JP6208835B1 - Management device, cargo handling vehicle system, control method and program - Google Patents

Abstract

Even if the recovery threshold indicating the fatigue level used to determine whether or not to return a driver to a manned operation from a break is changed according to the situation of each driver's cargo handling work, the driver is changed. It is possible to secure the number of cargo handling operations that can be performed before the next break. A management device that manages a cargo handling vehicle that switches from unmanned driving to manned driving when a driver's fatigue level is equal to or lower than a recovery threshold that is a criterion for returning from rest to manned driving. A schedule generation unit that allocates a cargo handling operation with a small increase in the degree of fatigue to a cargo handling operation performed when the manned operation is performed when the vehicle is larger. [Selection] Figure 5

Description

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

  2. Description of the Related Art In recent years, forklifts that are cargo handling vehicles 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 done in a hurry, an operation by manned operation becomes necessary.

Japanese Patent No. 5400442

  If you continue to perform manned driving, fatigue will accumulate in the driver, so you must regularly take breaks, but the driver is not aware of fatigue and is concentrating on work In some cases. In such a case, in addition to the technique described in Patent Document 1, by further incorporating a mechanism for automatically switching from manned driving to unmanned driving, the tired driver can be encouraged to take a break. it can.

In order to determine whether or not the driver will return to manned operation from a break when introducing a mechanism for automatic switching from manned operation to unmanned operation as described above in a warehouse where multiple forklifts operate If the threshold value indicating the criterion of the fatigue level to be used is fixed, it is assumed that there is a difference in the amount of work indicated by the number of times of work handling and the work time of each worker. Therefore, it is conceivable to change the threshold value according to the situation of the cargo handling work of each driver.
However, when the threshold value is large, if the driver only performs a cargo handling operation with a large increase in the degree of fatigue, the number of cargo handling operations that can be performed before entering the next break is reduced. As a result, the driver enters a break with a small number of cargo handling operations, and the work efficiency decreases.

  The present invention has been made to solve the above-mentioned problem, and its purpose is used to determine whether or not to return a driver from a break to a manned operation according to the situation of each driver's cargo handling work. A management device, a cargo handling vehicle system, a control method, and a program capable of ensuring the number of cargo handling operations that can be performed before the driver enters the next break even when the recovery threshold value indicating the fatigue level is changed. It is to provide.

  In order to solve the above problem, according to one aspect of the present invention, a recovery threshold that is a criterion for returning the driver from a break to a manned driving is different according to the number of breaks of the driver, and the driver's fatigue level is different. Is a management device that manages a cargo handling vehicle that switches from unmanned operation to manned operation when the recovery threshold is less than or equal to the recovery threshold value. It is a management apparatus characterized by including a schedule generation unit that allocates a smaller cargo handling work.

  According to another aspect of the present invention, in the above-described invention, the schedule generation unit may record the cargo handling work assigned to the cargo handling work by the manned operation in the storage unit.

  Moreover, one aspect of the present invention is the invention described above, further comprising a cargo handling fatigue increase determination unit that specifies cargo handling work in ascending order of an increase in fatigue level, and the schedule generation unit includes the cargo handling fatigue increase determination unit When the cargo handling operations specified by are arranged in ascending order of the increase in fatigue level, the cumulative increase in the fatigue level reaches a break threshold indicating the fatigue level threshold that is a criterion for the driver to enter a break. A work may be specified, and the work from the start of accumulation of the increase in the fatigue level to the load handling work that reaches the specified break threshold may be assigned to the load handling work by the manned operation.

  Further, according to one aspect of the present invention, in the invention described above, when the driver's fatigue level is equal to or higher than a break threshold value indicating a fatigue level threshold value as a determination criterion for the driver to enter a break, the manned driving A break acquisition instructing unit that switches the driving state from the traveling of the cargo handling vehicle to the traveling of the cargo handling vehicle by unmanned driving may be provided.

  Further, according to one aspect of the present invention, in the above-described invention, a fatigue level threshold value that is a criterion for the driver to enter a break is shown based on the driver's normal biological information and the number of breaks. You may make it provide the 1st break threshold value setting part which sets a break threshold value.

  Further, according to one aspect of the present invention, in the above-described invention, as the number of breaks of the driver increases, a break threshold indicating a fatigue level threshold that is a criterion for the driver to enter a break is set to a larger value. You may make it provide the 2nd break threshold value setting part to set.

  Further, according to one aspect of the present invention, in the above-described invention, it is determined whether or not the driver's fatigue level is greater than or equal to a fatigue level threshold value that is a criterion for the driver to enter a break. You may make it provide a 1st fatigue degree determination part.

  Further, according to one aspect of the present invention, in the above-described invention, when the driver's fatigue level is equal to or less than the recovery threshold, the driving state is changed from traveling of the unloading vehicle to a loaded vehicle by manned driving. A work return instructing unit that switches the vehicle to a cargo handling vehicle, and a second fatigue degree determining unit that determines whether or not the driver's fatigue level is less than or equal to the recovery threshold. When the second fatigue level determination unit determines that the driver's fatigue level is less than or equal to the recovery threshold, the driving state is switched from traveling of the cargo handling vehicle by unmanned driving to traveling of the cargo handling vehicle by manned driving to the cargo handling vehicle. You may make it make it.

  Further, according to an aspect of the present invention, in the above-described invention, when the schedule generation unit arranges the cargo handling work in descending order of the increase in the degree of fatigue, the accumulated time of the work time of the cargo handling work is You may make it identify the cargo handling operation | work which becomes more than the time after a driver | operator enters a break until fatigue recovers.

  Further, according to one aspect of the present invention, in the invention described above, the recovery threshold value may be set to a smaller value as the number of breaks of the driver increases.

  One aspect of the present invention is the above-described invention, further comprising a recovery threshold setting unit that sets the recovery threshold based on the driver's normal biological information and the number of breaks. Good.

  In addition, according to one aspect of the present invention, in the above-described invention, a fatigue degree calculation unit that calculates the driver's fatigue degree based on the driver's biological information may be provided.

  Further, according to one aspect of the present invention, when the management device according to any one of the above and a driver's fatigue level is equal to or less than a recovery threshold that is a determination criterion for returning from rest to manned driving, cargo handling by unmanned driving A cargo handling vehicle having a driving changeover switch that switches a driving state from running of the vehicle to running of a cargo handling vehicle by manned driving, and a biological information detection device that acquires the biological information of the driver and transmits the biological information to the cargo handling vehicle. It is the cargo handling vehicle system characterized by providing.

  According to another aspect of the present invention, a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and the driver returns from rest to manned driving according to the number of breaks of the driver. A cargo handling vehicle system comprising: a management device that manages a cargo handling vehicle that switches from unmanned driving to manned driving when a recovery threshold that is a criterion is different and the driver's fatigue level is equal to or less than the recovery threshold. The management device includes a schedule generation unit that assigns a smaller cargo handling work corresponding to an increase in fatigue to a cargo handling work performed by the manned operation performed when the recovery threshold is larger, and a cargo handling object transferred by the cargo handling vehicle. Work plan information including work identification information including information indicating the position of the loading place and information indicating the position of the transfer destination, and information indicating the completion state of the work, and the completion of the work A work plan information storage unit for storing information indicating a state as information indicating incomplete, and selecting the work plan information for which the information indicating the completion state of the work is incomplete from the work plan information storage unit And when the work specification information is received from the work plan information selection unit that outputs the work specification information included in the work plan information and the cargo handling vehicle, the completion state of the work corresponding to the work specification information is indicated. A completed information writing unit that rewrites information from incomplete to information indicating completion, and a fatigue level calculation unit that calculates the driver's fatigue level based on the driver's biometric information, The cargo handling vehicle is based on a recovery threshold setting unit that sets the recovery threshold based on the normal biological information of the driver and the number of breaks, and when the driver's fatigue is less than or equal to the recovery threshold, The load A driving changeover switch that switches a driving state from driving of the vehicle to driving of the cargo handling vehicle by manned driving, and the biological information detection device acquires the biological information of the driver and transmits the biological information to the cargo handling vehicle. This is a cargo handling vehicle system characterized by that.

  In addition, according to one aspect of the present invention, a recovery threshold that is a determination criterion for the driver to return from a break to manned driving is different according to the number of breaks of the driver, and the driver's fatigue level is equal to or less than the recovery threshold. A control method of a management device that manages a cargo handling vehicle that switches from unmanned operation to manned operation in the event that the unloading operation is carried out when the recovery threshold is larger, the loading operation by the manned driving is smaller than the increase in fatigue level A control method including assigning a cargo handling operation.

  Another embodiment of the present invention is a control method for a cargo handling vehicle system including the management device according to any one of the above, a cargo handling vehicle, and a biological information detection device, wherein the driver's fatigue level is resting. If it is below the recovery threshold value that is a criterion for returning to manned driving from the vehicle, the driving state is switched from traveling of the cargo handling vehicle by unmanned driving to traveling of the cargo handling vehicle by manned driving, and the driver's biological information is acquired. And transmitting to the cargo handling vehicle.

