JP6290344B1 - Cargo vehicle call device, cargo handling vehicle system, control method and control program - Google Patents

Abstract

An object of the present invention is to change a cargo handling operation with a large increase in the degree of fatigue planned by a driver to a cargo handling operation with a small increase in the degree of fatigue when the driver has a lot of fatigue. The fatigue level of each cargo handling operation performed by the driver is determined based on the information on the type of cargo to be handled by each cargo handling operation performed by the driver and the fatigue information associated with the type of cargo. A loading / unloading fatigue increase calculation unit for calculating an increase, and an order of processing of the loading / unloading work performed by the driver is determined based on an increase in the fatigue level due to the loading / unloading operation calculated by the loading / unloading fatigue increase calculation unit, A cargo handling vehicle call device, comprising: a schedule generation unit that generates a work plan information table indicating a work processing order. [Selection] Figure 2

Description

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

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

  As a reason for having both functions of unmanned driving and manned driving, in unmanned driving, for example, in order to ensure safety according to the standard of JIS D 6802, the upper limit value of the traveling speed and the lifting speed of the lift is It is set to be much slower than manned driving. Therefore, when work must be performed in a hurry, an operation by manned operation is required.

Japanese Patent No. 5400442

  By the way, if you continue to perform manned driving, fatigue accumulates in the driver, so you must regularly take breaks, but the driver is concentrating on work without noticing fatigue There are cases like this.

In the technique described in Patent Document 1, it is possible to switch from manned driving to unmanned driving by the driver's operation. However, in this technique, unless the driver notices fatigue himself and switches to unmanned driving. There is a problem that work is continued in manned driving.
In addition, when a plurality of urgent cargo handling operations that need to be performed immediately occur, a driver with much fatigue assigns a cargo handling operation with a high degree of fatigue.

  The present invention has been made to solve the above-described problems, and its object is to carry out a cargo handling operation which is expected to be performed by a driver when there is a lot of fatigue and which has a relatively large increase in fatigue level. An object of the present invention is to provide a cargo handling vehicle calling device, a cargo handling vehicle system, a control method, and a control program that are changed to work.

In order to solve the above-described problem, according to one aspect of the present invention, when an emergency cargo handling operation occurs, a driver having a higher current fatigue level is assigned a smaller emergency cargo handling operation corresponding to the increase in the fatigue level. A schedule generation unit; and an emergency cargo handling operation processing unit that determines whether or not the emergency cargo handling operation has occurred. The schedule generation unit includes the emergency cargo handling operation unit that has generated the emergency cargo handling operation. The emergency load handling work is assigned to the driver having a greater fatigue level, the emergency load handling work processing unit has generated the emergency load handling work. Determining that the number of emergency cargo handling operations is greater than the number of allocatable drivers who can allocate the emergency cargo handling operations, and assignable drivers based on the number of emergency cargo handling operations. The driver corresponding to the number obtained by subtracting the number is a cargo handling vehicle call and wherein the identifying from the driver's taking a break.
Further, according to one aspect of the present invention, in the above-described invention, the emergency cargo handling operation processing unit may perform the driving during the break when the number of emergency cargo handling operations is larger than the number of allocatable drivers. The driver may be specified from the driver in ascending order of the current fatigue level.

  Further, according to one aspect of the present invention, in the invention described above, when the emergency cargo handling operation occurs, the schedule generation unit includes a current fatigue level among a plurality of drivers who perform the emergency cargo handling operation. The maximum load handling operation, which is the emergency handling operation with the largest increase in the degree of fatigue, may be assigned to the driver with the smallest fatigue degree who is the smallest driver.

  Further, according to one aspect of the present invention, in the invention described above, the schedule generation unit may store the emergency cargo handling work assigned to the driver in a storage unit in association with the driver. Good.

  Further, according to one aspect of the present invention, in the invention described above, when the emergency cargo handling operation occurs, the schedule generator is identified and identified by the driver in ascending order of fatigue. The emergency cargo handling operation may be assigned to each of the items in descending order of the increase in the fatigue level of the emergency cargo handling operation.

  Further, according to one aspect of the present invention, in the above-described invention, the fatigue degree calculation unit that calculates the driver's fatigue degree based on the driver's biological information, and the fatigue calculated by the fatigue degree calculation unit A fatigue level determination unit that determines whether or not the driver is tired based on the degree, and an instruction to switch a driving state between manned driving and unmanned driving based on the determination result of the fatigue level determination unit And an instruction generation unit that outputs the cargo to the cargo handling vehicle.

  Further, according to one aspect of the present invention, in the above-described invention, the fatigue level determination unit includes a first threshold value that indicates a fatigue level at which the driver enters a break, and the fatigue level of the driver. A second threshold value indicating a predetermined fatigue level serving as a reference for switching from the unmanned driving to the driving state of the manned driving, and the fatigue level calculation. Based on the degree of fatigue calculated by the unit, it may be determined whether the driver has recovered from fatigue, and a value different from the first threshold value and the second threshold value may be determined. .

  According to another aspect of the present invention, in the above-described invention, the instruction generation unit is configured to issue an instruction to switch the driving state when information indicating a work status of the cargo handling vehicle indicates a work completion state. You may make it output to the said cargo handling vehicle.

  Further, according to one aspect of the present invention, in the above-described invention, the instruction generation unit is configured such that information indicating the work status detected based on information indicating whether or not a cargo handling object is loaded is in a work completion state. May be outputted to the cargo handling vehicle.

  Further, according to one aspect of the present invention, in the above-described invention, the instruction generation unit includes information indicating the work status detected based on information indicating an operation of lifting and unloading a cargo handling object. In this case, an instruction to switch the driving state may be output to the cargo handling vehicle.

  Further, according to one aspect of the present invention, in the above-described invention, the instruction generation unit performs switching of the operation state after completion of work when the information indicating the work status is not in a work completion state. You may make it notify the said cargo handling vehicle.

  Moreover, one aspect of the present invention is the cargo handling vehicle calling device according to any one of the above, and an operation changeover switch unit that switches a driving state between manned driving and unmanned driving based on the determination of the cargo handling vehicle calling device. A cargo handling vehicle system comprising: a cargo handling vehicle including: a biological information detecting device that acquires biological information of the driver and transmits the biological information to the cargo handling vehicle calling device.

One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a cargo handling vehicle call device that manages work performed by the cargo handling vehicle. The cargo handling vehicle calling device includes work identification 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 a completion state of the work. Information indicating the completion state of the work from the work plan information storage unit storing the work plan information including information indicating information indicating the completion state of the work as information indicating incomplete. Selects the predetermined work plan information that has not been completed, and outputs the work specification information included in the work plan information to the cargo handling vehicle, and the work planning information from the cargo handling vehicle. When specific information is received, a work completion information writing unit that rewrites information indicating the completion state of the work corresponding to the work specification information from incomplete to information indicating completion, and a movement instruction to move to the cargo handling vehicle. An instruction generating unit for outputting, a schedule generating unit for allocating an emergency cargo handling operation with a smaller increase in the fatigue level to a driver with a higher current fatigue level when an emergency cargo handling operation occurs, and the emergency An emergency cargo handling operation processing unit that determines whether or not a cargo handling operation has occurred, and the schedule generation unit, when the emergency cargo handling operation processing unit determines that the emergency cargo handling operation has occurred, An emergency handling operation with a smaller increase in fatigue level is assigned to a driver with a greater fatigue level, and the emergency handling operation processing unit determines that the emergency handling operation has occurred, and The number of assignable drivers is subtracted from the number of emergency cargo handling operations when the number of cargo handling operations of the vehicle is greater than the number of allocatable drivers who can be assigned the emergency cargo handling operations. When the driver corresponding to the number is identified from among the drivers who are taking a break, the cargo handling vehicle performs the work of transferring the cargo handling object from the position of the loading place to the position of the transfer destination. A work status management unit that transmits the work specifying information including information indicating a position of the loading place and information indicating a position of the transfer destination to the cargo handling vehicle calling device, and based on an instruction from the instruction generation unit When the operation changeover switch unit switches the operation state between manned operation and unmanned operation and the operation changeover switch unit switches the operation state from the manned operation to the unmanned operation, it is transmitted from the cargo handling vehicle calling device. An automatic operation control unit that receives the work specifying information and transfers the cargo handling object based on the work specifying information, and the biological information detecting device acquires the driver's biological information. A cargo handling vehicle system, wherein the cargo handling vehicle is transmitted to the cargo handling vehicle calling device.

