Information processing device, program, and forklift

Abstract

This information processing device is provided with: a calculation unit that calculates a control variable for controlling the operation of a forklift truck on the basis of detection information detected by a detection unit mounted on the forklift truck; and a control unit that controls the operation of the forklift on the basis of the control variable calculated by the calculation unit.

Description

Technical Field

[0001] The present disclosure relates to an information processing device, a program, and a forklift truck. Background Art

[0002] JP-A-2022-035198 describes a vehicle having an autonomous driving function.

[0003] JP-A-2021-062964 describes a forklift truck that performs autonomous driving. Summary of the Invention

[0004] Means for Solving the Problem

[0005] According to one embodiment of the present invention, there is provided an information processing device. The information processing device according to the first aspect includes: a calculation unit that calculates a control variable for controlling the operation of the forklift truck based on detection information detected by a detection unit mounted on the forklift truck; and a control unit that controls the operation of the forklift truck based on the control variable calculated by the calculation unit.

[0006] In the information processing device according to the second aspect, based on the information processing device according to the first aspect, the control unit controls the operation of the forklift truck in units of 1 nanosecond based on the control variable calculated by the calculation unit.

[0007] In the information processing device according to the third aspect, based on the information processing device according to the first or second aspect, there is provided a determination unit that determines control information for calculating the control variable for each operation of the forklift truck from the detectable detection information, and the calculation unit calculates the control variable for the control unit to control the operation of the forklift truck based on the control information determined by the determination unit.

[0008] In the information processing device according to the fourth aspect, based on the information processing device according to any one of the first to third aspects, the calculation unit calculates the control variable for controlling the extension and retraction of a fork that can extend and retract in the front-rear direction and is provided on the forklift truck as an operation of the forklift truck; and the control unit controls the extension and retraction of the fork based on the control variable calculated by the calculation unit.

[0009] In the information processing device according to the fifth aspect, based on the information processing device according to the fourth aspect, for the fork formed by overlapping a plurality of forks, the detection unit is mounted on each of the plurality of forks, and the calculation unit calculates the control variable based on the detection information obtained by the plurality of detection units detecting a common range.

[0010] In the information processing apparatus according to the sixth aspect, based on the information processing apparatus according to the fourth or fifth aspect, for the fork formed by overlapping a plurality of forks, the detection unit is mounted on each of the plurality of forks, and the calculation unit calculates the control variable based on the detection information obtained by the plurality of detection units detecting different ranges.

[0011] In the information processing apparatus according to the seventh aspect, based on the information processing apparatus according to any one of the fourth to sixth aspects, the calculation unit calculates the control variable for controlling the expansion and contraction of the first fork serving as the fork or the second fork different from the first fork in the forklift based on the detection information; the control unit controls the expansion and contraction of the first fork or the second fork based on the control variable calculated by the calculation unit.

[0012] In the information processing apparatus according to the eighth aspect, based on the information processing apparatus according to any one of the first to seventh aspects, the calculation unit calculates the control variable for controlling the expansion and contraction of the guide member that can expand and contract in the vertical direction and is provided in the forklift as the operation of the forklift based on the detection information, and the control unit controls the expansion and contraction of the guide member based on the control variable calculated by the calculation unit.

[0013] In the information processing apparatus according to the ninth aspect, based on the information processing apparatus according to any one of the first to eighth aspects, the calculation unit calculates the control variable for controlling the protruding amount of the protection member that can protrude upward and surround the goods as the operation of the forklift based on the detection information, and the control unit controls the protruding amount of the protection member based on the control variable calculated by the calculation unit.

[0014] In the information processing apparatus according to the tenth aspect, based on the information processing apparatus according to any one of the first to ninth aspects, the control unit controls the expansion and contraction of at least one of the fork that can expand and contract in the front-rear direction and the guide member that can expand and contract in the vertical direction provided in the forklift as the operation of the forklift during the movement of the forklift based on the control variable calculated by the calculation unit.

[0015] In the information processing apparatus according to the eleventh aspect, based on the information processing apparatus according to the tenth aspect, the control unit controls the expansion and contraction of at least one of the fork and the guide member so that the fork or the guide member does not contact other objects during the movement of the forklift.

