JP2020170237A - Manned-unmanned forklift and travel control method - Google Patents

Abstract

To provide a manned-unmanned forklift capable of being prevented from becoming undrivable when a travel mode switches from a manned travel mode to an unmanned travel mode, and a travel control method thereof.SOLUTION: A manned-unmanned forklift having a manned travel mode and an unmanned travel mode comprises: a display unit; an estimation unit 14 which estimates a self location of the forklift when the travel mode is the manned travel mode; a map creation unit 13 which creates an environment map when the travel mode is the manned travel mode; a travel mode setting unit 15; a determination unit 16 which determines effectiveness of whether the self location exists in a first region with low effectiveness of laser guidance or in a second region with high effectiveness of laser guidance; and a travel route generation unit 17. When the determination unit 16 determines that the self location exists in the first region, the travel mode setting unit 15 keeps setting of the manned travel mode as the travel mode, and the travel route generation unit 17 displays a route from the current location to the second region in a display unit.SELECTED DRAWING: Figure 3

Description

The present invention relates to a manned unmanned forklift and a traveling control method for the manned unmanned forklift.

Conventionally, a manned unmanned forklift having a manned running mode for running by manual operation by an operator and an unmanned running mode for automatic running has been known as a running mode (see, for example, Patent Document 1).

Further, as an unmanned forklift, one that automatically travels by laser guidance is known (see, for example, Patent Document 2). This unmanned forklift is self-driving based on the principle of triangulation by projecting laser light to the surroundings while rotating the laser scanner device and detecting reflected light from multiple reflectors installed in the building. Automatic driving is performed while calculating the position.

However, in the building, there is a region where the laser beam of the laser scanner device may be blocked by an obstacle such as a shelf, that is, a region where the effectiveness of laser guidance is low. In areas where laser guidance is less effective, unmanned forklifts are difficult to drive automatically by laser guidance.

When the automatic driving by laser guidance is adopted as the automatic driving of the manned unmanned forklift, for example, when the driving mode is switched from the manned driving mode to the unmanned driving mode in the region where the effectiveness of the laser guidance is low, the manned unmanned forklift performs the laser guidance. It cannot be done and may make it impossible to drive.

Japanese Unexamined Patent Publication No. 2010-222108 JP-A-8-161039

The present invention has been made in view of the above circumstances, and an object of the present invention is a manned unmanned forklift that can prevent the vehicle from becoming inoperable when the driving mode is switched from the manned driving mode to the unmanned driving mode. And its travel control method.

In order to solve the above problems, the manned unmanned forklift according to the present invention
It is a manned unmanned forklift that has a manned driving mode that runs manually by the operator and an unmanned running mode that automatically runs by laser guidance as the running mode.
Display and
In the manned driving mode, a position estimation unit that estimates its own position and
A map creation unit that creates an environment map in the manned driving mode,
A driving mode setting unit that sets the driving mode to the manned driving mode or the unmanned driving mode,
At the timing of switching from the manned running mode to the unmanned running mode, the effectiveness of whether the self-position exists in the first region where the laser guidance is less effective or in the second region where the laser guidance is more effective. Judgment unit that performs sex judgment and
A travel route generation unit that displays a travel route on the display unit,
With
When the determination unit determines that the self-position exists in the first region,
The traveling mode setting unit keeps the traveling mode set to the manned traveling mode.
The traveling route generation unit calculates a route from the current position to the second region as the traveling route, and displays the route on the display unit.

The above manned unmanned forklift
Further provided with a storage unit for storing the environment map
A basic environment map defining the first area and the second area is stored in the storage unit.
The map creation unit creates the environment map based on the basic environment map, and then creates the environment map.
The determination unit can be configured to perform the effectiveness determination based on the self-position estimated by the position estimation unit and the environment map created by the map creation unit.

The above manned unmanned forklift
When the determination unit determines that the self-position exists in the first region, the determination unit may further include a warning unit that issues a warning to the operator by visual and / or auditory means.

The above manned unmanned forklift
Further provided with a detection unit for detecting the getting off of the operator
The determination unit can be configured to perform the effectiveness determination at the timing when the detection unit detects the operator's disembarkation.