Further, one aspect of the present invention is a control method for a cargo handling vehicle call device that calls a cargo handling vehicle that enables switching between unmanned operation and manned operation, and determines whether or not an emergency cargo handling operation has occurred, When it is determined that the emergency cargo handling work has occurred, a driver with a higher current fatigue level is assigned a smaller emergency cargo handling work corresponding to the increase in fatigue level, and it is determined that the emergency cargo handling work has occurred. When the number of emergency cargo handling operations is greater than the number of assignable drivers who can be assigned the emergency cargo handling operations, the number of emergency assignable drivers the driver corresponding to the number obtained by subtracting the number is a control method for handling the vehicle, it characterized that you specified from the driver's taking a break.

Another aspect of the present invention is a control method for a cargo handling vehicle system including the cargo handling vehicle calling device according to any one of the above and a cargo handling vehicle, wherein whether or not an emergency cargo handling operation has occurred is determined. judgment, when the emergency materials handling is determined to have occurred, the current fatigue level is greater than the driver assigns a smaller emergency cargo handling of an increase in fatigue fraction, the emergency materials handling occurs If the number of emergency cargo handling operations is greater than the number of allocatable drivers who can allocate the emergency cargo handling operations, the allocation is possible from the number of emergency cargo handling operations. A driver corresponding to the number obtained by subtracting the number of drivers is identified from among the resting drivers, and an emergency cargo handling operation is performed by manned driving based on the allocated maximum load handling operation. Cargo handling vehicle system It is a method of controlling the beam.

One aspect of the present invention is a cargo handling vehicle system including a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a cargo handling vehicle call device that manages work performed by the cargo handling vehicle. The cargo handling vehicle calling device includes: work identification information including information indicating a position of a loading place of a cargo handling object to be transferred by the cargo handling vehicle and information indicating a position of a transfer destination; The information indicating the completion status of the work is incomplete from the storage unit that stores the work plan information including information indicating the completion status as information indicating the completion status of the work as information indicating the completion status. When the predetermined work plan information is selected, the work specification information included in the work plan information is output to the cargo handling vehicle, and the cargo handling vehicle call device receives the work specification information from the cargo handling vehicle, The information indicating the completion status of said tasks corresponding to said working specific information, rewriting the information indicating the completion of incomplete, a movement instruction for moving to output to the cargo handling vehicle, the cargo handling vehicle call device, emergency cargo handling There it is determined whether or not occur, the cargo handling vehicle call device, when said emergency cargo handling is determined to have occurred, the current fatigue level is greater than the driver, smaller increases in fatigue min The emergency loading / unloading work is assigned, and the loading / unloading vehicle calling device determines that the emergency loading / unloading work has occurred, and the number of the emergency loading / unloading work can be assigned as a driver who can assign the emergency loading / unloading work. If the number of drivers is larger than the number of drivers, a driver corresponding to the number obtained by subtracting the number of allocatable drivers from the number of emergency handling operations is identified from among the resting drivers, and the cargo handling vehicle Said cargo handling The work specification including information indicating the position of the load storage location and information indicating the position of the transfer destination when performing an operation of transferring the object from the position of the load storage location to the position of the transfer destination. Information is transmitted to the cargo handling vehicle calling device, and the cargo handling vehicle switches between a manned driving mode and an unmanned driving mode based on an instruction of the cargo handling vehicle calling device, and the cargo handling vehicle sets the driving status to the manned mode. When switching from driving to unmanned driving, the work specifying information transmitted from the cargo handling vehicle calling device is received, the cargo handling object is transferred based on the work specifying information, and the biological information detecting device is A control method for a cargo handling vehicle system, characterized in that the driver's biological information is acquired and transmitted to the cargo handling vehicle call device.

Further, according to one aspect of the present invention, there is provided a procedure for causing a computer included in the cargo handling vehicle call device to determine whether or not an emergency cargo handling operation has occurred, and when determining that the emergency cargo handling operation has occurred, Among the plurality of drivers who perform the current cargo handling work, the minimum fatigue level driver who is the driver with the lowest current fatigue level is assigned the maximum load handling work that is the emergency cargo handling work with the largest increase in the fatigue level. The procedure determines that the emergency cargo handling operation has occurred, and the emergency cargo handling operation is greater than the number of allocatable drivers who can be assigned the emergency cargo handling operation. the driver and cargo handling vehicle call device control program for executing the procedures, to be specified from among the driver's during a break from the number of cargo handling corresponding to the number obtained by subtracting the number of said allocatable driver A.

  According to the present invention, it is possible to change a cargo handling operation with a large increase in the degree of fatigue scheduled by the driver when there is a lot of fatigue to a cargo handling operation with a small increase in the fatigue level.

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 1st figure which shows the fatigue degree table classified by work in the same embodiment. It is a 2nd figure which shows the fatigue degree table classified by work in the same 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 of a schedule change when the emergency cargo handling operation | work in the same embodiment generate | occur | produces. It is a flowchart which shows the process which switches a manned driving | operation and an unmanned driving | operation by the fatigue degree by the embodiment. It is a flowchart which shows the process of unattended operation by the embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram showing a configuration of a cargo handling 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 210 owned by each driver, and a management device 300 that manages the forklift 100. With. 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. In the present embodiment, for example, the pulse rate of the driver 2 for 15 seconds is repeatedly detected. In addition, the biological information detection apparatus 200 detects position information indicating a position where the own apparatus exists. The 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 transmission / reception unit 304 of the management device 300 of the forklift 100 by wireless communication means such as WiFi (registered trademark), for example.
The management device 300 is an example of a cargo handling vehicle calling device.

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

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

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

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

  The display 114 displays information such as the 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 a switching instruction for switching between unmanned operation and manned operation from the management device 300. The transmission / reception unit 501 is an example of a movement instruction reception unit.

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

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

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

  The load detection unit 510 sequentially outputs information indicating whether or not the load is loaded based on the weight value of the load lifted by the fork 104, which is sequentially output by the load sensor 112. The position detection unit 511 analyzes 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 512 of the vehicle control apparatus 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, information indicating the position where the load is lifted up, information indicating the position where the load is lifted down, and information indicating the completion state of the work are written.

  FIG. 5 is a block diagram illustrating 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, an instruction generation unit 309, a recovery notification unit 310, a cargo handling fatigue increase determination unit 313, a schedule generation unit 316, and an emergency cargo handling work processing unit 317 are provided.

  The transmission / reception unit 304 transmits / receives information to / from the transmission / reception unit 501 of the vehicle control device 105 of the forklift 100 and the biological information detection device 200 by wireless communication means.

