JP2022156698A - Cargo handling vehicle, cargo handling system, and control program of cargo handling vehicle - Google Patents

Abstract

To reduce the number of reference objects used for detecting a position.SOLUTION: An AFG 20 being a cargo handling vehicle performs cargo handling work between a delivery port 51 and a carrier vehicle T by automatic driving, and includes: a storage unit 26 which stores a facility side map M1 of a facility side area 11 containing the delivery port 51 and a moving body side map M2 of a moving body side area 12 containing the carrier vehicle T; a laser scanner 24 which detects a position of a reflector so as to calculate the own position of the AFG 20; and a control unit 27 which refers to the facility side map M1 or the moving body side map M2 in correspondence to the own position calculated by the laser scanner 24. At least two facility side reflectors R1 are arranged in the facility side area 11.SELECTED DRAWING: Figure 1

Description

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

2. Description of the Related Art In recent years, in cargo handling systems that perform cargo handling work, the application of automatically operable cargo handling vehicles such as unmanned forklifts is progressing.
In the technique described in Patent Literature 1, a large number of reference objects such as reflectors are installed throughout the work area, and the positions of these reference objects are detected and referred to, thereby ensuring the accuracy of position guidance of cargo handling vehicles.

Japanese Patent No. 6725198

However, especially in a work area such as a truck yard that includes many outdoors, it is difficult to install a large number of reference objects because the reference objects can become obstacles in places where moving bodies such as trucks come and go.
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to reduce the number of reference objects for position detection.

The present invention is a cargo handling vehicle that performs cargo handling work by automatic operation between a stopped moving body and cargo handling equipment,
storage means for storing facility-side map information of a facility-side area including the cargo handling facility and moving body-side map information of a moving body-side area including the moving body;
a position calculation means for detecting the position of a reference object and calculating the self-position of the cargo handling vehicle;
map reference means for referring to either the equipment side map information or the moving body side map information in association with the self position calculated by the position calculation means;
with
At least two of the reference objects are arranged in the equipment side area.

Further, the present invention
A cargo handling vehicle that performs cargo handling work by automatic operation between the stopped mobile body and the cargo handling equipment;
control means for controlling the operation of the cargo handling vehicle;
A cargo handling system comprising
The cargo handling vehicle comprises position calculation means for detecting the position of a reference object and calculating the own position of the cargo handling vehicle,
The control means is
storage means for storing facility-side map information of a facility-side area including the cargo handling facility and moving body-side map information of a moving body-side area including the moving body;
map reference means for referring to either the equipment side map information or the mobile body side map information in association with the self position calculated by the position calculation means of the cargo handling vehicle;
with
At least two of the reference objects are arranged in the equipment side area.

Further, the present invention is a control program for a cargo handling vehicle that performs cargo handling work by automatic operation between a stopped moving body and cargo handling equipment,
The cargo handling vehicle comprises storage means for storing facility-side map information of a facility-side area including the cargo handling facility and moving body-side map information of a moving body-side area including the moving body,
the computer,
position calculation means for calculating the self-position of the cargo handling vehicle based on the positions of at least two reference objects arranged in the facility-side area;
map reference means for referring to either the equipment side map information or the moving body side map information in association with the self position calculated by the position calculation means;
It was assumed to function as

According to the present invention, the number of reference objects for position detection can be reduced.

