JP6358635B1 - Manned and unmanned cargo handling system - Google Patents

Abstract

An object of the present invention is to provide a vehicle allocation system in which an operator does not need to call a cargo handling vehicle and the operation efficiency of the cargo handling vehicle is relatively high.
A vehicle allocation system according to the present invention includes a plurality of manned and unmanned cargo handling vehicles 11, a management device 13 capable of communicating with each of the cargo handling vehicles 11, and a standby place where the cargo handling vehicle 11 waits for an operator. And. When the cargo handling vehicle 11 operating in the unmanned operation mode finishes the cargo handling operation, the management device 13 stores the cargo handling vehicle information storage unit 15 that stores the cargo handling vehicle information regarding the state of the cargo handling vehicle 11 acquired from the cargo handling vehicle 11. In addition, based on the cargo handling vehicle information of the other cargo handling vehicle 11 stored in the cargo handling vehicle information storage unit 15, whether the cargo handling vehicle 11 is moved to a standby place or the cargo handling vehicle 11 performs the next cargo handling operation. And a next operation determining unit 16 for determining whether or not.
[Selection] Figure 2

Description

  The present invention relates to a vehicle allocation system that allocates a manned unmanned cargo handling vehicle operating in a manned operation mode and an unmanned operation mode to an operator.

  For example, there is a system described in Patent Document 1 as a conventional vehicle allocation system that allocates a manned unmanned cargo handling vehicle operating in a manned operation mode and an unmanned operation mode to an operator. In this system, when an operator who has recovered from fatigue makes a call using a mobile terminal, one of the unloading vehicles in unmanned operation mode is moved to the calling position and switched to the manned operation mode. To be served.

Japanese Patent No. 6053085

  The conventional vehicle allocation system is very convenient for the operator, but on the other hand, there is a problem that the cost is high because the mobile terminals for all the operators must be prepared. In addition, this conventional vehicle allocation system has a problem that an operator who has forgotten to have a portable terminal cannot make a call (that is, a cargo handling vehicle cannot be used).

  These problems are, for example, only for a predetermined time (for example, 10 minutes) in order to move the cargo handling vehicle that has finished the cargo handling work to a predetermined standby place in the unmanned operation mode and give the operator the opportunity to get on the vehicle. It is thought that it can be solved by making it wait. However, when such a method is adopted, there is another problem that when there is no operator who wants to get on the vehicle, a plurality of cargo handling vehicles wait in a standby place without performing the cargo handling work, and the operating efficiency of the cargo handling vehicle is lowered. May occur.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle allocation system in which an operator does not need to call a cargo handling vehicle and the operation efficiency of the cargo handling vehicle is relatively high. There is.

  In order to solve the above problems, a vehicle allocation system according to the present invention includes a plurality of manned and unmanned cargo handling vehicles that operate in a manned operation mode and an unmanned operation mode, and a management device that can communicate with each of the cargo handling vehicles. A vehicle dispatching system including a waiting place for the cargo handling vehicle to wait for an operator to board, wherein the management device stores cargo handling vehicle information regarding the status of the cargo handling vehicle acquired from the cargo handling vehicle by the communication. When the storage unit and the cargo handling vehicle operating in the unmanned operation mode finish the cargo handling operation, based on the cargo handling vehicle information of other cargo handling vehicles other than the cargo handling vehicle stored in the storage unit A next operation determining unit for determining whether to move the cargo handling vehicle to the standby position or to cause the cargo handling vehicle to perform a next cargo handling operation, and to issue a command corresponding to the determination by the next operation determining unit. Communication by and having and a command unit for sending to the cargo handling vehicles.

  When the elapsed time of standby at the standby location is included in the cargo handling vehicle information, the next operation determining unit of the vehicle allocation system determines in advance the elapsed time of the cargo handling vehicle waiting at the standby location. When it becomes equal to the waiting limit time, it may be configured to determine that the cargo handling vehicle performs the next cargo handling operation.

  Further, the next operation determining unit of the vehicle allocation system may include another cargo handling vehicle waiting at the standby location when the cargo handling vehicle operating in the unmanned operation mode finishes the cargo handling operation. For example, it may be configured to determine that the cargo handling vehicle that has finished the cargo handling operation performs the next cargo handling operation.