  According to another aspect of the present invention, a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and the driver returns from rest to manned driving according to the number of breaks of the driver. A control method for a cargo handling vehicle system including a management device that manages a cargo handling vehicle that switches from unmanned driving to manned driving when a recovery threshold that is a criterion is different and the driver's fatigue level is equal to or less than the recovery threshold. And assigning a cargo handling operation by the manned operation performed when the recovery threshold is larger to a smaller cargo handling operation corresponding to the increase in the degree of fatigue, and a loading place of the cargo handling object to be transferred by the cargo handling vehicle. Work identification information including information indicating the position and information indicating the position of the transfer destination, and work plan information including information indicating the completion state of the work, information indicating the completion state of the work is incomplete The information indicating the completion status of the work, selecting the work plan information that has not been completed, and outputting the work specifying information included in the work plan information; When the work specifying information is received from the cargo handling vehicle, the information indicating the completion state of the work corresponding to the work specifying information is rewritten to information indicating completion from incomplete, and the driver's biological information And calculating the driver's fatigue level, setting the recovery threshold based on the driver's normal biological information and the number of breaks, and determining the driver's fatigue level as the recovery threshold. When the following is true, switching the driving state from traveling of the cargo handling vehicle by unmanned driving to traveling of the cargo handling vehicle by manned driving, and acquiring the driver's biological information and transmitting it to the cargo handling vehicle A control method characterized by comprising the Rukoto, the.

  In addition, according to one aspect of the present invention, a recovery threshold that is a determination criterion for the driver to return from a break to manned driving is different according to the number of breaks of the driver, and the driver's fatigue level is equal to or less than the recovery threshold. In the computer of the management device that manages the handling vehicle that switches from unmanned operation to manned operation in the case of becoming, the loading operation by the manned operation that is performed when the recovery threshold is larger, the smaller loading operation that increases the degree of fatigue This is a program that executes assignment.

  According to the present invention, even when the recovery threshold indicating the fatigue level used to determine whether or not to return the driver to the manned driving from the rest is changed according to the situation of each driver's cargo handling work. The number of cargo handling operations that the driver can perform before entering the next break can be ensured.

It is the schematic which shows the structure of the cargo handling vehicle 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 figure which shows the structure of the data memorize | stored in the threshold value pattern memory | 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. It is a figure which shows the threshold value of the fatigue degree which the driver | operator in the same embodiment returns to a manned driving | operation from a break. It is a figure which shows the order of the process of the cargo handling work scheduled in the embodiment. It is a flowchart which shows the process which ensures the frequency | count of cargo handling work in 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 vehicle system 1 according to an embodiment of the present invention. The cargo handling vehicle system 1 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 device 210 owned by each driver, and a management device that manages the forklift 100. 300. The forklift 100 travels in two driving states: a manned driving that travels under the operation of the driver 2 and an unmanned driving that automatically travels without receiving the operation of the driver 2.

  On the road surface of the travel route of the forklift 100, a guide line 600 and a position mark 400 for guiding the progress of the forklift 100 are provided. A plurality of position marks 400 are provided on the road surface of the travel route such as a certain distance interval on the guide line 600 or a location where the guide line 600 intersects. The position mark 400 is, for example, a count as shown in Japanese Patent Application Laid-Open No. 2013-171368 printed or pasted on a part of a guide line 600 used to guide the forklift 100 when unmanned operation is performed. Mark or unique mark. 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 position detection unit 511 described later analyzes an image obtained by capturing the identification information with the camera 113, and an identification number indicating the position is specified and output. The detected identification number is different for each position. The identification number may be used as position information indicating the position as it is, or when the identification number is compared with position information detected by the biological information detection apparatus 200 described later, the detected identification number is set to GPS (Global Positioning System) or the like. It is converted into position information used in NSS (Navigation Satellite System) and applied.

  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. The biological information to be detected is, for example, a pulse rate, a heart rate, a sweat rate, a blood pressure, a respiratory rate, an oxygen saturation, a body temperature, and the like. In addition, the biological information detection apparatus 200 detects position information indicating a position where the own apparatus exists. The position information is detected by NSS such as GPS. In addition, the biological information detection device 200 transmits the detected biological information and position information to the management device 300 by wireless communication means such as WiFi (registered trademark).

  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 called 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 traveling speed of the forklift 100, the traveling distance, the load of the fork 104 detected by the load sensor 112, and information indicating whether the driving state is an unmanned driving state or a manned driving 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 a guide line 600 that guides the progress of the forklift 100 during unmanned operation, and a position provided on the guide line 600 at a certain distance interval or where the guide line 600 intersects. 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 2 gets on the forklift 100, the floor switch 118 is turned on by the weight of the driver 2. On the other hand, when the driver 2 gets off the forklift 100, the floor switch 118 is turned off.

  FIG. 3 is a block diagram showing the configuration of the forklift 100 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 started, the work status management unit 502 transmits start information to the management apparatus 300. When the work is completed, the work status management unit 502 notifies the completion of the work, so that the work identification information indicating the work is used as completion information. It transmits to the management apparatus 300. In addition, the transmission / reception unit 501 receives instruction information for instructing 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 instruction information received from the management device 300. Further, when the operation changeover switch unit 504 receives unmanned travel instruction information from the management device 300, the operation changeover switch unit 504 switches to unmanned operation when the operation state at that time is a manned operation state. In addition, when switching to unmanned operation, the operation changeover switch unit 504 waits until the operation is completed without switching the operation state and indicates the operation status when the information indicating the operation status indicates that the operation is in progress. When the information indicates completion of work, switching to unmanned operation is performed. Further, when the operation changeover switch unit 504 receives the manned travel instruction information from the management device 300, the operation changeover switch unit 504 automatically uses the unmanned travel stop instruction information to switch to the manned operation when the current operation state is the unmanned operation state. Output to the operation control unit 503. 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 images of the guide line 600 and the position mark 400 that are sequentially captured by the camera 113 and sequentially outputs information indicating a deviation from the guide line 600 and information indicating the position. The boarding determination unit 513 determines whether the driver 2 is on the board based on the on / off state of the floor switch 118.

  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 controls the travel control unit 508 so that the vehicle travels along the guide line 600 based on the deviation from the guide line 600 output by the position detection unit 511 and information indicating the position. Is output.

  FIG. 4 is a diagram illustrating a configuration of data stored in the storage unit of the vehicle control device 105 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, an identification number indicating the position where the load is lifted up, an identification number 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 a configuration of the management apparatus 300 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, A position specifying unit 308, a break acquisition instruction unit 309, a work return instruction unit 310, a threshold pattern storage unit 311, a cargo handling fatigue increase determination unit 313, and a schedule generation unit 316 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 such as WiFi (registered trademark).

  The work plan information storage unit 301 stores a work plan information table 301A, a vehicle table 301B, a driver table 301C, and a schedule 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 device 300, the identification number of the forklift 100 that transports the package is written in the “vehicle ID” and is associated with the package. The identification numbers of “package ID”, “loading position ID”, and “transfer destination position ID” are written, 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.
In addition, although the order which performs the cargo handling work in each forklift 100 is decided beforehand, it can be changed.

  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, an identification number indicating the position of the forklift 100 is written. 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, and “completed” is written when the package is not being transferred. When the forklift 100 to be used is added, a record is generated by an operation of the operator of the management apparatus 300, and the identification number of the forklift 100 to be newly added is written in the item “vehicle ID”. Also, at the beginning of the cargo handling operation, the “position” item is blank or a predetermined initial value is written, the “driving state” item is all written with “manned operation”, and the “completed state” item “Complete” is written in.

The driver table 301C includes items of “biological information detection device ID”, “portable terminal device ID”, “normal biological information”, and “vehicle ID”. In the item “biological information detection device ID”, an identification number given in advance for each biological information detection device 200 is written. In the item “mobile terminal device ID”, an identification number assigned in advance for each mobile terminal device 210 is written. In the item “normal biological information”, the driver 2 measured at the start of the cargo handling operation by the biological information detecting device 200 having the identification number written in the “biological information detecting device ID” corresponding to the item. The value of the normal biological information is written. In the item “vehicle ID”, an identification number of the forklift 100 that is driven by the driver 2 who wears the biological information detecting device 200 and carries the portable terminal device 210 is written.
Details of the schedule table 301D will be described later.

  In the work plan information selection unit 302, the identification number of the forklift 100 to be transmitted is written in the item “vehicle ID” in the information included in the work plan information table 301A stored in the work plan information storage unit 301. 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” and an identification number indicating the position of the item “transfer destination position ID” from the read work plan information, that is, Work identification information is generated and transmitted to the vehicle control device 105 of the forklift 100 to be transmitted through the transmission / reception unit 304 in accordance with the identification number of “vehicle ID”. 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 stored in the vehicle table 301 </ b> B of the work plan information storage unit 301 based on information received from the forklift 100 through the transmission / reception unit 304. In addition, the vehicle state writing unit 305 includes information related to each driver 2, that is, the biological information detection device ID of the biological information detection device 200 attached to the driver 2, and the normality of the driver 2 before the start of the cargo handling operation. The biological information, the vehicle ID on which the driver 2 is boarded, and the information associated with the portable terminal device ID of the portable terminal device 210 carried by the driver 2 are received from the portable terminal device 210 and written in the driver table 301C.

  The fatigue level calculation unit 306 receives the biological information detected by the biological information detection device 200 through the transmission / reception unit 304, and the received biological information and the normal biological information of the driver 2 stored in the driver table 301C. The degree of fatigue is calculated based on Here, the fatigue level is a value calculated based on the biological information, and is, for example, a value of 0 or more that increases as fatigue is accumulated in the driver 2. 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 position specifying unit 308 detects the position of the driver 2 by receiving position information from the biological information detection device 200.

