JP2024033370A - System and method for controlling cargo handling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo handling vehicle controlling system and method capable of identifying a target of cargo handling work even when the positional relationship between the cargo handling vehicle and the target of the cargo handling work changes.

SOLUTION: A cargo handling vehicle controlling system comprises a side sensor and a front sensor which are attached to the cargo handling vehicle and detect an object, and a controller. Detection range of the side sensor is diagonally in front of the cargo handling vehicle, and detection range of the front sensor is in front of the cargo handling vehicle. A controller comprises a detection data acquiring unit that acquires detection data of the side sensor and the front sensor, an identification unit that identifies the object detected on the basis of the detection data of the side sensor and/or the front sensor, a position calculation unit that calculates an azimuth angle of the target based on the side sensor and/or an azimuth angle of the target based on the front sensor, and a switch unit that switches between the detection data of the side sensor and the detection data of the front sensor on the basis of the azimuth angle calculated by the position calculation unit.

SELECTED DRAWING: Figure 18

COPYRIGHT: (C)2024,JPO&INPIT

Description

TECHNICAL FIELD The present disclosure relates to systems and methods for controlling cargo handling vehicles.

In the technical field related to cargo handling vehicles, a forklift as disclosed in Patent Document 1 is known.

Japanese Patent Application Publication No. 2015-225450

When carrying out cargo handling work automatically using a cargo handling vehicle, there is a need for a technology that can continue to identify the object even if the positional relationship between the cargo handling vehicle and the object of the cargo handling work changes.

The present disclosure aims to provide a system and method for controlling a cargo handling vehicle that can continue to identify a cargo handling target even if the positional relationship between the cargo handling vehicle and the cargo handling target changes. .

According to the present disclosure, a system for controlling a cargo handling vehicle is provided. The system includes a side sensor that is attached to a cargo handling vehicle and detects an object, a front sensor that is attached to the cargo handling vehicle and detects an object, and a controller. The detection range of the side sensor is defined diagonally in front of the cargo handling vehicle. The detection range of the front sensor is defined in front of the cargo handling vehicle. The controller includes a detection data acquisition unit that acquires detection data of the side sensors and detection data of the front sensor, and a detection data acquisition unit that acquires detection data of the side sensors and detection data of the front sensors, and a controller that targets the detected object based on at least one of the detection data of the side sensors and the detection data of the front sensors. Calculate one or both of the azimuth of the target with respect to the side sensor and the azimuth of the target with the front sensor as a reference, based on the identification unit, the detection data of the side sensor, and the detection data of the front sensor. and a switching unit that switches between detection data of the side sensor and detection data of the front sensor based on the azimuth calculated by the position calculation unit.

According to the present disclosure, there is provided a system and method for controlling a cargo handling vehicle that can continue to identify a cargo handling target even if the positional relationship between the cargo handling vehicle and the cargo handling target changes.

FIG. 1 is a perspective view from the front showing a cargo handling vehicle according to an embodiment. FIG. 2 is a diagram schematically showing the object sensor according to the embodiment. FIG. 3 is a top view of the cargo handling vehicle according to the embodiment. FIG. 4 is a diagram schematically showing the first front sensor according to the embodiment. FIG. 5 is a diagram schematically showing a state in which the second front sensor according to the embodiment is detecting an object. FIG. 6 is a diagram schematically showing a state in which the second front sensor according to the embodiment is detecting an object. FIG. 7 is a block diagram showing the configuration of a control system for a cargo handling vehicle according to the embodiment. FIG. 8 is a block diagram showing the controller according to the embodiment. FIG. 9 is a schematic diagram illustrating an example of a method for identifying a target according to an embodiment. FIG. 10 is a schematic diagram showing the positions of storage spaces that exist around the object according to the embodiment. FIG. 11 is a diagram schematically showing cargo handling work according to the embodiment. FIG. 12 is a flowchart showing a method of controlling a cargo handling vehicle according to the embodiment. FIG. 13 is a diagram illustrating an example of display data displayed on the display device when the automatic mode permission switch according to the embodiment is operated. FIG. 14 is a diagram showing an example of display data displayed on the display device when the automatic mode start switch according to the embodiment is operated. FIG. 15 is a diagram schematically showing the relationship between distance and route data according to the embodiment. FIG. 16 is a diagram schematically showing a cargo handling vehicle that travels to approach an object based on a generated route according to the embodiment. FIG. 17 is a diagram schematically showing a state in which the cargo handling vehicle according to the embodiment approaches an object. FIG. 18 is a diagram schematically showing a state in which the cargo handling vehicle according to the embodiment approaches an object. FIG. 19 is a diagram schematically showing a state in which the cargo handling vehicle according to the embodiment approaches an object.

Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Furthermore, some components may not be used.

In the embodiment, the positional relationship of each part will be described using terms such as left, right, front, rear, upper, and lower. These terms indicate a relative position or direction with respect to the origin of the vehicle body coordinate system defined for the cargo handling vehicle.

[Cargo handling vehicle]
FIG. 1 is a perspective view from the front showing a cargo handling vehicle 1 according to an embodiment. In the embodiment, the cargo handling vehicle 1 is appropriately referred to as a forklift 1. In the embodiment, the cargo handling vehicle 1 is a counterbalance type forklift. Note that the cargo handling vehicle is not particularly limited, and may be, for example, a wheel loader to which a fork attachment can be attached.

The forklift 1 performs cargo handling work. The cargo handling operation includes a loading operation of picking up the transported object placed at a predetermined storage position and a loading operation of placing the picked up transported object at a predetermined target position. The forklift 1 automatically performs at least part of cargo handling work. In the embodiment, the operation modes of the forklift 1 include a manual mode in which cargo handling work is performed based on an operator's operation, and an automatic mode in which at least a part of the cargo handling work is performed automatically. In the embodiment, the object to be transported is a loading platform or a container on which cargo is loaded. The conveyed object is, for example, a pallet, a skid, or a container. The carrier has a pair of fork insertion holes.

The forklift 1 includes a vehicle body 2, a cab 3 supported by the vehicle body 2, a working machine 4 disposed in front of the vehicle body 2, wheels 5 supporting the vehicle body 2, and an object sensor 7 for detecting objects. .

The vehicle body 2 includes a counterweight 6 and a fender 8. The counterweight 6 is arranged at the rear of the vehicle body 2. The counterweight 6 is attached to the rear of the vehicle body 2 in order to balance the weight of the forklift 1 in the longitudinal direction when the forklift 1 picks up an object. The fender 8 is arranged at the front of the vehicle body 2. The fenders 8 are arranged on the left and right sides of the vehicle body 2, respectively.

Cab 3 forms a driver's cab. An operator of the forklift 1 can operate the forklift 1 by riding in the cab 3.

The work machine 4 performs at least part of the cargo handling work. The work machine 4 is arranged in front of the vehicle body 2. The work machine 4 is supported by the vehicle body 2. The work machine 4 includes a mast 41, a bracket 42, and a fork 43.

The mast 41 is tiltably supported at the front of the vehicle body 2. The mast 41 is long in the vertical direction. Bracket 42 supports fork 43. Bracket 42 is supported by mast 41. The bracket 42 is movable in the vertical direction along the mast 41. The fork 43 supports the object to be transported. The fork 43 is supported by the mast 41 via the bracket 42.

A pair of forks 43 are provided. The fork 43 includes a first fork 43A and a second fork 43B arranged on the right side of the first fork 43A. Bracket 42 supports first fork 43A and second fork 43B.

The wheels 5 support the vehicle body 2. At least a portion of the wheels 5 are arranged below the vehicle body 2. The wheels 5 include a front wheel 5F and a rear wheel 5R. The front wheel 5F is arranged further forward than the rear wheel 5R. The front wheels 5F are arranged on the left and right sides of the vehicle body 2, respectively. The rear wheels 5R are arranged on the left and right sides of the vehicle body 2, respectively. Each of the front wheel 5F and the rear wheel 5R is rotatable around a rotation axis.