Further, in order to solve the above problems, the traveling control method according to the present invention is used.
It is a driving control method for a manned unmanned forklift that includes a manned driving mode in which the vehicle travels manually by an operator and an unmanned driving mode in which the vehicle automatically travels by laser guidance.
In the manned driving mode, the first manned driving control step for causing the manned unmanned forklift to estimate its own position and create an environmental map,
At the timing of switching from the manned traveling mode to the unmanned traveling mode, the manned unmanned forklift has its own position in the first region where the laser guidance is less effective or the second region where the laser guidance is highly effective. Judgment step to make the effectiveness judgment of existence in
When it is determined that the self-position exists in the first region, the traveling mode is set to the manned traveling mode, and the display unit of the manned unmanned forklift is made to display the route from the current position to the second region. 2 manned driving control steps and
It is characterized by including.

The above driving control method is
In the first manned traveling control step, the manned unmanned forklift creates the environment map based on the basic environment map defining the first region and the second region.
In the determination step, the manned and unmanned forklift can be configured to perform the effectiveness determination based on the self-position and the environment map.

The above driving control method is
In the determination step, when it is determined that the self-position exists in the first region, the operator can be configured to warn the operator by visual and / or auditory means.

The above driving control method is
In the determination step, the manned unmanned forklift can be configured to perform the effectiveness determination at the timing when the detection unit of the manned unmanned forklift detects the operator's disembarkation.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a manned unmanned forklift capable of preventing the forklift from becoming inoperable when the traveling mode is switched from the manned traveling mode to the unmanned traveling mode, and a traveling control method thereof.

It is a figure which shows the manned unmanned forklift which concerns on 1st Embodiment, (A) is a plan view, (B) is a side view. It is a figure for demonstrating the 1st region R1 which low-effectiveness of laser guidance, and 2nd region R2 which high effectiveness of laser guidance. It is a block diagram of the traveling control device of the manned unmanned forklift truck which concerns on 1st Embodiment. It is a figure which shows an example of the display part which displayed the traveling route to the 2nd area. It is a flowchart of the traveling control method of the manned unmanned forklift which concerns on 1st Embodiment. It is a figure which shows the manned unmanned forklift which concerns on 2nd Embodiment, (A) is a plan view, (B) is a side view. It is a block diagram of the traveling control device of the manned unmanned forklift truck which concerns on 2nd Embodiment. It is a flowchart of the traveling control method of the manned unmanned forklift which concerns on 2nd Embodiment.

Hereinafter, embodiments of a manned unmanned forklift truck and a traveling control method thereof according to the present invention will be described with reference to the accompanying drawings.

[First Embodiment]
(Manned unmanned forklift)
FIG. 1 shows a manned unmanned forklift truck 1A according to the first embodiment of the present invention. The manned unmanned forklift 1A includes, as a traveling mode, a manned traveling mode in which the vehicle travels manually by an operator and an unmanned traveling mode in which the forklift truck 1A automatically travels by laser guidance.

The manned unmanned forklift 1A includes a vehicle body 2 and a cargo handling device 3 provided at the front portion of the vehicle body 2. The cargo handling device 3 includes a pair of left and right masts and a pair of left and right forks attached to the mast so as to be able to move up and down.

The manned and unmanned forklift 1A includes a driver's seat 4 provided at the rear of the vehicle body 2. The operator drives while standing in the driver's seat 4 in the manned driving mode. The driver's seat 4 is provided with a brake pedal operated by the operator with his / her foot.

The levers 5 are provided in front of the driver's seat 4, and the steering handle 6 is provided on the side of the driver's seat 4. The levers 5 include a traveling lever for moving the vehicle body 2 forward and backward, and a cargo handling lever for operating the cargo handling device 3 to perform cargo handling work.

A display unit 7 is provided between the levers 5 and the steering handle 6. The display unit 7 is composed of, for example, a liquid crystal display. The travel route described later is displayed on the display unit 7. The display unit 7 may further display the status of the vehicle body 2 such as the battery capacity and the speed display.

A changeover switch 8 for switching the traveling mode is provided on the side surface of the vehicle body 2 behind the driver's seat 4. When the changeover switch 8 is operated by the operator, the traveling mode is switched from the manned traveling mode to the unmanned traveling mode (or from the unmanned traveling mode to the manned traveling mode) under a predetermined condition.

Above the driver's seat 4, a head guard 9 is provided to protect the operator from falling objects. The head guard 9 is provided with a laser scanner device 10 for performing automatic traveling by laser guidance. In FIG. 1A, the head guard 9 and the laser scanner device 10 are omitted.