  The break acquisition instruction unit 309 generates unmanned travel instruction information for the corresponding forklift 100 according to the determination result of the fatigue level determination unit 307. In addition, the break acquisition instruction unit 309 transmits the generated unmanned travel instruction information to the forklift 100 through the transmission / reception unit 304. When the determination result of the fatigue level determination unit 307 indicates that the driver 2 has recovered from fatigue, the work return instruction unit 310 notifies the mobile terminal device 210 owned by the driver 2 through the transmission / reception unit 304 from the fatigue. Send a notification indicating recovery. Further, when the determination result of the fatigue level determination unit 307 indicates that the driver 2 has recovered from fatigue, the work return instruction unit 310 provides position information indicating the position of the driver 2 detected by the position specifying unit 308. In addition, manned travel instruction information for the forklift 100 on which the driver 2 is boarded is generated. Further, the work return instruction unit 310 transmits the generated manned travel instruction information to the forklift 100 through the transmission / reception unit 304.

The threshold pattern storage unit 311 stores in advance a threshold table 311A and a recovery threshold pattern table 311B shown in FIG.
The threshold value stored in the threshold value table 311A is a break threshold value used to determine whether or not the driver 2 should take a break, and is a second reference value of the fatigue level. The break threshold is, for example, normal biological information of the driver 2 measured by the biological information detection device 200 before work. The threshold value stored in the recovery threshold pattern table 311B is a recovery threshold value, which is a first reference value of the degree of fatigue used to determine whether the driver 2 should return from the break to the manned driving. The recovery threshold is information set based on the normal biological information and the number of breaks of the driver 2 measured by the biological information detection device 200 before work. For example, when the pulse rate is detected as the biological information. The value of the pulse rate for one minute in the normal time of the driver 2 is measured in advance, and the pulse rate, which is the first predetermined value, is set lower as the number of breaks increases based on the measured pulse rate.

  The recovery threshold value pattern table 311B has items of “biological information detection device ID”, “number of breaks”, “threshold value 1”, “threshold value 2”, and “threshold value 3”. In the item “biological information detection device ID”, an identification number given in advance for each biological information detection device 200 is written. In the item “number of breaks”, the number of breaks acquired by the driver 2 wearing the biological information detection device 200 indicated by the “biological information detection device ID” corresponding to the item is written. The initial value of the number of breaks is “1”. In the “threshold 1” item, a threshold value used for determining whether or not the user is fatigued when the number of breaks is 1, and in the “threshold 2” item, the user is tired when the number of breaks is 2. A threshold value used for determining whether or not the user is in a state is written, and a recovery threshold value used for determining whether or not the user is tired when the number of breaks is 3 is written in the item “threshold value 3”. In the threshold value table 311A, threshold values used for determining whether or not the driver 2 enters a break are written in advance.

The cargo handling fatigue increase determination unit 313 identifies the cargo handling work in ascending order of the increase in the fatigue level.
The schedule generation unit 316 assigns a smaller cargo handling work corresponding to the increase in the fatigue level to the cargo handling work by the manned driving performed when the recovery threshold for returning the driver 2 from the break to the manned driving is larger.
Moreover, the schedule production | generation part 316 records the cargo handling work allocated to the cargo handling work by manned driving in a memory | storage part.

  The recovery threshold setting unit 319 sets a recovery threshold based on the normal biological information of the driver 2 and the number of breaks.

    The break threshold setting unit 318 sets a break threshold based on the normal biological information of the driver 2 and the number of breaks.

(Processing before starting cargo handling work)
Before the cargo handling operation is started, the biological information detection device 200 and the portable terminal device 210 are distributed to each driver 2, and the driver 2 wears the biological information detection device 200. The biological information detection apparatus 200 detects normal biological information of the driver 2 and outputs the detected normal biological information on the screen of the biological information detection apparatus 200, for example. In response to the operation of the driver 2, the mobile terminal device 210 receives normal biometric information displayed on the screen of the biometric information detection device 200 and the biometric information detection device ID given in advance to the biometric information detection device 200. Registration information including an identification number, an identification number of a vehicle ID given in advance to the boarding forklift 100, and an identification number of a mobile terminal device ID given in advance to the mobile terminal device 210 is generated. The mobile terminal device 210 transmits the generated registration information to the management device 300 by the operation of the driver 2. When receiving the registration information through the transmission / reception unit 304, the vehicle state writing unit 305 of the management device 300 writes the received registration information in each item of the driver table 301C of the work plan information storage unit 301 and registers it.

(Location information management process)
A process in which the management apparatus 300 updates information on the position 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 detects the identification number of the position mark 400. The work status management unit 502 associates the identification number indicating the position detected by the position detection unit 511 with the information on the identification number of the vehicle ID of the forklift 100 and transmits it to the management device 300. The vehicle state writing unit 305 of the management apparatus 300 selects the record of the vehicle table 301B of the work plan information storage unit 301 corresponding to the received identification information of the vehicle ID, and the item of “position” of the selected record Is replaced with an identification number indicating the received position. Thereby, the information on the latest position of each forklift 100 can be stored in the vehicle table 301B.

(Work status management process)
FIG. 8 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 camera is stopped (step Sa2: stopped), the work status management unit 502 analyzes the image of the position mark 400 sequentially captured by the camera 113 and outputs an identification number indicating the position where the position detection unit 511 analyzes and outputs the image. Obtained from the position detection unit 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 to the management device 300 through the transmission / reception unit 501 in association with the start information indicating that the work has started and the identification number of the vehicle ID of the forklift 100 (step Sa6). When the vehicle state writing unit 305 of the management apparatus 300 receives the start information and the identification number of the vehicle ID through 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 selects a record in the vehicle table 301B corresponding to the received identification number of the vehicle ID, and sets the “completed state” item of the selected record to “working”. rewrite.

  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 sets 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 as completion information. The information is associated with the identification number of the vehicle ID of the forklift 100 and transmitted to the management device 300 through the transmission / reception unit 501 (step Sa9). When the vehicle state writing unit 305 of the management apparatus 300 receives the completion information and the identification number of the vehicle ID through 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 selects a record in the vehicle table 301B corresponding to the received identification number of the vehicle ID, and rewrites the “completed state” item of the selected record to “completed”. .

  Further, 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 received completion information. Specifically, the work completion information writing unit 303 matches the combination of the received completion information, that is, the identification number indicating the lift-up position and the identification number indicating the lift-down position included in the work specifying information. The work plan information is detected from the work plan information table 301 </ b> 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 (step Sa10). In addition, the work status management unit 502 writes “completed” indicating that the work is completed in the “completion state” item, and repeats the processing from step Sa1. On the other hand, if it is determined in step Sa7 that there is a load (step Sa8: with load), it is assumed that the work state management unit 502 simply moves the fork 104 down while loading the load. The work status management unit 502 repeats the processing from step Sa1.

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. 9 is a flowchart illustrating processing for switching between manned driving and unmanned driving according to the degree of fatigue of the driver 2 by the management device 300.

The recovery threshold setting unit 319 sets a recovery threshold used for determining whether or not the driver 2 should return to driving from a break based on the normal biological information of the driver 2 and the number of breaks ( Step Sb3).
For example, the recovery threshold value setting unit 319 subtracts a second predetermined value that is weighted based on a value obtained by adding fatigue to the value of the pulse rate for one minute of the driver 2 in a normal time and the number of breaks, thereby setting the recovery threshold value. Set. Specifically, the recovery threshold value setting unit 319 uses a value obtained by multiplying the number of breaks by 3 times as a second predetermined value, and is a value obtained by adding fatigue corresponding to a pulse rate of 10 to the pulse rate of the driver 2 during a normal period of 1 minute. The value obtained by subtracting 3 from the value obtained by adding 10 to the value of the pulse rate for 1 minute of the driver 2 during the first break, and the value obtained by subtracting 3 from the value of the driver 2 during the second break. A value obtained by subtracting 6 from a value obtained by adding 10 to the pulse rate value for 1 minute. In the third break, 9 is subtracted from a value obtained by adding 10 to the pulse rate value for 1 minute during normal driving of the driver 2. Value. Note that if the recovery threshold is set to a value similar to the break threshold, which is a fatigue threshold used to determine whether to take a break, the driver 2's fatigue is slightly recovered after switching from manned driving to unmanned driving Since it will immediately switch from unmanned driving to manned driving, a recovery threshold that is lower than the rest threshold, for example, about 5 to 10 beats lower than the rest threshold is set. There is a need.
The recovery threshold value setting unit 319 sets the threshold value of the degree of fatigue to return from the break when the number of breaks is 1 as “recovery threshold value 1”, and sets the threshold value of fatigue level to return from the break when the number of breaks is 2 as “recovery threshold value 2”. When the number of breaks is 3, the threshold of the degree of fatigue returning from the break is set as “recovery threshold 3”. For example, the recovery threshold setting unit 319 sets the value of the recovery threshold 1 to 40, the value of the recovery threshold 2 to 30, and the value of the recovery threshold 3 to 20.
The recovery threshold setting unit 319 writes each set recovery threshold in the threshold pattern storage unit 311.

Next, the management device 300 performs a process of assigning a cargo handling operation according to the recovery threshold set for the driver 2 (step Sb20).
Details of the processing in step Sb20 will be described later.

  The biological information detecting device 200 attached to the driver 2 detects the biological information of the driver 2 and position information indicating the position of the own device. The biological information detection device 200 associates the detected biological information, the position information, and the identification number of the biological information detection device ID of the biological information detection device 200 with each other and transmits them to the management device 300. The transmission / reception unit 304 of the management device 300 receives the biological information output from the biological information detection device 200, the position information, and the identification number of the biological information detection device ID (step Sb1). The position specifying unit 308 outputs the position information received through the transmission / reception unit 304 as position information indicating the position of the driver 2.