  The work plan information storage unit 301 stores a work plan information table 301A, a vehicle table 301B, a driver table 301C, a reference value table 301D, and a work-specific fatigue degree table 301E shown in FIG.

The work-specific fatigue degree table 301E is a table that stores, for each driver 2, the correspondence between the contents of the cargo handling work and the increase in fatigue when the cargo handling work is performed.
Here, the contents of the cargo handling work in the work-specific fatigue degree table 301E are, for example, the type of the load, the work place, the place where the load is placed, and the like. With regard to the type of luggage, for example, if the precision equipment is a luggage, it is easy to get tired because it takes care of operations during cargo handling work, and in the case of materials such as lime, it is relatively careful during cargo handling work. There is a difference in the increase in fatigue that it is difficult to fatigue because it is not necessary. As for the work place, for example, when carrying out a cargo handling work in a narrow passage, it is easy to get tired because the operation during the cargo handling work is taken care of. There is a difference in the increase in fatigue that it is difficult to get tired because it is not necessary to use care. As for the place where the luggage is placed, for example, when the luggage is placed at a high position on the shelf or when the luggage is placed at a high position on the shelf, it is difficult to see the position of the luggage. It is easy to get tired because the bag is used, and when the baggage is placed at a low position on the shelf or when the baggage is placed at a low position on the shelf, the position of the load is easy to see and it is relatively easy to use during cargo handling work. There is a difference in the increase in fatigue that is difficult to do.
Further, the increase in fatigue in the work-specific fatigue level table 301E may be indirectly indicated by a coefficient corresponding to the increase in fatigue, for example. Further, the increase in fatigue in the work-specific fatigue level table 301E may be directly indicated by, for example, a fatigue level indicating the amount of increase in fatigue.

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

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

  The driver table 301C includes items of “terminal ID”, “vehicle ID”, and “authentication ID”. In the item “terminal ID”, an identification number given in advance for each biological information detection apparatus 200 is written. In the item “Vehicle ID”, an identification number of the forklift 100 operated by the driver 2 wearing the biological information detecting device 200 is written. In the item “authentication ID”, passenger authentication information given to each biological information detection apparatus 200 (that is, for each driver 2) is written. The passenger authentication information is information indicating that the driver is to be boarded on the forklift 100 having the “vehicle ID” associated with the “terminal ID”.

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

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

  When the work completion information writing unit 303 receives the work identification information indicating the completed work from the vehicle control device 105 of the forklift 100 through the transmission / reception unit 304, the work plan corresponding to the combination of identification numbers included in the work identification information. The information in the information table 301A is detected, and the “completed state” item of the information is rewritten from “incomplete” to “completed”.

  The vehicle state writing unit 305 updates information included in the vehicle table 301 </ b> B stored in the work plan information storage unit 301 based on information received from the forklift 100 through the transmission / reception unit 304.

  The fatigue level calculation unit 306 receives the biological information output from the biological information detection device 200 attached to the driver 2 through the transmission / reception unit 304, and calculates the fatigue level based on the received biological information.

  The fatigue level determination unit 307 determines whether the driver 2 is fatigued and whether the driver 2 has recovered from fatigue based on the fatigue level calculated by the fatigue level calculation unit 306.

  The position specifying unit 308 specifies the position of the driver 2 by receiving position information from the biological information detection device 200.

  The instruction generation unit 309 generates instruction information for the forklift 100 according to the determination result of the fatigue degree determination unit 307 and the position information specified by the position specifying unit 308. The instruction information generated by the instruction generation unit 309 is transmitted to the forklift 100 via the transmission / reception unit 304. The instruction generation unit 309 is an example of a movement instruction unit.

  When the determination result of the fatigue level determination unit 307 indicates that the driver 2 has recovered from fatigue, the recovery notification unit 310 notifies the mobile terminal 210 owned by the driver 2 via the transmission / reception unit 304 from fatigue. Notify that it has recovered.

  Based on the work plan information table 301A and the work-specific fatigue degree table 301E, the cargo handling fatigue increase determination unit 313 calculates an increase in the fatigue level due to each cargo handling work in the work plan information table 301A performed by the driver 2.

When an urgent cargo handling operation occurs, the schedule generation unit 316 sends the fatigue level to the driver 2 (minimum fatigue level driver) having the lowest current fatigue level among the plurality of drivers 2 performing the emergency cargo handling operation. Allocate the largest emergency handling work (maximum load handling work). The schedule generation unit 316 repeats this process of assigning an emergency cargo handling operation. As a result, the schedule generation unit 316 assigns an emergency cargo handling operation having a larger fatigue level to the driver 2 having a lower current fatigue level, that is, to the driver 2 having a higher current fatigue level. The lesser urgent cargo handling work will be allocated for the increase in fatigue.
Further, the schedule generation unit 316 changes the schedule indicating the order of the cargo handling work of each forklift 100 based on the emergency cargo handling work assigned to each driver 2.
The emergency cargo handling operation processing unit 317 determines whether or not an emergency cargo handling operation has occurred.

(Calculation of increased fatigue)
Here, a method for calculating the increase in the fatigue level by the cargo handling fatigue increase determination unit 313 (an example of the cargo handling fatigue increase calculation unit) will be described.
(Specific example 1)
Based on the work plan information table 301A and the work-specific fatigue degree table 301E, the cargo handling fatigue increase determination unit 313 calculates the increase in the fatigue level due to the cargo handling work in the work plan information table 301A performed by the driver 2.
For example, as shown in FIG. 7, for each terminal ID (that is, for each driver 2), the work-specific fatigue level table 301E is a basic fatigue that serves as a reference when working with a package ID and the package indicated by the package ID. A data table 301E1 indicating the correspondence with degrees is stored. For each terminal ID, as shown in FIG. 7, the work-specific fatigue degree table 301E includes a package ID and a classification coefficient according to the type of the package such as a precision device requiring careful work, as indicated by the package ID. A data table 301E2 indicating the correspondence relationship is stored. The cargo handling fatigue increase determination unit 313 calculates an increase in fatigue level due to cargo handling work in the work plan information table 301A performed by the driver 2. Specifically, when the terminal ID is 1001 and the package ID is 002, the cargo handling fatigue increase determination unit 313 calculates the increase in fatigue level from the data tables 301E1 and 301E2 shown in FIG. A2) × (type coefficient a2).