It is a figure which shows the work area of the cargo handling system which concerns on embodiment, Comprising: It is a figure for demonstrating the equipment side map and the moving body side map. 1 is a block diagram showing a schematic control configuration of a cargo handling system according to an embodiment; FIG. It is a flow chart which shows a flow of cargo handling processing concerning an embodiment. It is a figure for demonstrating the modification of the reference|standard object arrange|positioned at the equipment side area|region which concerns on embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Configuration of cargo handling system]
FIG. 1 is a diagram showing a work area 10 of a cargo handling system 1 according to the present embodiment, and is a diagram for explaining an equipment side map M1 and a mobile body side map M2, which will be described later. 2 is a block diagram showing a schematic control configuration of .
As shown in FIG. 1, the cargo handling system 1 transports cargo L from a warehouse exit 51 to a transport vehicle (for example, a truck) T in a work area 10 by an automated guided forklift (hereinafter referred to as "AGF") 20. It is a system that transports and loads
In this specification, "cargo handling (or cargo handling operation)" by the AGF 20 refers to picking, loading, unloading, etc. of the cargo L performed by the AGF 20. It refers to the operation performed on the loading platform C of In addition, the "cargo handling work" by the AGF 20 includes, in addition to cargo handling, the accompanying operations of the AGF 20 (running for cargo handling, transportation of the cargo L, etc.).

A work area 10 of the cargo handling system 1 is, for example, a truck yard, and includes an equipment side area 11 and a moving object side area 12 .
Among these, the facility-side area 11 is an area including the warehouse exit 51 whose position is fixed, and is an area of a predetermined range around the warehouse exit 51 in this embodiment. The delivery port 51 is an example of the cargo handling facility according to the present invention, and is a place where the AGF 20 takes out the cargo L stored/stored in the warehouse.
Further, in the facility side area 11, a plurality of (two in this embodiment) facility side reflectors R1 are arranged. The facility-side reflector R1 is a reference object (reference object) for the AGF 20 to calculate its own position, and is a detection target of the laser scanner 24, which will be described later. The two facility-side reflectors R1 are arranged relatively close to the exit 51 . The number of facility-side reflectors R1 is not particularly limited, but at least two should suffice.

The mobile body side area 12 is an area where the transport vehicle T is stopped. The transport vehicle T is an example of a moving body according to the present invention, and the AGF 20 loads a load L on its loading platform C. As shown in FIG.
In addition, a plurality (two in this embodiment) of moving body side reflectors R2 are arranged on the transport vehicle T. As shown in FIG. The moving-body-side reflector R2 is a reference object (reference object) for calculating the position of (the carrier C of) the transport vehicle T, which is the object of cargo handling, and is a detection target of the laser scanner 24, which will be described later. The moving body side reflectors R2 of the present embodiment are provided at the front and rear ends of the opening of the loading platform C of the transport vehicle T, respectively. The number of moving body side reflectors R2 is not particularly limited, but at least two are sufficient.
In addition, the mobile body side area 12 may partially overlap with the equipment side area 11 or may be somewhat separated from the equipment side area 11 .

Specifically, the cargo handling system 1 includes an AGF 20 and a control server 30, as shown in FIG.

The AGF 20 is a cargo handling vehicle capable of transporting cargo, lifting and delivering cargo, etc. In this embodiment, the AGF 20 is an unmanned forklift that can travel on roads without using rails or the like. The AGF 20 is an example of a cargo handling vehicle according to the present invention, and is configured to be capable of automatic operation (unmanned operation) based on control commands from the control server 30 .
Specifically, the AGF 20 includes a drive section 21 , a cargo handling device 23 , a laser scanner 24 , a communication section 25 , a storage section 26 and a control section 27 .

The drive unit 21 includes a travel motor and a steering motor (both not shown) that are various drive sources for the AGF 20 . The travel motor drives the drive wheels of the wheels. The steering motor rotates (steers) a steered wheel of the wheels.
The cargo handling device 23 is for performing cargo handling operations, and is provided at the front portion of the vehicle body of the AGF 20 . The cargo handling device 23 includes a mast that can be tilted forward and backward of the vehicle body, a pair of left and right forks that are attached to the mast so that they can be raised and lowered to hold the load L, and a cargo handling motor that performs various operations such as raising and lowering and tilting the forks. .