  In this case, the next operation determination unit of the vehicle allocation system has another cargo handling vehicle waiting at the standby location when the cargo handling vehicle operating in the unmanned operation mode finishes the cargo handling operation. Even if the difference between the elapsed time of the other cargo handling vehicle and the waiting time limit is less than a predetermined threshold, it is decided to move the cargo handling vehicle that has finished the cargo handling work to the standby location. It is preferable to be configured.

  In addition, the next operation determination unit of the vehicle allocation system may be another cargo handling vehicle that is moving toward the standby location in accordance with the command when the cargo handling vehicle operating in the unmanned operation mode finishes the cargo handling operation. If the vehicle is present, it is determined whether the cargo handling vehicle that has finished the cargo handling operation performs the next cargo handling operation regardless of whether there is another cargo handling vehicle waiting at the standby location. It may be configured as follows.

  According to the present invention, it is not necessary for an operator to call a cargo handling vehicle, and it is possible to provide a vehicle allocation system with relatively high operating efficiency of the cargo handling vehicle.

1 is a schematic diagram of a warehouse to which a vehicle allocation system according to the present invention is applied. It is a block diagram of the management apparatus with which the vehicle allocation system which concerns on this invention was equipped. It is an example of the cargo handling work information memorize | stored in the cargo handling work information storage part shown in FIG. It is an example of the cargo handling vehicle information memorize | stored in the cargo handling vehicle information storage part shown in FIG. It is a flowchart which shows operation | movement of the next operation | movement determination part shown in FIG.

  Embodiments of a vehicle allocation system according to the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows a warehouse S to which a vehicle allocation system 10 according to an embodiment of the present invention is applied. As shown in the figure, the warehouse S has first to eighth racks R1 to R8, first to fifth lanes L1 to L5, and a standby place 12. In the present embodiment, five manned and unmanned forklifts 11a to 11e in the warehouse S carry out cargo handling work. In the present specification, 11 may be used as a reference numeral indicating any one or more of the five forklifts 11a to 11e.

  The first rack R1 and the second rack R2 are arranged back to back. The same applies to the third rack R3 and the fourth rack R4, the fifth rack R5 and the sixth rack R6, the seventh rack R7 and the eighth rack R8.

  The first lane L1 is an area in which the forklift 11 that performs a cargo handling operation on the first rack R1 travels. The second lane L2 is an area where the forklift 11 that performs a cargo handling operation on the second rack R2 and the third rack R3 travels. The third lane L3 is an area in which the forklift 11 that performs a cargo handling operation on the fourth rack R4 and the fifth rack R5 travels. The fourth lane L4 is an area in which the forklift 11 that performs a cargo handling operation on the sixth rack R6 and the seventh rack R7 travels. The fifth lane L5 is an area in which the forklift 11 that performs a cargo handling operation on the eighth rack R8 travels.

  The forklift 11 in the unmanned operation mode performs the assigned cargo handling work while arbitrarily moving in the warehouse S. For example, the forklift 11a scoops up the luggage W001 stored at the P2_16 address of the second rack R2 and moves it to the P2_06 address. The forklift 11d scoops up the luggage W002 stored at the address P8_17 of the eighth rack R8 and moves it to the address P6_08 of the sixth rack R6.

  The waiting place 12 is a place where the forklift 11 waits for the operator to get on. The forklift 11 waits here until the operator gets on or until a predetermined waiting time limit elapses.

  The forklift 11 can also go back and forth between the first to fifth lanes L1 to L5 and the standby place 12.

  The dispatch system 10 according to the present embodiment further includes a management device 13 that can communicate with each of the forklifts 11a to 11e in addition to the forklifts 11a to 11e and the standby place 12 shown in FIG.

  As shown in FIG. 2, the management device 13 includes a cargo handling work information storage unit 14 and a cargo handling vehicle information storage unit 15.

  As shown in FIG. 3, the cargo handling work information storage unit 14 stores information on cargo handling work to be performed by the forklifts 11 a to 11 e (hereinafter simply referred to as “loading work information”). The cargo handling work information includes a work ID, a loading position, a loading position, a luggage ID, and a state.

  The management device 13 selects one cargo handling operation (for example, A05) from among the cargo handling operations in which the “state” is blank (−) and stored in the cargo handling work information storage unit 14 Forklift 11 (for example, forklift 11a). In response to this, the forklift 11a moves the load W005 stored at the address P2_06 of the second rack R2 to the address P7_12 of the seventh rack R7. In other words, the forklift 11a performs the assigned cargo handling operation A05. The state of the cargo handling work A05 is rewritten to “working” when the assignment is performed, and then rewritten to “completed” when the report signal indicating that the work is completed is received from the forklift 11a.