(Specific example 2)
Based on the work plan information table 301A and the work-specific fatigue degree table 301E, the cargo handling fatigue increase determination unit 313 calculates the increase in the fatigue level due to the cargo handling work in the work plan information table 301A performed by the driver 2.
For example, as shown in FIG. 8, for each terminal ID, the work-specific fatigue level table 301E is data indicating the correspondence between the package ID and the basic fatigue level used as a reference when performing the work on the package indicated by the package ID. The table 301E1 is stored. For each terminal ID, as shown in FIG. 8, the work-specific fatigue degree table 301E stores a data table 301E2 indicating the correspondence between the package ID and the type coefficient corresponding to the type of package indicated by the package ID. . For each terminal ID, as shown in FIG. 8, the work-specific fatigue degree table 301 </ b> E shows the correspondence between the loading position ID and the position coefficient 1 and the position coefficient 2 according to the position indicated by the loading position ID. The data table 301E3 shown is stored. Here, the position coefficient 1 is a coefficient corresponding to a situation such as a narrow or wide passage at the position indicated by the loading position ID. The position coefficient 2 is a coefficient corresponding to the situation such as the height of the luggage on the shelf at the position indicated by the loading position ID. For each terminal ID, as shown in FIG. 8, the fatigue level table 301E according to the operation shows the correspondence between the transfer destination position ID and the position coefficient 3 and the position coefficient 4 corresponding to the position indicated by the transfer destination position ID. The data table 301E4 shown is stored. Here, the position coefficient 3 is a coefficient corresponding to a situation such as a narrow or wide passage at the position indicated by the transfer destination position ID. The position coefficient 4 is a coefficient corresponding to the situation such as the height of the load on the shelf at the position indicated by the transfer destination position ID. The cargo handling fatigue increase determination unit 313 calculates an increase in fatigue level due to cargo handling work in the work plan information table 301A performed by the driver 2. Specifically, when the terminal ID is 1001, the package ID is 002, the loading position ID is 204, and the transfer destination position ID is 340, the cargo handling fatigue increase determination unit 313 displays the data table 301E1 shown in FIG. , 301E2, 301E3, 301E4, the increase in the degree of fatigue is (basic fatigue degree A2) × (type coefficient a2) × (position coefficient 1b2) × (position coefficient 2c2) × (position coefficient 3d2) × (position coefficient 4e2) And calculate.

  In the calculation of the increase in the degree of fatigue by the above-described cargo handling fatigue increase determination unit 313, as the coefficients in the data tables 301E1 to 301E4, temporary coefficients for the driver 2 are input as initial values, and the cargo handling fatigue increase determination unit 313 is input. In the second and subsequent calculations of the increase in the degree of fatigue due to, a coefficient may be calculated based on the results up to the previous time and used as the current coefficient.

  Further, in the calculation of the increase in the fatigue level by the above-described cargo handling fatigue increase determination unit 313, a coefficient corresponding to the moving distance from the boarding position of the driver 2 to the loading position may be used. Further, in the calculation of the increase in the degree of fatigue by the above-described cargo handling fatigue increase determination unit 313, a coefficient corresponding to the moving distance from the loading position to the transfer destination position may be used.

In addition, in the calculation of the increase in the fatigue level by the above-described cargo handling fatigue increase determination unit 313, instead of multiplying the coefficient, a data table indicating the increase in the fatigue level is generated, and the increase in the fatigue level is added. The increase in fatigue level may be calculated.
The above is the specific example of the calculation method of the increase in the fatigue degree by the cargo handling fatigue increase determination unit 313.

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

(Work status management process)
FIG. 11 is a flowchart showing a process of updating the work status table 512C and the work plan information table 301A in accordance with the work progress status in the forklift 100 and the management apparatus 300, respectively. The process of the flowchart is a process that is continuously performed regardless of whether the forklift 100 is in a manned operation state or an unmanned operation state.

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

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

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

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

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

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

  The work completion information writing unit 303 of the management apparatus 300 receives the work specifying information transmitted by the work state management unit 502 through the transmission / reception unit 304 through the process of step Sa8. The work completion information writing unit 303 stores work plan information that matches a combination of an identification number indicating a lift-up position and an identification number indicating a lift-down position included in the received work identification information. It is detected from the 301 work plan information table 301A. The work completion information writing unit 303 rewrites the “completed state” item of the detected work plan information from “incomplete” to “completed”.

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.

(Schedule change in case of emergency cargo handling work)
Here, the process of changing the schedule when an urgent cargo handling operation occurs will be described. The schedule change described here involves an urgent cargo handling operation that needs to be performed immediately. The emergency cargo handling operation is assigned to the driver 2, and the change in the order of processing of the cargo handling operation is stored in the storage unit. It is something to be made.

A specific example of changing the schedule will be described with reference to the flowchart shown in FIG.
It is assumed that cargo handling work is recorded in the work plan information table 301A.

  When an urgent cargo handling operation that needs to be performed immediately occurs, a person in charge of managing the schedule inputs information regarding the urgent cargo handling operation to the management apparatus 300. The information related to the urgent cargo handling work is, for example, the package ID, basic fatigue level, type factor, loading position ID, position factor 1, position factor 2, transfer destination position ID, position factor assigned to the emergency cargo handling work. 3, position coefficient 4 and the like.

  The emergency cargo handling operation processing unit 317 determines whether an emergency cargo handling operation has occurred based on the emergency cargo handling operation input to the management device 300 (step Se1). For example, an emergency identifier that can be determined to be an emergency cargo handling operation, such as assigning a package ID unique to the emergency cargo handling operation, is associated with the emergency cargo handling operation, and the emergency cargo handling operation processing unit 317 determines whether an emergency identifier is present or not. It is determined whether a cargo handling operation has occurred. The emergency cargo handling operation processing unit 317 determines that an emergency cargo handling operation has occurred when there is an emergency identifier. Further, the emergency cargo handling operation processing unit 317 determines that no emergency cargo handling operation has occurred when there is no emergency identifier.

  When the emergency cargo handling operation processing unit 317 determines that an emergency cargo handling operation has not occurred (step Se1: No), the emergency cargo handling operation processing unit 317 returns to step Se1.

If the emergency cargo handling operation processing unit 317 determines that an emergency cargo handling operation has occurred (step Se1: Yes), the emergency cargo handling operation processing unit 317 specifies the number of emergency cargo handling operations that have occurred. For example, the emergency cargo handling operation processing unit 317 specifies the number of emergency cargo handling operations generated by counting the number of identifiers associated with the emergency cargo handling operation.
Further, the emergency cargo handling work processing unit 317 refers to the vehicle table 301B and the driver table 301C stored in the work plan information storage unit 301, that is, the forklift 100 in which the current driving state is a manned driving state and is not in operation, that is, Then, the driver 2 (assignable driver) in the manned driving to which the emergency cargo handling work can be assigned is specified.
The emergency handling operation processing unit 317 determines whether or not the number of emergency handling operations that have occurred is equal to or greater than the number of assignable drivers (step Se2).

  When the emergency cargo handling operation processing unit 317 determines that the number of emergency cargo handling operations is equal to or greater than the number of assignable drivers (step Se2: Yes), the emergency cargo handling operation processing unit 317 calculates the number of assignable drivers from the number of emergency cargo handling operations. The number of drivers 2 equal to the subtracted number, that is, the number of drivers 2 that is insufficient for the emergency cargo handling operation, is specified in the order of the current fatigue level from the drivers 2 in the break (step Se3). .

The fatigue level calculation unit 306 calculates the current fatigue level for all drivers 2 including the allocatable driver and the resting driver 2 specified in order of increasing current fatigue level in step Sb3.
The fatigue level calculation unit 306 stores emergency worker fatigue level data in which the driver 2 is associated with the current fatigue level of the driver 2 in the storage unit (step Se4).

  The emergency cargo handling work processing unit 317 specifies the minimum fatigue level driver that is the driver 2 having the smallest current fatigue level from the emergency worker fatigue level data stored by the fatigue level calculation unit 306 (step Se5). . At this time, the emergency handling operation processing unit 317 deletes the data about the driver 2 indicating the minimum fatigue level driver specified from the emergency worker fatigue level data.

  The schedule generation unit 316 identifies the maximum load handling operation that is the largest emergency cargo handling operation corresponding to the increase in the degree of fatigue (step Se6).

  The schedule generation unit 316 allocates the maximum load handling operation to the minimum fatigue level driver specified by the emergency cargo handling operation processing unit 317 (step Se7).

