cargo handling unit and the traveling unit based on the stored work content. As a result, the forklift 1 moves to the receiving place and receives the workpiece, and then moves to the delivery location and delivers the workpiece. When one transfer operation is completed, the transfer operation is performed based on the next operation content stored in the operation storage unit. Thus, the forklift 1 in the unattended operation mode sequentially processes the work contents stored in the work storage unit.

On the other hand, in the manned area 2, the forklift 1 is operated in the manned operation mode. That is, in the manned area 2, the operator gets on the forklift 1 and performs a transfer operation.
In this transfer system, the normal transfer operation is performed as described above.

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

  The transport system is configured to be communicable with the management device 6 and includes an emergency work notification unit 7 that transmits an emergency notification indicating the necessity of an emergency transport work to the management device 6. The emergency work notification unit 7 is a device that is installed at a predetermined location in a work space such as the warehouse 4 or that is carried by a worker who performs an emergency unsteady transfer work (hereinafter referred to as an emergency worker 8). It is.

  The emergency work notification unit 7 includes a notification button that is operated by the emergency worker 8 in order to secure the forklift 1 in the unmanned operation mode. When the notification button is operated, the emergency notification is sent to the management device 6. Configured to send. Further, the emergency work notification unit 7 includes a display unit (for example, a display) for displaying information.

  The management device 6 includes a stop notification unit that transmits a stop notification indicating a stop request to some forklifts 1 in the unmanned operation mode when an emergency notification is received from the emergency work notification unit 7. Furthermore, the management device 6 includes a target determination unit that determines a predetermined number of forklifts 1 to be notified to which the stop notification unit transmits a stop notification from the forklifts 1 in the unattended operation mode based on a predetermined condition. ing.

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

Predetermined conditions for the target determining unit of the present embodiment to determine the unmanned operation mode forklift 1 to be notified are as follows.
(1) No workpiece is placed (2) The remaining amount of the battery serving as a drive source is more than a predetermined level (3) The importance of the workpiece to be transported is low (4) The distance from the emergency worker 8 is Close

  Each forklift 1 includes a workpiece detection unit that detects whether or not the cargo handling unit is placing a workpiece so that the forklift 1 that satisfies the condition (1) can be specified. In response to a request from the management device 6, The detection result is transmitted to the management device 6. In this embodiment, the work detection unit is composed of a load sensor attached to the fork of the cargo handling unit. The object determining unit recognizes whether or not these forklifts 1 are loaded with workpieces based on the detection result from the workpiece detection unit of each forklift 1 in the unattended operation mode, thereby satisfying the condition (1). Forklift 1 is specified.

  Each forklift 1 includes a battery as a drive source and a remaining amount detection unit that detects the remaining amount of the battery so that the forklift 1 that satisfies the condition (2) can be specified, in response to a request from the management device 6. The detected remaining battery level is transmitted to the management device 6. The target determination unit recognizes the remaining battery levels of the forklifts 1 based on the detection results from the remaining level detection units of the forklifts 1 in the unattended operation mode. Thereby, the target determining unit identifies the forklift 1 that satisfies the condition (2). In the present embodiment, “predetermined or more” in the condition (2) is 20% or more of the total capacity.

  As described above, the work content includes the importance of the work to be conveyed so that the forklift 1 that satisfies the condition (3) can be identified. There are five levels of importance, for example, “1” to “5”, and “1” has the highest importance. As described above, the work management unit of the management device 6 assigns the work contents of the transport work of the day to each forklift 1 in the unattended operation mode in advance, and also transports each forklift 1 by communication with each forklift 1. Recognize the progress.