  As shown in FIG. 4, the cargo handling vehicle information storage unit 15 stores information (hereinafter referred to as “loading vehicle information”) regarding the states of the forklifts 11 a to 11 e. The cargo handling vehicle information includes a cargo handling vehicle ID, an operation mode, a current position, an operation state, an assigned work ID, and an elapsed time. Among these, the operation mode, the current position, the operation state, and the assigned work ID are updated to the latest information based on the report signals sent from each of the forklifts 11a to 11e.

  The “loading vehicle ID” included in the loading vehicle information is an ID unique to each of the forklifts 11a to 11e. In this embodiment, F00 is a unique ID of the forklift 11a, F01 is a unique ID of the forklift 11b, F02 is a unique ID of the forklift 11c, F03 is a unique ID of the forklift 11d, and F04 is a unique ID of the forklift 11e. It is a unique ID.

  The “driving mode” included in the cargo handling vehicle information indicates whether the current driving mode of the forklift 11 is the unmanned driving mode or the manned driving mode. When the operator gets on one of the forklifts 11 (for example, forklift 11a) and changes the mode switch provided in the driver's seat from “unmanned” to “manned”, a report signal to that effect is sent from the forklift 11a to the management device 13. The operation mode of the forklift 11a (loading vehicle ID: F00) is rewritten to “manned”. Further, when the operator switches the mode switch from “manned” to “unmanned” when getting off the forklift 11a, a report signal to that effect is sent from the forklift 11a to the management device 13, and the forklift 11a (loading vehicle ID: F00). The operation mode is rewritten to “Unattended”.

  The “current position” included in the cargo handling vehicle information indicates the current position (X coordinate and Y coordinate) of the forklift 11 in the warehouse S. The current position is rewritten to the latest information based on a report signal sent from each of the forklifts 11a to 11e at a predetermined frequency (for example, once every 2 seconds). The forklift 11 can detect its own position in the warehouse S using various known sensors.

The “operation state” included in the cargo handling vehicle information indicates the current operation state of the forklift 11. In this embodiment, the operation state of the forklift 11 is divided into the following seven (ST1 to ST7). The operation state is rewritten to the latest information based on a report signal sent from each of the forklifts 11a to 11e at a predetermined frequency (for example, once every 2 seconds).

ST1: Moving toward the loading position ST2: Loading at the loading position ST3: Moving toward the loading position ST4: Loading at the loading position ST5: Completion of loading (waiting for command)
ST6: Moving toward standby location 12 ST7: Waiting at standby location 12

  The “assignment work ID” included in the cargo handling vehicle information indicates the work ID of the assigned cargo handling work. The assigned work ID is written when the management device 13 assigns a cargo handling work to the forklift 11. For example, when the management device 13 assigns the cargo handling work A00 to the forklift 11a, “A00” is written in the assigned work ID of the forklift 11a (loading vehicle ID: F00). Further, the assigned work ID of the forklift 11a is left blank when a report signal indicating that the operation state is ST5 is received from the forklift 11a.

  The “elapsed time” included in the cargo handling vehicle information indicates the elapsed time since the start of standby at the standby location 12. For example, when a report signal indicating that the operation state is ST7 is received from the forklift 11c, “0'00” is written in the elapsed time of the forklift 11c (loading vehicle ID: F02). Thereafter, the elapsed time is counted up with the passage of time.

  As shown in FIG. 4, for the forklift 11 (loading vehicle ID: F03) in the manned operation mode, the operation state, the assigned work ID, and the elapsed time are blank.

  As illustrated in FIG. 2, the management device 13 further includes a next operation determination unit 16, a command unit 17, and a communication unit 18.

  When the forklift 11 finishes the assigned work, the next operation determination unit 16 determines whether to move the forklift 11 to the standby place 12 or to cause the forklift 11 to perform the next work.