In the embodiment, the left-right direction is a direction parallel to the rotation axes of the front wheels 5F and rear wheels 5R when the forklift 1 travels straight. The vertical direction is a direction perpendicular to the contact surfaces of the front wheels 5F and rear wheels 5R. The front-rear direction is a direction perpendicular to each of the left-right direction and the up-down direction.

The fender 8 is arranged to cover at least a portion of the front wheel 5F. At least a portion of the fender 8 is arranged above the front wheel 5F. At least a portion of the fender 8 is arranged behind the front wheel 5F. The fenders 8 are arranged on the left and right sides of the vehicle body 2, respectively. The left fender 8 is arranged to cover at least a portion of the left front wheel 5F. The right fender 8 is arranged to cover at least a portion of the right front wheel 5F.

The object sensor 7 detects objects around the forklift 1. The objects detected by the object sensor 7 include targets to be targeted during cargo handling work. In the embodiment, the target is, for example, an object to be transported, a storage space where the object can be placed, or a loading platform of a freight vehicle. A plurality of object sensors 7 are attached to the forklift 1. In the embodiment, the object sensor 7 includes a side sensor and a front sensor. The side sensors include a left side sensor 7A attached to the left side of the vehicle body 2 and a right side sensor 7B attached to the right side of the vehicle body 2. The front sensors include a first front sensor 7C attached to the front part of the vehicle body 2 and a second front sensor 7D attached to at least a portion of the working machine 4.

FIG. 2 is a diagram schematically showing the object sensor 7 according to the embodiment. Object sensor 7 includes at least a three-dimensional sensor 72. In the embodiment, the object sensor 7 includes a camera 71 and a three-dimensional sensor 72. The camera 71 and the three-dimensional sensor 72 are arranged in the vertical direction. Camera 71 and three-dimensional sensor 72 are fixed. The relative positions of camera 71 and three-dimensional sensor 72 do not change.

The camera 71 acquires image data of an object. The three-dimensional sensor 72 acquires three-dimensional data of an object. The three-dimensional data of an object includes a point group consisting of a plurality of detection points defined on the surface of the object. The point group indicates the relative distance and position between the three-dimensional sensor 72 and each of the plurality of detection points defined on the surface of the object. An example of the three-dimensional sensor 72 is a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light. Note that the three-dimensional sensor 72 may be an infrared sensor that detects objects by emitting infrared light or a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves.

The imaging range 710 of the camera 71 and at least a portion of the measurement range 720 of the three-dimensional sensor 72 overlap. In the following description, the imaging range 710 and the measurement range 720 will be collectively referred to as the detection range 70 as appropriate.

FIG. 3 is a diagram of the forklift 1 according to the embodiment viewed from above. As shown in FIGS. 1 and 3, the forklift 1 includes a plurality of object sensors 7. The object sensors 7 include a left side sensor 7A attached to the left side of the vehicle body 2, a right side sensor 7B attached to the right side of the vehicle body 2, and a first front sensor 7C attached to the front of the vehicle body 2. and a second front sensor 7D attached to at least a portion of the working machine 4.

The detection range 70 of the object sensor 7 includes a detection range 70A of the left side sensor 7A, a detection range 70B of the right side sensor 7B, a detection range 70C of the first front sensor 7C, and a detection range 70D of the second front sensor 7D. including.

A detection range 70A of the left side sensor 7A is defined diagonally forward to the left of the vehicle body 2. A detection range 70B of the right side sensor 7B is defined diagonally forward to the right of the vehicle body 2. A detection range 70C of the first front sensor 7C is defined in front of the vehicle body 2. A detection range 70D of the second front sensor 7D is defined in front of the vehicle body 2.

In the front-back direction, each of the left side sensor 7A and the right side sensor 7B is arranged behind the working machine 4. Each of the left side sensor 7A and the right side sensor 7B is arranged behind the mast 41.

In the longitudinal direction, each of the left side sensor 7A and the right side sensor 7B is arranged forward of the center of the vehicle body 2.

In the vertical direction, each of the left side sensor 7A and the right side sensor 7B is arranged between the center of the front wheel 5F and the upper end of the counterweight 6.

In the embodiment, the left side sensor 7A is attached to the upper surface of the left fender 8. The right side sensor 7B is attached to the upper surface of the right fender 8.

In the front-rear direction, the first front sensor 7C is arranged behind the working machine 4. The first front sensor 7C is arranged at the rear of the mast 41. The first front sensor 7C is attached to the front part of the vehicle body 2 so as to be located rearward of the working machine 4.

In the embodiment, the first front sensor 7C is attached to the upper surface of the left fender 8. Note that the first front sensor 7C may be attached to the upper surface of the right fender 8.

The first front sensor 7C is capable of detecting an object located close to the ground. In the vertical direction, the position of the detection range 70C of the first front sensor 7C corresponds to the position of at least a portion of the front wheel 5F. In the vertical direction, at least a part of the detection range 70C of the first front sensor 7C corresponds to the position of the lower end of the movable range of the fork 43 in the vertical direction.

The second front sensor 7D is attached to at least a portion of the working machine 4 so as to move in the vertical direction together with the fork 43. In the left-right direction, the second front sensor 7D is arranged between the first fork 43A and the second fork 43B. In the embodiment, the second front sensor 7D is attached to the bracket 42. In the left-right direction, the second front sensor 7D is attached to the bracket 42 so as to be disposed between the first fork 43A and the second fork 43B.

[First front sensor]
FIG. 4 is a diagram schematically showing the first front sensor 7C according to the embodiment. As shown in FIG. 4, when the fork 43 supports the object 50, the second front sensor 7D may be blocked by the object 50 and cannot detect the object in front of the forklift 1. In the embodiment, the forklift 1 includes a first front sensor 7C attached to the front of the vehicle body 2. Therefore, even if a situation occurs in which the second front sensor 7D cannot detect an object in front of the forklift 1, the first front sensor 7C can detect the object in front of the forklift 1.

As described above, in the vertical direction, at least a portion of the detection range 70C of the first front sensor 7C corresponds to the position of the lower end of the movable range of the fork 43 in the vertical direction. As shown in FIG. 3, when the forklift 1 travels with the fork 43 supporting the object 50, the fork 43 is raised. Therefore, the first front sensor 7C can detect an object in front of the forklift 1 without being obstructed by the object 50.

[Second front sensor]
Each of FIGS. 5 and 6 is a diagram schematically showing a state in which the second front sensor 7D according to the embodiment is detecting the object 50. As shown in FIGS. 5 and 6, the second front sensor 7D can detect the object 50 in a state where the working machine 4 and the object 50 are directly facing each other. The second front sensor 7D can move in the vertical direction together with the fork 43. Therefore, in the case where the object 50 supported by the fork 43 is placed below as shown in FIG. 5, and when the object 50 supported by the fork 43 is placed above as shown in FIG. By moving the second front sensor 7D in the vertical direction together with the fork 43, the second front sensor 7D can detect the fork insertion hole provided in the object 50 and the fork 43. That is, regardless of the position of the fork insertion hole in the vertical direction, the second front sensor 7D moves in the vertical direction together with the fork 43, so that the second front sensor 7D can move the fork insertion hole and the fork 43 in the vertical direction. can be detected.

[Control system]
FIG. 7 is a block diagram showing the configuration of the control system 10 for the cargo handling vehicle 1 according to the embodiment. As shown in FIG. 7, the control system 10 includes a power source 11, a hydraulic pump 12, a work implement drive device 45, a traveling device 14, a control valve unit 13, an operating device 15, an output device 16, A controller 100 is provided.

Power source 11 drives hydraulic pump 12 . The power source 11 is, for example, an engine.

The hydraulic pump 12 is driven by the power source 11 and discharges hydraulic oil. Hydraulic oil discharged from the hydraulic pump 12 is supplied to each of the lift cylinder 451, tilt cylinder 452, side shift cylinder 453, travel motor 141, and steering cylinder 142 via the control valve unit 13.

The work machine drive device 45 operates the work machine 4. The work machine drive device 45 includes a lift cylinder 451, a tilt cylinder 452, and a side shift cylinder 453.

