JP7544638B2 - Cargo handling system and cargo handling control program - Google Patents

Description

The present invention relates to a cargo handling system and a cargo handling control program.

Generally, loading and unloading work using a loading vehicle such as a forklift is performed by a driver (operator) operating the loading and unloading vehicle.
As an example of technology related to this type of loading and unloading work, the technology described in Patent Document 1 stores in advance the work schedule and weak tasks of a worker, and when the worker performs a weak task, an assistant remotely supports the worker, thereby providing efficient driving support.

Patent No. 6399669

However, with the above-mentioned conventional technology, each worker can only operate one loading vehicle, which makes it difficult to improve work efficiency.
Therefore, an object of the present invention is to improve the efficiency of loading and unloading operations.

The cargo handling system according to the present invention comprises:
An operation loading vehicle operated by an operator;
An unmanned cargo handling vehicle that operates autonomously;
A control means for controlling the operation of the unmanned loading and unloading vehicle;
Equipped with
The control means causes the unmanned cargo handling vehicle to perform a corresponding operation corresponding to the cargo handling vehicle based on the position information and operation information of the cargo handling vehicle ,
As the corresponding operation, the unmanned cargo handling vehicle is configured to perform a reversing operation in which the operation of the operating cargo handling vehicle, which includes at least a cargo handling operation, is reversed in a predetermined direction .
Further, the cargo handling system according to the present invention comprises:
An operation loading vehicle operated by an operator;
An unmanned cargo handling vehicle that operates autonomously;
A control means for controlling the operation of the unmanned loading and unloading vehicle;
A plurality of loading targets corresponding to the operational loading vehicle and the unmanned loading vehicle;
Equipped with
The control means
Based on the position information and operation information of the operation vehicle, the unmanned cargo handling vehicle is caused to perform a corresponding operation corresponding to the operation vehicle;
The unmanned loading and unloading vehicle is configured to travel in a specified driving area while following the operated loading and unloading vehicle, and then to approach the corresponding loading target by autonomous driving and perform loading and unloading operations in the same way as the operated loading and unloading vehicle.

The cargo handling control program according to the present invention is
A cargo handling control program for a cargo handling system including an operation cargo handling vehicle operated by an operator and an unmanned cargo handling vehicle that operates unmanned,
The computer is caused to function as a control means for causing the unmanned cargo handling vehicle to perform a corresponding operation corresponding to the cargo handling vehicle based on the position information and operation information of the cargo handling vehicle,
The control means causes the unmanned loading/unloading vehicle to perform, as the corresponding operation, a reversing operation in which the operation of the operated loading/unloading vehicle, which includes at least a loading/unloading operation, is reversed in a predetermined direction .
In addition, the cargo handling control program according to the present invention is
A cargo handling control program for a cargo handling system including an operation cargo handling vehicle operated by an operator and an unmanned cargo handling vehicle that operates unmanned,
The computer is caused to function as a control means for causing the unmanned cargo handling vehicle to perform a corresponding operation corresponding to the cargo handling vehicle based on the position information and operation information of the cargo handling vehicle,
The control means causes the unmanned loading and unloading vehicle to travel in a predetermined driving area following the operated loading and unloading vehicle, and then causes the unmanned loading and unloading vehicle to approach the corresponding loading and unloading target by autonomous driving, and performs loading and unloading operations in the same way as the operated loading and unloading vehicle.

The present invention can improve the efficiency of loading and unloading operations.

1 is a block diagram showing a schematic control configuration of a cargo handling system according to an embodiment of the present invention. 4 is a flowchart showing the flow of loading and unloading processing according to the embodiment. FIG. 2 is a diagram for explaining loading and unloading processing according to the embodiment. FIG. 11 is a diagram for explaining a loading and unloading process according to a first modified example of the embodiment. FIG. 11 is a diagram for explaining a loading and unloading process according to a second modified example of the embodiment. FIG. 13 is a diagram for explaining a loading and unloading process according to a third modified example of the embodiment.

The following describes an embodiment of the present invention in detail with reference to the drawings.