The laser scanner 24 is an example of position calculation means according to the present invention. The laser scanner 24 has a light projecting part and a light receiving part. The light projecting part emits a laser beam, and the light receiving part detects the reflected light reflected by at least two reflectors, thereby performing triangulation. The self-position (relative position to the reflector) is calculated based on the principle. A calculation result is output to the control unit 27 . However, the laser scanner 24 may perform only light projection and light reception, and the controller 27 may calculate the self-position based on the results.

The communication unit 25 is a communication device capable of transmitting and receiving various information to and from the control server 30 .
The control unit 27 is composed of a CPU (Central Processing Unit) or the like, and controls the operation of each unit of the AGF 20 . Specifically, the control unit 27 expands a program stored in advance in the storage unit 26, and cooperates with the expanded program to execute various processes.

The storage unit 26 is a memory configured by RAM (Random Access Memory), ROM (Read Only Memory), etc., stores various programs and data, and also functions as a work area for the control unit 27 .
The storage unit 26 of the present embodiment stores in advance a facility-side map M1 and a mobile-body-side map M2 that are referred to when the AGF 20 operates.

As shown in FIG. 1 , the facility-side map M1 is map information of the facility-side area 11 . The map information is data including position information of a desired arrangement (for example, a reflector, etc., which will be described later) in the target area. Such map information is preferably map-displayable on the display unit 32 of the control server 30, for example.
The facility-side map M1 has at least positional information of the exit 51, the two facility-side reflectors R1, and the facility-side switching point P1. The facility-side switching point P1 is a position at which the map information to be referred to is switched from the facility-side map M1 to the mobile-side map M2 when the AGF 20 moves from the facility-side area 11 to the mobile-side area 12 . The facility-side switching point P1 is arranged at the end of the facility-side area 11 on the moving body-side area 12 side.
In addition, the facility-side map M1 has information on the movement route G1 between the facility-side switching point P1 and the exit 51. FIG. The moving route G1 is a suitable route for the AGF 20 to move between the facility-side switching point P1 and the exit 51 . It should be noted that the moving route G1 may be different between the facility-side switching point P1 and the exit 51 and back and forth.

The moving body side map M2 is map information of the moving body side area 12 .
The mobile side map M2 has position information of at least two mobile side reflectors R2 and mobile side switching points P2. The mobile side switching point P2 is a position where the map information to be referred to is switched from the mobile side map M2 to the facility side map M1 when the AGF 20 moves from the mobile side area 12 to the facility side area 11 . The mobile side switching point P<b>2 is arranged at the end of the mobile side area 12 on the facility side area 11 side. The moving body side switching point P2 is preferably positioned within a predetermined range from the facility side switching point P1, and may be the same position as the facility side switching point P1.
Further, the moving body side map M2 has information of the moving route G2 between the moving body side switching point P2 and the carrier C of the transport vehicle T. FIG. The movement path G2 is a suitable path for the AGF 20 to move between the switching point P2 on the moving body side and the loading platform C. As shown in FIG. In addition, the moving route G2 may be different between the moving body side switching point P2 and the loading platform C and back and forth.

In addition, in the moving body side area 12, the position of the transport vehicle T, which is a moving body, is not fixed (can be changed). Therefore, the information on the two moving body side reflectors R2 and the movement route G2 in the moving body side map M2 is only for the case where the transport vehicle T is stopped at a predetermined position.
In addition, it is preferable that information of the transport vehicle T corresponding to the two stored moving body side reflectors R2 and the moving route G2 is allocated and stored in the moving body side map M2.
Further, the storage unit 26 stores in advance a plurality of moving body side maps M2 associated with a plurality of types of transport vehicles T, and the moving body side maps M2 corresponding to the transport vehicles T actually located in the moving body side area 12 are stored in advance. Map M2 is preferably selected for reference. Thereby, according to the kind of conveyance vehicle T, cargo handling work can be performed suitably.