In embodiments, each of lift cylinder 451, tilt cylinder 452, and side shift cylinder 453 is a hydraulic cylinder. The lift cylinder 451 moves the fork 43 in the vertical direction with respect to the vehicle body 2. The tilt cylinder 452 tilts the fork 43 in the longitudinal direction with respect to the vehicle body 2. The side shift cylinder 453 moves the fork 43 in the left-right direction with respect to the vehicle body 2.

Lift cylinder 451 is arranged between mast 41 and bracket 42. The lift cylinder 451 moves the fork 43 in the vertical direction by moving the bracket 42 in the vertical direction. The bracket 42 and the fork 43 move together in the vertical direction. The bracket 42 and the fork 43 move vertically along the mast 41. Tilt cylinder 452 is arranged between vehicle body 2 and mast 41. The tilt cylinder 452 tilts the mast 41 in the front-back direction, thereby tilting the fork 43 in the front-back direction.

The traveling device 14 causes the forklift 1 to travel. The traveling device 14 moves, brakes, and steers the forklift 1. Advancing means that the forklift 1 moves forward or backward. Braking means that the forklift 1 decelerates or stops. Steering refers to changing the traveling direction of the forklift 1. The traveling device 14 includes a traveling motor 141, a brake device (not shown), and a steering cylinder 142.

Travel motor 141 generates driving force for moving forklift 1. The travel motor 141 moves the forklift 1 forward or backward by rotating the front wheels 5F. The travel motor 141 is driven by hydraulic oil discharged from the hydraulic pump 12. The front wheel 5F is a drive wheel that rotates by the rotational force generated by the travel motor 141. The brake device brakes the forklift 1. The brake device slows down or stops the forklift 1.

The steering cylinder 142 steers the forklift 1. The steering cylinder 142 changes the running direction of the forklift 1 by steering the rear wheels 5R. The rear wheel 5R is a steered wheel steered by a steering cylinder 142.

The control valve unit 13 is arranged between the hydraulic pump 12 and hydraulic actuators such as a lift cylinder 451, a tilt cylinder 452, a side shift cylinder 453, a travel motor 141, and a steering cylinder 142. The control valve unit 13 includes a travel control valve 131 that controls the flow rate and direction of hydraulic oil supplied to the travel motor 141, a steering control valve 132 that controls the flow rate and direction of hydraulic oil supplied to the steering cylinder 142, It has a work equipment control valve 133 that controls the flow rate and direction of hydraulic oil supplied to each of the lift cylinder 451, tilt cylinder 452, and side shift cylinder 453. The control valve unit 13 is controlled by a controller 100, which will be described later.

The operating device 15 is a device for operating the forklift 1. The operating device 15 is arranged in the cab 3. The operating device 15 receives an operation by an operator for operating the work implement drive device 45 and the traveling device 14, and outputs an operation signal according to the operation. The operating device 15 includes, for example, a steering wheel 151, a work equipment lever 152, a forward/reverse switching lever 153, an accelerator pedal 154, a brake pedal 155, an automatic mode permission switch 156, and an automatic mode start switch 157. .

In the manual mode, the rear wheels 5R are steered by the operator operating the steering wheel 151. In the manual mode, the position and attitude of the fork 43 are adjusted by operating the work implement lever 152 by the operator. When the forward/reverse switching lever 153 is operated by an operator, the forklift 1 is switched between forward movement and backward movement. The traveling speed of the forklift 1 is adjusted by the operator operating at least one of the accelerator pedal 154 and the brake pedal 155.

When operated by an operator, the automatic mode permission switch 156 generates a control command that starts a process for identifying a target for automatically performing cargo handling work. In the manual mode, when the automatic mode permission switch 156 is operated, the controller 100 starts a process of identifying a target based on the object detection data of the object sensor 7.

The automatic mode start switch 157 generates a control command to start automatic travel control or automatic work machine control when operated by an operator. After the automatic mode permission switch 156 is operated, the automatic mode start switch 157 is operated, thereby causing the controller 100 to transition the operation mode of the forklift 1 from manual mode to automatic mode.

The output device 16 is arranged in the cab 3. Output device 16 provides output data to the operator. In the embodiment, the output device 16 includes a display device 161 and an audio output device 162. The display device 161 provides display data to the operator as output data. As the display device 161, a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD) is exemplified. The audio output device 162 provides audio data to the operator as output data. A buzzer or a speaker is exemplified as the audio output device 162. Note that the output device 16 may include a lamp.

Controller 100 controls forklift 1 . The controller 100 controls at least one of the traveling of the forklift 1 and the working machine 4. As mentioned above, the operation modes of the forklift 1 include a manual mode and an automatic mode. In the manual mode, the forklift 1 performs cargo handling work based on the operator's driving operation. In the automatic mode, the forklift 1 automatically performs at least part of the cargo handling work based on object detection data from the object sensor 7.

In the automatic mode, at least one of the traveling device 14 and the work implement drive device 45 is automatically controlled by the controller 100. In the automatic mode, the controller 100 controls at least one of the traveling device 14 and the work implement drive device 45 based on object detection data from the object sensor 7 . In the following description, the automatic control of the traveling device 14 in the automatic mode will be referred to as automatic travel control, and the automatic control of the work implement drive device 45 in the automatic mode will be referred to as work implement automatic control. to be called.

In the embodiment, the automatic travel control includes automatically controlling the steering of the forklift 1. In automatic mode, steering cylinder 142 is automatically controlled by controller 100.

In the embodiment, the work machine automatic control includes automatically controlling the position and attitude of the fork 43. In the automatic mode, at least one of the lift cylinder 451, the tilt cylinder 452, and the side shift cylinder 453 is automatically controlled by the controller 100.

The control system 10 includes a vehicle speed sensor 143 that detects the traveling speed of the forklift 1, a steering sensor 144 that detects the steering angle of the rear wheels 5R, and a lift sensor 46 that detects the vertical position of the fork 43 with respect to the vehicle body 2. A tilt sensor 47 that detects the longitudinal inclination of the fork 43 with respect to the vehicle body 2, a side shift sensor 48 that detects the horizontal position of the fork 43 with respect to the vehicle body 2, and a work equipment load sensor that detects the load applied to the work equipment 4. 49. The work machine load sensor 49 is, for example, a load measuring device such as a strain gauge or a load cell disposed on at least a portion of the work machine 4. Load data detected by the work machine load sensor 49 is output to the controller 100. Note that the load applied to the working machine 4 may be detected using, for example, a hydraulic sensor that detects the pressure of pressure oil that drives the lift cylinder 451. In this case, the load applied to the working machine 4 changes depending on whether the transported object is supported by the fork 43 or not. The work machine load sensor 49 detects changes in the load applied to the work machine 4.

[controller]
FIG. 8 is a block diagram showing the controller 100 according to the embodiment. Controller 100 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), It has a storage 1003 and an interface 1004 including an input/output circuit. The functions of controller 100 are stored in storage 1003 as a computer program. Processor 1001 reads a computer program from storage 1003, expands it into main memory 1002, and executes the above-described processing according to the program. Note that the computer program may be distributed to the computer system 1000 via a network.

As shown in FIG. 7, the controller 100 includes a detection data acquisition section 101, an identification section 102, a control command reception section 103, a determination section 104, a distance calculation section 105, a selection section 106, and a route generation section 107. , a position calculation section 108 , a switching section 109 , a travel control section 110 , a work implement control section 111 , an output control section 112 , and a storage section 113 .

The storage unit 113 stores object dictionary data for identifying objects and route data indicating the driving conditions of the forklift 1 in automatic mode. The storage unit 113 stores route data for driving the forklift 1 so as to face the target. Route data is determined in advance. In the embodiment, the storage unit 113 stores a plurality of route data.

The detection data acquisition unit 101 acquires detection data from each of the object sensor 7 , vehicle speed sensor 143 , steering sensor 144 , lift sensor 46 , tilt sensor 47 , side shift sensor 48 , and work machine load sensor 49 .

