JP7401303B2 - Work vehicle operation evaluation system - Google Patents

Description

The present invention relates to an operation evaluation system for a work vehicle such as a forklift.

Operates work vehicles such as forklifts to carry out work such as transporting cargo.
Here, a technique has been proposed to monitor the operational status of a work vehicle such as a forklift and to improve operational efficiency (see, for example, Patent Document 1).

Japanese Patent Application Publication No. 2013-156863

By the way, a forklift, which is a type of work vehicle, uses a fork section (also referred to as a claw or cargo loading section) to scoop up and transport cargo.

For example, when multiple loads are placed close to each other in the depth direction, or when loading or unloading onto a stage such as a truck bed or platform, there is a possibility that the loads may collide with each other. , it is easy for the fork to damage the baggage on the back side.
Additionally, there is a risk that the platform or truck vehicle will collide with the body of the forklift.
Therefore, when unloading or unloading cargo in the above-mentioned situation, it is desirable to divide the cargo into two parts and perform a double scooping operation.

However, there is a problem in that the conventional technology cannot monitor whether or not operations that satisfy predetermined vehicle operating conditions, such as the above-mentioned double scooping operation, are being performed at a work site.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a work vehicle operation evaluation system that can evaluate whether an operation that satisfies predetermined vehicle operation conditions is being performed.

A work vehicle operation evaluation system according to an aspect of the present invention includes an image acquisition unit that acquires an image of a load placed on a load loading section of a work vehicle, and an operation information acquisition unit that acquires information regarding the operation of the work vehicle. and behavior information generation means for generating behavior information regarding the work vehicle based on the image information acquired by the image acquisition means and the operation information acquired by the operation information acquisition means; An operation determining means for determining whether the operation of the work vehicle satisfies predetermined vehicle operation conditions.
It is preferable to include information storage means for storing at least one of the image information, the operation information, the behavior information, and the determination result of the operation determination means.

The work vehicle includes the load loading section that is configured to be able to move up and down, and the predetermined vehicle operation condition is such that the distance between the load to be transported and the work vehicle is a predetermined distance before and after the lift operation of the load loading section. It is preferable that the baggage is divided into two parts and scooped twice by the baggage loading section when the baggage is narrowed to below.

The information storage means includes frequency information of a double scooping operation in which the luggage is divided into two parts by the luggage loading section, position information of the double scooping operation, and time of the double scooping operation. Preferably, at least one of the information is stored.

Preferably, the operation determining means calculates the execution rate of the double scooping operation at the location where the double scooping operation is required, and evaluates the operation of the work vehicle based on the execution rate.

According to the present invention, it is possible to provide a work vehicle operation evaluation system that can evaluate whether an operation that satisfies predetermined vehicle operation conditions is being performed.

1 is a side view showing a forklift to which a work vehicle operation evaluation system according to an embodiment is applied. 1 is a perspective view showing a forklift to which a work vehicle operation evaluation system according to an embodiment is applied. FIG. 1 is a functional block diagram showing a functional configuration of a work vehicle operation evaluation system according to an embodiment. 1 is a block diagram illustrating a configuration example of a digital tachograph applied to a work vehicle operation evaluation system according to an embodiment. FIG. It is an explanatory view showing a case where a double scooping operation is required. FIG. 3 is an explanatory diagram showing steps (a) to (d) of a double scooping operation. It is an explanatory view showing steps (e) to (g) of a double scooping operation. 7 is a flowchart illustrating a continuation of the processing procedure of the double scoop determination process executed by the work vehicle operation evaluation system according to the embodiment. It is a chart diagram showing an example of operation management. FIG. 2 is an explanatory diagram showing a display example on a digital tachograph applied to the work vehicle operation evaluation system according to the embodiment.

A work vehicle operation evaluation system S1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 9.