[Loading system configuration]
FIG. 1 is a block diagram showing a schematic control configuration of a cargo handling system 1 according to this embodiment.
The cargo handling system 1 is a system in which a plurality of cargo handling vehicles handle cargo onto a transport vehicle (e.g., a truck).
In this specification, "loading and unloading operations" by a loading and unloading vehicle refers to unloading, loading, unloading, and the like, performed by the loading and unloading vehicle. Furthermore, "loading and unloading work" by a loading and unloading vehicle includes not only loading and unloading, but also the operations associated therewith (traveling for loading and unloading, transporting the load, and the like).

Specifically, as shown in FIG. 1, the loading/unloading system 1 includes a manned loading/unloading vehicle 10, at least one (two in this embodiment) unmanned loading/unloading vehicle 20 (20a, 20b), a control server 30, and a position measuring device 40. Note that in this specification, when the term "loading/unloading vehicle" is simply used, it includes both the manned loading/unloading vehicle 10 and the unmanned loading/unloading vehicle 20.

The manned loading and unloading vehicle 10 is a loading and unloading vehicle capable of transporting, lifting and lowering loads, and handing over loads, and is, for example, a forklift that can travel on roads without using rails, etc. The manned loading and unloading vehicle 10 is an example of an operational loading and unloading vehicle according to the present invention, and in this embodiment, is manually operated (driven) by a worker (operator) on board.
Specifically, the manned loading and unloading vehicle 10 is equipped with a drive unit 11, an operation unit 12, a motion sensor 14, a communication unit 15, a memory unit 16, and a control unit 17.

The drive unit 11 includes a travel motor, a steering motor, and a loading motor (all not shown) which are various drive sources of the manned loading/unloading vehicle 10. The travel motor drives the drive wheels among the wheels. The steering motor rotates (steers) the steering wheels among the wheels. The loading/unloading motor is a drive source that causes a holding part (e.g., a fork) that holds a load to perform various operations such as lifting, lowering, and tilting.
The operation unit 12 is an operating means for an operator to perform various operations. The operation unit 12 includes, for example, a handle, pedals, loading levers (including a lift lever, tilt lever, and reach lever), various buttons, and the like, and outputs operation signals corresponding to the contents of these operations to the control unit 17.

The motion sensor 14 is an internal sensor that detects the motion of the manned loading/unloading vehicle 10 and acquires motion information thereof. The motion sensor 14 includes, for example, an angle sensor that detects the rotation angle of a handle (steering), a stroke sensor that detects the height position of a mast that raises and lowers the forks, a tilt sensor that detects the tilt angle of the forks, and the like.
The communication unit 15 is a communication device capable of transmitting and receiving various information to and from the control server 30. In this embodiment, the communication unit 15 transmits operation information of the manned loading and unloading vehicle 10 acquired by the operation sensor 14 to the control server 30.

The storage unit 16 is a memory configured by a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and stores various programs and data, and also functions as a work area for the control unit 17.
The control unit 17 is configured with a CPU (Central Processing Unit) and the like, and controls the operation of each part of the manned loading and unloading vehicle 10. Specifically, the control unit 17 operates the drive unit 11 based on the operation content of the operation unit 12, deploys a program pre-stored in the memory unit 16, and executes various processes in cooperation with the deployed program.

The unmanned loading vehicle 20 is a loading vehicle capable of transporting, lifting and lowering loads, and handing over loads, and is, for example, a forklift that can travel on roads without using rails, etc. The unmanned loading vehicle 20 is configured to be capable of automatic driving (unmanned operation) under the control of the control server 30.
Specifically, each unmanned loading and unloading vehicle 20 includes a drive unit 21 , a communication unit 25 , a memory unit 26 , and a control unit 27 .

The drive unit 21 includes a travel motor, a steering motor, and a loading motor (all not shown) which are various drive sources of the unmanned loading/unloading vehicle 20. The travel motor drives the drive wheels among the wheels. The steering motor rotates (steers) the steering wheels among the wheels. The loading/unloading motor is a drive source that causes a holding part (e.g., a fork) that holds a load to perform various operations such as lifting, lowering, and tilting.
The communication unit 25 is a communication device capable of transmitting and receiving various types of information to and from the control server 30 .