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

The management device 6 includes a distance calculation unit that calculates the distance from the emergency worker 8 to the forklift 1 in the unmanned operation mode so that the forklift 1 that satisfies the condition (4) can be specified.
The emergency worker 8 uses the emergency work notification unit 7 when an emergency unsteady transfer work is required. Therefore, when the emergency work notifying unit 7 is installed at a predetermined position, this installation position is set as the position of the emergency worker 8 and stored in the work database in advance. When the emergency work notifying unit 7 is carried by the emergency worker 8, the emergency work notifying unit 7 includes a GPS receiving unit, and the position specified by the GPS receiving unit 7 is the position of the emergency worker 8. Each forklift 1 transmits its own position in the unmanned area 3 to the management device 6 in response to a request from the management device 6.

  Based on the position of the emergency worker 8, the position of the forklift 1 in the unmanned operation mode, and the travel path of the unmanned area 3 stored in the travel path storage unit of the work database, the distance calculation unit The distance to the forklift 1 is calculated.

  The target determination unit specifies the forklift 1 that satisfies the condition (4) based on the distance from the emergency worker 8 calculated by the distance calculation unit to the forklift 1 in the unmanned operation mode.

  As will be described later, the forklift 1 that is determined as a notification target interrupts the conveyance work and stops when receiving the stop notification. However, there is a possibility that the stopped forklift 1 may become an obstacle to traveling and cargo handling of other unmanned operation mode forklifts 1 (hereinafter referred to as non-notification forklifts) that are transporting without sending a stop notification. Therefore, it is preferable that the forklift 1 to be notified is stopped at a place where it does not become an obstacle to the transfer work of the forklift 1 to be notified.

  Therefore, the management device 6 includes an area determination unit that determines an evacuation area on the travel path that does not become an obstacle to the transfer work based on the work contents performed by the forklift 1 to be notified. The area determining unit determines the evacuation area based on the traveling path of the unmanned area 3 stored in the traveling path storage unit of the work database and the path on the traveling path on which the non-notifying forklift 1 is scheduled to travel.

  The management device 6 assigns work contents to each forklift 1 in the unmanned operation mode in advance by the work management unit, and recognizes the progress status of the transport work of each forklift 1 through communication with the forklift 1. Specifically, the area determination unit includes the position on the travel path of the non-notification target forklift 1 when the management device 6 receives the emergency notification, the work content assigned to the non-notification target forklift 1, and the work management unit. Based on the progress status of the transport work of each forklift 1 from and the travel path stored in the travel path storage unit, the travel scheduled path of each forklift 1 to be notified is specified. Then, the work management unit identifies an area where the non-notification target forklift 1 is not scheduled to travel, based on the identified travel route of each forklift 1 and the travel route stored in the travel path storage unit. To determine the save area. In addition, since the unmanned area 3 is large, there is basically no case where the evacuation area cannot be determined.

  Hereinafter, the flow of securing the forklift 1 in the unmanned operation mode and performing the unsteady transfer work when an emergency unsteady transfer work occurs will be described.

  When it becomes necessary to perform an urgent unsteady transfer operation, the emergency worker 8 presses the notification button of the emergency work notification unit 7. Then, the emergency work notification unit 7 transmits an emergency notification to the management device 6. Then, the management device 6 receives this emergency notification. The management device 6 communicates with each forklift 1 in the unattended operation mode, and acquires information necessary for determining the forklift 1 to be notified and information necessary for determining the evacuation area.

The target determination unit of the management device 6 determines the forklift 1 in the unmanned operation mode that is a notification target to which the stop notification unit notifies the stop notification as follows.
The target determining unit identifies the forklift 1 that satisfies the condition (1) among all the forklifts 1 in the unattended operation mode, and thereby removes the forklift 1 on which the workpiece is placed from the notification target. If the number of forklifts 1 satisfying the condition (1) is a predetermined number, this is determined as a notification target.

  When there are two or more forklifts 1 that satisfy the condition (1), the target determining unit identifies the forklifts 1 that satisfy the condition (2) from among the forklifts 1 that satisfy the condition (1), and thereby the remaining battery level Is removed from the notification target. If there is one forklift that satisfies the conditions (1) and (2), this is determined as a notification target.