(Example of configuration of work vehicle)
With reference to FIGS. 1 and 2, a forklift F will be described as a configuration example of a work vehicle to which the work vehicle operation evaluation system S1 according to the present embodiment can be applied.
The forklift F as a work vehicle has a fork part (loading part) 103 that can be raised and lowered, a drive wheel (rear wheel) 104, a running wheel (front wheel) 105, an instrument panel 116, a steering wheel 110, a gear shift lever 111, etc. We are prepared.

The forklift F may be a so-called engine vehicle that uses an internal combustion engine such as a gasoline engine as the drive source 102, or an electric vehicle that is driven by electric power supplied from a secondary battery (battery) that can be charged from a generator or the like. The vehicle may be a so-called battery vehicle that uses a motor as the drive source 102.

Above the mast section 115 that supports the fork section 103, an image acquisition means 101 is provided, which is comprised of an on-vehicle camera or the like capable of acquiring an image of a cargo (for example, a cargo body A1 placed on a pallet P1) C1. It is being

Note that the photographing range 500 of the vehicle-mounted camera 101 is set to a range in which the fork portion 103, the luggage C1, etc. can be photographed. Further, the location where the vehicle-mounted camera 101 is provided is not limited to the mast section 115 as long as it is a position where an image of the fork section 103 can be obtained.

In the instrument panel 116, a digital tachograph DT1 and the like as an on-vehicle device that constitutes a part of the work vehicle operation evaluation system S1 is provided. Note that details of the digital tachograph DT1 and the like will be described later.

The operator (driver) of the forklift F operates the steering wheel 110, the gear shift lever 111, and pedals such as an accelerator pedal and a brake pedal (not shown) to raise and lower the fork part 103, move the forklift F forward, backward, turn right, etc. Cargo handling operations are performed by making movements such as turning left.

At this time, depending on how the baggage C1 (C2) etc. are placed, a so-called "double scooping operation" may be performed in which the baggage C1 is divided into two parts and scooped. Note that details of the double scooping operation will be described later.

Then, in the working process of the forklift F, it is determined from the acquired image information and behavior information based on the operation information whether an operation or drive that satisfies a predetermined vehicle operation condition, such as a double scoop operation, is being performed.
Thereby, the manager can accurately grasp whether the double scooping operation and the like are being performed appropriately during the work process of the forklift F.

Furthermore, by notifying the operator (driver) of the forklift F of the evaluation details, instructions, etc. based on the determination results, it is possible to suppress the occurrence of collisions between loads and the like.
Further, the work vehicle is not limited to the forklift F, and may be a transport vehicle or the like as long as it is a vehicle that loads, unloads, transports, etc., cargo, products, etc. within the premises of a factory, warehouse, etc.

(Functional configuration of work vehicle operation evaluation system)
With reference to FIG. 3, the functional configuration of the work vehicle operation evaluation system S1 according to the present embodiment will be described.
Here, FIG. 3 is a functional block diagram showing the functional configuration of the work vehicle operation evaluation system S1 according to the embodiment.

First, as shown in FIG. 3, the work vehicle operation evaluation system S1 is configured with an on-vehicle camera etc. that can obtain an image of the load C1 loaded on the fork part (load loading part) 103 of the forklift F as a work vehicle. image acquisition means 101.
It also includes an operation information acquisition means 350 that acquires information regarding the operation of the forklift F (operation information such as forward/backward movement, right/left turn, and lifting/lowering of the fork part).

The vehicle also includes a behavior information generation unit 351 that generates behavior information regarding the forklift F based on the image information acquired by the image acquisition unit 101 and the operation information acquired by the operation information acquisition unit 350.
Furthermore, an operation determining means 352 is provided that determines whether the operation of the forklift F satisfies predetermined vehicle operation conditions based on the behavior information.
The apparatus also includes an information storage means such as a flash memory that stores at least one of image information, operation information, behavior information, and the determination result of the operation determination means.
Further, the work vehicle operation evaluation system S1 includes a timer 303 including a timer, a speaker 404, a display 405, and the like.