Based on the object detection data of the object sensor 7, the identification unit 102 identifies a target for cargo handling work from the object detected by the object sensor 7. A method for identifying a target will be described later.

The control command receiving unit 103 receives a control command generated when the automatic mode permission switch 156 is operated. The control command receiving unit 103 receives from the automatic mode permission switch 156 a control command that starts the process of identifying a target. The control command receiving unit 103 receives a control command generated when the automatic mode start switch 157 is operated. The control command receiving unit 103 receives a control command for starting automatic travel control or automatic work machine control from the automatic mode start switch 157.

The determining unit 104 determines a target for automatically performing cargo handling work based on a control command from the automatic mode start switch 157.

The distance calculation unit 105 calculates the distance between the forklift 1 and a target for automatically performing cargo handling work based on object detection data from the object sensor 7.

The selection unit 106 selects one piece of route data from the plurality of route data stored in the storage unit 113 based on the distance calculated by the distance calculation unit 105.

The route generation unit 107 generates a route based on the route data selected by the selection unit 106.

The position calculation unit 108 calculates, based on the object detection data of the object sensor 7, the azimuth of the target for automatically performing cargo handling work, with the object sensor 7 as a reference.

The switching unit 109 switches the object detection data of the object sensor 7 used for identifying the target based on the azimuth of the target calculated by the position calculation unit 108.

The switching unit 109 switches between the object detection data of the first front sensor 7C and the object detection data of the second front sensor 7D, which are used for object identification, based on the detection data of the work machine load sensor 49. The switching unit 109 can determine whether or not the fork 43 supports the transported object based on the detection data of the work machine load sensor 49. The switching unit 109 converts the object detection data of the object sensor 7, which is used for identifying an object present in front of the forklift 1, into the object detection data of the second front sensor 7D when the fork 43 does not support the object to be transported. decide. When a load is supported by the fork 43, the switching unit 109 determines the object detection data of the object sensor 7, which is used to identify an object present in front of the forklift 1, as the object detection data of the first front sensor 7C. do.

The travel control unit 110 controls the travel of the forklift 1 based on object detection data and route data from the object sensor 7 .

The work machine control unit 111 controls the work machine 4 based on object detection data from the object sensor 7.

The output control unit 112 causes the output device 16 to output output data when the state of at least one of the traveling device 14 and the working machine 4 changes.

[Target identification]
FIG. 9 is a schematic diagram illustrating an example of a method for identifying a target according to an embodiment. The forklift 1 is controlled to identify an object and automatically face the forklift 1 directly toward the object.

In the embodiment, the identification unit 102 identifies a target from objects existing around the forklift 1 based on object detection data from the three-dimensional sensor 72. In the example shown in FIG. 9, the object 50 is an object to be transported. The conveyed object shown in FIG. 9 is, for example, a box-shaped pallet. (a1) shows a point group that is object detection data obtained by irradiating a transported object with a laser beam from the three-dimensional sensor 72. (a2) shows the plane estimated from the point group of (a1) by hatching. The plane is estimated based on the relative positions of the three-dimensional sensor 72 and each of the plurality of detection points defined on the surface of the object, which are indicated by the point group. The estimated plane is a plane that directly faces the forklift 1 when the forklift 1 picks up the object. (a3) is a diagram obtained by converting the viewpoint of (a2) into an upward/downward view (planar view). In (a3), the plane estimated in (a2) is shown by a broken line. In (a3), a point group appears to the left of the plane estimated in (a2). The point group surrounded by an ellipse indicates the point group that passed through the plane estimated in (a2). In other words, the point group surrounded by an ellipse is the point group that passed through the fork insertion hole provided in the transported object. (a4) is a diagram showing the intersection points of the estimated plane and the straight line connecting the point group passing through the plane and the coordinate system reference of the three-dimensional sensor 72. (a5) is a diagram in which the point group is complemented at the position of the intersection found in (a4). (a6) is a diagram in which the estimated plane is converted into a binary image viewed from the front. The boxed area shows the point group interpolated in (a5). The identification unit 102 refers to the target dictionary data stored in the storage unit 113, determines whether or not the complemented point group is a feature indicating a fork insertion hole, and identifies the object to be transported.

For example, in a facility where transported items are temporarily stored, the transported items are placed adjacent to each other. For this reason, it is difficult to identify each conveyance object as an independent object from the point cloud that is the object detection data of the three-dimensional sensor 72. However, by identifying the fork insertion holes provided in each conveyance, it is possible to identify one conveyance from a group of adjacent conveyances.

Next, identification of cargo storage spaces by the identification unit 102 will be explained. The identification unit 102 identifies an object and identifies a storage space based on a space of a predetermined size existing around the identified object.

FIG. 10 is a schematic diagram showing the position of the storage space 55 that exists around the object 53 according to the embodiment. The identification unit 102 identifies the reference object 53 from the object detection data from the three-dimensional sensor 72. In the example shown in FIG. 10, the reference object 53 is an object to be transported.

The identification unit 102 searches a space of a predetermined size around the reference object 53 from the object detection data. The surroundings of an object are the positions adjacent to the object. In the example shown in FIG. 10, the surroundings of the object 53 are in front of the object 53, behind the object 53, to the right of the object 53, and above the object 53. The space having a predetermined size is a space in which the object picked up by the forklift 1 can be placed. The space having a predetermined size is, for example, a space having a size larger than the size of the object to be transported.

The identification unit 102 identifies a space large enough to place the searched item to be carried as a storage space 55 .

In the embodiment, the identification unit 102 identifies a target using object detection data from the three-dimensional sensor 72, but the present invention is not limited thereto. For example, in another embodiment, the identification unit 102 may extract a feature amount from an image captured by the camera 71 and identify a target from the captured image based on the extracted feature amount and target dictionary data. good. The target identification method may be, for example, pattern matching or identification processing based on machine learning.

[Control method]
FIG. 11 is a diagram schematically showing cargo handling work according to the embodiment. FIG. 12 is a flowchart showing a method for controlling the forklift 1 according to the embodiment.

In the example shown in FIG. 11, an object 50 for automatically performing cargo handling work is a transported object. As shown in FIG. 11, a plurality of objects 50 are placed at predetermined storage positions at a cargo handling site. The plurality of objects 50 are arranged side by side at the cargo handling site. The plurality of objects 50 are arranged such that the front surface 50F of the objects 50 faces the travel path 59. The front 50F of the object 50 is a surface that directly faces the forklift 1 when the forklift 1 picks up the object 50. A pair of fork insertion holes are provided on the front surface 50F of the object 50. In the example shown in FIG. 11, the target 50 includes a first target 51 and a second target 52. The first object 51 and the second object 52 are arranged adjacent to each other. The front 50F of the object 50 includes the front 51F of the object 51 and the front 52F of the object 52. The controller 100 performs automatic travel control and automatic work machine control so that the fork 43 of the work machine 4 picks up one target 50 among the plurality of targets 50 arranged adjacent to each other.

The forklift 1 moves forward on a travel path 59 that exists on the front 50F side of the plurality of objects 50 in order to pick up one object 50 among the plurality of objects 50 with the fork 43. The forklift 1 moves straight on the travel path 59 so as to sequentially pass the front 50F side of the plurality of objects 50.

A detection range 70A of the left side sensor 7A is defined diagonally forward to the left of the vehicle body 2. Therefore, when the forklift 1 moves forward on the travel path 59 in the first direction, the left side sensor 7A can detect the object 50 present on the left side of the forklift 1. Object detection data from the left side sensor 7A is transmitted to the controller 100. The detection data acquisition unit 101 acquires object detection data from the left side sensor 7A.

The forklift 1 moves forward on the travel path 59 in manual mode until the automatic mode start switch 157 is operated. The operator operates the steering wheel 151 and the accelerator pedal 154 so that the forklift 1 moves forward on the travel path 59. When transitioning the operation mode of the forklift 1 from manual mode to automatic mode, the operator operates automatic mode permission switch 156 and then operates automatic mode start switch 157.