  The fatigue level calculation unit 306 refers to the driver table 301C, and the normal biometric information written in the item “normal biometric information” corresponding to the identification number of the biometric information detection device ID received by the transmission / reception unit 304 is obtained. Read from the driver table 301C. The fatigue level calculation unit 306 calculates the fatigue level based on the read normal biological information and the biological information received by the transmission / reception unit 304 (step Sb2), and the calculated fatigue level and the identification number of the biological information detection device ID Are output in association with each other.

  The break threshold value setting unit 318 sets a break threshold value used for determining whether the driver 2 should take a break based on the normal biological information of the driver 2 and the number of breaks. For example, the break threshold setting unit 318 sets the break threshold as 100.

  When the fatigue level determination unit 307 receives the identification number of the biological information detection device ID and the fatigue level information from the fatigue level calculation unit 306, the fatigue level determination unit 307 refers to the vehicle table 301B and the driver table 301C stored in the work plan information storage unit 301. Thus, it is determined whether the current driving state of the forklift 100 on which the driver 2 is boarding is a manned driving state or an unmanned driving state (step Sb4). Specifically, the fatigue level determination unit 307 refers to the driver table 301C, refers to the item “vehicle ID” corresponding to the identification number of the biological information detection device ID, and writes the item in the item “vehicle ID”. Read the identification number. The fatigue level determination unit 307 detects the operation state of the forklift 100 to be determined with reference to the item “operation state” in the record of the vehicle table 301B that matches the read identification number of “vehicle ID”.

  When it is determined that the state is the manned driving state (step Sb4: manned driving state), the fatigue level determination unit 307 refers to the threshold value table 311A of the threshold pattern storage unit 311 and reads a threshold value indicating the fatigue level 100, for example (step Sb5). ). The fatigue level determination unit 307 determines whether or not the current fatigue level of the driver 2 calculated by the fatigue level calculation unit 306 is equal to or greater than a threshold value (for example, fatigue level 100 regardless of the number of breaks) read from the threshold value table 311A. Is determined (step Sb6).

  When the fatigue level determination unit 307 determines that the fatigue level calculated by the fatigue level calculation unit 306 is not equal to or greater than the threshold value read from the threshold value table 311A (step Sb6: No), the processing from step Sb1 is repeated. On the other hand, when the fatigue level determination unit 307 determines that the threshold is greater than or equal to the threshold value read from the threshold value table 311A (step Sb6: Yes), the determination result from the fatigue level determination unit 307, the identification number of the biological information detection device ID, and In response, the break acquisition instruction unit 309 determines whether or not the work of the forklift 100 corresponding to the driver 2 has been completed (step Sb7).

  When the break acquisition instruction unit 309 refers to the vehicle table 301B of the work plan information storage unit 301, the item “completed state” corresponding to the identification number of the vehicle ID 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 Sb6: No), the break acquisition instruction unit 309 displays a display instruction for displaying a notice of switching from the manned operation to the unmanned operation to the forklift 100 through the transmission / reception unit 304. Then, the process of step Sb6 is repeated (step Sb8). Thereby, the vehicle control device 105 of the forklift 100 corresponding to the driver 2 displays a notice of switching from the manned operation to the unmanned operation on the display 114.

  On the other hand, when the item of “completion state” is “completed” (step Sb7: Yes), it is determined that the current work is completed, and the break acquisition instruction unit 309 receives from the fatigue level determination unit 307. Based on the identification number of the biological information detection device ID, the threshold value table 311A is referred to, and 1 is added to the item “number of breaks” corresponding to the identification number of the biological information detection device ID (step Sb9). The break acquisition instruction unit 309 transmits unmanned travel instruction information for switching from manned operation to unmanned operation to the forklift 100 through the transmission / reception unit 304 (step Sb10). The break acquisition instructing unit 309 refers to the vehicle table 301B of the work plan information storage unit 301 and rewrites the “driving state” item corresponding to the vehicle ID identification number received from the fatigue level determination unit 307 to “unmanned driving”. Together with (Step Sb11), the process returns to Step Sb1.

  When the operation changeover switch unit 504 of the vehicle control device 105 receives the unmanned travel instruction information from the management device 300 via the transmission / reception unit 501, the operation changeover switch unit 504 rewrites the driving state information 512B in the storage unit 512 with information indicating the unmanned driving 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. Thereafter, the vehicle control device 105 starts the unmanned operation process shown in FIG.

  On the other hand, when it is determined in step Sb3 that the vehicle is in an unmanned driving state (step Sb3: unmanned driving state), the fatigue level determination unit 307 refers to the recovery threshold value pattern table 311B of the threshold value pattern storage unit 311 and performs a fatigue level calculation unit. The value stored in the item “number of breaks” in the record corresponding to the identification number of the biological information detecting device ID received from 306 is read. The fatigue level determination unit 307 reads a recovery threshold value corresponding to the read value indicating the number of breaks from the recovery threshold pattern table 311B. The fatigue level determination unit 307 determines whether or not the current fatigue level of the driver 2 calculated by the fatigue level calculation unit 306 is less than or equal to the recovery threshold value read from the recovery threshold value pattern table 311B (step Sb12). For example, in the case of the recovery threshold value pattern table 311B shown in FIG. 7, the fatigue level determination unit 307 indicates that the number of breaks for the identification number 1001 of the biological information detection device ID is 1, and the current fatigue level of the driver 2 is the recovery threshold value. It is determined whether it is 40 or less.

  When the fatigue level determination unit 307 determines that the current fatigue level of the driver 2 calculated by the fatigue level calculation unit 306 is not equal to or less than the recovery threshold (step Sb12: No), the processing from step Sb1 is repeated. On the other hand, when the fatigue level determination unit 307 determines that the fatigue level calculated by the fatigue level calculation unit 306 is equal to or less than the recovery threshold (Yes in step Sb12), the work return instruction unit 310 is detected by the position specifying unit 308. Based on the position information of the driver 2 and the vehicle table 301B stored in the work plan information storage unit 301, the “driving state” of the forklift 100 in which the “driving state” is unmanned driving and the “completed state” is completed. Among them, the one closest to the driver 2 is selected (step Sb13). When all of the forklifts 100 are in “completed state”, the work return instruction unit 310 selects the forklift 100 whose “driving state” is unmanned operation and that is closest to the driver 2. To do.

When the forklift 100 is selected, the work return instruction unit 310 replaces the selected forklift 100 work with the forklift 100 work associated with the driver 2 (step Sb14). For example, in step Sb13, the work return instruction unit 310 sets the “vehicle ID” of the vehicle table 301B as the forklift closest to the driver 2 wearing the biological information detection device 200 whose biological information detection device ID is “1002”. ”Is selected for forklift 100 with“ 005 ”. The work return instructing unit 310 refers to the driver table 301C and rewrites the “vehicle ID” of the record with the biometric information detection device ID “1002” from “001” to “005”, and is not shown in the driver table 301C. The “vehicle ID” of the record whose “vehicle ID” is “005” is rewritten to “001”. Next, the work return instruction unit 310 rewrites all the “vehicle ID” of the record in which the item “vehicle ID” is “001” in the work plan information table 301A to “005”, and the work plan (not shown). In the information table 301 </ b> A, all “vehicle IDs” in the record having “vehicle ID” “005” are rewritten to “001”. As a result, the work return instruction unit 310 sets the vehicle ID identification number of the forklift 100 selected in step Sb13 and the forklift 100 associated with the driver 2 for the item “vehicle ID” in the driver table 301C. The identification number of the vehicle ID can be exchanged.
With the above configuration, the management device 300 can allow the driver 2 to board the forklift 100 that is closest to the driver 2 that has recovered from fatigue, and the driver 2 can move to the forklift 100 that is different from the previous one. Even when boarding, the driver 2 can take over the work assigned to himself / herself in the work plan information table 301A.

  Next, the work return instruction unit 310 moves from the unmanned operation to the manned operation after moving to the position indicated by the position information of the driver 2 detected by the position specifying unit 308 with respect to the forklift 100 selected in step Sb13 through the transmission / reception unit 304. In order to switch to driving, manned traveling instruction information including position information of the driver 2 is transmitted. When the operation changeover switch unit 504 of the forklift 100 receives the manned travel instruction information through the transmission / reception unit 501, the unmanned operation stop instruction information including the position information of the driver 2 included in the manned travel instruction information is sent to the automatic operation control unit 503. Output (step Sb15). The work return instruction unit 310 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). The work return instruction unit 310 transmits a notification indicating that the fatigue of the driver 2 has been recovered to the portable terminal device 210 carried by the driver 2 through the transmission / reception unit 304 (step Sb17). Thereby, the driver 2 refers to the notification indicating that the mobile terminal device 210 has received the recovery, and knows the timing at which the driver 2 has recovered from his / her fatigue and returns to the cargo handling operation after boarding the forklift 100. Can do. The management apparatus 300 returns to the process of step Sb1.