The storage unit 26 is a memory configured by a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and stores various programs and data, and also functions as a work area for the control unit 27.
The control unit 27 is configured with a CPU (Central Processing Unit) and the like, and controls the operation of each part of the unmanned loading and unloading vehicle 20. Specifically, the control unit 27 operates the drive unit 21 based on an operation command from the control server 30 received by the communication unit 25, deploys a program pre-stored in the memory unit 26, and executes various processes in cooperation with the deployed program.

The control server 30 centrally controls the loading/unloading system 1 and is configured to be able to control the operations of a plurality of unmanned loading/unloading vehicles 20 .
Specifically, the control server 30 includes an operation unit 31 , a display unit 32 , a communication unit 34 , a storage unit 36 , and a control unit 37 .

The operation unit 31 is an operation means by which an operator of the control server 30 (hereinafter referred to as the “server operator”) performs various operations to operate the control server 30, and includes, for example, pointing devices such as a mouse and a keyboard.
The display unit 32 is, for example, a liquid crystal display, an organic electroluminescence display, or another display, and displays various information based on a display signal input from the control unit 37. The display unit 32 may be a touch panel that also serves as at least a part of the operation unit 31.

The communication unit 34 is a communication device capable of transmitting and receiving various types of information between the manned loading and unmanned loading vehicles 10 and the multiple unmanned loading and unloading vehicles 20 .
The storage unit 36 is a memory configured by a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and stores various programs and data, and also functions as a work area for the control unit 37.
The control unit 37 is configured with a CPU (Central Processing Unit) and the like, and controls the operation of each unit of the control server 30. Specifically, the control unit 37 deploys a program pre-stored in the storage unit 36 based on the operation content of the operation unit 31 and executes various processes in cooperation with the deployed program.

The position measuring device 40 measures the positions of the manned loading vehicle 10 and the multiple unmanned loading vehicles 20 in the work area of the loading system 1. The position measuring device 40 is, for example, a camera installed at an elevated position in the work area, and captures the markers M installed on each of the manned loading vehicle 10 and the multiple unmanned loading vehicles 20, obtains their position information, and outputs it to the control server 30. The markers M are capable of identifying each loading vehicle. This allows the position measuring device 40 to measure the position of each loading vehicle in the work area.

[Loading system operation]
Next, the operation of the loading and unloading system 1 when performing loading and unloading processing in which multiple loading vehicles load cargo from the automated warehouse onto multiple transport vehicles (e.g., trucks) T and transport the cargo therefrom will be described.
Fig. 2 is a flow chart showing the flow of this loading and unloading process, and Fig. 3 is a diagram for explaining the loading and unloading process. Note that Fig. 3 shows the operation of only one unmanned loading and unloading vehicle 20.

The loading and unloading process is executed by the control unit 37 of the control server 30 reading out and executing the corresponding program from the storage unit 36 based on the operation of the server operator.
Here, a case will be described in which cargo L, which is carried out to a plurality of baggage exits 51 of the automated warehouse 50 by a plurality of loading vehicles corresponding to a plurality of transport vehicles T, is loaded individually onto the plurality of transport vehicles T (see FIG. 3). The plurality of transport vehicles T are parked at stopping positions corresponding to the plurality of baggage exits 51, and have substantially the same relative positional relationship with the corresponding baggage exits 51.

As shown in Figs. 2 and 3(a), when a cargo handling process is executed, first, a cargo handling operation is performed by the manned cargo handling vehicle 10 operated by an operator (step S1).
Here, the manned loading and unloading vehicle 10 picks up the cargo L that has been unloaded at the cargo exit 51a of the automated warehouse 50, transports it to the transport vehicle T1 that corresponds to the cargo exit 51a, and loads it onto the transport vehicle T1.

Next, the control unit 37 of the control server 30 acquires position information and operation information (i.e., information on how the manned loading/unloading vehicle 10 moved and behaved) when performing the loading/unloading operation in step S1 (step S2).
Here, the control unit 37 acquires position information (movement information) of the manned loading/unloading vehicle 10 from the position measuring device 40, and also acquires operation information from the manned loading/unloading vehicle 10. The operation information of the manned loading/unloading vehicle 10 is information detected by the operation sensor 14, and may additionally include operation information of the operation unit 12.