  The schedule generation unit 316 rewrites the work plan information table 301A using the maximum load handling work assigned to the driver with the minimum fatigue level as the current cargo handling work (step Se8). At this time, the schedule generation unit 316 rewrites the work plan information table 301A so that the current and subsequent cargo handling operations before rewriting are processed after the maximum load handling operation.

When the schedule generation unit 316 rewrites the work plan information table 301A, the emergency cargo handling work processing unit 317 determines whether or not the data of the driver 2 remains in the emergency worker fatigue degree data, that is, the emergency cargo handling work is assigned. It is determined whether or not there is a driver 2 who has not been operated (step Se9).
When the emergency cargo handling operation processing unit 317 determines that the data of the driver 2 remains in the emergency worker fatigue data, the emergency cargo handling operation processing unit 317 determines that there is a driver 2 to whom no emergency cargo handling operation is assigned (step Se9: Yes), the process returns to step Se5.
If the emergency cargo handling operation processing unit 317 determines that no data of the driver 2 remains in the emergency worker fatigue data, the emergency cargo handling operation processing unit 317 determines that there is no driver 2 to which no emergency cargo handling operation is assigned (step Se9: No), the process of assigning an urgent cargo handling operation is terminated.

  When the emergency cargo handling operation processing unit 317 determines that the number of emergency cargo handling operations is less than the number of assignable drivers in the process of step Se2 (step Se2: No), the fatigue degree calculation unit 306 The current fatigue level is calculated for all drivers 2 indicating possible drivers. The fatigue level calculation unit 306 proceeds to the process of step Se4.

  By doing so, when a plurality of emergency cargo handling operations that need to be carried out immediately occur, the management device 300 can assign a cargo handling operation with a small increase in fatigue level to the driver 2 with a lot of fatigue.

In addition, said schedule production | generation part 316 demonstrated as what allocates a maximum load handling work to a minimum fatigue degree driver | operator. However, the schedule generation unit 316 is not limited to this. For example, the schedule generation unit 316 specifies a plurality of drivers 2 in ascending order of fatigue level, and performs an emergency cargo handling operation on each identified driver 2 in descending order of an increase in the fatigue level of the emergency cargo handling operation. It may be assigned.
The flowchart shown in FIG. 10 shows the case where all of the drivers 2 are resting, all of the drivers 2 are working on cargo, some of the drivers 2 are resting, and the remaining drivers 2 are working on cargo. Even so, it shows processing that holds.
The process of changing the schedule when the emergency cargo handling work described here occurs is a process that is performed in preference to other cargo handling work when the emergency cargo handling work occurs.
The above is a specific example of the process of changing the schedule when an urgent cargo handling operation occurs.

(Switching between manned and unmanned driving)
FIG. 11 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 biological information detecting device 200 attached to the driver 2 detects the biological information of the driver 2 and the position of the own device. Here, as described above, the biological information detected by the biological information detection apparatus 200 is, for example, the pulse rate of the driver 2 measured for 15 seconds. The biological information detection apparatus 200 transmits the detected pulse rate information for 15 seconds and the position information of the own apparatus to the management apparatus 300. The fatigue level calculation unit 306 of the management device 300 receives the biological information output from the biological information detection device 200 through the transmission / reception unit 304, that is, the information on the pulse rate for 15 seconds and the information on the position of the own device (step Sb1). . Thereby, the position specifying unit 308 specifies the position of the driver 2.

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

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

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

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

  On the other hand, when it is determined in step Sb3 that the vehicle is in the unmanned driving state (step Sb3: unmanned driving state), the fatigue level determination unit 307 is the source of the pulse rate in the reference value table 301D of the work plan information storage unit 301. The determination reference value associated with the identification number of the biological information detecting device 200, that is, the value of the pulse rate for one minute in the normal time of the driver 2 is read out. The fatigue level determination unit 307 calculates a second threshold value by adding a predetermined second value to the pulse rate for one minute in normal times. Here, if the second predetermined value is set to the same value as the first predetermined value, after switching from the manned operation to the unmanned operation, the driver 2 is only slightly recovered from the fatigue. Since the driving is switched to the manned driving, when the value is sufficiently smaller than the first predetermined value, for example, the first predetermined value is 10 beats as described above, for example, about 0 to 5 beats It is necessary to set a predetermined value of 2. The fatigue level determination unit 307 determines whether or not the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 306 is equal to or less than the second threshold (step Sb9). The second predetermined value may be stored in advance in the work plan information storage unit 301, or may be incorporated in advance in a program in a storage area inside the fatigue degree determination unit 307.

  When the fatigue level determination unit 307 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 306 is not less than or equal to the second threshold (step Sb9: No), the processing from step Sb1 is repeated. It is. On the other hand, when the fatigue level determination unit 307 determines that the one-minute pulse rate of the driver 2 calculated by the fatigue level calculation unit 306 is equal to or lower than the second threshold (step Sb9: Yes), the instruction generation unit 309 Is a forklift in which the driving state is unmanned and the work is completed based on the position information of the driver 2 specified by the position specifying unit 308 and the vehicle table 301B stored in the work plan information storage unit 301. The one closest to the driver 2 among 100 is specified (step Sb10). In addition, when all the forklifts 100 are working, the instruction generation unit 309 specifies the one closest to the driver 2 among the forklifts 100 whose driving state is unmanned operation.

  When the forklift 100 is identified, the instruction generation unit 309 switches the identified forklift 100 work with the forklift 100 work associated with the driver 2 (step Sb11). Specifically, the instruction generation unit 309 includes the identification number of the forklift 100 identified in step Sb10 and the driver table for the item “vehicle ID” stored in the work plan information table 301A of the work plan information storage unit 301. In 301C, the identification number of the forklift 100 associated with the driver 2 is replaced. In addition, the instruction generation unit 309 exchanges the identification number of the forklift 100 identified in step Sb10 and the identification number of the forklift 100 associated with the driver 2 in the driver table 301C. Thereby, the management apparatus 300 can board the said driver | operator 2 on the forklift 100 nearest to the driver | operator 2 recovered from fatigue, and can take over the work between the forklifts 100.

Next, the instruction generation unit 309 instructs the forklift 100 identified in step Sb10 to switch from unmanned operation to manned operation after moving to the position identified by the position identification unit 308 via the transmission / reception unit 304. An instruction is output (step Sb12). The switching instruction is an example of a movement instruction. The instruction generation unit 309 rewrites the “operating state” item of the forklift 100 in the vehicle table 301B of the work plan information storage unit 301 to “manned operation” (step Sb13). Further, the recovery notification unit 310 transmits a recovery notification indicating that the fatigue of the driver 2 has been recovered to the mobile terminal 210 owned by the driver 2 via the transmission / reception unit 304 (step Sb14). Accordingly, the driver 2 can know the timing of boarding the forklift 100 by recognizing the recovery notification received by the mobile terminal 210. And the management apparatus 300 returns to the process of step Sb1.
Thereby, the operation changeover switch unit 504 of the vehicle control device 105 of the forklift 100 rewrites the operation state information 512B in the storage unit 512 to information indicating the manned operation state. By rewriting the information stored in the driving state information 512B, the driving state displayed on the display 114 is also changed to the manned driving state.