Here, the predetermined vehicle operation condition is such that when the distance between the cargo C1 (C2) to be transported and the forklift F narrows to a predetermined distance or less before and after the lifting/lowering operation of the fork portion 103, the fork portion 103 moves the cargo C1 It can be said that (C2) was divided into two parts and a double scooping operation was performed.

Note that the information storage means 301 can store at least one of frequency information of double scooping operations, position information of double scooping operations, and time information of double scooping operations.
Thereby, the administrator etc. can accurately grasp whether the double scooping operation is being performed appropriately.

Further, the operation determining means 352 can calculate the execution rate of the double scooping operation at a location where the double scooping operation is required, and evaluate the operation of the forklift F based on the execution rate.
Thereby, the manager or the like can appropriately evaluate the operator of the forklift F based on the information as to whether the double scooping operation is being performed appropriately.

(Example of configuration of digital tachograph)
The configuration of the digital tachograph DT1 will be described with reference to FIG. 4.
Here, FIG. 4 is a block diagram showing a configuration example of a digital tachograph DT1 as an on-vehicle device applied to the operation evaluation system S1 for a work vehicle.

The digital tachograph DT1 as an on-vehicle device shown in Fig. 4 is mounted on a forklift (work vehicle) F, and records operating data including operating data representing operating conditions such as engine speed overspeed, sudden start, sudden acceleration, sudden deceleration, etc. It is recorded every time.

The digital tachograph DT1 includes a CPU 11, a speed/engine speed I/F 12, an external input I/F 13, a sensor input I/F 14, a GPS receiving section 202, a CAN_I/F 16, an information storage means 301, a card I/F 18, and an audio I/F 12. F19, speaker 404, RTC (clock IC) 21, exit/receipt button SW input section 22, display controller 23, communication section 24, power supply section 25, memory 26, LED display section 403, land transportation ON/OFF button SW input section 31 have.

The CPU 11 is a control section composed of a microcomputer, and controls the entire digital tachograph DT1 according to a program. Programs executed by the CPU 11 and data such as constants necessary for control are held in the memory 26. The memory 26 is nonvolatile, and predetermined programs and data can be read and written thereto.
Two threshold tables 26a and 26b and an area information table 26c are stored on the memory 26 as constant data.
The information storage unit 301 is a non-volatile memory from which data can be read and written, and is used to record and hold operational data.

The card I/F (interface) 18 is an interface for connecting a memory card that conforms to a predetermined standard to the CPU 11, and includes a card slot that holds the memory card in a detachable manner. A predetermined memory card 55 owned by each operator who drives the forklift (work vehicle) F is attached to this card I/F 18. This memory card 55 has a built-in nonvolatile memory, and is used in a state in which a number for identifying each operator is registered.

The audio I/F 19 is an interface for synthesizing and outputting pseudo audio signals, and can output audio signals corresponding to various messages under the control of the CPU 11. A speaker 404 as a notification means is connected to the output of the audio I/F 19.

The RTC (real-time clock) 21 keeps track of current time information by constantly counting predetermined clock pulses. Further, the RTC 21 also serves as a timer (timekeeping means) 303. By controlling the RTC 21, the CPU 11 can obtain current time information and use a timer (timekeeping means) 303.

The ON/OFF signal of the warehousing/receiving button is input to the warehousing/receiving button SW input section 22 . Therefore, the CPU 11 can monitor the ON/OFF state of the exit/input button via the exit/input button SW input section 22, and can grasp whether the own vehicle is in the exit/input state. ) F's working time can be obtained.

The display controller 23 controls the display contents of the display 405. The display device 405 is composed of, for example, a liquid crystal display device, an organic EL display device, or the like, and can display various types of information in combination with graphic displays.

The LED display section 403 has a plurality of built-in LEDs (light emitting diodes), and can display communication and operation status by turning on, turning off, or blinking each LED under the control of the CPU 11.
The land transport ON/OFF button SW input unit 31 is operated by an operator or the like and is used to manually switch on/off the land transport mode.