[0016] In the information processing apparatus according to the twelfth aspect, based on the information processing apparatus according to any one of the first to eleventh aspects, the calculation unit calculates a control variable for controlling the operation of the forklift including at least one of the horizontal telescopic distance and the vertical movement distance of the forklift forks based on the detection information detected by the detection unit and including the weight of the goods placed on the forklift forks, and the control unit controls the operation of the forklift including at least one of the horizontal telescopic distance and the vertical movement distance of the forklift forks based on the control variable calculated by the calculation unit.

[0017] In the information processing apparatus according to the thirteenth aspect, based on the information processing apparatus according to any one of the first to twelfth aspects, the calculation unit calculates a control variable for controlling the operation of the forklift including the deformation of the plurality of forklift forks based on the detection information detected by the detection unit mounted on the forklift having a plurality of forklift forks that are respectively deformed in a stepped shape, and the control unit controls the operation of the forklift including the deformation of the plurality of forklift forks based on the control variable calculated by the calculation unit.

[0018] In the information processing apparatus according to the fourteenth aspect, based on the information processing apparatus according to the thirteenth aspect, the detection information includes surrounding information indicating the surrounding condition of the forklift, the calculation unit calculates the control variable for controlling the deformation of the plurality of forklift forks based on the surrounding information, and the control unit controls the operation of the forklift based on the control variable for controlling the deformation of the plurality of forklift forks.

[0019] In the information processing apparatus according to the fifteenth aspect, based on the information processing apparatus according to any one of the first to fourteenth aspects, the center of gravity of the control unit is located on the side opposite to the direction in which the forklift forks extend.

[0020] In the information processing apparatus according to the sixteenth aspect, based on the information processing apparatus according to the fifteenth aspect, the control unit includes: a housing that includes the forklift forks; and a control device that is disposed in the housing.

[0021] In the information processing apparatus according to the seventeenth aspect, based on the information processing apparatus according to the sixteenth aspect, the housing is flat in the vertical direction.

[0022] In the information processing apparatus according to the eighteenth aspect, based on the information processing apparatus according to the seventeenth aspect, the control device is detachable from the housing.

[0023] In the information processing apparatus according to the nineteenth aspect, based on the information processing apparatus according to the eighteenth aspect, the control device has a non-linearly symmetric shape when viewed from above.

[0024] In the information processing apparatus according to the twentieth aspect, based on the information processing apparatus according to the eighteenth or nineteenth aspect, the center of gravity of the control apparatus is located on the side opposite to the direction in which the fork extends in a state where the control apparatus is mounted on the housing.

[0025] In the information processing apparatus according to the twenty-first aspect, based on the information processing apparatus according to any one of the eighteenth to twentieth aspects, the center of gravity of the housing is located on the side opposite to the direction in which the fork extends.

[0026] In the information processing apparatus according to the twenty-second aspect, based on the information processing apparatus according to any one of the first to twenty-first aspects, the control unit controls the height of a protective member provided on at least one of four sides of a stage on which goods are placed on the forklift.

[0027] In the information processing apparatus according to the twenty-third aspect, based on the information processing apparatus according to the twenty-second aspect, the control unit raises the protective member as the acceleration increases when the forklift is traveling.

[0028] In the information processing apparatus according to the twenty-fourth aspect, based on the information processing apparatus according to the twenty-third aspect, the control unit lowers the protective member as the acceleration decreases when the forklift is traveling.

[0029] In the information processing apparatus according to the twenty-fifth aspect, based on the information processing apparatus according to the twenty-third or twenty-fourth aspect, the control unit raises the protective member on the side opposite to the acceleration direction of the forklift.

[0030] In the information processing apparatus according to the twenty-sixth aspect, based on the information processing apparatus according to any one of the first to twenty-fifth aspects, the calculation unit calculates a control variable for controlling the operation of the forklift including the rotation of the fork based on detection information detected by the detection unit mounted on the forklift having a guide member extending in the vertical direction and a fork capable of rotating in the left-right direction with respect to the guide member, and the control unit controls the operation of the forklift including the rotation of the fork based on the control variable calculated by the calculation unit.