Next, the control unit 37 controls each unmanned loading vehicle 20 to perform a corresponding operation corresponding to the manned loading vehicle 10 based on the position information and operation information of the manned loading vehicle 10 acquired in step S2 (step S3). Here, the control unit 37 causes each unmanned loading vehicle 20 to perform an imitation operation that imitates the operation (loading operation and traveling operation) of the manned loading vehicle 10 as the corresponding operation corresponding to the manned loading vehicle 10.
As a result, the unmanned loading vehicle 20, like the manned loading vehicle 10, automatically picks up the cargo L that has been delivered to the baggage exit 51b of the automated warehouse 50, transports it to the transport vehicle T2 corresponding to the unmanned loading vehicle 20, and loads it.
If the unmanned loading and unloading vehicle 20 is located outside the work area at the start of work, the unmanned loading and unloading vehicle 20 is moved (autonomously traveled) to the work start position in advance. Furthermore, the corresponding operation to be performed by each unmanned loading and unloading vehicle 20 may include at least a loading and unloading operation.

In addition, in step S3, the control unit 37 only needs to cause the unmanned loading vehicle 20 to perform a corresponding operation corresponding to the manned loading vehicle 10, and as the corresponding operation, it may cause the unmanned loading vehicle 20 to perform a reversal (mirroring) operation in which the operation of the manned loading vehicle 10 is reversed in a specified direction.
Specifically, for example, as shown in Fig. 3B, when loading cargo simultaneously from both sides of a transport vehicle T that is a wing truck with both sides that can be opened and closed, the unmanned loading vehicle 20 is made to perform a reversing operation in which the operation of the manned loading vehicle 10 is reversed in the vehicle width direction (left and right direction in the figure) of the transport vehicle T. In this case, the transport vehicle T is disposed so that both sides are opened at the midpoint between the two baggage exits 51, and the loading platforms on both sides are in a positional relationship that is reversed left and right with respect to the two baggage exits 51. This allows the manned loading vehicle 10 and the unmanned loading vehicle 20 to load cargo simultaneously from both sides of the loading platform of the transport vehicle T. Note that the operation of the manned loading vehicle 10 to be reversed may include at least a loading operation.

2, the control unit 37 judges whether or not to end the loading/unloading process (step S4). If it is judged not to end the loading/unloading process (step S4; No), the control unit 37 shifts the process to the above-mentioned step S1 and repeats the operation of the manned loading/unloading vehicle 10 and the motion control of the unmanned loading/unloading vehicle 20.
On the other hand, if it is determined that the loading/unloading process should be terminated, for example because all of the cargo L has been removed (step S4; Yes), the control unit 37 terminates the loading/unloading process.

[Technical effect of the present embodiment]
As described above, according to this embodiment, the unmanned loading vehicle 20 performs a corresponding operation corresponding to the manned loading vehicle 10, based on the position information and operation information of the manned loading vehicle 10 operated by the worker.
This allows the unmanned cargo handling vehicle 20 to be operated appropriately to carry out cargo handling work. Therefore, the efficiency of cargo handling work can be improved compared to the conventional method in which one worker could only operate one cargo handling vehicle.

[Modification 1]
Next, a first modification of the above embodiment will be described.
This first modified example differs from the above embodiment in that the unmanned loading/unloading vehicle 20 partially imitates the operations (loading operation and traveling operation) of the manned loading/unloading vehicle 10. In the following, this difference will be mainly described, and the same components as those in the above embodiment will be denoted by the same reference numerals and description thereof will be omitted.

FIG. 4 is a diagram for explaining the loading and unloading process in the first modified example.
As shown in this figure, in this modified example, three luggage exits 51 (51a to 51c) for loading and unloading are arranged side by side, and luggage transported to the three luggage exits 51 are picked up and removed by the corresponding manned loading and unloading vehicle 10 and multiple (two) unmanned loading and unloading vehicles 20.
In the loading/unloading process of this modification, each unmanned loading/unloading vehicle 20 travels in a traveling area shared with the manned loading/unloading vehicle 10 by imitation traveling that imitates the traveling (movement) of the manned loading/unloading vehicle 10, and then approaches the corresponding baggage exit 51 by autonomous traveling that is independent of the operation of the manned loading/unloading vehicle 10. Then, each unmanned loading/unloading vehicle 20 performs a loading/unloading operation at the corresponding baggage exit 51 by imitation traveling that imitates the loading/unloading operation of the manned loading/unloading vehicle 10, and then travels in the traveling area shared with the manned loading/unloading vehicle 10 by imitation traveling again.
Here, in the imitation running of the unmanned loading and unloading vehicles 20, as in the above embodiment, the position measuring device 40 acquires position information of the manned loading and unloading vehicles 10, and each unmanned loading and unloading vehicle 20 is caused to perform the same running operation as the manned loading and unloading vehicle 10. Also, in the imitation operation (loading and unloading operation) of the unmanned loading and unloading vehicles 20, in addition to the position information, the operation sensor 14 acquires operation information of the manned loading and unloading vehicles 10, and each unmanned loading and unloading vehicle 20 is caused to perform the same loading and unloading operation as the manned loading and unloading vehicle 10.