(Processing of unmanned operation)
FIG. 12 is a flowchart showing the processing of the forklift 100 when receiving an instruction to switch to unmanned operation. When the transmission / reception unit 501 receives an instruction to switch to unmanned operation, the boarding determination unit 513 determines whether or not the floor switch 118 is in an off state (step Sc1). When the floor switch 118 is in the on state (step Sc1: No), the process of step Sc1 is continued without starting the automatic operation control unit 503. That is, the forklift 100 does not start the unmanned operation control until the driver 2 gets off after receiving the instruction to switch to the unmanned operation. When the floor switch 118 is turned off (step Sc1: Yes), the operation changeover switch unit 504 activates the automatic operation control unit 503 to start automatic operation processing (step Sc2). The operation changeover switch unit 504 stops the control of the cargo handling control unit 509 by operating the lift lever 106, the tilt lever 107, and the reach lever 108 of the driver 2, and the cargo handling control unit 509 performs a control instruction from the automatic operation control unit 503. It switches so that it may operate | move according to information (step Sc3). The driving changeover switch unit 504 stops the control of the traveling control unit 508 by operating the accelerator lever 109, the brake pedal 110, and the steering handle 111 of the driver 2, and the traveling control unit 508 controls the control instruction from the automatic driving control unit 503. It switches so that it may operate | move according to information (step Sc4).

  When activated by the operation changeover switch unit 504, the automatic operation control unit 503 determines whether or not unattended operation stop instruction information is received from the operation changeover switch unit 504 (step Sc5). When it is determined that unattended operation stop instruction information has not been received from the operation switching switch unit 504 (step Sc5: No), the automatic operation control unit 503 identifies the work in the work plan information selection unit 302 of the management apparatus 300 through the transmission / reception unit 501. Information indicating that information is requested is transmitted (step Sc6).

  The work plan information selection unit 302 reads out work plan information whose “completed state” item is “incomplete” from the work plan information table 301 A of the work plan information storage unit 301. The work plan information selection unit 302 selects work specifying information including an identification number indicating a loading position and an identification number indicating a transfer destination position from the read work plan information, and transmits the work specification information to the automatic operation control unit 503 through the transmission / reception unit 304. Send. For example, in the example of FIG. 6, since the “completion state” of the record with the package ID “002” is “incomplete”, the storage location ID “204” and the transfer destination location ID “340” are read and transmitted. To do.

  The automatic operation control unit 503 receives the work identification information through the transmission / reception unit 501 (step 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.

  If it is determined in step Sc5 that unattended operation stop instruction information has been received from the operation changeover switch unit 504 (step Sc5: Yes), the automatic operation control unit 503 operates the travel control unit 508 to receive the received change instruction. The forklift 100 is advanced to the position indicated by the position information included in (Step Sc9).

  Next, 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 in which the driver 2 who should board the forklift 100 can perform a manned operation.

  In addition, FIG.9, FIG.11, FIG.11 is the process which each function part with which the vehicle control apparatus 105 is provided, respectively performs in parallel. As described above, FIG. 12 is a process that is started when the process of step Sb8 in FIG. 11 is performed, and even if the process of FIG. Received by the control device 105, the processing from step Sb1 is repeated.

With the configuration of the above embodiment, the emergency handling operation processing unit 317 determines whether or not an emergency cargo handling operation has occurred, and performs an emergency cargo handling operation when it is determined that an emergency cargo handling operation has occurred. For each of the drivers 2, each of the drivers 2 is specified in order of increasing or decreasing current fatigue level. The schedule generation unit 316 assigns emergency cargo handling operations to the drivers 2 who perform emergency cargo handling operations specified in ascending order of the current fatigue level, in order of increasing fatigue level, or present fatigue The emergency loading / unloading work is assigned to each of the drivers 2 who perform the emergency loading / unloading work specified in descending order of the degree in order of increasing fatigue level.
As a result, when a plurality of urgent cargo handling operations that need to be performed immediately occur, the management apparatus 300 can assign a cargo handling operation with a small increase in fatigue level to the driver 2 with a high degree of fatigue. Efficiency can be improved.

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

  Moreover, in said embodiment, although it is set as the structure provided with the management apparatus 300 in the cargo handling vehicle system 1, the structure of this invention is not restricted to the said embodiment. The biological information detection apparatus 200, the forklift 100, and the position mark 400 may be provided, and the management apparatus 300 may not be provided. In this case, the biometric information detection apparatus 200 or the portable terminal 210 includes the transmission / reception unit 304, the fatigue level calculation unit 306, the fatigue level determination unit 307, the position specification unit 308, the instruction generation unit 309, the recovery notification unit 310, and the cargo handling fatigue increase determination unit. 313, a configuration corresponding to the schedule generation unit 316 is provided. Thereby, even if there is no management apparatus 300, the biometric information detection apparatus 200 or the portable terminal 210 can transmit a switching instruction | indication and a movement instruction | command to the forklift 100. Also, in this case, a work plan information table 301A storing work plan information for each vehicle control device 105 of the forklift 100 is stored in the storage unit 512, and the vehicle control device 105 selects the work completed information writing unit 303, the work plan information selection. The unit 302 is provided. Thereby, the forklift 100 can continue the work in the unmanned operation based on the work plan information stored in the storage unit 512.

  Moreover, in said embodiment, when the driver | operator 2 recovers from fatigue | exhaustion, it is set as the structure which switches the thing nearest to the said driver | operator 2 among the forklifts 100 during unmanned driving | running | working, However, The structure of this invention is the structure. The invention is not limited to the embodiment. For example, when the driver 2 and the forklift 100 are set to have a one-to-one correspondence in advance, the management device 300 issues a switching instruction to the forklift 100 associated with the driver 2 whose fatigue has been recovered in the driver table 301C. You may send it. In this case, the management apparatus 300 does not need to perform the work replacement process in step Sb11. Further, for example, the management apparatus 300 may transmit a switching instruction to a randomly selected forklift 100 during unmanned operation.

  In the above-described embodiment, the camera 113 of the forklift 100 captures the position mark 400, and the position detection unit 511 analyzes the image obtained by capturing and outputs information indicating the position. The configuration of the present invention is not limited to the embodiment. The position controller 400 may be provided with a GPS (Global Positioning System) device in the vehicle control device 105 without the position mark 400 or the camera 113, and the position detection unit 511 may acquire information indicating the position from the GPS. 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 instruction generation unit 309 refers to this “completed state” item to determine whether or not the current work is completed in step Sb5. However, the configuration of the present invention is limited to the embodiment. I can't.
For example, when the work status management unit 502 obtains output information of the load detection unit 510 that outputs whether or not a load is loaded based on the weight value output by the load sensor 112, and the load is loaded, The information is output as information indicating the work status indicating “working”, and when the load is not loaded, the information is output as information indicating the work status indicating “completed”. On the basis of the information indicating that, manned driving may be switched to unmanned driving.
In addition, when the work status management unit 502 acquires information indicating lift up and lift down, which is the type of lift control output by the cargo handling control unit 509, as information indicating the work status. When it is lifted down, it is output as indicating “completion”, and the instruction generation unit 309 switches from manned operation to unmanned operation based on the information indicating the work status. May be.
In the process of FIG. 9, when it is assumed that the vehicle travels while lifting up or travels while lifting down, the configuration in which the traveling state is not determined in step Sa <b> 2 may be used.

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

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

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

  In the above embodiment, the first predetermined value and the second predetermined value used in step Sb4 and step Sb9 in FIG. 11 are different values, and the first threshold value and the second threshold value are different values. However, the configuration of the present invention is not limited to the embodiment, and the first predetermined value and the second predetermined value may be the same value.