[0031] In the information processing apparatus according to the twenty-seventh aspect, based on the information processing apparatus according to the twenty-sixth aspect, for each of one or more of the forks, the control unit controls the up-and-down movement and left-right rotation of the fork moving on a prescribed circular orbit along the guide member, the circular orbit including a vertical orbit extending in the vertical direction.

[0032] In the information processing apparatus according to the twenty-eighth aspect, based on the information processing apparatus according to the twenty-seventh aspect, the control unit controls so that a pair of the forks on which a load is placed move along the vertical track, and so that the other pair of the forks on which no load is placed move along another vertical track different from the vertical track on the circular track in a state of being rotated to a specified angle in the left-right direction.

[0033] In the information processing apparatus according to the twenty-ninth aspect, based on the information processing apparatus according to the twenty-eighth aspect, when the pair of forks moving in one direction along the vertical track reach the end of the vertical track, the control unit controls so that the forks are rotated to a specified angle in the left-right direction and move in the opposite direction opposite to the one direction along the other vertical track.

[0034] In the information processing apparatus according to the thirtieth aspect, based on the information processing apparatus according to any one of the twenty-sixth aspect to the twenty-ninth aspect, the drive mechanism of the forks is a linear motor.

[0035] According to an embodiment of the present disclosure, there is provided a program according to the thirty-first aspect, which causes a computer to function as the information processing apparatus according to any one of the first aspect to the thirtieth aspect.

[0036] According to an embodiment of the present disclosure, there is provided a forklift truck including a guide member extending in the vertical direction. The forklift truck according to the thirty-second aspect includes: a plurality of forks that can move in the vertical direction in each height region of the guide member and can extend and contract the portion on which the goods are placed relative to the guide member in the front-rear direction; a detection unit mounted on the forklift truck; and a control unit that controls the vertical movement and extension and contraction of the plurality of forks based on information detected by the detection unit.

[0037] In the information processing apparatus according to the thirty-third aspect, based on the information processing apparatus according to the thirty-second aspect, one or more of the above-mentioned forks are provided in front of and behind the guide member, respectively.

[0038] In the information processing apparatus according to the thirty-fourth aspect, based on the information processing apparatus according to the thirty-second aspect or the thirty-third aspect, the detection unit detects information related to the weight of each of the goods placed on each of the forks, and the control unit controls the plurality of forks based on at least one of the loading order and the unloading order of the goods with respect to the plurality of forks determined according to the weight of each of the goods.

[0039] In the information processing apparatus according to the thirty-fifth aspect, based on the information processing apparatus according to the thirty-second or thirty-third aspect, the control unit performs autonomous driving based on the information detected by the detection unit.

[0040] In the information processing apparatus according to the thirty-sixth aspect, based on the information processing apparatus according to the thirty-fifth aspect, the control unit controls each of the forks based on the center-of-gravity position of the forklift.

[0041] It should be noted that the above summary of the present disclosure does not list all the necessary features of the present disclosure. In addition, sub-combinations of these feature groups may also be the content of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1A It is an explanatory diagram showing an example of information stored in the cloud according to the first embodiment.

[0043] Figure 1B It is a schematic diagram of the network configuration according to the first embodiment.

[0044] Figure 2A It is a first perspective view of the forklift according to the first embodiment.

[0045] Figure 2B It is a top view of the tire of the forklift according to the first embodiment.

[0046] Figure 2C It is a side view of the tire of the forklift according to the first embodiment.

[0047] Figure 3 It is a flowchart executed by the Central Brain according to the first embodiment.

[0048] Figure 4 It is a second perspective view of the forklift according to the first embodiment.

[0049] Figure 5 It is a third perspective view of the forklift according to the first embodiment.

[0050] Figure 6 It is a fourth perspective view of the forklift according to the first embodiment.

[0051] Figure 7 It is a diagram schematically showing an example of the hardware configuration of a computer that functions as a Central Brain.

[0052] Figure 8A It is a first side view of the fork according to the second embodiment.

[0053] Figure 8BIt is a second side view showing the forklift forks according to the second embodiment.