Specifically, when the loading/unloading process of this modified example is executed, first, the control unit 37 of the control server 30 sets an imitation traveling end point P1, an imitation action start point P2, and an imitation traveling start point P4 based on a user operation, and stores them in the memory unit 36. At each of the imitation traveling end point P1, the imitation action start point P2, and the imitation traveling start point P4, for example, a gate or the like is installed so that the worker (operator) of the manned loading/unloading vehicle 10 can recognize them.
Of these, the imitation travel end point P1 is the travel end point of the imitation travel area D1 in which each unmanned cargo handling vehicle 20 travels (moves) in a manner that imitates the manned cargo handling vehicle 10.
The imitation operation start point P2 is an operation start point and an operation end point of the imitation operation area D3 where each unmanned loading vehicle 20 performs an operation (loading operation) that imitates the manned loading vehicle 10. The imitation operation start point P2 is set to three different points (P2a to P2c) corresponding to the manned loading vehicle 10 and the two unmanned loading vehicles 20 (20a, 20b). The three imitation operation start points P2 correspond to the three baggage exits 51 (51a to 51c), and the relative positional relationship with the corresponding baggage exits 51 is approximately the same. Between the imitation running end point P1 and the imitation operation start point P2, an autonomous running area D2 where the manned loading vehicle 10 and each unmanned loading vehicle 20 perform autonomous running is formed. Note that an imitation operation end point different from the imitation operation start point P2 may be set (for example, see the second modified example described later).
The imitation travel start point P4 is the travel start point of the imitation travel area D5 where each unmanned cargo handling vehicle 20 travels (moves) imitationally to the manned cargo handling vehicle 10 after imitation operation in the imitation operation area D3. The imitation travel area D1 and the imitation travel area D5 may be areas that overlap at least partially, and the imitation travel end point P1 and the imitation travel start point P4 may be at the same position. In addition, between the imitation operation start point (end point) P2 and the imitation travel start point P4 is an autonomous travel area D4 where the manned cargo handling vehicle 10 and each unmanned cargo handling vehicle 20 travel autonomously. The autonomous travel area D2 and the autonomous travel area D4 may be areas that overlap at least partially.

Next, the manned loading vehicle 10 and the two unmanned loading vehicles 20 travel in the imitation travel area D1 to the imitation travel end point P1.
Here, first, the manned loading vehicle 10 operated by the worker travels in the imitation travel area D1 to the imitation travel end point P1. The control unit 37 detects that the manned loading vehicle 10 has moved to the imitation travel end point P1 by the position measuring device 40. The control unit 37 then causes the two unmanned loading vehicles 20 to follow the manned loading vehicle 10 and travel in the same way (imitation travel), and move sequentially to the imitation travel end point P1.

Next, the manned loading/unloading vehicle 10 operated by the worker moves in the autonomous driving area D2 from the imitation driving end point P1 to the imitation operation start point P2a corresponding to the manned loading/unloading vehicle 10. The control unit 37 detects, by the position measuring device 40, that the manned loading/unloading vehicle 10 has moved to the imitation operation start point P2a.
The control unit 37 then moves (autonomously drives) the unmanned loading and unloading vehicles 20a, 20b from the imitation driving end point P1 to the imitation operation start points P2b, P2c corresponding to each unmanned loading and unloading vehicle 20, and causes them to approach the baggage exits 51b, 51c of the loading and unloading target. The autonomous driving of each unmanned loading and unloading vehicle 20 in this autonomous driving area D2 only needs to be independent of the operation of the manned loading and unloading vehicle 10, and may be controlled by the control server 30, may follow a preset route, or may be performed by each unmanned loading and unloading vehicle 20 while detecting the surrounding environment with a sensor (not shown).