When the automatic mode permission switch 156 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode permission switch 156. When the control command from the automatic mode permission switch 156 is received by the control command receiving unit 103, the process of searching for the target 50 is started. The identification unit 102 starts searching for the target 50 based on the object detection data of the left side sensor 7A (step S1).

The identification unit 102 identifies the objects 50 one by one based on the object detection data of the left side sensor 7A. The identification unit 102 determines whether one object 50 has been identified among the plurality of objects 50 (step S2).

FIG. 13 is a diagram showing an example of display data displayed on the display device 161 when the automatic mode permission switch 156 according to the embodiment is operated. The display device 161 displays image data captured by the camera 71. In the example shown in FIG. 13, the display device 161 displays image data including a plurality of objects 50. As shown in FIG. 13, after the automatic mode permission switch 156 is operated and before the automatic mode start switch 157 is operated, the first target 51 is identified among the plurality of targets 50. In this case, the output control unit 112 causes the display device 161 to display the symbol 36 indicating the identified object 51 along with the image data of the object 51 captured. The symbol 36 is displayed so as to be superimposed on the position of the object 51 of the image data. In the embodiment, the symbol 36 is a frame image displayed surrounding the object 51. The operator can recognize from the symbol 36 that the target 51 among the plurality of targets 50 has been identified. Since the object 52 among the plurality of objects 50 has not been identified, the symbol 36 indicating the object 52 is not displayed.

If it is determined in step S2 that the target 50 has not been identified (step S2: No), the controller 100 returns to the process in step S1.

In step S2, when it is determined that one target 51 has been identified among the plurality of targets 50 (step S2: Yes), the determining unit 104 determines that the control command receiving unit 103 receives the control command from the automatic mode start switch 157. is received (step S3).

As described above, by operating the automatic mode start switch 157 after operating the automatic mode permission switch 156, the operation mode of the forklift 1 changes from manual mode to automatic mode. When the operator performs the unloading work for the object 51 in automatic mode, the operator operates the automatic mode start switch 157 while the object 51 is identified by the identification unit 102 . When the automatic mode start switch 157 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode start switch 157.

If it is determined in step S3 that the control command from the automatic mode start switch 157 has not been received (step S3: No), the controller 100 returns to the process in step S1.

In step S3, when it is determined that the control command from the automatic mode start switch 157 has been received by the control command receiving unit 103 while the target 51 has been identified by the identifying unit 102 (step S3: Yes), the determining unit 104 determines the object 50 to be the object 51 for automatically performing the cargo picking operation (step S4).

By receiving a control command from the automatic mode start switch 157 and determining the target 51 for automatically performing the cargo picking operation, the operation mode of the forklift 1 changes from manual mode to automatic mode. When the operation mode of the forklift 1 changes from the manual mode to the automatic mode, automatic travel control for carrying out the work of picking up the object 51 is started.

FIG. 14 is a diagram showing an example of display data displayed on the display device 161 when the automatic mode start switch 157 according to the embodiment is operated. When the operator performs the unloading work for the object 51 in the automatic mode, the operator operates the automatic mode start switch 157 while the symbol 36 indicating the object 51 is displayed. When the automatic mode start switch 157 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode start switch 157. When the control command receiving unit 103 receives a control command from the automatic mode start switch 157 while the target 51 is identified by the identifying unit 102, the output control unit 112 outputs the image data of the target 51 together with the image data. , causes the display device 161 to display a symbol 37 indicating the target 51 of the cargo picking operation in automatic mode. The symbol 37 is displayed so as to be superimposed on the position of the object 51 of the image data. In the embodiment, the symbol 37 is a frame image displayed surrounding the object 51. The operator can recognize from the symbol 37 that among the plurality of objects 50, the object 51 has been determined as the target for the cargo picking operation in the automatic mode.

The output control unit 112 causes the display device 161 to display each of the symbols 36 and 37 so that the display format of the symbol 36 and the display format of the symbol 37 are different. The different display format may be, for example, at least one of color, line type, and thickness. As an example, the symbol 36 is, for example, a blue frame image, and the symbol 37 is, for example, a red frame image.

The output control unit 112 causes the output device 16 to output output data at the time when the control command receiving unit 103 receives the control command from the automatic mode start switch 157. In the embodiment, the output control unit 112 causes the audio output device 162 to output audio data at the time when the control command receiving unit 103 receives the control command from the automatic mode start switch 157. Thereby, the operator can recognize that the operation mode of the forklift 1 has transitioned from manual mode to automatic mode. The audio data is, for example, a buzzer sound.

The output control unit 112 may cause the output device 16 to output the output data at the time when automatic travel control is started. Thereby, the operator can recognize that automatic control of the traveling device 14 has started.

Note that when the operator performs the work of picking up the object 52 in the automatic mode, after operating the automatic mode permission switch 156, the operator moves the forklift 1 along the travel path 59 in the manual mode until the object 52 is identified by the identification unit 102. advance. After the object 52 is identified and the symbol 36 is displayed superimposed on the object 52 of the image data, the operator operates the automatic mode start switch 157. By operating the automatic mode start switch 157 with the object 52 identified by the identification unit 102, the object 52 is determined as the object 50 for automatically performing the cargo picking operation, and the object 52 of the image data is The symbols 37 are displayed in a superimposed manner. By determining the object 52 of the cargo picking operation in the automatic mode, the cargo picking operation of the object 52 is started based on the automatic mode.

After the object 51 of the cargo picking operation is determined, the distance calculation unit 105 calculates the distance D between the forklift 1 and the object 51 based on the object detection data of the left side sensor 7A (step S5).

The distance calculation unit 105 calculates the distance D from the origin of the vehicle body coordinate system of the forklift 1 to the plane of the target 51 estimated by the identification unit 102. More specifically, the distance calculation unit 105 calculates the distance D between the origin of the vehicle body coordinate system of the forklift 1 and the plane of the front 51F of the object 51 in a direction orthogonal to the plane of the front 51F of the object 51 estimated by the identification unit 102. Calculate. The origin of the vehicle body coordinate system of the forklift 1 is, for example, the intersection of the rotation axis of the front wheels 5F and the axis passing through the center of the vehicle body 2 in the width direction. In the example shown in FIG. 11, the first direction is a direction parallel to the plane of the front 51F of the object 51 estimated by the identification unit 102, and the direction perpendicular to the plane of the front 51F of the object 51 estimated by the identification unit 102 is the first direction. Two directions. That is, the second direction indicates a direction in which the forklift 1 faces directly in front of the object 51 in order for the forklift 1 to pick up the object 51.

The selection unit 106 selects one route data from the plurality of route data stored in the storage unit 113 based on the distance D calculated by the distance calculation unit 105 in step S5 (step S6).

FIG. 15 is a diagram schematically showing the relationship between distance D and route data according to the embodiment. The storage unit 113 stores a plurality of route data. Each piece of route data includes a target route 60 for the forklift 1 in automatic travel control. The route data defines driving conditions for driving the forklift 1 in the second direction. The route data defines driving conditions for driving the forklift 1 in a direction perpendicular to the front of the object 51. In the example shown in FIG. 15, the target route 60 stored in the storage unit 113 includes a first target route 61 and a second target route 62.

The target route 60 is a collection of target positions of the forklift 1 in automatic mode. The target route 60 including the target position of the forklift 1 is defined, for example, in a vehicle body coordinate system.