As shown in FIG. 2, the manned unmanned forklift 1A that automatically travels in the building 100 projects laser light L around while rotating the laser scanner device 10, and is installed on a wall, a pillar, or the like of the building 100. By detecting the reflected light L'from the plurality of reflectors 101, the self-position is calculated based on the principle of triangulation.

In the building 100, there is a region where the laser beam L (reflected light L') of the laser scanner device 10 may be blocked by an obstacle such as a shelf 102, that is, a first region R1 where the effectiveness of laser guidance is low. On the other hand, there is a region where the laser beam L (reflected light L') is not blocked by an obstacle, that is, a second region R2 where laser guidance is highly effective.

The manned unmanned forklift 1A travels only in the manned traveling mode in the first region R1 and in the manned traveling mode or the unmanned traveling mode in the second region R2 under the control of the traveling control device 11A provided inside the vehicle body 2. Drive on.

As shown in FIG. 3, the travel control device 11A includes a storage unit 12, a map creation unit 13, a position estimation unit 14, a travel mode setting unit 15, a determination unit 16, a travel route generation unit 17, and a warning. A unit 18 is provided. The travel control device 11A is composed of, for example, a microcomputer. Each functional unit of the travel control device 11A is realized, for example, by executing a predetermined program by the CPU of the microcomputer.

The storage unit 12 stores in advance a basic environment map defining the first area R1 and the second area R2. For the basic environment map, for example, an experiment is actually performed to see if the laser light L (reflected light L') of the laser scanner device 10 is blocked by an obstacle such as a shelf 102, or a simulation of the experiment is performed. Created by The basic environment map may include information such as the structure of the building 100 and the shelves 102 arranged in the building 100. The information stored in the storage unit 12 is shared by each functional unit of the travel control device 11A.

The map creation unit 13 is configured to create an environment map in the manned driving mode. The manned unmanned forklift 1A is provided with a measurement sensor (for example, a laser range finder) for recognizing obstacles and the like around the vehicle body 2, and the map creation unit 13 receives information and a storage unit 12 from the measurement sensor. An environment map is created based on the basic environment map stored in, and the created environment map is stored in the storage unit 12. The environment map contains information about the first region R1 and the second region R2.

The position estimation unit 14 is configured to estimate its own position in the manned traveling mode. Specifically, the position estimation unit 14 estimates its own position based on the environment map generated by the map creation unit 13 and information on the amount of rotation and the steering angle of the drive wheels provided in the lower part of the vehicle body 2. I do. As a result, the position estimation unit 14 can specify whether the self-position exists in the first region R1 or the second region R2. The amount of rotation of the drive wheels corresponds to the moving distance of the manned unmanned forklift 1A, and the steering angle of the drive wheels corresponds to the moving direction of the manned unmanned forklift 1A.

The traveling mode setting unit 15 is configured to set the traveling mode to a manned traveling mode or an unmanned traveling mode, and to travel the vehicle body 2 in the set traveling mode. In particular, when the changeover switch 8 is operated in the manned driving mode, the traveling mode setting unit 15 switches the traveling mode from the manned traveling mode to the unmanned traveling mode or switches the traveling mode according to the determination result of the determination unit 16. Leave the manned driving mode set.

The determination unit 16 determines whether the self-position exists in the first region R1 or the second region R2 based on the self-position estimated by the position estimation unit 14 at the timing of switching from the manned travel mode to the unmanned travel mode. To judge the effectiveness of. In the present embodiment, the timing of switching from the manned running mode to the unmanned running mode is the timing at which the changeover switch 8 is operated by the operator in the manned running mode.

When the determination unit 16 determines that the self-position exists in the first region R1, the determination unit 16 repeats the above effectiveness determination in a predetermined cycle until it determines that the self-position exists in the second region R2. The setting of the unmanned driving mode by the setting unit 15 is prohibited.

The travel route generation unit 17 is configured to display the travel route on the display unit 7. In the present embodiment, when the determination unit 16 determines that the self-position exists in the first region R1, the travel route generation unit 17 moves from the self-position (current position) to the second region R2 based on the environment map. The travel route is calculated, and the travel route is displayed on the display unit 7. The travel route includes at least one route including the shortest route from the current position to the second region R2.