(Processing of unmanned operation)
FIG. 10 is a flowchart showing processing of the forklift 100 when receiving unmanned travel instruction information. When the operation changeover switch unit 504 and the boarding determination unit 513 receive the unmanned travel instruction information from the management device 300 through the transmission / reception unit 501, the boarding determination unit 513 first 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 operation changeover switch unit 504 continues the process of step Sc1 without activating the automatic operation control unit 503. That is, the forklift 100 does not start the unmanned operation control until the driver 2 gets off the forklift 100 after receiving the unmanned travel instruction information from the management device 300. 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. Further, the operation changeover switch unit 504 rewrites the operation state information 512B in the storage unit 512 with 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 (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 activated by the operation changeover switch unit 504, the automatic operation control unit 503 determines whether or not unattended travel stop instruction information is received from the operation changeover switch unit 504 (step Sc5). When it is determined that the unmanned travel stop instruction information has not been received from the operation changeover switch unit 504 (step Sc5: No), the automatic operation control unit 503 manages the vehicle ID identification number of the own forklift 100 and the transmission / reception unit 501 through the transmission / reception unit 501. The information indicating that the work specifying information is requested to the work plan information selection unit 302 of 300 is transmitted to the management apparatus 300 in association with it (step Sc6).

  When the work plan information selection unit 302 receives the information indicating that the identification number of the vehicle ID and the work identification information are requested, the work plan information selection unit 302 selects the “vehicle ID” from the work plan information table 301 </ b> A of the work plan information storage unit 301. A record whose item matches the received identification number of the vehicle ID is selected, and work plan information whose “completed state” item is “incomplete” is read out from the selected record. The work plan information selection unit 302 selects work specifying information including an identification number indicating the loading position and an identification number indicating the transfer destination position from the read work plan information, and transmits the transmission source forklift 100 through the transmission / reception unit 304. It transmits to the automatic operation control part 503. For example, in the example of FIG. 6, in the case of the forklift 100 whose “vehicle ID” is “001”, the “completion state” of the record whose “package ID” is “002” is “incomplete”. “204” and the transfer destination position ID “340” are read out and transmitted to the automatic operation control unit 503 of the forklift 100 of the transmission source.

  The automatic operation control unit 503 receives the work identification information from the management device 300 through the transmission / reception unit 501 (step Sc7). The automatic operation control unit 503 operates the travel control unit 508 based on the received work specifying information, advances the forklift 100 to the loading position indicated by the work specifying information, and operates the cargo handling control unit 509. Then, the baggage is lifted, and the baggage is unloaded by carrying it to the transfer destination position indicated in the work specifying information (step Sc8). The automatic operation control unit 503 repeats the process from step Sc5.

  In step Sc5, when it is determined that the unmanned travel stop instruction information is received from the operation changeover switch unit 504 (step Sc5: Yes), the automatic operation control unit 503 displays the position information included in the received unmanned travel stop instruction information. read out. The automatic operation control unit 503 operates the travel control unit 508 to cause the forklift 100 to travel to the position indicated by the read position information, that is, the position of the driver 2 returning to the cargo handling operation (step Sc9). The operation changeover switch unit 504 stops the automatic operation control unit 503 (step Sc10). 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 Sc11). The driving changeover switch unit 504 starts 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 (step Sc12). As a result, the forklift 100 can automatically travel to a place where the driver 2 is present and can stand by in a state where manned driving is possible.

  Here, generation of a schedule indicating the order of cargo handling work when a recovery threshold at which a certain driver 2 returns from rest to manned driving becomes smaller as the number of breaks increases will be described.

As shown in FIG. 11, a recovery threshold indicating a threshold of fatigue level at which a certain driver 2 returns from a break to manned driving is 40 when the number of breaks is 1, 30 when the number of breaks is 2, and the number of breaks is It is assumed that it is changed to 20 when 3.
Regardless of the number of breaks, the threshold for entering the break of the driver 2 is 100, and the order of processing of the scheduled cargo handling operation is as shown in FIG. 12, with the package IDs 001, 002,. It is assumed that the order is

If the driver 2 who has returned to manned operation in a state where the number of breaks is small and the fatigue level is high is assigned to the driver 2 and a large cargo handling work corresponding to the increase in the fatigue level is assigned, the operator will enter the break with a small number of cargo handling operations. May get worse.
Therefore, by assigning a small cargo handling work with an increase in the fatigue level when the number of breaks of the driver 2 is small, the number of times the cargo handling work is performed even when the driver 2 returns to the manned driving with a high fatigue level. Secure.
The increase in fatigue level and work time of the load ID (that is, each cargo handling work of the driver 2) indicated by the vehicle ID in the work plan information table 301A is, for example, the average of the past results of the cargo handling work. When there is no value or the result of the cargo handling work, it is calculated as shown in FIG. 12 by estimating from a similar cargo handling work, and stored in the work plan information storage unit 301 as the schedule table 301D. To do.

(Handling work assignment process)
A specific example of the handling work assignment process for securing the number of times of handling work even when the recovery threshold indicating the degree of fatigue at which the driver 2 returns from the break to manned driving is large will be described with reference to the flowchart shown in FIG.
The process of assigning the cargo handling work described here corresponds to the process of step Sb3 in the flowchart shown in FIG.

Before the forklift 100 performs the cargo handling work, the cargo handling fatigue increase determination unit 313 specifies the cargo handling work in ascending order of the increase in the fatigue level in the schedule table 301D (step Sd1).
For example, in the case of the schedule table 301 </ b> D illustrated in FIG. 12, the cargo handling fatigue increase determination unit 313 includes the package IDs 009, 014, 004, 005, 008, 018, 020, 002, 012, 017, 001, 007, 011, 016, 003. , 006, 010, 013, 015, 019 and the cargo handling work is specified in ascending order of the increase in fatigue level.

When the load handling fatigue increase determination unit 313 arranges the cargo handling operations specified in ascending order of the increase in fatigue level in ascending order of the increase in fatigue level, the schedule generation unit 316 accumulates the increase in the fatigue level as the number of breaks. The cargo handling work that reaches the break threshold at 1 is specified (step Sd2).
Specifically, the schedule generation unit 316 arranges the cargo handling work specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in the fatigue level in the order of increasing fatigue level, and the cumulative fatigue in order from the first cargo handling work. The degree of load is calculated, and a cargo handling operation with a break threshold value of 100 or more is identified from the fatigue level (for example, 40) indicated by the recovery threshold value 1 when the cumulative fatigue level is the number of breaks of 1.
For example, in the case of the schedule table 301D illustrated in FIG. 12, the schedule generation unit 316 arranges the cargo handling operations specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in fatigue level in ascending order of increase in the fatigue level. For the cargo handling work of the first cargo ID 009, the cumulative fatigue level of the previous cargo handling work is set to the fatigue level 40 indicated by the recovery threshold 1, and the fatigue level 40 indicated by the recovery threshold 1 indicates the fatigue level of the first cargo handling work. The increment 5 is added to calculate 45 as the cumulative fatigue level of the first cargo handling operation. The schedule generation unit 316 compares the calculated cumulative fatigue level 45 with the break threshold 100 when the number of breaks is 1. When the cumulative fatigue level is equal to or greater than the break threshold, the schedule generation unit 316 identifies the load handling work with the cumulative fatigue level as the load handling work that reaches the break threshold when the number of breaks is 1. In addition, when the schedule generation unit 316 determines that the cumulative fatigue level does not reach the break threshold, the schedule generation unit 316 calculates the cumulative fatigue level for the next cargo handling work, and identifies the cargo handling work in which the cumulative fatigue level is equal to or greater than the break threshold. The calculation of the cumulative fatigue level and the comparison between the calculated cumulative fatigue level and the break threshold are repeated. In the case of the first cargo handling work, the schedule generation unit 316 determines that the cumulative fatigue level 45 does not reach the break threshold 100. The schedule generation unit 316 calculates the second cumulative fatigue level as 50 by adding the first cumulative fatigue level 45 to the increase 5 of the fatigue level of the cargo handling work of the second load ID 014. The schedule generation unit 316 compares the second cumulative fatigue level 50 with the break threshold 100. The schedule generation unit 316 determines that the cumulative fatigue level 50 does not reach the break threshold 100. The schedule generation unit 316 calculates the third cumulative fatigue level as 60 by adding the second cumulative fatigue level 50 to the increase 10 in the fatigue level of the cargo handling work of the third load ID 004. The schedule generation unit 316 compares the calculated cumulative fatigue level 60 with the break threshold value 100, and determines that the cumulative fatigue level 60 does not reach the break threshold value 100. The schedule generation unit 316 calculates the cumulative fatigue level as 100 for the loading operation with the seventh loading ID 020, determines that the break threshold is 100 or more, and reaches the break threshold when the number of breaks is 1 for the loading operation with the loading ID 020. Identified as cargo handling work.

  The schedule generation unit 316 assigns to the driver 2 as cargo handling work performed when the number of breaks is 1 from the first cargo handling work to the specified cargo handling work (step Sd3).

  Next, the schedule generation unit 316 specifies a recovery time T1 in which the driver's 2 fatigue level recovers from the fatigue level when entering the break in the cargo handling operation specified in step Sd2 to the fatigue level indicated by the recovery threshold. For example, the schedule generation unit 316 specifies the recovery time T <b> 1 from the past results of the time for the driver 2 to recover to the fatigue level indicated by the recovery threshold during the break.