Next, the manned loading/unloading vehicle 10 operated by the worker performs a loading/unloading operation from the imitation operation start point P2a to the baggage exit 51a corresponding to the manned loading/unloading vehicle 10, and returns to the imitation operation start point P2a. The control unit 37 detects, by the position measuring device 40 and the operation sensor 14, that the manned loading/unloading vehicle 10 has returned to the imitation operation start point P2a after performing a loading/unloading operation to the baggage exit 51a.
The control unit 37 then causes the unmanned loading and unloading vehicles 20a, 20b to perform an imitation operation (loading and unloading operation) that imitates the operation of the manned loading and unloading vehicle 10 at the luggage exits 51b, 51c corresponding to the unmanned loading and unloading vehicles 20a, 20b, and then returns them to the imitation operation starting points P2b, P2c.
This allows the two unmanned loading vehicles 20 a, 20 b to pick up cargo from each of the baggage exits 51 in the same manner as the manned loading vehicle 10 .

Next, the manned loading/unloading vehicle 10 operated by the worker moves in the autonomous driving area D4 from the imitation operation start point P2a to the imitation travel start point P4. The control unit 37 detects, by the position measuring device 40, that the manned loading/unloading vehicle 10 has moved to the imitation travel start point P4.
The control unit 37 then causes the unmanned loading and unloading vehicles 20a, 20b to move (autonomously travel) sequentially from the respective imitation operation start points P2b, P2c to the imitation travel start point P4. The autonomous travel of each unmanned loading and unloading vehicle 20 in this autonomous travel area D4 only needs to be independent of the operation of the manned loading and unloading vehicle 10, and may be controlled by the control server 30, may follow a preset route, or may be performed by each unmanned loading and unloading vehicle 20 while detecting the surrounding environment with a sensor (not shown).

Next, the manned loading/unloading vehicle 10 operated by the worker starts traveling in the imitation traveling area D5 from the imitation traveling start point P4. The control unit 37 detects, by the position measuring device 40, that the manned loading/unloading vehicle 10 has moved from the imitation traveling start point P4.
The control unit 37 then causes the two unmanned loading vehicles 20 to follow the manned loading vehicle 10 and run in an imitation manner.
In this way, the loading and unloading operations at the multiple baggage exits 51 by the manned loading and unloading vehicle 10 and the two unmanned loading and unloading vehicles 20 are completed.

According to the above first modified example, it is possible to obtain the same effects as those of the above embodiment.
Furthermore, according to the first modified example, the unmanned loading and unloading vehicle 20 is made to perform a combination of imitation traveling, which imitates the traveling operation of the manned loading and unloading vehicle 10, autonomous traveling, which allows the vehicle to travel independently of the manned loading and unloading vehicle 10, and imitation traveling, which imitates the loading and unloading operation of the manned loading and unloading vehicle 10. This allows the unmanned loading and unloading vehicle 20 to suitably perform even relatively complicated loading and unloading operations.

[Modification 2]
Next, a second modification of the above embodiment will be described.
The second modified example differs from the first modified example in that the multiple transport vehicles T that are the objects of loading and unloading are arranged side by side along the moving direction of the multiple loading and unloading vehicles. In the following, this difference will be mainly described, and the same components as those in the first modified example will be denoted by the same reference numerals and will not be described.

FIG. 5 is a diagram for explaining the loading and unloading process in the second modified example.
As shown in this figure, in this modified example, three transport vehicles T (T1 to T3) are arranged side by side along the movement direction X of the loading vehicles, and a manned loading vehicle 10 and multiple (two) unmanned loading vehicles 20 corresponding to the loading platforms of the three transport vehicles T perform loading operations.
In this case, an imitation running end point P1, an imitation action start point P2, and an imitation running start point P4 are set in this order along the moving direction X. Also, corresponding to each imitation action start point P2 (P2a to P2c), an imitation action end point P3 (P3a to P3c), which is a movement end point of the imitation action region D3 (D3a to D3c), is set downstream of the imitation action start point P2 in the moving direction X.
In other respects, it is configured substantially the same as the first modified example.