FIG. 4 shows an example of the display unit 7 on which the traveling route is displayed. A model diagram M of the building 100 is displayed on the display unit 7, and the current position Ma of the manned unmanned forklift 1A, obstacles Mb (for example, other forklifts and luggage), and the traveling route Mc are displayed in the model diagram M. Will be done. Further, an arrow X for guiding to the second region R2 is displayed separately from the model diagram M.

With reference to FIG. 3 again, the warning unit 18 issues a warning to the operator by visual and / or auditory means when the determination unit 16 determines that the self-position exists in the first region R1. Is configured. For example, the warning unit 18 causes the display unit 7 to display a warning indicating that the self-position exists in the first region R1, and / or causes the speaker provided in the manned unmanned forklift 1A to output a warning sound.

In the manned unmanned forklift truck 1A according to the present embodiment, when the determination unit 16 determines that the self-position exists in the first region R1 at the timing of switching from the manned travel mode to the unmanned travel mode, the travel mode setting unit 15 travels. Leave the mode set to manned driving mode. Therefore, according to the manned unmanned forklift truck 1A according to the present embodiment, it is possible to prevent the vehicle from becoming inoperable when the traveling mode is switched from the manned traveling mode to the unmanned traveling mode.

Further, in the manned unmanned forklift truck 1A according to the present embodiment, when the determination unit 16 determines that the self-position exists in the first region R1, the traveling route generation unit 17 displays the display unit 7 from the current position to the second region R2. Display the driving route to. Therefore, according to the manned unmanned forklift truck 1A according to the present embodiment, the operator can reach the second region R2 without hesitation.

In the present embodiment, the model diagram M and the arrow X are displayed on the display unit 7 as the travel route, but only the model diagram M may be displayed or the travel route may be indicated only by the arrow X.

(Running control method)
Subsequently, the traveling control method of the manned unmanned forklift 1A according to the first embodiment of the present invention will be described. FIG. 5 shows a flowchart of the traveling control method according to the present embodiment.

The travel control method according to the present embodiment includes a first manned travel control step (S1), a determination step (S2 to S4), a second manned travel control step (S5), and an unmanned travel control step (S6). Including.

In the first manned running control step (S1), the manned unmanned forklift 1A in the manned running mode is made to estimate its own position and create an environment map. In the manned and unmanned forklift 1A, the map creation unit 13 creates an environment map, and the position estimation unit 14 estimates its own position.

In the determination steps (S2 to S4), when the changeover switch 8 is operated by the operator (S2), the manned and unmanned forklift 1A determines the effectiveness (S3).

When it is determined to be the first region R1 in the effectiveness determination (first region in S4), that is, when the position estimation unit 14 identifies that the self-position exists in the first region R1 when the changeover switch 8 is operated by the operator. The process proceeds to the second manned driving control step (S5).

In the second manned traveling control step (S5), the manned unmanned forklift 1A causes the display unit 7 to display the traveling route from the current position to the second region R2 while setting the traveling mode to the manned traveling mode. Further, the manned and unmanned forklift 1A issues a warning to the operator by visual and / or auditory means by the warning unit 18.

Further, in the second manned traveling control step (S5), the manned unmanned forklift 1A repeatedly performs the above effectiveness determination at a predetermined cycle, and until the determination unit 16 determines that the self-position exists in the second region R2. The setting of the unmanned driving mode by the traveling mode setting unit 15 is prohibited.

When it is determined to be the second region R2 in the effectiveness determination (second region in S4), that is, when the position estimation unit 14 identifies that the self-position exists in the second region R2 when the changeover switch 8 is operated by the operator. The process proceeds to the unmanned driving control step (S6).

In the unmanned traveling control step (S6), the manned unmanned forklift 1A automatically travels by laser guidance.

In the traveling control method according to the present embodiment, when the self-position of the manned unmanned forklift 1A exists in the first region R1, the manned unmanned forklift 1A keeps the traveling mode as the manned traveling mode, so that the traveling mode is the manned traveling mode. It is possible to prevent the manned unmanned forklift 1A from becoming inoperable when switching from the to unmanned running mode.

Further, according to the travel control method according to the present embodiment, the manned unmanned forklift 1A causes the display unit 7 to display the travel route from the current position to the second region R2, so that the operator can reach the second region R2 without hesitation. can do.