  The command unit 17 generates a command signal corresponding to the determination by the next operation determination unit 16 and transmits the command signal to the forklift 11 related to the determination via the communication unit 18. Specifically, when the next operation determination unit 16 determines to move the forklift 11 to the standby location, the command unit 17 transmits a command signal for instructing movement to the standby location. On the other hand, when the next operation determining unit 16 determines that the forklift 11 performs the next cargo handling operation, the command unit 17 includes information on the next cargo handling operation (including the loading position, the loading position, and the A package ID is included) as a command signal.

  The communication unit 18 is configured to be able to communicate with each of the forklifts 11a to 11e wirelessly. The communication unit 18 transmits the command signal generated by the command unit 17 to any of the forklifts 11. Further, the communication unit 18 receives a report signal from the forklift 11.

  Next, an example of the operation of the next operation determination unit 16 will be described in more detail with reference to FIG. It should be noted that the following example does not correspond to the specific contents of the cargo handling work information and the cargo handling vehicle information shown in FIGS.

  In step S <b> 1, the next operation determination unit 16 refers to the cargo handling vehicle information stored in the cargo handling vehicle information storage unit 15. More specifically, the next operation determination unit 16 refers to the operation states of all forklifts 11a to 11e (except for those in the manned operation mode) included in the cargo handling vehicle information.

  In step S2, the next operation determination unit 16 determines whether or not there is a forklift 11 whose operation state is ST5 (that is, the forklift 11 that has finished the assigned cargo handling work). Then, the next operation determination unit 16 executes step S3 when such a forklift 11 is present, and executes step S1 again when it does not exist.

  In step S <b> 3, the next operation determining unit 16 refers again to the cargo handling vehicle information stored in the cargo handling vehicle information storage unit 15. More specifically, the next operation determination unit 16 determines forklifts 11b to 11e other than the forklift 11 (in this example, the forklift 11a, the same applies hereinafter) whose operation state is found to be ST5 in step S2 (however, the manned operation mode) Refer to the operation status of

  In step S <b> 4, the next operation determination unit 16 determines whether or not the forklift 11 whose operation state is ST <b> 6 (that is, the forklift 11 that is moving toward the standby place 12) exists among the other forklifts 11 b to 11 e. Determine whether. Then, when such a forklift 11 exists, the next operation determination unit 16 determines that the forklift 11a performs the next cargo handling operation (step S8). In other words, the next operation determination unit 16 determines not to move the forklift 11 a to the standby place 12. The reason why the plurality of forklifts 11 are moved to the standby place is not preferable in terms of operating efficiency. On the other hand, when the forklift 11 whose operation state is ST6 does not exist, the next operation determination unit 16 executes Step S5.

  In step S5, the next operation determination unit 16 determines whether or not the forklift 11 whose operation state is ST7 (that is, the forklift 11 waiting at the standby place 12) exists among the other forklifts 11b to 11e. Determine. When the forklift 11 does not exist, the next operation determination unit 16 determines to move the forklift 11a to the standby place 12 (step S7). This is to give the operator an opportunity to get on. On the other hand, when there is a forklift 11 whose operation state is ST7, the next operation determination unit 16 executes Step S6.

  In step S6, the next operation determination unit 16 determines the elapsed time of the forklift 11 (in this example, the forklift 11d, the same applies hereinafter) that has been determined to be ST7 in step S5, and a predetermined waiting time limit (for example, 10′00 ″) is less than or equal to 1′00 ″. In other words, the next operation determination unit 16 determines whether or not the elapsed time of the forklift 11d is equal to or greater than 9'00 ". If the above condition is satisfied, the next operation determination unit 16 executes step S7. This is because even if the forklift 11a is moved to the standby place 12 from now on, when the forklift 11a arrives at the standby place 12, the forklift 11d is expected to leave the standby place 12 and carry out cargo handling work. On the other hand, if the above condition is not satisfied, the next operation determination unit 16 executes Step S8 When the forklift 11a is moved to the standby place 12 from now on, the two forklifts 11a and 11d are moved to the standby place 12. This is because the operation efficiency is expected to decrease due to waiting.

  Although not shown in FIG. 5, if the forklift 11 whose operation state is ST7 and the elapsed time is equal to the standby limit time 10′00 ″ is present, the next operation determination unit 16 performs the next operation on the forklift 11. In other words, in this embodiment, the forklift 11 does not continue to wait for 10′00 ″ or more at the standby place 12.

  The operation of the next operation determination unit 16 is organized as follows.