As shown in FIG. 2 , the control server 30 centrally controls the cargo handling system 1 and is configured to be able to control the operation of the AGF 20 . The control server 30 may be anything as long as it can control the cargo handling system 1, and may be composed of a terminal device and a cloud server, for example.
Specifically, the control server 30 includes an operation unit 31 , a display unit 32 , a communication unit 35 , a storage unit 36 and a control unit 37 .

The operation unit 31 is operation means for performing various operations for an operator to operate the control server 30, and includes, for example, a pointing device such as a mouse and a keyboard.
The display unit 32 is, for example, a liquid crystal display, an organic electroluminescence display, or other displays. The display unit 32 displays various information based on display signals input from the control unit 37 . Note that the display unit 32 may be a touch panel that serves as at least part of the operation unit 31 .

The communication unit 35 is a communication device capable of transmitting/receiving various information to/from the AGF 20 .
The storage unit 36 is a memory configured by RAM (Random Access Memory), ROM (Read Only Memory), etc., stores various programs and data, and also functions as a work area for the control unit 37 .
The control unit 37 is configured by a CPU (Central Processing Unit) or the like, and controls the operation of each unit of the control server 30 . Specifically, the control unit 37 expands a program stored in advance in the storage unit 36 based on the operation content of the operation unit 31, etc., and cooperates with the expanded program to execute various processes. .

[Operation of cargo handling system]
Next, the operation of the cargo handling system 1 when executing cargo handling processing in which the AGF 20 loads the cargo L at the delivery port 51 onto the transport vehicle T and carries it out will be described.
FIG. 3 is a flow chart showing the flow of this cargo handling process.
The cargo handling process is executed by the control unit 37 of the control server 30 reading and expanding the corresponding program from the storage unit 36 based on the operation of the operator.
Here, it is assumed that the initial position of the AGF 20 is within the equipment side area 11 .

As shown in FIG. 3, when the cargo handling process is executed, the control unit 37 of the control server 30 first transmits a cargo handling start command to the AGF 20 based on the operator's operation (step S1). Here, a command is transmitted to the effect that the cargo L at the delivery port 51 is loaded onto the loading platform C of the transport vehicle T in a predetermined arrangement.
Then, the control unit 27 of the AGF 20 reads out and refers to the facility-side map M1 from the storage unit 26 as map information corresponding to the self-position (initial position) at that time (step S2).

Next, the control unit 27 detects surrounding reference objects by the laser scanner 24 (step S3).
Here, when the AGF 20 is in the facility side area 11, the positions of the two facility side reflectors R1 are detected by the laser scanner 24, and the positional information of the two facility side reflectors R1 set in the facility side map M1 is displayed. , the self-position of the AGF 20 is calculated. As a result, the self-position of the AGF 20 on the equipment side map M1 is obtained.

On the other hand, when the AGF 20 is in the moving body side area 12, the positions of the two moving body side reflectors R2 are detected by the laser scanner 24, and the positional information of the two moving body side reflectors R2 set in the moving body side map M2 is detected. match. Then, based on the difference between the actual positions of the two moving body side reflectors R2 and the set positions on the moving body side map M2, the control section 27 determines the movement path G2 to the loading platform C set on the moving body side map M2. and correct the position of the switching point P2 on the moving body side. As a result, the actual position of (the bed C of) the transport vehicle T is obtained, and based on this, the information of the moving body side map M2 is corrected.

Note that the calculation of the self-position by the laser scanner 24 and the like may be performed continuously during work (during operation). Further, the self-position may be continuously measured by an internal sensor such as an inertial measurement unit (IMU), and the self-position may be periodically corrected based on the calculation result of the laser scanner 24 .

Next, the control unit 27 operates the driving unit 21 to move (run) the AGF 20 to the cargo handling target (the delivery port 51 or the loading platform C of the transport vehicle T) (step S4).
Here, when the AGF 20 is in the facility side area 11 , it moves to the delivery port 51 , and when it is in the mobile body side area 12 , it moves to the loading platform C of the transport vehicle T.
When the AGF 20 is positioned at a map switching point (equipment side switching point P1 or mobile body side switching point P2), it moves from the map switching point along the movement paths G1 and G2 to the cargo handling object.