Speed pulses and rotation pulses are input to the speed/engine rotation I/F 12 from a vehicle speed sensor and an engine rotation speed sensor, respectively. The speed/engine rotation speed I/F 12 converts the input signal into a signal suitable for processing by the CPU 11.
The external input I/F 13 is an interface for connecting an external device to the CPU 11, and an in-vehicle camera (photographing means) CAM or the like is connected thereto.
The sensor input I/F 14 is an interface for connecting various sensors to the CPU 11.

Signals such as a temperature sensor that detects the engine temperature, a fuel sensor that detects the amount of fuel, and a G sensor that detects the acceleration (G value) of the vehicle are input to the input of the sensor input I/F 14.

A GPS reception unit (GPS sensor) 202 receives radio waves from a plurality of GPS (Global Positioning System) satellites with a GPS antenna 202a, performs predetermined calculation processing, and determines the current position of a forklift (work vehicle) F from the received signals. Get the latitude and longitude information. Thereby, the position information of the forklift (work vehicle) F can be acquired.

The CAN_I/F 16 is an interface for connecting to a communication network based on the CAN (Controller Area Network) standard. The CPU 11 can communicate with various devices connected to the communication network on the vehicle via the CAN_I/F 16. In reality, various data such as speed, engine speed, and fuel amount are communicated.
The communication unit 24 includes a predetermined wireless communication interface, and can perform data communication such as operating data with the outside of the vehicle using a wireless communication line.

The power supply section 25 generates a stable voltage (for example, +5 [V]) necessary for the operation of the CPU 11 and the like based on the electric power supplied from the vehicle's battery, etc., and operates the digital tachograph DT1 when the ignition switch is on. It supplies power to each circuit.

Then, the operation determining means 352 including the CPU 11 and the like can determine whether or not the operation of the forklift F satisfies predetermined vehicle operation conditions based on the behavior information.

Further, the operation determining means 352 can calculate, for example, the execution rate of the double scooping operation at a location where the double scooping operation is required, and evaluate the operation of the forklift F based on the execution rate.
Furthermore, the determination results and evaluation results may be displayed on the display 405 and may also be notified by voice from the speaker 404.
This makes it possible to suppress the occurrence of collisions between pieces of luggage.

(About double scooping operation)
Here, the "double scooping operation" will be explained with reference to FIGS. 5, 6A, and 6B.
First, "double scooping operation" is when multiple loads C1 and C2 are placed in close contact with each other in the depth direction, or when unloading or unloading onto a stage such as a truck bed or platform. This refers to the operation of lifting a load halfway, shifting it toward the front, and then stabbing the fork all the way to carry it.
Here, examples of situations where the double scooping operation is required include the cases shown in FIGS. 5(a) and 5(b).

FIG. 5(a) shows a case where packages C2 and C1 are placed adjacent to each other at a close distance. Note that the cargo C2 has a cargo body A2 placed on a pallet P2. Furthermore, the cargo C1 includes a cargo main body A1 placed on a pallet P1.
In this case, if the fork portion 103 of the forklift F is deeply inserted into the cargo C1 on the near side as shown in FIG. 5(a), there is a risk that the cargo C1 and the cargo C2 will collide.

Therefore, it is necessary to perform a "double scooping operation" in which the fork portion 103 is shallowly inserted into the pallet P1, then once retreated, and then the fork portion 103 is deeply inserted into the pallet P1.
Further, FIG. 5(b) shows a case where the cargo C1 is placed on a truck bed, a platform 600, or the like.
In this case as well, it is difficult to deeply pierce the fork portion 103 into the pallet P1 with a single operation, so a "twice scooping operation" is required.
Next, examples of steps (a) to (g) of the "double scooping operation" will be described with reference to FIGS. 6A and 6B.
First, in step (a), the forklift F is moved forward and the fork portion 103 is stabbed shallowly into the pallet P1 of the cargo C1 on the near side, and the process moves to step (b).
In step (b), the forklift F is stopped, the pallet P1 of the cargo C1 is slightly raised by the fork portion 103, and the process moves to step (c).
In step (c), the forklift truck F is moved backward and separated from the cargo C2, and the process proceeds to step (d).
In step (d), the forklift F is stopped, the pallet P1 of the cargo C1 is once lowered to the floor by the fork portion 103, and the process moves to step (e).
In step (E), the forklift F is moved forward to deeply pierce the pallet P1 of the cargo C1 with the fork portion 103, and the process moves to step (F).