  In the above embodiment, the first threshold value used for determining whether or not the driver 2 is tired in step Sb4 in FIG. 11 and whether or not the driver 2 is recovering from fatigue in step Sb9. As the second threshold value used for the determination, the first threshold value is set to a value larger than the second threshold value, so that the driver 2 is sufficiently recovered from fatigue and switched from unmanned driving to manned driving. However, the configuration of the present invention is not limited to the embodiment. For example, when biometric information whose value decreases with increasing fatigue is applied as the fatigue level, the second threshold needs to be set as a value greater than the first threshold.

Further, in the above embodiment, in step Sb15 of FIG. 11, for example, when the operation changeover switch unit 504 switches from unmanned operation to manned operation, the work performed in the unmanned operation state is stored in the work situation table 512C. The information may be output to the display 114 based on the information.
The configuration for displaying the work performed in the unattended operation state on the display 114 can be realized by the following configuration, for example. In the work state table 512C of the storage unit 512, an item “operation state” is further provided, and the work state management unit 502 is a work performed in the manned operation state or a work performed in the unmanned operation state. When the record is generated or “completed” is written in the “completed state” item, the information indicating whether or not is written with reference to the operation state information 512B. Then, when switching from unmanned operation to manned operation, the operation switching switch unit 504 selects a record in which the item “driving state” indicates the unmanned driving state from the work situation table 512 </ b> C and outputs the selected record to the display 114.
With this configuration, when the driver 2 is not in the driver's seat 117 during the unmanned driving state, the work performed during the unmanned driving state is confirmed when the driver 2 changes to the manned driving state. be able to.

  In the above-described embodiment, in the unmanned operation process of FIG. 12, 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, the work plan information whose “completed state” item is “incomplete” is read, and the work specifying information included in the read work plan information is transmitted to the vehicle control device 105. In the vehicle control device 105, when the work specifying information is received, the work control information 105 is displayed on the display 114, and in the case of the manned driving state, the driver 2 performs work with reference to the work specifying information displayed on the display 114. Thus, when it is set as the structure which transmits work specific information from the management apparatus 300 continuously, the process of the request | requirement of work specific information like step Sc6 does not need to be performed in an unmanned driving state.

  In the above embodiment, the determination in step Sb4 in FIG. 11 is performed based on whether or not it is equal to or greater than the first threshold value. In the determination in step Sb9, is the second threshold value or less. Although the determination is made based on whether or not, the configuration of the present invention is not limited to the embodiment. These determination methods are examples, and for example, determination may be performed based on whether or not the first threshold value is exceeded in Step Sb4, or in the determination of Step Sb9, it is less than the second threshold value. The determination may be made based on whether or not.

  The vehicle control device 105 and the management device 300 in the above-described embodiment are realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system serving as a server or a client in that case may be included and a program held for a certain period of time. Further, the program may be a program for realizing a part of the above-described functions, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system. You may implement | achieve using programmable logic devices, such as FPGA (Field Programmable Gate Array).

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

  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 until the operation being performed in the unmanned operation is completed. It is possible to switch from unmanned operation to manned operation after the work 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 Sb6 of FIG. 11, 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 decrease 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 decreased 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. 12 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 Sb18 of FIG. 11, 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, the biological information detection apparatus 200 or the portable terminal 210 has a configuration corresponding to the transmission / reception unit 304, the fatigue level calculation unit 306, the fatigue level determination unit 307, the position specification unit 308, the instruction generation unit 309, and the recovery notification unit 310. Like that. Thereby, even if there is no management apparatus 300, the biometric information detection apparatus 200 or the portable terminal 210 can transmit a switching instruction | indication and a movement instruction | command to the forklift 100. Also, in this case, a work plan information table 301A storing work plan information for each vehicle control device 105 of the forklift 100 is stored in the storage unit 512, and the vehicle control device 105 selects the work completed information writing unit 303, the work plan information selection. The unit 302 is provided. Thereby, the forklift 100 can continue the work in the unmanned operation based on the work plan information stored in the storage unit 512. In the 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.

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 115 Front wheel 116 Rear wheel 117 Driver's seat 118 Floor switch 200 Biological information detection device 300 Management device 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 Instruction generation unit 310 Recovery notification unit 313 Cargo fatigue increase determination unit 316 Schedule generation unit 317 Emergency cargo handling work processing unit 400 Position mark 501 Transmission / reception unit 502 Work status management unit 503 Automatic operation Control unit 504 driving the switching unit 508 the travel control unit 509 cargo control unit 510 loading detection unit 511 position detection unit 512 storage unit 513 boarding determination unit

Claims (17)