Next, the control unit 27 operates the driving unit 21 and the cargo handling device 23 to cause the AGF 20 to perform cargo handling operations for the cargo handling object (step S5).
Here, when the AGF 20 is in the facility side area 11 , the load L is picked up from the delivery port 51 , and when the AGF 20 is in the mobile body side area 12 , the load is loaded on the loading platform C of the transport vehicle T.

Next, the control unit 27 operates the driving unit 21 to move the AGF 20 to the map switching point (equipment side switching point P1 or moving body side switching point P2) (step S6).
Here, when the AGF 20 is in the equipment side area 11, it moves to the equipment side switching point P1, and when the AGF 20 is in the moving body side area 12, it moves to the moving body side switching point P2.

Next, the control unit 27 determines whether or not the AGF 20 has reached the map switching point (its own position coincides with the position of the map switching point) (step S7). Step S7; No), the step S7 is repeated.

When it is determined that the AGF 20 has reached the map switching point (step S7; Yes), the control unit 27 switches the map information to be referred to to the one not currently referred to (step S8).
Here, when the AGF 20 is in the facility side area 11 and reaches the facility side switching point P1, the control unit 27 switches the map information to be referred from the facility side map M1 to the mobile body side map M2. On the other hand, when the AGF 20 is in the mobile side area 12 and reaches the mobile side switching point P2, the control unit 27 switches the map information to be referred from the mobile side map M2 to the equipment side map M1.
Note that the map switching timing is not particularly limited, and may be, for example, just before reaching the map switching point. In this case, before reaching the map switching point (before switching the map information), it is better to detect the reflector in the destination area and detect (correct) the position of the map switching point in the destination area. preferable. The position of the map switching point in the destination area may be stored in the currently referenced map information.

Next, the control unit 27 operates the driving unit 21 to move the AGF 20 between the facility-side switching point P1 and the moving body-side switching point P2 (step S9).
Here, the control unit 27 generates a route between the equipment-side switching point P1 and the mobile-body-side switching point P2 based on the position information and the like, and moves the AGF 20 along the route. Note that this step is omitted when the equipment-side switching point P1 and the mobile-body-side switching point P2 are at the same position.
After that, the control unit 27 shifts the process to the above-described step S3, and repeats cargo handling and traveling in the moved area while referring to the map information of the area.

When it is determined in any of steps S3 to S9 described above that the cargo handling process is to be terminated due to, for example, the predetermined cargo L being unloaded, the control unit 27 instructs the control server 30 to terminate the cargo handling process. , and the control unit 37 of the control server 30 terminates the cargo handling process.

[Technical effect of the present embodiment]
As described above, according to the present embodiment, the positions of at least two facility-side reflectors R1 arranged in the facility-side area 11 are detected to calculate the self-position of the AGF 20, and the facility-side Either the map M1 or the moving body side map M2 is referred to.
That is, the self-position can be preferably determined by at least two facility-side reflectors R1 provided on the fixed facility, and the AGF 20 can be preferably guided by referring to the map information corresponding to the self-position. Therefore, the number of reference objects (reflectors) for position detection can be reduced compared to the conventional method in which a large number of reference objects are installed throughout the work area. As a result, the introduction cost of AGF20 can be reduced.
Further, when the entire work area is included in one piece of map information, the relative position of the entire map information changes as the position of the transport vehicle changes. Since it is separated from the equipment-side map M1 including the exit 51, even if the position of the transport vehicle T changes, only the position information of the mobile-body-side map M2 changes.
Furthermore, since the facility-side map M1 and the mobile-body-side map M2 are separated, even if there is a layout change in the work area 10 such as movement or increase/decrease of the exit 51, only the map information of the relevant portion can be changed. Sufficient and easy to deal with.