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

  When there are two or more forklifts 1 that satisfy the conditions (1) to (3), the target determination unit has the largest distance from the emergency worker 8 among the forklifts 1 that satisfy the conditions (1) to (3). The near forklift 1, that is, the forklift 1 that satisfies the condition (4) is specified, and this is determined as a notification target. As described above, when the number of forklifts 1 that can be notified is larger than the predetermined number, the target determining unit finally determines a predetermined number of forklifts 1 as a notification target based on the condition (4). When there is no forklift 1 that satisfies the condition (1), the target determining unit randomly identifies one forklift 1 from all the forklifts 1 in the unattended operation mode, and determines this as a notification target.

  The subsequent steps will be described with reference to FIG. In FIG. 2, in the above step, the forklift determined as the notification target by the target determination unit is marked with “1A”, and the non-notification target forklift not decided as the notification target is marked with “1B”. ing.

Next, the area determining unit determines an evacuation area that does not interfere with the transfer work of each forklift 1B to be notified.
The area determination unit determines the travel schedule of the forklift 1B most recently from the position of the forklift 1B, the work content of the transport work in progress of the forklift 1B, and the work content of the transport work scheduled to be performed later if necessary. The route 9 is specified for each forklift 1B. The area determination unit specifies an area on the travel path through which the forklift 1B does not pass from the identified travel route 9 and the travel path stored in the travel path storage unit. The identified area is indicated by a two-dot chain ellipse in FIG.

  The area determining unit specifies one area located closest to the emergency worker 8 (emergency work notifying unit 7) from the plurality of specified areas, and determines this as the evacuation area 10. The target determining unit may determine the area closest to the forklift 1A as the retreat area 10 from the plurality of specified areas.

  After determining the forklift 1A and the evacuation area 10 to be notified, the management device 6 transmits a stop notification and the evacuation area 10 to the forklift 1A to be notified. Furthermore, the management device 6 also transmits the evacuation area 10 to the emergency work notification unit 7.

  When the forklift 1 </ b> A receives the stop notification and the evacuation area 10, the forklift 1 </ b> A interrupts the conveyance work based on the work content in progress. At this time, the forklift 1 </ b> A stores the interrupted work content in the work storage unit as the interrupted work content, and stores its own position as the interrupted position 11 in the position storage unit. The forklift 1 </ b> A travels from the interruption position 11 to the retreat area 10 and stops in the retreat area 10.

  On the other hand, upon receiving the evacuation area 10, the emergency work notifying unit 7 displays this on the display unit. The emergency worker 8 moves into the evacuation area 10 with reference to the information displayed on the display unit, and gets on the forklift 1A stopped there. Then, the emergency worker 8 switches the operation mode from the unmanned operation mode to the manned operation mode by the switching unit. The emergency worker 8 operates the forklift 1A to start an emergency unsteady transfer operation.

  The emergency worker 8 stops the forklift 1 </ b> A at a predetermined return position 12 on the travel path (guidance line) of the unmanned area 3 after the unsteady transfer work is completed. Then, the emergency worker 8 switches the operation mode from the manned operation mode to the unmanned operation mode by the switching unit.

  As described above, the forklift 1A reads the interruption position 11 stored in the position storage unit when it is switched to the unmanned operation mode again after the conveyance operation is interrupted by the stop notification and stopped in the evacuation area 10 as described above. The vehicle travels along the guide line from the return position 12 and returns to the interrupt position 11.

  Further, the forklift 1 </ b> A reads the suspended work content stored in the work storage unit, and resumes the transfer work based on the suspended work content from the suspended position 11. Hereinafter, the forklift 1A continues the conveyance work based on the work content. Thus, when the forklift 1A is switched again to the unmanned operation mode after the end of the emergency unsteady transfer work, the forklift 1A resumes the interrupted normal transfer work.