A schedule generation unit that assigns an emergency cargo handling operation having a smaller fatigue amount to a driver having a greater current fatigue level when an emergency cargo handling operation occurs ;
An emergency cargo handling operation processing unit for determining whether or not the emergency cargo handling operation has occurred;
Equipped with a,
The schedule generation unit
When the emergency cargo handling work processing unit determines that the emergency cargo handling work has occurred, the driver having a higher current fatigue level is assigned an emergency cargo handling work with a smaller increase in fatigue level,
The emergency cargo handling work processing unit
When it is determined that the emergency cargo handling operation has occurred and the number of the emergency cargo handling operations is greater than the number of assignable drivers who can assign the emergency cargo handling operations, the emergency cargo handling operation is performed. A driver corresponding to the number obtained by subtracting the number of assignable drivers from the number of tasks is identified from among the drivers who are taking a break.
A cargo handling vehicle calling device characterized by the above.   The emergency cargo handling work processing unit
  When the number of urgent cargo handling operations is larger than the number of allocatable drivers, the drivers are identified from the resting drivers in ascending order of the current fatigue level.
  The cargo handling vehicle call device according to claim 1. The schedule generation unit
When the emergency cargo handling operation occurs, the smallest fatigue level driver that is the driver with the lowest current fatigue level among the plurality of drivers who perform the emergency cargo handling operation has the largest increase in the fatigue level. The cargo handling vehicle call device according to claim 1 or 2 , wherein a maximum load handling operation which is an emergency handling operation is assigned. The schedule generation unit
Said assigned to the driver the urgent loading and unloading, cargo handling vehicle call device according to any one of claims 1 to 3, characterized in that in the storage unit in association with the driver. The schedule generation unit
When the emergency cargo handling operation occurs, the driver is specified in ascending order of the fatigue level, and each of the identified drivers is assigned the emergency cargo handling task to the increase in the fatigue level of the emergency cargo handling job. The cargo handling vehicle calling device according to any one of claims 1 to 4 , wherein the cargo handling vehicle call device is assigned in descending order. Based on the driver's biological information, a fatigue level calculation unit that calculates the driver's fatigue level,
A fatigue level determination unit that determines whether the driver is fatigued based on the fatigue level calculated by the fatigue level calculation unit;
Based on the determination result of the fatigue level determination unit, an instruction generation unit that generates an instruction to switch the driving state between manned driving and unmanned driving, and outputs the instruction to the cargo handling vehicle,
The cargo handling vehicle calling device according to any one of claims 1 to 5 , further comprising: The fatigue level determination unit
The driver's fatigue level is determined based on the first threshold indicating the fatigue level at which the driver enters a break and the fatigue level. Whether or not the driver has recovered from fatigue based on a second threshold value indicating a predetermined fatigue level serving as a reference for switching to the driving state of the manned driving and the fatigue level calculated by the fatigue level calculation unit The cargo handling vehicle calling device according to claim 6 , wherein a value different from the first threshold value and the second threshold value is determined. The instruction generation unit
The cargo handling vehicle call according to claim 6 or 7 , wherein when the information indicating the work status of the cargo handling vehicle indicates a work completion status, an instruction to switch the driving state is output to the cargo handling vehicle. apparatus. The instruction generation unit
When the information indicating the work status detected based on information indicating whether or not a cargo handling object is loaded indicates a work completion state, an instruction to switch the driving state is output to the cargo handling vehicle. The cargo handling vehicle calling device according to claim 8 . The instruction generation unit
An instruction to switch the driving state is output to the cargo handling vehicle when the information indicating the work status detected based on the information indicating the operation of lifting and unloading the cargo handling object indicates a work completion state. The cargo handling vehicle call device according to claim 8 or 9 , characterized by the above. The instruction generation unit
Information indicating the working status, if not the state of task completion, to any one of claims 8 10, characterized in that to notify that to switch the operating state after completion of work on the cargo handling vehicle The cargo handling vehicle calling device as described. The cargo handling vehicle calling device according to any one of claims 1 to 11 ,
Based on the determination of the cargo handling vehicle calling device, a cargo handling vehicle having an operation changeover switch unit that switches between a manned operation and an unmanned operation, and
A biological information detection device that acquires the driver's biological information and transmits it to the cargo handling vehicle call device;
A cargo handling vehicle system comprising: A cargo handling vehicle system comprising a cargo handling vehicle, a biological information detection device that detects biological information of a driver of the cargo handling vehicle, and a cargo handling vehicle call device that manages work performed by the cargo handling vehicle,
The cargo handling vehicle calling device includes:
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;
From the work plan information storage unit, the predetermined work plan information whose information indicating the completion state of the work is incomplete is selected, and the work specifying information included in the work plan information is sent to the cargo handling vehicle. A work plan information selection section to output;
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;
An instruction generation unit that outputs a movement instruction to move to the cargo handling vehicle;
A schedule generation unit that assigns an emergency cargo handling operation having a smaller fatigue amount to a driver having a greater current fatigue level when an emergency cargo handling operation occurs;
An emergency cargo handling operation processing unit for determining whether or not the emergency cargo handling operation has occurred;
With
The schedule generation unit
When the emergency cargo handling work processing unit determines that the emergency cargo handling work has occurred, the driver having a higher current fatigue level is assigned an emergency cargo handling work with a smaller increase in fatigue level,
The emergency cargo handling work processing unit
When it is determined that the emergency cargo handling operation has occurred and the number of the emergency cargo handling operations is greater than the number of assignable drivers who can assign the emergency cargo handling operations, the emergency cargo handling operation is performed. A driver corresponding to the number obtained by subtracting the number of assignable drivers from the number of tasks is identified from among the drivers who are taking a break,
The cargo handling vehicle is
Including the information indicating the position of the load storage location and the information indicating the position of the transfer destination when performing an operation of transferring the cargo handling object from the position of the load storage location to the transfer destination location. A work status management unit that transmits work specific information to the cargo handling vehicle calling device;
Based on an instruction from the instruction generation unit, an operation changeover switch unit that switches an operation state between manned operation and unmanned operation;
When the operation switching switch unit switches the operation state from the manned operation to the unmanned operation, the operation specifying information transmitted from the cargo handling vehicle calling device is received, and the cargo handling target is received based on the operation specifying information. An automatic operation control unit for transferring goods,
With
The biological information detection device
The cargo handling vehicle system, wherein the biological information of the driver is acquired and transmitted to the cargo handling vehicle call device. A control method for a cargo handling vehicle calling device that calls a cargo handling vehicle that enables switching between unmanned driving and manned driving,
Determine if an emergency cargo handling operation has occurred,
When it is determined that the emergency cargo handling operation has occurred, a driver having a higher current fatigue level is assigned a smaller emergency cargo handling operation corresponding to the increase in the fatigue level ,
When it is determined that the emergency cargo handling operation has occurred and the number of the emergency cargo handling operations is greater than the number of assignable drivers who can assign the emergency cargo handling operations, the emergency cargo handling operation is performed. control method for handling a vehicle, characterized in that the number of working driver corresponding to the number obtained by subtracting the number of said allocatable driver that identifies from a driver in the break. A control method for a cargo handling vehicle system comprising the cargo handling vehicle call device according to any one of claims 1 to 11 , and a cargo handling vehicle.
Determine if an emergency cargo handling operation has occurred,
When it is determined that the emergency cargo handling operation has occurred, a driver having a higher current fatigue level is assigned a smaller emergency cargo handling operation corresponding to the increase in the fatigue level ,
When it is determined that the emergency cargo handling operation has occurred and the number of the emergency cargo handling operations is greater than the number of assignable drivers who can assign the emergency cargo handling operations, the emergency cargo handling operation is performed. A driver corresponding to the number obtained by subtracting the number of assignable drivers from the number of tasks is identified from among the drivers who are taking a break ,
An emergency loading / unloading operation is performed by manned driving based on the assigned maximum load / unloading operation. A control method for a cargo handling vehicle system comprising: a cargo handling vehicle; a biological information detection device that detects biological information of a driver of the cargo handling vehicle; and a cargo handling vehicle call device that manages work performed by the cargo handling vehicle,
The cargo handling vehicle calling device includes 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. From the storage unit that stores the work plan information including information indicating the completion status of the work as information indicating incomplete, the information indicating the completion status of the work is the predetermined work plan information that is not completed. Selecting, outputting the work identification information included in the work plan information to the cargo handling vehicle,
The cargo handling vehicle calling device, when receiving the work identification information from the cargo handling vehicle, rewrites information indicating a completion state of the work corresponding to the work identification information from information not completed to information indicating completion,
Outputs a movement instruction to move to the cargo handling vehicle,
The cargo handling vehicle calling device determines whether or not an emergency cargo handling operation has occurred,
When it is determined that the emergency cargo handling operation has occurred , the cargo handling vehicle calling device assigns a smaller emergency cargo handling operation to the driver having a higher fatigue level,
The cargo handling vehicle calling device determines that the emergency cargo handling operation has occurred, and the number of emergency cargo handling operations is greater than the number of assignable drivers who are drivers who can allocate the emergency cargo handling operation. A driver corresponding to the number obtained by subtracting the number of allocatable drivers from the number of emergency cargo handling operations is identified from among the resting drivers,
The cargo handling vehicle indicates information indicating the position of the cargo storage location and the location of the transport destination when performing an operation of transferring the cargo handling object from the location of the cargo storage location to the location of the transfer destination. Transmitting the work specifying information including information to the cargo handling vehicle calling device,
The cargo handling vehicle switches the driving state between manned driving and unmanned driving based on an instruction from the cargo handling vehicle calling device,
The cargo handling vehicle receives the work specifying information transmitted from the cargo handling vehicle calling device when the driving state is switched from the manned driving to the unmanned driving, and based on the work specifying information, Transport,
The control method for a cargo handling vehicle system, wherein the biometric information detection device acquires the driver's biometric information and transmits it to the cargo handling vehicle call device. In the computer provided in the cargo handling vehicle calling device,
A procedure for determining whether or not an urgent cargo handling operation has occurred,
A procedure for assigning an emergency cargo handling operation having a smaller fatigue amount to a driver having a higher current fatigue level when it is determined that the emergency cargo handling operation has occurred;
When it is determined that the emergency cargo handling operation has occurred and the number of the emergency cargo handling operations is greater than the number of assignable drivers who can assign the emergency cargo handling operations, the emergency cargo handling operation is performed. A procedure for identifying a driver corresponding to a number obtained by subtracting the number of allocatable drivers from the number of tasks from among the drivers taking a break;
A control program for a cargo handling vehicle calling device for executing the control.

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