Further, according to this embodiment, at least two moving body side reflectors R2 are arranged on the transport vehicle T, and the position of the transport vehicle T is obtained by detecting the positions of the moving body side reflectors R2 by the laser scanner 24. FIG.
As a result, it is possible to accurately determine the position of the loading platform C of the transport vehicle T, which changes position each time the vehicle is parked, and to carry out cargo handling operations.

Further, according to the present embodiment, the equipment side map M1 includes the exit 51 arranged on the side opposite to the moving object side area 12 side, the equipment side switching point P1 arranged on the moving object side area 12 side, and at least Any information may be included as long as it includes information on the positions of the two facility-side reflectors R1.
Therefore, the facility-side map M1 can be simplified to only the area around the exit 51. FIG.

[others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.
For example, in the above-described embodiment, the AGF 20 calculates its own position using two facility-side reflectors R1 provided in the facility-side area 11 . However, the reference objects for position detection provided in the facility-side area 11 may not be the two facility-side reflectors R1. Needless to say, the position information of the reference object is included in the map information to be referred to.
Specifically, for example, as shown in FIG. 4A, the laser scanner 24 may detect the positions of the exit 51 and the surrounding wall 52 as reference objects.
Alternatively, as shown in FIG. 4(b), the outlet 51 and its peripheral wall 52, and at least one reflector R3 vertically spaced from the wall 52 may be used as reference objects. In the case of FIG. 4(a), there is a possibility that the self position in the direction along the wall 52 cannot be specified, but this can be solved by referring to the reflector R3 positioned in the vertical direction of the wall 52. FIG. In this case, it is better to separate the reflector R3 from the wall 52 by a predetermined distance or more in order to distinguish it from the wall 52 clearly.
However, when the detection target part that can be referred to is small, such as when the opening of the exit door 51 is wide open, the self-position cannot be calculated appropriately, and the position guidance accuracy of the AGF 20 may deteriorate. Therefore, it is preferable to provide at least two reference objects different from the wall 52 around the exit 51 as in the above embodiment.

Further, in the above-described embodiment, the reflector (reflector) installed in the equipment side area 11 or the transport vehicle T is detected by the laser scanner (optical sensor). However, the reference object for position detection and its detection means are not limited to this combination. For example, the reference object may be a bar code, an IC tag, a marker, or the like, and the detection means in that case should be capable of detecting these. Alternatively, if it is a detection method in the facility-side area 11, a method may be used in which an arbitrary fixed object installed in the facility-side area 11 is used as a reference object, and the fixed object is image-recognized and captured by imaging means. Further, when the transport vehicle T is detected, for example, a method of recognizing the shape of the transport vehicle T itself by an imaging means or the like and acquiring the relative coordinates of the moving object side area 12 based on the shape of the transport vehicle T may be used.

Further, in the cargo handling process of the above-described embodiment, the cargo L is transported from the delivery port 51, loaded onto the transport vehicle T, and carried out. However, the cargo handling work performed by the AGF 20 may be carried out between the cargo handling equipment and the moving body. may be

Also, the control server 30 may control the operation of the AGF 20 including position guidance. In this case, the facility-side map M1 and the mobile-body-side map M2 are stored in the storage unit 36 of the control server 30, and the control unit 37 of the control server 30 associates the AGF 20 with the self-position of the facility-side map M1 and the moving body-side map M2. The AGF20 may be guided by referring to either the body side map M2. The self-position of the AGF 20 may be calculated by the laser scanner 24 of the AGF 20 and received by the control server 30, or may be calculated by the control unit 37 after the control server 30 receives the reflector detection result by the laser scanner 24. good too.