[Second Embodiment]
(Manned unmanned forklift)
FIG. 6 shows a manned unmanned forklift truck 1B according to a second embodiment of the present invention. The manned unmanned forklift 1B is common to the manned unmanned forklift 1A of the first embodiment except that the detection unit 19 and the traveling control device 11B are provided.

The detection unit 19 is provided on the floor of the driver's seat 4 and is configured to detect the operator getting off. The detection signal of the detection unit 19 is output to the travel control device 11B. The configuration of the detection unit 19 can be appropriately changed as long as it can detect the operator's disembarkation.

As shown in FIG. 7, the travel control device 11B is common to the travel control device 11A of the first embodiment except that the travel mode is switched under a predetermined condition when the detection signal of the detection unit 19 is input. .. That is, when the detection signal of the detection unit 19 is input, the travel mode setting unit 15 switches the travel mode from the manned travel mode to the unmanned travel mode, or switches the travel mode according to the determination result of the determination unit 16. Leave the manned driving mode set.

The determination unit 16 determines the effectiveness of whether the self-position exists in the first region R1 or the second region R2 at the timing when the detection unit 19 detects the operator getting off. In the present embodiment, the timing of switching from the manned driving mode to the unmanned driving mode is the timing when the detection unit 19 detects the operator's disembarkation.

When the determination unit 16 determines in the effectiveness determination that the self-position exists in the first region R1, the determination unit 16 repeats the above-mentioned effectiveness determination in a predetermined cycle until it determines that the self-position exists in the second region R2. The setting of the unmanned driving mode by the traveling mode setting unit 15 is prohibited.

Further, when the determination unit 16 determines in the effectiveness determination that the self-position exists in the second region R2, the determination unit 16 further determines whether or not the changeover switch 8 has been operated by the operator. When the determination unit 16 determines that the changeover switch 8 has been operated, the travel mode setting unit 15 switches the travel mode from the manned travel mode to the unmanned travel mode.

In the manned unmanned forklift truck 1B according to the present embodiment, the effectiveness is determined before the changeover switch 8 is operated by the operator. Therefore, the travel route to the display unit 7 is earlier than that of the manned unmanned forklift truck 1A of the first embodiment. Can be displayed or a warning can be issued to the operator.

(Running control method)
Subsequently, the traveling control method of the manned unmanned forklift 1B according to the second embodiment of the present invention will be described. FIG. 8 shows a flowchart of the traveling control method according to the present embodiment.

In the travel control method according to the present embodiment, the manned unmanned forklift 1A performs effectiveness determination (S3) triggered by the detection unit 19 detecting the operator's disembarkation (S2'), and the unmanned travel control step (S6). This is common to the travel control method of the first embodiment, except that it is further determined (S4') whether or not the changeover switch 8 is operated before.

When the determination unit 16 determines that the changeover switch 8 has been operated (YES in S4'), the process proceeds to the unmanned travel control step (S6), while the determination unit 16 determines that the changeover switch 8 has not been operated. If it is determined (NO in S4'), the process proceeds to the first manned driving control step (S1).

According to the traveling control method according to the present embodiment, the effectiveness determination (S3) is performed before the changeover switch 8 is operated by the operator, so that the second embodiment is earlier than the manned unmanned forklift 1A of the first embodiment. It is possible to shift to the manned driving control step (S5).

[Modification example]
Although the embodiment of the manned unmanned forklift truck and the traveling control method thereof according to the present invention has been described above, the present invention is not limited to the above embodiment.

The configuration of the manned unmanned forklift according to the present invention can be appropriately changed as long as it includes a display unit, a position estimation unit, a map creation unit, a travel mode setting unit, a determination unit, and a travel route generation unit.

The configuration of the display unit of the present invention can be appropriately changed as long as it can display the traveling route from the current position of the manned unmanned forklift to the second region where the laser guidance is highly effective.

The configuration of the position estimation unit of the present invention can be appropriately changed as long as the self-position is estimated in the manned driving mode. Further, the map creation unit of the present invention can appropriately change the configuration if the environment map is created in the manned driving mode.

The driving mode setting unit of the present invention sets the driving mode to the manned driving mode or the unmanned driving mode, and sets the driving mode to the manned driving mode when the determination unit determines that the self-position exists in the first region. If you want to keep it, you can change the configuration as appropriate.

The determination unit of the present invention determines whether the self-position exists in the first region where the effectiveness of laser guidance is low or in the second region where the effectiveness of laser guidance is high at the timing of switching from the manned running mode to the unmanned running mode. If the effectiveness of the above is judged, the configuration can be changed as appropriate.