  (1) When the forklift 11 operating in the unattended operation mode finishes the cargo handling operation, the next operation determination unit 16 performs the cargo handling operation if there is another forklift 11 waiting at the standby place 12. It is determined that the forklift 11 that has finished the next cargo handling operation is to be performed.

  (2) When the forklift 11 operating in the unmanned operation mode finishes the cargo handling operation, the next operation determination unit 16 may be in the state where there is another forklift 11 waiting at the standby place 12. When the difference between the elapsed time of the other forklifts 11 and the waiting time limit (10'00 ") is less than a predetermined threshold value (1'00"), the forklift 11 that has finished the cargo handling work is moved to the waiting place 12 Decide what to do.

  (3) When the forklift 11 operating in the unmanned operation mode finishes the cargo handling operation, the next operation determination unit 16 moves to the other forklift 11 that is moving toward the standby place 12 in accordance with a command from the management device 13. Is present, it is determined that the forklift 11 that has finished the cargo handling operation is allowed to perform the next cargo handling operation regardless of whether there is another forklift 11 waiting at the standby location 12.

  As mentioned above, although the Example of this invention has been described, the structure of this invention is not limited to this.

  For example, when the forklift 11 operating in the unattended operation mode finishes the cargo handling operation, the next operation determination unit 16 determines that there is another forklift 11 waiting at the standby place 12 in step S6. Without performing the determination, it may be determined that the forklift 11 that has finished the cargo handling work performs the next cargo handling work.

  In addition, the cargo handling work information may not include the package ID or may include another item.

  In addition, the cargo handling vehicle information may not include the current position and the assigned work ID, or may include other items.

  The cargo handling vehicle may be a vehicle other than a forklift.

10 Vehicle allocation system 11, 11a-11e Forklift (loading vehicle)
DESCRIPTION OF SYMBOLS 12 Waiting place 13 Management apparatus 14 Handling work information storage part 15 Handling vehicle information storage part 16 Next operation | movement determination part 17 Command part 18 Communication part L1-L5 1st-5th lane R1-R8 1st-8th rack S Warehouse

Claims (5)

A plurality of unmanned and unmanned cargo handling vehicles operating in manned and unmanned operation modes, a management device capable of communicating with each of the cargo handling vehicles, and a standby place for the cargo handling vehicle to wait for an operator to board A vehicle allocation system comprising:
The management device
A storage unit for storing cargo handling vehicle information related to the status of the cargo handling vehicle acquired by the communication from the cargo handling vehicle;
When the cargo handling vehicle operating in the unmanned operation mode finishes the cargo handling operation, the cargo handling vehicle is based on the cargo handling vehicle information of other cargo handling vehicles other than the cargo handling vehicle stored in the storage unit. A next operation determining unit for determining whether to move the vehicle to the standby location or to cause the cargo handling vehicle to perform the next cargo handling operation;
A command unit that sends a command corresponding to the determination by the next operation determination unit to the cargo handling vehicle by the communication;
A vehicle allocation system characterized by comprising: The cargo handling vehicle information includes an elapsed time of standby at the standby location,
The next operation determining unit determines that the cargo handling vehicle performs the next cargo handling operation when the elapsed time of the cargo handling vehicle waiting at the standby location becomes equal to a predetermined standby limit time. The vehicle allocation system according to claim 1. When the cargo handling vehicle operating in the unmanned operation mode finishes the cargo handling operation, the next operation determining unit determines that there is another cargo handling vehicle waiting at the standby location. The vehicle allocation system according to claim 2, wherein it is determined that the cargo handling vehicle that has completed the following cargo handling operation is performed. The next operation determination unit may be configured such that when the cargo handling vehicle operating in the unattended operation mode finishes the cargo handling work, even if there is another cargo handling vehicle waiting at the standby location, When the difference between the elapsed time of the cargo handling vehicle and the standby limit time is less than a predetermined threshold, it is determined to move the cargo handling vehicle that has finished the cargo handling operation to the standby location. The vehicle allocation system according to claim 3. The next operation determining unit may be configured such that when the cargo handling vehicle operating in the unmanned operation mode finishes the cargo handling operation, there is another cargo handling vehicle moving toward the standby place according to the command. For example, whether or not there is another cargo handling vehicle waiting at the standby location is determined to cause the cargo handling vehicle that has completed the cargo handling operation to perform the next cargo handling operation. The vehicle allocation system according to claim 3 or 4.

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