The schedule generation unit 316 arranges the remaining cargo handling operations excluding the cargo handling task specified in step Sd2 from the cargo handling tasks specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in the fatigue level in the descending order of the increase in the fatigue level. The recovery threshold when the number of breaks is 2 from the degree of fatigue that entered the break when the accumulated work time indicating the accumulated time of the work time is equal to or greater than the recovery time T1, that is, when the number of breaks is 1. The forklift 100 is identified as a cargo handling operation that is performed in an unmanned operation until the degree of fatigue is recovered (step Sd4).
Specifically, the schedule generation unit 316 arranges the remaining cargo handling work in descending order of the increase in fatigue level, calculates the cumulative work time in order from the first cargo handling work arranged, and the cumulative work time is the recovery time. The cargo handling work which becomes T1 or more is specified.
For example, in the case of the schedule table 301D shown in FIG. 12, the cumulative work time of the previous cargo handling work for the cargo handling work of the first luggage ID 019 when the remaining cargo handling work is arranged in descending order of the increase in fatigue level. Is set to 0, and the work time t19 of the first cargo handling work is added to the cumulative work time to calculate the cumulative work time of the first cargo handling work as t19. The schedule generation unit 316 compares the calculated accumulated work time t19 with the recovery time T1. When the accumulated work time becomes equal to or greater than the recovery time T1, the schedule generation unit 316 performs the cargo handling work for the accumulated work time when the number of breaks is 2 from the fatigue level that entered the break when the number of breaks is 1. It is specified as a cargo handling operation that the forklift 100 performs in an unmanned operation before recovering to the fatigue level indicated by the recovery threshold. Further, when the accumulated work time becomes less than the recovery time T1, the schedule generation unit 316 calculates the accumulated work time for the next cargo handling work, and accumulates until the cargo handling work whose cumulative work time becomes the recovery time T1 is specified. The calculation of the work time and the comparison between the calculated accumulated work time and the recovery time are repeated. In the case of the first cargo handling work, when the schedule generation unit 316 determines that the cumulative work time t19 is equal to or greater than the recovery time T1, the recovery threshold is determined based on the cumulative fatigue level when the number of breaks is zero. The forklift 100 is identified as a cargo handling operation that is performed in an unmanned operation until the degree of fatigue is recovered. Further, when the schedule generation unit 316 determines that the accumulated work time t19 is less than the recovery time T1, the load handling fatigue increase determination unit 313 specifies the load handling specified in step Sd2 from the load handling work specified in ascending order of the increase in the fatigue level. The second cumulative work time is calculated as (t19 + t15) by adding the first cumulative work time t19 to the work time t15 of the second cargo ID015 among the remaining cargo handling work excluding the work. The schedule generation unit 316 compares the second cumulative work time (t19 + t15) with the recovery time T1. When the schedule generation unit 316 determines that the accumulated work time (t19 + t15) is equal to or greater than the recovery time T1, the load handling operation of the luggage ID 015 is performed twice from the fatigue level of the break when the number of breaks is one. The forklift 100 is identified as a cargo handling operation that is performed in an unmanned operation before recovering to the fatigue level indicated by the recovery threshold. In addition, when the schedule generation unit 316 determines that the accumulated work time (t19 + t15) is less than the recovery time T1, the second accumulated in the work time t13 of the third load ID013 among the remaining load work. Add the work time and repeat the calculation of the accumulated work time and the comparison between the calculated accumulated work time and the recovery time until the cargo handling work whose accumulated work time is the recovery time T1 is specified as described above, and the number of breaks When the forklift 100 is unmanned, it is specified that the forklift 100 performs the unmanned operation until the fatigue level indicated by the recovery threshold is recovered from the fatigue level that has entered a break at one time.

  The schedule generation unit 316 identifies from the first cargo handling work of the remaining cargo handling work excluding the cargo handling work identified in step Sd2 from the cargo handling work identified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in fatigue level. The forklift 100 is assigned to the driver 2 as a cargo handling operation that the forklift 100 performs in an unmanned operation from the fatigue level entered during the break when the number of breaks is 0 to the fatigue level indicated by the recovery threshold when the number of breaks is zero (step Sd5).

Next, the schedule generation unit 316 increases the fatigue level of the remaining cargo handling work obtained by removing the cargo handling work specified in steps Sd2 and Sd4 from the cargo handling work specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in the fatigue level. When they are arranged in ascending order of minutes, a cargo handling operation that reaches the threshold value for entering a break when the number of breaks is 2 is specified from the fatigue level in which the accumulation of the increase in fatigue level is recovered (step Sd6).
Specifically, the schedule generation unit 316 performs the remaining load handling work by removing the cargo handling work specified in steps Sd2 and Sd4 from the cargo handling work specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in the fatigue level. The cumulative fatigue level is calculated in order from the first of the remaining cargo handling operations, and the cargo handling operation that exceeds the threshold for entering a break when the cumulative fatigue level is 1 is taken. Identify.
For example, in the schedule table 301D shown in FIG. 12, it is assumed that the schedule generation unit 316 determines that the accumulated work time (t19 + t15) is equal to or greater than the recovery time T1 in step Sd4 and the fatigue level of the driver 2 has recovered to 25. In this case, the schedule generation unit 316 specifies a cargo handling operation in which the cumulative fatigue level of the driver 2 reaches the break threshold 85 with the cumulative fatigue level of the previous cargo handling operation being 25. The schedule generation unit 316 handles the fourth cargo handling ID 007 of the remaining cargo handling work excluding the cargo handling work specified in steps Sd2 and Sd4 from the cargo handling work specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in fatigue level. The cumulative fatigue level is calculated as 70 for the work, it is determined that the cumulative fatigue level is 60 or more, and the cargo handling work with the cargo handling ID 007 is identified as the cargo handling work that reaches the threshold for entering a break when the number of breaks is 2.

  The schedule generation unit 316 is the first of the remaining cargo handling operations excluding the cargo handling operations identified in steps Sd2 and Sd4 from the cargo handling tasks identified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in fatigue level. To the specified cargo handling work is assigned to the driver 2 as a cargo handling work to be processed when the number of breaks is 2 (step Sd7).

  The schedule generation unit 316 removes the cargo handling work specified in steps Sd2, Sd4, and Sd6 from the cargo handling work specified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in the fatigue level, and increases the fatigue level. When the number of breaks is 3 from the cumulative fatigue level when the number of breaks is 1, that is, the cargo handling work in which the accumulated time work time indicating the accumulated time of the work time is equal to or greater than the recovery time T1, It is specified that the forklift 100 performs the unloading operation by unmanned operation until the degree of fatigue indicated by the recovery threshold is recovered (step Sd8).

  The schedule generation unit 316 is the first of the remaining cargo handling operations excluding the cargo handling operations identified in steps Sd2, Sd4, and Sd6 from the cargo handling tasks identified by the cargo handling fatigue increase determination unit 313 in ascending order of the increase in fatigue level. From the cargo handling work to the specified cargo handling work is assigned to the driver 2 as a cargo handling work that the forklift 100 performs in an unmanned operation until the fatigue level indicated by the recovery threshold is recovered from the cumulative fatigue level when the number of breaks is 1 (step Sd9). .

  The schedule generation unit 316 repeats the same processing as Steps Sd6 to Sd9 for the remaining cargo handling work until there is no more assigned cargo handling work (Step Sd10).

  When the assignment of the cargo handling work is completed, the schedule generating unit 316 records all the assigned cargo handling work in the storage unit (step Sd11).

  In the process of generating the schedule table 301D in the above embodiment, it is based on the unloading operation until the driver 2 recovers to the fatigue level indicated by the recovery threshold, and the unloading operation by the manned driving until the driver 2 enters the break. It has been described that the cargo handling work is alternately specified and assigned in the order of processing. However, the process for generating the schedule table 301D in the embodiment is not limited thereto. In the process of generating the schedule table 301D in the embodiment, the schedule generation unit 316 identifies and assigns all of the cargo handling work by manned driving until the driver 2 enters a break, and then the driver 2 shows fatigue indicated by the recovery threshold. You may specify and assign the cargo handling work by unmanned driving until it recovers to the extent. Alternatively, in the process of generating the schedule table 301D in the embodiment, the schedule generation unit 316 specifies and assigns the unloading operation by unmanned driving until the driver 2 recovers to the fatigue level indicated by the recovery threshold. All of the cargo handling work by manned driving until the break enters a break may be specified and assigned.

  Moreover, in the process which produces | generates the schedule table 301D in said embodiment, the cargo handling work specified based on work time is allocated to the cargo handling work by unmanned driving until the driver | operator 2 recovers to the fatigue degree which a recovery threshold shows. As explained. However, the process for generating the schedule table 301D in the embodiment is not limited thereto. In the process of generating the schedule table 301D in the embodiment, the unloading operation by the unmanned operation in the processing of the planned unloading operation is allocated to the unloading operation by the unmanned operation until the driver 2 recovers to the fatigue level indicated by the recovery threshold. It may be a thing.

With the configuration of the above embodiment, the management device 300 that manages a cargo handling vehicle that switches from unmanned driving to manned driving when the fatigue level of the driver 2 is equal to or less than a recovery threshold that is a criterion for returning from rest to manned driving is provided. The schedule generation unit 316 provided assigns a cargo handling operation with a small increase in the degree of fatigue to a cargo handling operation by manned operation performed when the recovery threshold is larger.
Thereby, even if the driver 2 changes the threshold indicating the fatigue standard used to determine whether or not the driver 2 is to take a break according to the situation of the cargo handling work of each driver 2, the driver 2 The number of cargo handling operations that can be performed before the next break can be ensured.

  5, 6, and 7 illustrate processes performed in parallel by the respective functional units included in the vehicle control device 105. FIG. 7 shows the process that is started with the process of step Sb9 in FIG. 6 as described above, and the biological information that the biological information detection apparatus 200 sequentially outputs even when the process shown in FIG. 7 is started. Received by the vehicle control device 105, the processing from step Sb1 is repeated.