According to the second modified example described above, the same effects as those of the above embodiment can be obtained.
Furthermore, according to the second modified example, loading and unloading operations can be suitably performed also for a plurality of transport vehicles T arranged side by side along the movement direction X of a plurality of loading and unloading vehicles.

[Modification 3]
Next, a third modification of the above embodiment will be described.
The third modified example differs from the second modified example in that the unmanned loading and unloading vehicle 20 performs a reversing (mirroring) operation of the manned loading and unloading vehicle 10. The following mainly describes this difference, and the same components as those in the second modified example are given the same reference numerals and will not be described.

FIG. 6 is a diagram for explaining the loading and unloading process in the third modified example.
As shown in this figure, in this modified example, the unmanned loading vehicle 20 performs loading operations while reversing the manned loading vehicle 10 during the movement from the imitation driving end point P1 in the imitation driving area D1 to the imitation driving start point P4 in the imitation driving area D5.
In this example, a transport vehicle T, which is a wing truck with openable sides, is parked along the moving direction X of the cargo handling vehicle, and an imitation running end point P1 and an imitation running start point P4 are set on both the front and rear sides of the vehicle. The area between the imitation running end point P1 and the imitation running start point P4 is set as an imitation operation area D3.

In the loading/unloading process of this modification, in the imitation operation area D3, the unmanned loading/unloading vehicle 20 performs a reversal operation in which the operation of the manned loading/unloading vehicle 10 is reversed in the vehicle width direction (up and down direction in the figure) of the transport vehicle T as a corresponding operation corresponding to the manned loading/unloading vehicle 10. Specifically, the manned loading/unloading vehicle 10 performs a loading/unloading operation in the imitation operation area D3a on the right side of the transport vehicle T, and moves to the imitation travel start point P4. Then, the unmanned loading/unloading vehicle 20 performs a loading/unloading operation in the imitation operation area D3b on the left side of the transport vehicle T, and then moves to the imitation travel start point P4.
This allows the manned loading/unloading vehicle 10 and the unmanned loading/unloading vehicle 20 to carry out loading/unloading operations in parallel on the loading platforms on both sides of the transport vehicle T.

[others]
Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment (including the modified examples).
For example, in the above embodiment, the position of each loading vehicle is detected by the position measuring device 40 detecting the marker M of each loading vehicle. However, the method of detecting the position of each loading vehicle is not particularly limited, and for example, the position may be detected by a detection means (e.g., a detection means based on position information or distance information) provided in the loading vehicle and notified to the control server 30.

In the above embodiment, the case where the load L is transported from the baggage exit 51 of the automated warehouse 50 to the transport vehicle T has been described. However, the loading and unloading work managed by the loading and unloading system 1 may be any work that involves loading and unloading onto the platform of the transport vehicle or into the warehouse, for example, loading and unloading work that involves transporting the load from the transport vehicle T to a baggage entrance located at the same position as the baggage exit 51. The same applies to the modified examples of the above embodiment.

In the above embodiment, a worker (operator) boards the manned loading and unloading vehicle 10 and manually operates (drives) it. However, the operated loading and unloading vehicle according to the present invention may be one that is operated by an operator, or may be one that is remotely operated by the operator. In this case, for example, a remote operation device for the operated loading and unloading vehicle may be provided on the control server, and a camera for the operator may be provided on the operated loading and unloading vehicle.

In the above embodiment, the case where the operation of the unmanned loading and unloading vehicle 20 is controlled by the control server 30 has been described. However, the control unit 17 of the manned loading and unloading vehicle 10 or the control unit 27 of the unmanned loading and unloading vehicle 20 may control the operation of the unmanned loading and unloading vehicle 20, and the control server 30 may not be provided. In this case, it is preferable that the manned loading and unmanned loading and unloading vehicle 10 and the unmanned loading and unloading vehicle 20 are configured so that their own vehicle positions can be obtained, for example, by an inertial measurement device, making the position measuring device 40 unnecessary. This allows the loading and unloading system 1 to be composed of only the manned loading and unmanned loading and unloading vehicle 10 and the unmanned loading and unloading vehicle 20, and is expected to provide control with a faster response than when the control server 30 is involved.