In step (f), the forklift F is stopped, the pallet P1 of the cargo C1 is slightly raised by the fork portion 103, and the tip side of the fork portion 103 is raised in a tilt-up state, and the process moves to step (g).
Then, in step (g), the forklift F is moved backward to transport the cargo C1.
By performing the "double scooping operation" having such steps (a) to (g), even if baggage C2 and baggage C1 are placed next to each other, baggage C2 and baggage C1 will not collide. This situation can be avoided.

(About double scooping operation determination process)
Next, with reference to the flowchart of FIG. 7, the processing procedure of the double scoop operation determination process executed by the work vehicle operation evaluation system S1 will be described.

When this process is started, first in step S101, cargo detection is started based on the image of the cargo acquired by the image acquisition means (vehicle camera) 101, and the process moves to step S102.
In step S102, it is determined whether the forklift F is traveling forward and there is any cargo.
If the determination result is "Yes", the process moves to step S103.
In step S103, it is determined whether the forklift F is stopped and there is any cargo.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S104.
In step S104, it is determined whether the forklift F is traveling in reverse (backward traveling) within 2 seconds.

Note that whether or not the forklift F is moving backward can be determined based on an image acquired by the image acquisition means (vehicle camera) 101. Alternatively, the determination may be made by acquiring a backing signal output from the forklift F.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S105.
In step S105, it is determined whether the forklift F is stopped and there is any cargo.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S106.
In step S106, it is determined whether the forklift F is moving forward and there is any cargo.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S107.
In step S107, it is determined whether or not the forklift F is traveling in reverse (backward traveling) and the load has been detached.

If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process proceeds to step S108, where it is determined that the process is a "two-tiered" operation, which is a type of double scooping operation, and the process ends. .
On the other hand, if the determination in step S102 is "No", the process moves to step S109.
In step S109, it is determined whether there is any approach to the package.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S110.
In step S110, it is determined whether the forklift F is stopped and there is any cargo.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S111.
In step S111, it is determined whether the forklift F is traveling in reverse (backward traveling) within 2 seconds.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S112.
In step S112, it is determined whether the forklift F is stopped and there is any cargo.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S113.
In step S113, it is determined whether the forklift F is traveling forward within two seconds (2 sec).
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S114.
In step S114, it is determined whether or not the forklift F is traveling in reverse (reverse traveling) and there is any cargo.
If the determination result is "No", the process returns to step S102, and if the determination result is "Yes", the process moves to step S115.
In step S115, it is determined that it is a "two-step" operation, which is a type of double scooping operation, and the process ends.
In this way, based on the behavior (operation) of the forklift F, it can be determined whether or not the scooping operation has been performed twice.

In addition, we calculate the implementation rate of double-scooping operations at locations where double-scooping operations are necessary (for example, when the distance between parcels is narrow or when the height of the parcel is above a predetermined value). Based on this, it is also possible to evaluate the operation of the operator of the forklift F.

Note that the height of the luggage can be determined based on an image acquired by the image acquisition means (vehicle camera) 101. That is, the height of the luggage can be calculated from the lateral length of the backrest in the image.
Further, depending on the height of the cargo, it may be determined whether the cargo is to be loaded onto a truck bed, a platform, or the like.
Further, the operating status (operating status) of the forklift F can also be shown, for example, as in the chart of FIG.
In the chart shown in FIG. 8, (a) key ON state, (b) running state, (c) loaded state, (d) empty cargo state, and (e) cargo handling state are plotted in chronological order.
Thereby, the operation status of the operator of the forklift F can be grasped.