  Further, the work status management unit 502 acquires the position where the load is lifted up and the load is lifted by the identification number indicating the position output by the position detection unit 511, and the position where the load is lifted down and the load is lowered, and the storage unit The data is written in the work status table 512C of 512. As a result, the vehicle control apparatus 105 can detect the work situation by referring to the item of “completed state” in the work situation table 512C, so that the operation changeover switch unit 504 completes the current work. Therefore, it is possible to switch from manned operation to unmanned operation. In addition, when switching from unmanned operation to manned operation, the operation switching switch unit 504 outputs unmanned operation stop instruction information to the automatic operation control unit 503, so that the vehicle control device 105 performs work performed in unmanned operation. It is possible to switch from the unmanned operation to the manned operation after the work is completed after waiting for the switching until the operation is completed.

  In addition, the work status management unit 502 transmits work specifying information including information indicating the lifted-up position and information indicating the lifted-down position to the management apparatus 300, and the work completion information writing section of the management apparatus 300 303 receives the work identification information. The work completion information writing unit 303 detects work plan information corresponding to the received work identification information from the work plan information table 301A of the work plan information storage unit 301, and sets the item “completed state” of the detected work plan information. Rewrite “incomplete” to “completed”. Thereby, when the automatic operation control unit 503 requests work specifying information indicating work to be performed in the case of unmanned driving, the work plan information selecting unit 302 selects the work plan information from the work plan information. The record whose “completed state” item is “incomplete” is selected, the work specifying information of the record is read and transmitted to the automatic operation control unit 503. Thereby, in the forklift 100, it is possible to continue the process of transferring the load even in the unmanned operation state.

  In the above-described embodiment, when the operation changeover switch unit 504 switches from manned operation to unmanned operation, the operation is switched while waiting for completion of the operation, so that the operation state is switched while the forklift 100 is stopped. However, the embodiment of the present invention is not limited to this configuration. For example, in step Sb8 of FIG. 9, the operation changeover switch unit 504 displays information notifying that the operation is switched from the manned operation to the unmanned operation when the work is completed on the display 114, and the speed is displayed on the travel control unit 508 and the cargo handling control unit 509. It is also possible to output control instruction information that lowers. Thereby, for example, the traveling control unit 508 can reduce the traveling speed in a stepwise manner until the traveling speed reaches a predetermined traveling speed in the unmanned operation state, and the cargo handling control unit 509 can be reduced in advance in the unmanned operation state. The speed can be decreased step by step until the lifting / lowering speed of the fork 104 is reached. Thus, if the driver 2 runs the forklift 100 or raises or lowers the fork 104 between the completion of the work and the time when the automatic operation control unit 503 is activated and the unmanned operation is started. Even if it does, it becomes possible to switch from manned operation to unmanned operation by a gradual speed change.

  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.

  In the above embodiment, the steps Sc5 to Sc8 in FIG. 10 prevent the operation from being switched to the manned operation until the unmanned operation is completed. However, the embodiment of the present invention is not limited to this configuration. I can't. If the operation changeover switch unit 504 is configured to be manually changed by the operation of the driver 2, in step Sb17 of FIG. 9, a message is displayed informing that the operation is switched from unmanned operation to manned operation when the operation is completed. At this time, the driver 2 may manually switch the operation changeover switch unit 504 to perform the subsequent operation.

  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 cargo handling vehicle system 1 may include a biological information detection device 200, a forklift 100, and a position mark 400, and may not include a management device 300. In this case, a work plan information table 301A in which work plan information for each vehicle control device 105 of the forklift 100 is stored is stored in the storage unit 512, and the vehicle control device 105 includes a work completion information writing unit 303, a work plan information selection unit. 302 is provided. As a result, the cargo handling vehicle system 1 switches from manned operation to unmanned operation based on the degree of fatigue and performs work in unmanned operation based on the work plan information stored in the storage unit 512 without the management device 300. Can continue. In the case where the management apparatus 300 is not provided, short-distance communication means such as Bluetooth (registered trademark) may be applied to the communication between the biological information detection apparatus 200 and the vehicle control apparatus 105.

  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 forklift 100 does not include the position mark 400 or the camera 113 but includes a GPS (Global Positioning System) device in the vehicle control device 105 so that the position detection unit 511 acquires information indicating the position from the GPS. May be. Further, the forklift 100 may be provided with a magnetic sensor instead of the camera 113, and a magnet generator may be provided on the travel route instead of the guide line 600 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 Sb7. 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 from the load sensor 112, and the load is loaded. Is output as information indicating the work status indicating "working", and is output as information indicating the work status indicating "completed" when no load is loaded. You may make it switch from a manned driving | operation to an unmanned driving | operation based on the information which shows the said work condition.
Also, the work status management unit 502 acquires information indicating lift up and lift down, which is the type of lift control output from the cargo handling control unit 509, as information indicating the work status. When the lift is down, it is output as “completion”, and the operation changeover switch unit 504 switches from manned operation to unmanned operation based on the information indicating the work status. You may make it switch.
Further, in the process of FIG. 8, when it is assumed that the vehicle travels while being lifted up or travels while being lifted down, the configuration may be such that the determination of the travel state in step Sa2 is not performed.

  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 505 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 biological information detection apparatus 200 acquires the pulse rate for the number of seconds other than 15 seconds of the driver 2 and refers to the pulse rate for a predetermined period of time that is measured in advance to determine whether or not the user 2 is tired. You may judge.
Further, the biological information detection apparatus 200 may repeatedly calculate the standard deviation of the detected 15-second pulse rate, and may determine that the patient is tired when the standard deviation value exceeds a predetermined value.
Further, the pulse rate for 15 seconds in the normal state is measured, and the biological information detection apparatus 200 subtracts the pulse rate for the normal time from the detected pulse rate for 15 seconds, repeatedly adds the difference, and the added value However, when it exceeds a predetermined value, it may be determined that the user is tired.
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 level calculation unit 505 of the vehicle control device 105 calculates the fatigue level based on the biological information. However, the configuration of the present invention is not limited to the embodiment, and the biological information is calculated. The detection apparatus 200 may include a fatigue level calculation unit 505, and the biological information detection apparatus 200 may calculate the fatigue level. In addition, the biological information detection device 200 does not include the fatigue level calculation unit 505, and determines 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. You may do it.

  In the above embodiment, the rest threshold and the recovery threshold used in step Sb6 and step Sb12 in FIG. 9 are set to different values. However, the configuration of the present invention is not limited to the embodiment. The break threshold and the recovery threshold may be the same value.

  Moreover, in said embodiment, the rest threshold value used for determination whether the driver | operator 2 is tired in step Sb6 of FIG. 9 and determination whether the driver | operator 2 is recovering from fatigue in step Sb12 are shown. As a recovery threshold used in the above, the rest threshold is set to a value larger than the recovery threshold, so that the driver 2 sufficiently recovers from fatigue and then switches from unmanned driving to manned driving. It is not limited to the embodiment. For example, when applying biometric information whose value decreases with increasing fatigue as the degree of fatigue, it is necessary to set the recovery threshold as a value larger than the break threshold.

In the above embodiment, in step Sb17 of FIG. 9, for example, the operation changeover switch unit 504 stores the work performed in the unmanned operation state in the work situation table 512C when the unmanned operation is switched to the manned operation. The display 114 may output the information 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. 10, 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 Sc6. 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, work plan information whose “completed state” item is “incomplete” is read, and 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. As described above, when the operation control information is continuously transmitted from the management device 300, the vehicle control apparatus 105 does not perform the process of requesting the operation specification information as in step Sc6 in the unmanned driving state. Also good.

  In the above-described embodiment, the determination is made based on whether or not the break threshold value is greater than or equal to the break threshold in the determination of step Sb6 in FIG. 9, and based on whether or not the recovery threshold value is less than or equal to the determination in step Sb12. However, the configuration of the present invention is not limited to the embodiment. These determination methods are examples. For example, in step Sb6, the determination may be made based on whether the break threshold is exceeded, or in step Sb12, whether the determination is less than the recovery threshold. The determination may be performed based on the determination.

In the above-described embodiment, the rest threshold is described as normal biological information of the driver 2 measured by the biological information detection device 200 before work in the determination in step Sb6 of FIG. However, the break threshold is not limited to the normal biological information of the driver 2 measured by the biological information detection device 200 before work. The break threshold may be information set based on the normal biological information of the driver 2 and the number of breaks measured by the biological information detection device 200 before work. For example, when detecting the pulse rate as the biological information, the break threshold value is measured in advance as the value of the pulse rate for one minute in the normal time of the driver 2 and increases as the number of breaks increases based on the measured pulse rate. It may be a reference value at which the pulse rate, which is a predetermined value of 2, is set high.
In that case, the break threshold value setting unit 318 included in the vehicle control device 105 determines the break threshold value used for determining whether or not the driver 2 should take a break as the normal biological information of the driver 2 and the number of breaks. Set based on.
When it is determined in step Sb4 that the vehicle is in a manned driving state, the fatigue level determination unit 506 determines the rest threshold stored in the storage unit 512, that is, the pulse rate value and the number of breaks for one minute in the normal state of the driver 2. Based on the above, a break threshold value set by the break threshold setting unit 3183 and stored in advance in the storage unit 512 (for example, a value set so that the threshold value increases as the number of breaks increases) is read. The fatigue level determination unit 506 calculates a break threshold by adding a predetermined first value to the pulse rate for one minute in normal times. In step Sb6, the fatigue level determination unit 506 determines that the pulse rate of 1 minute of the driver 2 calculated by the fatigue level calculation unit 505 is equal to or greater than the break threshold set based on the normal biological information and the number of breaks. What is necessary is just to determine whether it is.
As a result, the vehicle control device 105 can delay the start of the break as the number of breaks increases even if the labor continues and becomes easy to get tired. As a result, the vehicle control device 105 can prevent the driver from repeating breaks frequently, and can secure a driving time per manned driving by the driver 2 who drives the forklift 100.