When the determination unit determines that the self-position exists in the first region, the traveling route generation unit of the present invention calculates the route from the current position to the second region and displays the route on the display unit. If so, the configuration can be changed as appropriate.

The traveling control method according to the present invention includes a first manned traveling control step for causing an unmanned forklift to estimate its own position and create an environmental map when the unmanned forklift is in the manned traveling mode, and from the manned traveling mode to the unmanned traveling mode. At the timing of switching, the judgment step to make the manned unmanned forklift perform the effectiveness judgment, and when it is judged that the self-position exists in the first area, the running mode is set to the manned running mode and the display part of the manned unmanned forklift is currently displayed. If a second manned travel control step for displaying a route from the position to the second region is included, the configuration can be changed as appropriate.

1A, 1B Manned unmanned forklift 2 Body 3 Cargo handling device 4 Driver's seat 5 Lever 6 Steering wheel 7 Display 8 Changeover switch 9 Head guard 10 Laser scanner device 11A, 11B Travel control device 12 Storage unit 13 Map creation unit 14 Position estimation unit 15 Driving mode setting unit 16 Judgment unit 17 Driving route generation unit 18 Warning unit 19 Detection unit

Claims (8)

It is a manned unmanned forklift that has a manned driving mode that runs manually by the operator and an unmanned running mode that automatically runs by laser guidance as the running mode.
Display and
In the manned driving mode, a position estimation unit that estimates its own position and
A map creation unit that creates an environment map in the manned driving mode,
A driving mode setting unit that sets the driving mode to the manned driving mode or the unmanned driving mode,
At the timing of switching from the manned running mode to the unmanned running mode, the effectiveness of whether the self-position exists in the first region where the laser guidance is less effective or in the second region where the laser guidance is more effective. Judgment unit that performs sex judgment and
A travel route generation unit that displays a travel route on the display unit,
With
When the determination unit determines that the self-position exists in the first region,
The travel mode setting unit keeps the travel mode set to the manned travel mode.
The traveling route generation unit is a manned unmanned forklift that calculates a route from the current position to the second region as the traveling route and displays the route on the display unit. Further provided with a storage unit for storing the environment map
A basic environment map defining the first area and the second area is stored in the storage unit.
The map creation unit creates the environment map based on the basic environment map, and then creates the environment map.
The manned unmanned forklift according to claim 1, wherein the determination unit performs the effectiveness determination based on the self-position estimated by the position estimation unit and the environment map created by the map creation unit. A claim further comprising a warning unit that issues a warning to the operator by visual and / or auditory means when the determination unit determines that the self-position exists in the first region. The manned unmanned forklift according to item 1 or 2. Further provided with a detection unit for detecting the getting off of the operator
The manned unmanned forklift according to any one of claims 1 to 3, wherein the determination unit determines the effectiveness at the timing when the detection unit detects the operator's disembarkation. It is a driving control method for a manned unmanned forklift that includes a manned driving mode in which the vehicle travels manually by an operator and an unmanned driving mode in which the vehicle automatically travels by laser guidance.
In the manned driving mode, the first manned driving control step for causing the manned unmanned forklift to estimate its own position and create an environmental map,
At the timing of switching from the manned traveling mode to the unmanned traveling mode, the manned unmanned forklift has its own position in the first region where the laser guidance is less effective or the second region where the laser guidance is highly effective. Judgment step to make the effectiveness judgment of existence in
When it is determined that the self-position exists in the first region, the traveling mode is set to the manned traveling mode, and the display unit of the manned unmanned forklift is made to display the route from the current position to the second region. 2 manned driving control steps and
A traveling control method comprising. In the first manned traveling control step, the manned unmanned forklift creates the environment map based on the basic environment map defining the first region and the second region.
The travel control method according to claim 5, wherein in the determination step, the manned unmanned forklift performs the effectiveness determination based on the self-position and the environment map. The determination step 5 or 6 is characterized in that, when it is determined that the self-position exists in the first region, a warning is issued to the operator by visual and / or auditory means. The traveling control method described in. The determination step is any one of claims 5 to 7, wherein the manned unmanned forklift is made to perform the effectiveness determination at the timing when the detection unit of the manned unmanned forklift detects the getting off of the operator. The traveling control method described in.

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