Furthermore, the cargo handling vehicle according to the present invention is not limited to a forklift.
In addition, the details shown in the above embodiment can be modified as appropriate without departing from the spirit of the invention.

1 Loading system 10 Manned loading vehicle (operated loading vehicle)
14 Motion sensor (motion information acquisition means)
15 Communication unit 17 Control unit 20 Unmanned loading and unloading vehicle 27 Control unit 30 Control server (control means)
37 Control unit 40 Position measuring device (position measuring means)
50 Automated warehouse 51 Luggage exit D1 Imitation travel area D2 Autonomous travel area D3 Imitation motion area D4 Autonomous travel area D5 Imitation travel area L Luggage M Marker P1 Imitation travel end point P2 Imitation motion start point P3 Imitation motion end point P4 Imitation travel start point T Transport vehicle X Movement direction

Claims (9)

An operation loading vehicle operated by an operator;
An unmanned cargo handling vehicle that operates autonomously;
A control means for controlling the operation of the unmanned loading and unloading vehicle;
Equipped with
The control means
Based on the position information and operation information of the operation vehicle, the unmanned cargo handling vehicle is caused to perform a corresponding operation corresponding to the operation vehicle ;
As the corresponding operation, the unmanned loading/unloading vehicle is caused to perform a reversing operation in which the operation of the operating loading/unloading vehicle, which includes at least a loading/unloading operation, is reversed in a predetermined direction.
Cargo handling system. An operation loading vehicle operated by an operator;
An unmanned cargo handling vehicle that operates autonomously;
A control means for controlling the operation of the unmanned loading and unloading vehicle;
A plurality of loading targets corresponding to the operational loading vehicle and the unmanned loading vehicle;
Equipped with
The control means
Based on the position information and operation information of the operation vehicle, the unmanned cargo handling vehicle is caused to perform a corresponding operation corresponding to the operation vehicle;
The unmanned cargo handling vehicle is caused to travel in a predetermined travel area following the operated cargo handling vehicle, and then the unmanned cargo handling vehicle is caused to approach the corresponding cargo handling target by autonomous driving and perform a cargo handling operation in the same manner as the operated cargo handling vehicle.
Cargo handling system. The control means causes the unmanned loading/unloading vehicle to perform a reversing operation in which the operation of the operating loading/unloading vehicle, which includes at least a loading operation, is reversed in a predetermined direction as the corresponding operation.
A cargo handling system according to claim 2 . The corresponding operation includes at least a loading and unloading operation.
A loading and unloading system according to any one of claims 1 to 3 . The corresponding operation includes a loading operation and a traveling operation.
A loading and unloading system according to any one of claims 1 to 4 . A position measuring means for acquiring position information of the operation and loading vehicle is provided,
The operation and loading vehicle is
An operation information acquisition means for acquiring operation information of the operation/loading vehicle;
A communication means for transmitting the operation information to the control means;
having
A cargo handling system according to any one of claims 1 to 5. The control means is a control unit of the operated loading vehicle or the unmanned loading vehicle,
A cargo handling system according to any one of claims 1 to 6. A cargo handling control program for a cargo handling system including an operation cargo handling vehicle operated by an operator and an unmanned cargo handling vehicle that operates unmanned,
The computer is caused to function as a control means for causing the unmanned cargo handling vehicle to perform a corresponding operation corresponding to the cargo handling vehicle based on the position information and operation information of the cargo handling vehicle,
The control means causes the unmanned loading/unloading vehicle to perform a reversing operation in which the operation of the operating loading/unloading vehicle, which includes at least a loading operation, is reversed in a predetermined direction as the corresponding operation.
Cargo handling control program. A cargo handling control program for a cargo handling system including an operation cargo handling vehicle operated by an operator and an unmanned cargo handling vehicle that operates unmanned,
The computer is caused to function as a control means for causing the unmanned cargo handling vehicle to perform a corresponding operation corresponding to the cargo handling vehicle based on the position information and operation information of the cargo handling vehicle,
The control means causes the unmanned cargo handling vehicle to travel in a predetermined travel area following the operated cargo handling vehicle, and then causes the unmanned cargo handling vehicle to approach the corresponding cargo handling target by autonomous driving and perform a cargo handling operation in the same manner as the operated cargo handling vehicle.
Cargo handling control program.

Images