  You may make it implement | achieve the vehicle control apparatus 105 in embodiment mentioned above with 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 200 Biological 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 308 Position specifying unit 309 Break acquisition instruction unit 310 Work return instruction unit 311 Threshold Pattern storage unit 313 Cargo handling fatigue increase determination unit 316 Schedule generation unit 318 Rest threshold setting unit 319 Recovery threshold setting unit 400 Position mark 501 Transmission / reception unit 502 Work status management unit 503 Automatic operation control unit 504 Driving changeover switch unit 508 Travel control unit 509 Cargo handling control unit 510 Load detection unit 511 Position detection unit 512 Storage unit

Claims (18)

With the number of breaks of the driver, the recovery threshold that is a criterion for returning the driver from break to manned driving becomes a different value, and when the driver's fatigue level is less than or equal to the recovery threshold, the unmanned driving to the manned driving A management device for managing a cargo handling vehicle that switches to
A schedule generation unit for allocating a cargo handling operation with a smaller increase in fatigue level to the cargo handling operation with the manned operation performed when the recovery threshold is larger;
A management apparatus comprising: The schedule generation unit
The management apparatus according to claim 1, wherein the cargo handling work assigned to the cargo handling work by the manned operation is recorded in a storage unit. Carrying fatigue increase determination unit that identifies cargo handling work in ascending order of the increase in fatigue level,
With
The schedule generation unit
When the loading / unloading work specified by the loading / unloading fatigue determination unit is arranged in ascending order of the increase in fatigue level, a cumulative fatigue increase threshold is used as a criterion for determining that the driver enters a break. A cargo handling operation that reaches a break threshold that is indicated is specified, and a load handling operation that starts accumulating an increase in the fatigue level to a cargo handling operation that reaches the identified break threshold is assigned to the cargo handling operation by the manned operation. Item 3. The management device according to Item 1 or 2. When the driver's fatigue level is equal to or higher than a break threshold value indicating a fatigue level threshold that is a criterion for the driver to take a break, the driving state from the traveling of the cargo handling vehicle by the manned driving to the traveling of the cargo handling vehicle by the unmanned driving A break acquisition instruction section that switches the vehicle to a cargo handling vehicle,
The management apparatus according to any one of claims 1 to 3, further comprising: A first break threshold value setting unit for setting a break threshold value indicating a fatigue threshold value as a determination criterion for the driver to enter a break based on the driver's normal biological information and the number of breaks;
The management apparatus according to any one of claims 1 to 4, further comprising: A second break threshold value setting unit that sets a break threshold value indicating a fatigue level threshold value as a criterion for the driver to enter a break as the number of breaks of the driver increases;
The management apparatus according to any one of claims 1 to 5, further comprising: A first fatigue level determination unit for determining whether the driver's fatigue level is greater than or equal to a fatigue level threshold that is a criterion for the driver to take a break;
The management apparatus according to any one of claims 1 to 6, further comprising: When the driver's fatigue level is less than or equal to the recovery threshold, a work return instruction unit that switches the driving state from the traveling of the cargo handling vehicle by the unmanned driving to the traveling of the cargo handling vehicle by the manned driving;
A second fatigue determination unit that determines whether the driver's fatigue is less than or equal to the recovery threshold;
With
The work return instruction unit
When the second fatigue level determination unit determines that the driver's fatigue level is less than or equal to the recovery threshold, the driving state is changed from traveling of the unloading vehicle to a loaded vehicle by manned driving. The management device according to claim 1, wherein the management device is switched. The schedule generation unit
When loading and unloading work is arranged in descending order of the increase in fatigue level, specify the loading and unloading work for which the cumulative work time of the load handling work is more than the time until the driver recovers from fatigue after taking a break. The management device according to any one of claims 1 to 8, wherein The recovery threshold is
The management device according to any one of claims 1 to 9, wherein the value becomes smaller as the number of breaks of the driver is larger. A recovery threshold setting unit that sets the recovery threshold based on the driver's normal biological information and the number of breaks;
The management apparatus according to claim 1, further comprising: Based on the driver's biological information, a fatigue level calculation unit that calculates the driver's fatigue level,
The management apparatus according to any one of claims 1 to 11, further comprising: The management device according to any one of claims 1 to 12,
When the driver's fatigue level is less than or equal to a recovery threshold that is a criterion for returning from rest to manned driving, a driving changeover switch unit that switches the driving state from traveling of a cargo handling vehicle by unmanned driving to traveling of a cargo handling vehicle by manned driving,
A cargo handling vehicle having
A biological information detection device for acquiring the driver's biological information and transmitting it to the cargo handling vehicle;
A cargo handling vehicle system comprising: Values with different recovery thresholds that serve as criteria for returning the driver from rest to manned driving according to the number of times the driver takes a break, and a biological information detection device that detects biological information of the driver of the cargo handling vehicle A cargo handling vehicle system comprising a management device that manages a cargo handling vehicle that switches from unmanned operation to manned operation when the driver's fatigue level is less than or equal to the recovery threshold,
The management device
A schedule generation unit that allocates a smaller cargo handling work to an increase in fatigue degree to the cargo handling work by the manned operation performed when the recovery threshold is larger;
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, A work plan information storage unit for storing information indicating the completion state of work as information indicating incomplete;
Work plan information selection for selecting, from the work plan information storage unit, the work plan information whose information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information And
When the work specifying information is received from the cargo handling vehicle, a work completion information writing unit that rewrites information indicating the completion state of the work corresponding to the work specifying information from incomplete to information indicating completion;
Based on the driver's biological information, a fatigue level calculation unit that calculates the driver's fatigue level,
With
The cargo handling vehicle is
A recovery threshold setting unit for setting the recovery threshold based on the normal biological information of the driver and the number of breaks;
When the driver's fatigue level is less than or equal to the recovery threshold, a driving changeover switch unit that switches a driving state from traveling of the cargo handling vehicle by unmanned driving to traveling of the cargo handling vehicle by manned driving;
With
The biological information detection device
Obtaining the driver's biological information and transmitting it to the cargo handling vehicle;
A cargo handling vehicle system characterized by that. With the number of breaks of the driver, the recovery threshold that is a criterion for returning the driver from break to manned driving becomes a different value, and when the driver's fatigue level is less than or equal to the recovery threshold, the unmanned driving to the manned driving A control method for a management device that manages a cargo handling vehicle that switches to
Allocating a smaller cargo handling work for an increase in fatigue to the cargo handling work by the manned operation performed when the recovery threshold is larger;
The control method characterized by including. A control method for a cargo handling vehicle system comprising the management device according to any one of claims 1 to 12, a cargo handling vehicle, and a biological information detection device,
When the driver's fatigue level is below a recovery threshold that is a criterion for returning from rest to manned driving, switching the driving state from traveling of a cargo handling vehicle by unmanned driving to traveling of a cargo handling vehicle by manned driving,
Obtaining the driver's biometric information and transmitting it to the cargo handling vehicle;
The control method characterized by including. Values with different recovery thresholds that serve as criteria for returning the driver from rest to manned driving according to the number of times the driver takes a break, and a biological information detection device that detects biological information of the driver of the cargo handling vehicle And a control method of a cargo handling vehicle system comprising a management device that manages a cargo handling vehicle that switches from unmanned operation to manned operation when the driver's fatigue level is equal to or less than the recovery threshold,
Assigning a smaller cargo handling work to an increase in fatigue to the cargo handling work by the manned operation performed when the recovery threshold is greater;
Work plan information including work specifying information including information indicating a position of a loading place of a cargo handling object transferred by the cargo handling vehicle and information indicating a position of a transfer destination, and information indicating a completion state of the work, Storing information indicating the completion status of the work as information indicating incomplete;
Selecting the work plan information in which the information indicating the completion state of the work is incomplete, and outputting the work specifying information included in the work plan information;
When the work specifying information is received from the cargo handling vehicle, rewriting the information indicating the completion state of the work corresponding to the work specifying information from uncompleted to information indicating completion;
Calculating the driver's fatigue level based on the driver's biometric information;
Setting the recovery threshold based on the driver's normal biological information and the number of breaks;
When the driver's fatigue level is less than or equal to the recovery threshold, switching the driving state from running the cargo handling vehicle by unmanned driving to running the cargo handling vehicle by the manned driving;
Obtaining the driver's biometric information and transmitting it to the cargo handling vehicle;
The control method characterized by including. With the number of breaks of the driver, the recovery threshold that is a criterion for returning the driver from break to manned driving becomes a different value, and when the driver's fatigue level is less than or equal to the recovery threshold, the unmanned driving to the manned driving In the computer of the management device that manages the cargo handling vehicle that switches to
Allocating a smaller cargo handling work for an increase in fatigue to the cargo handling work by the manned operation performed when the recovery threshold is larger;
A program that executes

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