The target route 60 includes a starting point 60S where the target route 60 starts, an end point 60E where the target route 60 ends, a first traveling route 60A extending from the starting point 60S, and the forklift 1 is driven in a second direction. The route includes a second traveling route 60B extending to the end point 60E, and a curved route 60C connecting the first traveling route 60A and the second traveling route 60B. The first traveling route 60A is a route along a clothoid curve whose curvature increases in proportion to the curve length from the starting point 60S. The second travel route 60B is a route along a clothoid curve whose curvature increases in proportion to the length of the curve from the end point 60E. The curved route 60C is an arcuate route that connects the terminal end of the first travel route 60A and the front end of the second travel route 60B. The curvature of the first travel route 60A increases from the starting point 60S toward the end of the first travel route 60A. The curvature of the second traveling route 60B increases from the end point 60E toward the starting end of the second traveling route 60B. The terminal end of the first traveling route 60A and the starting end of the curved route 60C are connected. The terminal end of the curved route 60C and the starting end of the second traveling route 60B are connected. The curvature of the curved route 60C, the curvature at the end of the first travel route 60A, and the curvature at the start end of the second travel route 60B are equal. The curvature of the target route 60 changes continuously from the starting point 60S through the end of the first traveling route 61A, the curved route 60C, and the starting end of the second traveling route 61B to the ending point 60E. The target route 60 forms a smoothly curved route.

In each of the plurality of target routes 60, the distance between the forklift 1 and the target 51 in the second direction is different. In each of the plurality of target routes 60, the curvature of the curved route 60C is different. In the example shown in FIG. 15, the distance D1 between the forklift 1 and the object 51 on the first target route 61 in the second direction is shorter than the distance D2 between the forklift 1 and the object 51 on the second target route 62 in the second direction. . The curvature 1/r ₆₁ of the curved route 60C of the first target route 61 is larger than the curvature 1/r 62 of the curved route 60C of the second target route ₆₂ .

The selection unit 106 selects one route data from the plurality of route data stored in the storage unit 113 based on the distance D calculated by the distance calculation unit 105 in step S5. When the distance D calculated by the distance calculation unit 105 is the same as or approximate to the distance D1 between the starting point 60S of the first target route 61 and the target 51, the selection unit 106 selects a plurality of routes stored in the storage unit 113. First route data defining a first target route 61 is selected from the data. When the distance D calculated by the distance calculating unit 105 is the same as or close to the distance D2 between the starting point 60S of the second target route 62 and the target 51, the selecting unit 106 selects the plurality of routes stored in the storage unit 113. Second route data defining the second target route 62 is selected from the data.

In the example shown in FIG. 15, there are two types of route data, but there may be three types of route data, or any plurality of types of four or more types.

The route generation unit 107 generates a route based on the route data selected by the selection unit 106 in step S6 (step S7).

The route generation unit 107 determines the position of the reference point 51R of the target 51 in the vehicle body coordinate system of the forklift 1. The route generation unit 107 generates the target route so that the end point 60E of the target route 60 selected by the selection unit 106 and the reference point 51R of the target 51 match in the first direction, and The target route 60 is arranged so that the starting point 60S of the route 60 and the origin 1G of the vehicle body coordinate system of the forklift 1 match in the second direction. The route generation unit 107 generates a straight route 63 that connects the end point 60E of the target route 60 and the reference point 51R of the target 51. In the embodiment, the reference point 51R of the object 51 is the center of a line segment connecting each of the pair of fork insertion holes 54 on the front surface 51F of the object 51. The reference point 51R of the object 51 is determined by the identification unit 102 based on the object detection data of the object sensor 7 when the identification unit 102 identifies the fork insertion hole 54.

The travel control unit 110 controls the travel device 14 based on the route generated by the route generation unit 107 in step S7 (step S8).

FIG. 16 is a diagram schematically showing the forklift 1 traveling so as to approach the target 51 based on the generated route 65 according to the embodiment. As shown in FIG. 16, the travel control unit 110 controls the travel device 14 to approach the target 51 directly, based on the route 65 generated in step S7. The traveling control unit 110 controls the traveling device 14 so that the forklift 1 traveling in the first direction turns and approaches the target 51 while traveling in the second direction.

In the automatic mode, the steering of the forklift 1 is automatically controlled. The travel control unit 110 controls the steering cylinder 142 based on the detection data of the steering sensor 144 so that the forklift 1 travels along the target route 60 defined by the route data and the straight route 63 generated by the route generation unit 107. Control. In the automatic mode, the forklift 1 moves and brakes by operating the accelerator pedal 154 and brake pedal 155 by the operator. That is, in automatic travel control, the steering of the forklift 1 is automatically performed based on the target route 60, and the advancement and braking of the forklift 1 are performed manually based on the driving operation of the operator. Note that in the automatic mode, the movement and braking of the forklift 1 may also be performed automatically.

The route data includes the speed limit of the forklift 1 when traveling on each of the first travel route 60A, the curved route 60C, and the second travel route 60B. The speed limit is predetermined so that the forklift 1 traveling along the target route 60 does not deviate from the target route 60. For example, even if the operator depresses the accelerator pedal 154 greatly, the traveling control unit 110 controls the traveling device 14 based on the detection data of the vehicle speed sensor 143 so that the traveling speed of the forklift 1 does not exceed the speed limit.

The speed limit for the curved route 60C is lower than the speed limit for the first travel route 60A. The speed limit for the second travel route 60B is lower than the speed limit for the curved route 60C. That is, the closer the forklift 1 is to the object 51, the lower the speed limit becomes.

In the embodiment, the greater the curvature of the curved route 60C, the lower the speed limit. In the example shown in FIG. 15, the speed limit of the forklift 1 when traveling on the curved route 60C of the first target route 61 is higher than the speed limit of the forklift 1 when traveling on the curved route 60C of the second target route 62. low. That is, the speed limit is determined so that the traveling speed of the forklift 1 does not increase as the curve of the curved route 60C becomes more severe.

When the forklift 1 travels along the target route 60, the position calculation unit 108 calculates the position of the target 51 with respect to the left side sensor 7A based on the object detection data of the left side sensor 7A and the object detection data of the second front sensor 7D. The azimuth angle and the azimuth angle of the object 51 with respect to the second front sensor 7D are calculated. (Step S9).

Each of FIGS. 17, 18, and 19 is a diagram schematically showing a state in which the forklift 1 according to the embodiment approaches the target 51. FIG. 17 shows a state in which the forklift 1 is traveling in the first direction. FIG. 18 shows a state in which the forklift 1 is turning from the first direction toward the second direction. FIG. 19 shows a state in which the forklift 1 is traveling in the second direction.

As shown in FIGS. 17, 18, and 19, the position calculation unit 108 uses a first direction line LA1 indicating the orientation direction of the left side sensor 7A as the azimuth of the object 51 with respect to the left side sensor 7A. , the first angle θa formed by the second direction line LA2 connecting the left side sensor 7A and the reference point 51R of the object 51 is calculated. The position calculation unit 108 calculates a third direction line LC1 indicating the pointing direction of the second front sensor 7D and a reference point between the second front sensor 7D and the target 51 as the azimuth of the target 51 with respect to the second front sensor 7D. 51R and the fourth direction line LC2 is calculated.

The position calculation unit 108 compares the calculated first angle θa and second angle θc, and determines whether the second angle θc is less than or equal to the first angle θa (step S10).

If it is determined in step S10 that the second angle θc is larger than the first angle θa (step S10: No), the controller 100 returns to the process of step S9. The identification unit 102 can continue to identify the target 51 based on the object detection data from the left side sensor 7A.

If it is determined in step S10 that the second angle θc is less than or equal to the first angle θa (step S10: Yes), the switching unit 109 converts the object detection data of the object sensor 7 used to identify the target 51 into The object detection data of the left side sensor 7A is switched to the object detection data of the second front sensor 7D (step S11).

In the embodiment, the relative angle α between the forklift 1 and the object 51 when the forklift 1 is traveling along the travel path 59 in the first direction is substantially 90 degrees. As the forklift 1 travels from the first direction to the second direction, the relative angle α between the forklift 1 and the object 51 gradually decreases from 90 degrees. The relative angle α between the forklift 1 and the object 51 when the forklift 1 directly faces the front of the object 51 is substantially 0 degrees.

As shown in FIG. 17, when the forklift 1 is traveling in the first direction, the left side sensor 7A can detect the object 51. That is, when the relative angle α between the forklift 1 and the object 51 is large, the object 51 is within the detection range 70A of the left sensor 7A, so the left sensor 7A can detect the object 51.