Also, in the above embodiment, the AGF 20 receives instructions from the control server 30 and operates, but the AGF 20 may operate independently of the control server 30 . In this case, the control unit 27 reads and expands the program stored in the storage unit 26 of the AGF 20, so that the cargo handling process of the above-described embodiment may be executed.

Further, the cargo handling vehicle according to the present invention is not limited to an unmanned forklift, but may be an automated guided vehicle (AGV), for example, as long as it can handle cargo and travel by automatic operation.
In addition, the details shown in the above embodiments can be changed as appropriate without departing from the scope of the invention.

1 Cargo handling system 10 Work area 11 Equipment side area 12 Mobile body side area 20 AGF (cargo handling vehicle)
24 laser scanner (position calculation means)
26 storage unit (storage means)
27 control unit (map reference means)
30 control server (control means)
51 Exit (cargo handling equipment)
52 Walls G1, G2 Movement path L Cargo M1 Equipment-side map (equipment-side map information)
M2 Mobile side map (mobile side map information)
P1 Equipment side switching point (map information switching point)
P2 Mobile side switching point (map information switching point)
R1 Equipment side reflector (reference object)
R2 Moving object side reflector (another reference object)
T transport vehicle (moving body)
C Cargo platform

Claims (7)

A cargo handling vehicle that performs cargo handling work by automatic operation between a stopped moving body and cargo handling equipment,
storage means for storing facility-side map information of a facility-side area including the cargo handling facility and moving body-side map information of a moving body-side area including the moving body;
a position calculation means for detecting the position of a reference object and calculating the self-position of the cargo handling vehicle;
map reference means for referring to either the equipment side map information or the moving body side map information in association with the self position calculated by the position calculation means;
with
At least two of the reference objects are arranged in the equipment-side area,
Cargo vehicle. At least two other reference objects are arranged on the mobile body,
The position calculation means calculates the position of the moving object by detecting the position of the other reference object.
A cargo handling vehicle according to claim 1 . each of the facility-side map information and the mobile-body-side map information includes position information of a map information switching point for switching map information to be referred to;
The map reference means is configured to refer to map information when the self-position coincides with the position of the map information switching point on one of the facility-side map information and the mobile-body-side map information being referred to. to the other,
A cargo handling vehicle according to claim 1 or claim 2. The facility-side map information includes the cargo handling facility arranged on the side opposite to the moving body side area, the map information switching point arranged on the moving body side area, and the at least two reference objects. including each location information of
A cargo handling vehicle according to claim 3. The storage means stores in advance a plurality of the moving body side map information associated with a plurality of types of the moving body,
The map reference means refers to the moving body side map information corresponding to the type of the moving body located in the moving body side area.
A cargo handling vehicle according to any one of claims 1 to 4. A cargo handling vehicle that performs cargo handling work by automatic operation between the stopped mobile body and the cargo handling equipment;
control means for controlling the operation of the cargo handling vehicle;
A cargo handling system comprising
The cargo handling vehicle comprises position calculation means for detecting the position of a reference object and calculating the own position of the cargo handling vehicle,
The control means is
storage means for storing facility-side map information of a facility-side area including the cargo handling facility and moving body-side map information of a moving body-side area including the moving body;
map reference means for referring to either the equipment side map information or the mobile body side map information in association with the self position calculated by the position calculation means of the cargo handling vehicle;
with
At least two of the reference objects are arranged in the equipment-side area,
cargo handling system. A control program for a cargo handling vehicle that performs cargo handling work by automatic operation between a stopped moving body and cargo handling equipment,
The cargo handling vehicle comprises storage means for storing facility-side map information of a facility-side area including the cargo handling facility and moving body-side map information of a moving body-side area including the moving body,
the computer,
position calculation means for calculating the self-position of the cargo handling vehicle based on the positions of at least two reference objects arranged in the facility-side area;
map reference means for referring to either the equipment side map information or the moving body side map information in association with the self position calculated by the position calculation means;
to function as
Control program for cargo handling vehicles.

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