  According to the above transport system, the forklift 1 necessary for emergency unsteady transport work can be secured immediately from the unmanned area 3, and the emergency worker 8 can quickly tackle the unsteady transport work. Furthermore, the forklift 1 resumes the interrupted conveyance work only by switching the forklift 1 from the manned operation mode to the unmanned operation mode at the predetermined return position 12 after the unsteady conveyance work is completed, and thereafter Work in order.

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

  According to the condition (1), the unmanned operation mode forklift 1 that is transporting the workpiece is excluded from the notification target, so that the workpiece is not placed on the forklift 1 operated by the emergency worker 8. Immediately, unsteady transfer work is started.

  According to the condition (2), the forklift 1 with the remaining amount of the battery less than the predetermined value is excluded from the notification target. Therefore, the forklift 1 operated by the emergency worker 8 runs out of the battery during the unsteady transfer work and stops moving. This is prevented.

  According to the condition (3), the forklift 1 that is scheduled to convey a highly important workpiece is excluded from the notification target, and therefore, the conveyance operation for conveying the important workpiece is prevented from being interfered with the unsteady conveyance operation. .

  According to the condition (4), since the forklift 1 located near the emergency worker 8 is a notification target, the emergency worker 8 can quickly access the stopped forklift 1.

  The forklift 1 is stopped in the evacuation area 10 determined by the area determining unit, so that the forklift 1 that is stopped is not interrupted by the forklift 1 that is stopped. The emergency worker can safely switch from the unmanned operation mode to the manned operation mode in a place where the other forklift 1 does not interfere with the transfer work.

1 Forklift 1A Forklift for notification (Figure 2)
1B Non-notified forklift (Figure 2)
2 Manned area 3 Unattended area 4 Warehouse 5 Rack 6 Management device 7 Emergency work notification section 8 Emergency worker 9 Route to be traveled 10 Retreat area 11 Suspension position 12 Return position

Claims (4)

A transport system comprising a plurality of forklifts capable of switching between a manned operation mode and an unmanned operation mode,
A management device capable of communicating with each forklift and managing the forklift;
An emergency work notifying unit that transmits an emergency notice indicating the necessity of urgent transport work to the forklift, and
The forklift is
A switching unit for switching between the manned operation mode and the unmanned operation mode;
A work storage unit for storing work contents in the unattended operation mode,
The management device
A travel path storage unit in which a travel path on which the forklift travels in the unmanned operation mode is stored;
A stop notification unit that transmits a stop notification indicating a stop request to some of the forklifts in the unmanned operation mode when receiving the emergency notification;
Based on the travel path stored in the travel path storage unit and the path on the travel path on which the forklift in the unattended operation mode in which the stop notification is not notified is scheduled to travel, the non-notification target An area determining unit that determines an evacuation area on the travel path that does not become an obstacle to the transfer work based on the work content performed by the forklift,
The forklift is
When the stop notification is received, the transfer work based on the work content in progress is interrupted, the work content of the interrupted transfer work is stored as the interrupt work content in the work storage unit, and the area determination unit Move to the determined evacuation area and stop,
When switching to the unattended operation mode again by the switching unit after stopping due to reception of the stop notification, the transfer work based on the suspended work content stored in the work storage unit is resumed.
A conveyance system characterized by that. It is configured so that the position of the forklift on the travel path can be specified,
The area determining unit
Identifying the route based on the position of the non-notified forklift on the travel path at the time of receiving the emergency notification and the work content of the transfer work performed by the non-notified forklift;
The transport system according to claim 1. The forklift is
A position storage unit that stores a position when the conveyance work is interrupted by receiving the stop notification as an interruption position;
When the switching unit switches again to the unattended operation mode after stopping due to reception of the stop notification, it moves to the interrupted position stored in the position storage unit, and the interrupting work stored in the work storage unit Resume transport based on content,
The conveyance system according to claim 1 or 2, wherein The emergency work notification unit
A display unit for displaying the evacuation area determined by the area determination unit;
The conveyance system according to any one of claims 1 to 3, wherein

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