(Notification example)
FIG. 9 shows an example of notification regarding the double scoop operation.
In the case shown in FIG. 9, based on the judgment result of the double scoop operation determination process, etc., the display 405, which is the notification means of the digital tachograph (on-vehicle device) DT1, displays the message "Please double scoop operation to avoid the baggage from colliding. Please do so.'' is displayed. Note that a similar message may be outputted as a voice from a speaker serving as a notification means.
Further, depending on the situation, it may be possible to issue a notification saying, ``Please perform the scooping operation twice to avoid damaging the baggage on the back side with the fork section.''
Alternatively, a notification may be provided that says, "Please perform the scooping operation twice to avoid collision between the platform or truck vehicle and the body of the forklift."
Thereby, the operator of the forklift F can be encouraged to carry out "double scoop operation" in places and situations where double scoop operation is required.

In addition, if the evaluation results based on the judgment results of the double scooping operation judgment process are relatively good, for example, "The double scooping operation was performed correctly. Please continue safe transportation from now on." It is possible to broadcast messages such as: This can increase the motivation of the operator of the forklift F and encourage safe transportation work.

In addition, if the evaluation results based on the judgment results of the double-scooping operation judgment process are relatively poor, for example, "The double-scooping operation was not performed correctly. Messages such as "Please do the following." can be broadcast. Thereby, it is possible to enhance the educational effect for the operator of the forklift F and contribute to safe transportation work.
Note that the work vehicle operation evaluation system S1 may evaluate whether an operation other than the double scoop operation that satisfies predetermined vehicle operation conditions is performed.

Furthermore, the appropriate number of forklifts F to be operated during cargo handling work may be determined based on whether an operation satisfying a predetermined vehicle operation condition, such as a double scooping operation, is being performed.

Although the work vehicle operation evaluation system of the present invention has been described above based on the illustrated embodiment, the present invention is not limited thereto, and the configuration of each part may be any configuration having similar functions. can be replaced with

S1 Work vehicle operation evaluation system F Forklift (work vehicle)
DT1 Digital tachograph (onboard device)
A1, A2 Baggage bodies C1, C2 Baggage P1, P2 Pallet 101 Image acquisition means (vehicle camera)
102 Drive means 103 Fork section (loading section)
150 Operation means 301 Information storage means 350 Operation information acquisition means 351 Behavior information generation means 352 Operation determination means 404 Speaker (notification means)
405 Display device (notification means)

Claims (4)

an image acquisition means for acquiring an image of a load placed on a load loading section of a work vehicle;
operation information acquisition means for acquiring information regarding the operation of the work vehicle;
Behavior information generation means for generating behavior information regarding the work vehicle based on the image information acquired by the image acquisition means and the operation information acquired by the operation information acquisition means;
operation determination means for determining whether the operation of the work vehicle satisfies a predetermined vehicle operation condition based on the behavior information;
A work vehicle operation evaluation system comprising:
The work vehicle includes the cargo loading section configured to be able to be raised and lowered,
The predetermined vehicle operating conditions are:
When the distance between the cargo to be transported and the work vehicle becomes smaller than a predetermined distance before and after the lifting/lowering operation of the cargo loading section, a double scooping operation is performed in which the cargo is divided into two parts and scooped by the cargo loading section. We developed a work vehicle operation evaluation system . The operation evaluation system for a work vehicle according to claim 1, further comprising information storage means for storing at least one of the image information, the operation information, the behavior information, and the determination result of the operation determination means. The information storage means includes:
At least one of frequency information of a double scooping operation in which the luggage is divided into two parts and scooped by the luggage loading section, location information of the double scooping operation, and time information of the double scooping operation. The work vehicle operation evaluation system according to claim 2, wherein the work vehicle operation evaluation system is stored. The operation determining means includes:
Calculating the implementation rate of the double scooping operation at the location where the double scooping operation is required,
The work vehicle operation evaluation system according to any one of claims 1 to 3, wherein the operation of the work vehicle is evaluated based on the implementation rate.

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