As shown in FIG. 18, when the forklift 1 turns from the first direction to the second direction, both the left side sensor 7A and the second front sensor 7D can detect the object 51. That is, when the relative angle α between the forklift 1 and the object 51 gradually decreases from 90 degrees, the object 51 is within the detection range 70A of the left side sensor 7A and within the detection range 70D of the second front sensor 7D. Both the left side sensor 7A and the second front sensor 7D can detect the object 51.

As shown in FIG. 19, when the forklift 1 is traveling in the second direction, the left side sensor 7A may not be able to detect the object 51. That is, when the relative angle α between the forklift 1 and the object 51 approaches 0 degrees, the left sensor 7A cannot detect the object 51 because the object 51 is outside the detection range 70A of the left sensor 7A. On the other hand, when the relative angle α between the forklift 1 and the object 51 approaches 0 degrees, the second front sensor 7D cannot detect the object 51 because the object 51 is within the detection range 70D of the second front sensor 7D. can.

In this way, the object sensor 7 that can detect the object 51 changes depending on the relative angle α between the forklift 1 and the object 51. The object detection data of the object sensor 7 used for identification is switched from the object detection data of the left side sensor 7A to the object detection data of the second front sensor 7D.

When the second angle θc is larger than the first angle θa, the identification unit 102 identifies the object 51 based on the object detection data of the left side sensor 7A. The identification unit 102 identifies the target 51 based on the object detection data of the second front sensor 7D when the second angle θc is less than or equal to the first angle θa. Thereby, even if the forklift 1 turns, the identification unit 102 can continue to identify the target 51 based on either the detection data of the left side sensor 7A or the object detection data of the second front sensor 7D. .

The identification unit 102 determines whether the forklift 1 is placed in front of the target 51 based on the object detection data of the second front sensor 7D. That is, the identification unit 102 determines whether the forklift 1 directly faces the front 51F of the object 51 based on the object detection data of the second front sensor 7D (step S12).

If it is determined in step S12 that the forklift 1 is not placed in front 51F of the object 51 (step S12: No), the controller 100 returns to the process of step S8.

In step S12, if it is determined that the forklift 1 is placed in front of the object 51 51F (step S12: Yes), automatic travel control is canceled (step S13).

The output control unit 112 causes the output device 16 to output output data when the forklift 1 is placed in front of the object 51 51F. In the embodiment, the output control unit 112 outputs a buzzer sound as audio data from the audio output device 162 at the time when it is determined that the forklift 1 is placed in front of the object 51 51F based on the object detection data of the second front sensor 7D. output. Thereby, the operator can recognize that the forklift 1 is directly facing the front 51F of the target 51.

After automatic travel control is canceled, the operator operates automatic mode start switch 157 in order to start automatic work machine control. The control command receiving unit 103 receives the control command from the automatic mode start switch 157 (step S14).

When the control command receiving unit 103 receives a control command from the automatic mode start switch 157, automatic control of the work machine is started.

The output control unit 112 causes the output device 16 to output output data at the time when the control command receiving unit 103 receives the control command from the automatic mode start switch 157. In the embodiment, the output control unit 112 causes the audio output device 162 to output a buzzer sound as audio data at the time when the control command receiving unit 103 receives the control command from the automatic mode start switch 157. This allows the operator to recognize that automatic work machine control has started.

The work machine control unit 111 controls the work machine 4 so that the position of the tip of the fork 43 matches the position of the pair of fork insertion holes 54 based on the object detection data of the second front sensor 7D. . That is, the work equipment control unit 111 controls the distance between the fork 43 and the pair of fork insertion holes 54 of the object 51 to be equal to or less than a predetermined value based on the object detection data of the second front sensor 7D. Then, the position and attitude of the fork 43 are controlled. The work equipment control unit 111 controls at least one of the lift cylinder 451, the tilt cylinder 452, and the side shift cylinder 453 so that the position of the tip of the fork 43 matches the position of the pair of fork insertion holes 54. (Step S15).

The output control unit 112 controls the output device 16 at the time when it is determined that the position of the tip of the fork 43 and the position of the pair of fork insertion holes 54 match based on the object detection data of the second front sensor 7D. Output the output data from. In the embodiment, when the distance between the fork 43 and the pair of fork insertion holes 54, which are predetermined parts of the target 51, becomes equal to or less than a predetermined value, the audio output device 162 outputs a buzzer sound as audio data. Output. Thereby, the operator can recognize that the position of the tip of the fork 43 and the position of the pair of fork insertion holes 54 coincide.

[effect]
As explained above, the forklift 1 includes side sensors (left side sensor 7A, right side sensor 7B) that are attached to the forklift 1 and detect objects, and front sensors (the front sensor that is attached to the forklift 1 and detects objects). 1 front sensor 7C, a second front sensor 7D), and a controller 100. The detection range 40A of the left side sensor 7A is defined diagonally to the left front of the vehicle body 2, the detection range 40B of the right side sensor 7B is defined diagonally to the right front of the vehicle body 2, and the detection range 40C of the first front sensor 7C is , is defined in front of the vehicle body 2, and a detection range 40D of the second front sensor 7D is defined in the front of the vehicle body 2. In the cargo picking operation described in the above embodiment, the controller 100 includes a detection data acquisition unit 101 that acquires detection data of the side sensors and detection data of the front sensor, and a detection data acquisition unit 101 that acquires detection data of the side sensors and detection data of the front sensor. An identification unit 102 that identifies a detected object as a target based on at least one of A position calculation unit 108 calculates one or both of the azimuth angles of the object with the sensor as a reference, and the detection data of the side sensor and the detection data of the front sensor are calculated based on the azimuth calculated by the position calculation unit 108. A switching section 109 for switching is provided.

According to the embodiment, for example, even if the forklift 1 traveling in the first direction turns in the second direction and the positional relationship (azimuth angle) between the forklift 1 and the object 51 of cargo handling work changes, the controller 100 , the object 51 can continue to be identified. Therefore, the controller 100 can automatically perform cargo handling work based on the target 51.

In the cargo picking operation described in the above-described embodiment, the position calculation unit 108 creates a first direction line LA1 indicating the orientation direction of the left side sensor 7A, and a second direction line LA1 that connects the left side sensor 7A and the reference point 51R of the target 51. A first angle θa formed with the direction line LA2 is calculated. The position calculation unit 108 calculates a third direction line LC1 indicating the pointing direction of the second front sensor 7D and a reference point between the second front sensor 7D and the target 51 as the azimuth of the target 51 with respect to the second front sensor 7D. 51R and the fourth direction line LC2 is calculated. The switching unit 109 switches between the detection data of the left side sensor 7A and the detection data of the second front sensor 7D based on the first angle θa and the second angle θc. It is possible to calculate the positional relationship (azimuth angle) between the cargo handling target 51 and the object 51 of cargo handling work.

When the second angle θc is less than or equal to the first angle θa, the switching unit 109 switches from the detection data of the left side sensor 7A to the detection data of the second front sensor 7D. Thereby, the switching unit 109 can switch the detection data of the object sensor 7 used for identifying the object 51 to the detection data of the left side sensor 7A and the detection data of the second front sensor 7D.

The forklift 1 includes a vehicle body 2, a work implement 4 that is vertically movable with respect to the vehicle body 2, and a work implement load sensor 49 that detects the load on the work implement 4. The switching unit 109 switches between the detection data of the first front sensor 7C and the detection data of the second front sensor 7D, which are used for tracking the object, based on the detection data of the work machine load sensor 49. Thereby, in the loading operation and loading operation, the switching unit 109 changes the detection data of the object sensor 7 used for identifying the object 51 to the detection data of the first front sensor 7C and the detection data of the second front sensor 7D. You can switch to .

[Other embodiments]
In the embodiment described above, the position calculation unit 108 calculates both the azimuth angle of the target with respect to the side sensor and the azimuth angle of the target with respect to the front sensor. The switching unit 109 also outputs the detection data of the side sensor based on both the azimuth of the target with respect to the side sensor and the azimuth of the target with the front sensor as a reference, which are calculated by the position calculation unit 108. We decided to switch between the front sensor and the detection data of the front sensor. The position calculation unit 108 may calculate one of the azimuth angle of the target with respect to the side sensor and the azimuth of the target with respect to the front sensor. When the position calculation unit 108 calculates the azimuth of the target with respect to the side sensor, the switching unit 109 calculates the azimuth of the target with the side sensor as a reference, which is calculated by the position calculation unit 108. The detection data of the side sensor and the detection data of the front sensor may be switched. When the position calculation unit 108 calculates the azimuth of the target with respect to the front sensor, the switching unit 109 changes the azimuth of the target to the side based on the azimuth of the target with the front sensor as a reference, which is calculated by the position calculation unit 108 The detection data of the sensor and the detection data of the front sensor may be switched.

In the above-described embodiment, an object for automatically performing cargo handling work is arranged on the left side of the forklift 1 traveling in the first direction on the travel path 59, and the left side sensor 7A detects the object. When an object for automatically performing cargo handling work is placed on the right side of the forklift 1 traveling in the first direction on the travel path 59, the object is detected by the right side sensor 7B. The identification unit 102 identifies the object based on the object detection data from the right side sensor 7B.

In the above-described embodiment, the power source 11 of the forklift 1 is an engine, but the power source 11 is not limited to this. For example, the power source 11 of the forklift 1 may be a battery that supplies electric power. In this case, the travel motor 141 may be an electric motor. Further, the hydraulic pump 12 may be driven by an electric motor.

In the embodiment described above, the automatic mode permission switch 156 and the automatic mode start switch 157 are separate switches, but the present invention is not limited thereto. For example, the automatic mode permission switch 156 and the automatic mode start switch 157 may be the same switch. When one switch is operated, a control command is generated that starts the process of identifying the target for automatically performing cargo handling work, and when it is further operated, automatic travel control or automatic work equipment control is started. A control command may be generated to cause the

In the above-described embodiment, the forklift 1 can be operated by the operator seated in the cab 3, but the present invention is not limited thereto. For example, an operating device for operating the forklift 1 may be placed at a remote location of the forklift 1, and the forklift 1 may be remotely controlled.

In the above-described embodiment, the forklift 1 is assumed to move forward in manual mode until the automatic mode start switch 157 is operated, but the forklift 1 is not limited to this. For example, the forklift 1 is equipped with a positioning system such as GNSS (Global Navigation Satellite System) for detecting the vehicle's position, and automatically moves to the target while referring to the vehicle's position and map data that includes target location information. You may run with Furthermore, when it is determined that the target object has been identified by the identification section 102, the determining section 104 may determine an object for automatically performing cargo handling work.

In the above-described embodiment, during automatic travel control, the movement and braking of the forklift 1 are manually performed based on the operator's driving operation, but the invention is not limited to this. The traveling control unit 110 may control the movement and braking of the forklift 1. The traveling control unit 110 may control the movement and braking of the forklift 1 based on the speed limit of the forklift 1 included in the route data.

1...Forklift (cargo handling vehicle), 1G...Origin, 2...Vehicle body, 3...Cab, 4...Work equipment, 5...Wheel, 5F...Front wheel, 5R...Rear wheel, 6...Counterweight, 7...Object sensor, 7A... Left side sensor, 7B... Right side sensor, 7C... First front sensor, 7D... Second front sensor, 8... Fender, 10... Control system, 11... Power source, 12... Hydraulic pump, 13... Control valve unit, 14 ... Traveling device, 15... Operating device, 16... Output device, 36... Symbol, 37... Symbol, 41... Mast, 42... Bracket, 43... Fork, 43A... First fork, 43B... Second fork, 45... Work machine drive device, 46...Lift sensor, 47...Tilt sensor, 48...Side shift sensor, 49...Work machine load sensor, 50...Target, 50F...Front, 51...Target, 51F...Front, 51R...Reference point, 52 …Target, 52F…Front, 53…Target, 54…Fork insertion hole, 55…Logging space, 59…Travel route, 60…Target route, 60A…First travel route, 60B…Second travel route, 60C… Curved route, 60E...End point, 60S...Start point, 61...First target route, 62...Second target route, 63...Straight line route, 65...Route, 70...Detection range, 70A...Detection range, 70B...Detection range , 70C... detection range, 70D... detection range, 71... camera, 72... three-dimensional sensor, 100... controller, 101... detection data acquisition section, 102... identification section, 103... control command receiving section, 104... determining section, 105 ...Distance calculation section, 106...Selection section, 107...Route generation section, 108...Position calculation section, 109...Switching section, 110...Traveling control section, 111...Work equipment control section, 112...Output control section, 113...Storage section , 710...imaging range, 720...measuring range, 131...travel control valve, 132...steering control valve, 133...work equipment control valve, 141...travel motor, 142...steering cylinder, 143...vehicle speed sensor, 144...steering sensor, 151...Steering wheel, 152...Work equipment lever, 153...Forward/forward switching lever, 154...Accelerator pedal, 155...Brake pedal, 156...Auto mode permission switch, 157...Auto mode start switch, 161...Display device, 162...Audio Output device, 451... Lift cylinder, 452... Tilt cylinder, 453... Side shift cylinder, 1000... Computer system, 1001... Processor, 1002... Main memory, 1003... Storage, 1004... Interface, LA1... First direction line, LA2... Second direction line, LC1...third direction line, LC2...fourth direction line, α...relative angle, θa...first angle, θc...second angle.

Claims (5)

A system for controlling a cargo handling vehicle,
a side sensor that is attached to the cargo handling vehicle and detects an object;
a front sensor that is attached to the cargo handling vehicle and detects an object;
comprising a controller;
The detection range of the side sensor is defined diagonally in front of the cargo handling vehicle,
The detection range of the front sensor is defined in front of the cargo handling vehicle,
The controller includes:
a detection data acquisition unit that acquires detection data of the side sensor and detection data of the front sensor;
an identification unit that identifies a detected object as a target based on at least one of the detection data of the side sensor and the detection data of the front sensor;
Based on the detection data of the side sensors and the detection data of the front sensor, calculate one or both of the azimuth of the target with respect to the side sensor and the azimuth of the target with respect to the front sensor. a position calculation unit,
a switching unit that switches between detection data of the side sensor and detection data of the front sensor based on the azimuth calculated by the position calculation unit;
system. The position calculation unit includes:
Calculating a first angle formed by a first direction line indicating the pointing direction of the side sensor and a second direction line connecting the side sensor and a reference point of the target;
Calculating a second angle formed by a third direction line indicating the pointing direction of the front sensor and a fourth direction line connecting the front sensor and a reference point of the target;
The switching unit switches between detection data of the side sensor and detection data of the front sensor based on the first angle and the second angle.
The system of claim 1. The switching unit switches from the detection data of the side sensor to the detection data of the front sensor when the second angle is less than or equal to the first angle.
The system according to claim 2. The cargo handling vehicle is
The car body and
a working machine that is movable in a vertical direction with respect to the vehicle body;
A work machine load sensor that detects the load of the work machine,
The front sensor is
a first front sensor attached to the vehicle body;
a second front sensor disposed on at least a portion of the working machine;
The switching unit switches between detection data of the first front sensor and detection data of the second front sensor based on detection data of the work equipment load sensor.
The system of claim 1. A method for controlling a cargo handling vehicle, the method comprising:
acquiring detection data of a side sensor that detects an object attached to the cargo handling vehicle such that a detection range is defined diagonally in front of the cargo handling vehicle;
acquiring detection data of a front sensor that detects an object attached to the cargo handling vehicle such that a detection range is defined in front of the cargo handling vehicle;
Identifying the detected object as a target based on at least one of the detection data of the side sensor and the detection data of the front sensor,
Based on the detection data of the side sensors and the detection data of the front sensor, calculate one or both of the azimuth of the target with respect to the side sensor and the azimuth of the target with respect to the front sensor. death,
switching between detection data of the side sensor and detection data of the front sensor based on the calculated azimuth;
Method.

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