[0054] Figure 9 It is a block diagram showing an example of the functional configuration of a computer that functions as the central brain according to the third embodiment.

[0055] Figure 10 It is a flowchart executed by the central brain according to the fourth embodiment.

[0056] Figure 11 It is a side view showing the extended state of the forklift forks according to the fifth embodiment.

[0057] Figure 12 It is a perspective view showing the forklift according to the seventh embodiment.

[0058] Figure 13 It is a perspective view showing the forklift according to the ninth embodiment.

[0059] Figure 14 It is a flowchart executed by the central brain according to the ninth embodiment.

[0060] Figure 15 It is a block diagram showing an example of the functional configuration of a computer that functions as the central brain according to the tenth embodiment.

[0061] Figure 16 It is a flowchart executed by the central brain according to the tenth embodiment.

[0062] Figure 17 It is a first side view showing the forklift according to the eleventh embodiment.

[0063] Figure 18 It is a second side view showing the forklift according to the eleventh embodiment.

[0064] Figure 19 It is a side view showing the entire forklift forks according to the twelfth embodiment.

[0065] Figure 20 It is a first side view showing the stepped extension manner of the forklift forks according to the twelfth embodiment.

[0066] Figure 21 It is a second side view showing the stepped extension manner of the forklift forks according to the twelfth embodiment.

[0067] Figure 22 It is a perspective view showing the forklift according to the thirteenth embodiment.

[0068] Figure 23It is a first top view showing a forklift according to the thirteenth embodiment.

[0069] Figure 24 It is a side view showing a forklift according to the thirteenth embodiment.

[0070] Figure 25 It is a second top view showing a forklift according to the thirteenth embodiment.

[0071] Figure 26 It is a schematic diagram of a network configuration according to the fourteenth embodiment.

[0072] Figure 27 It is a perspective view showing the erected state of a forklift and its protective member according to the fourteenth embodiment.

[0073] Figure 28 It is a functional block diagram of a pallet of a forklift according to the fourteenth embodiment.

[0074] Figure 29 It is a perspective view showing the opened state of a forklift and its protective member according to the fourteenth embodiment.

[0075] Figure 30 It is a perspective view showing a forklift according to the fifteenth embodiment.

[0076] Figure 31 It is a perspective view showing a forklift according to the sixteenth embodiment.

[0077] Figure 32 It is a first perspective view showing a control example of a forklift according to the seventeenth embodiment.

[0078] Figure 33 It is a second perspective view showing a control example of a forklift according to the seventeenth embodiment.

[0079] Figure 34 It is a perspective view schematically showing the structure of a fork and a guide of a forklift according to the seventeenth embodiment.

[0080] Figure 35 It is a schematic diagram of a movable area in which a fork rotates in the left - right direction according to the seventeenth embodiment.

[0081] Figure 36 It is a schematic diagram of a drive mechanism of a fork according to the seventeenth embodiment.

[0082] Figure 37 It is a first schematic diagram showing the situation where a pallet is placed on a fork according to a modification of the seventeenth embodiment.

[0083] Figure 38It is a second schematic diagram showing the case where a pallet is placed on the forklift forks according to a modified example of the seventeenth embodiment.

[0084] Figure 39 It is a third schematic diagram showing the case where a pallet is placed on the forklift forks according to a modified example of the seventeenth embodiment. Detailed Embodiments

[0085] Hereinafter, embodiments of the present disclosure will be described. However, the following embodiments do not limit the present disclosure. In addition, the combinations of features described in the embodiments are not all necessary for the solution means of the present disclosure.

[0086] (First Embodiment)

[0087] First, the first embodiment according to the present embodiment will be described.

[0088] Figure 1A It is an explanatory diagram showing an example of information stored in the cloud 5 according to the first embodiment. In the first embodiment, various detection information described later is digitalized into AI data and stored in the cloud 5. The AI predicts and judges the optimal combination of conditions every nanosecond (one billionth of a second) and optimizes the operation of the forklift 10.

[0089] Figure 1B It is a schematic diagram of the network configuration according to the first embodiment. The forklift 10 of the first embodiment is connected to the cloud 5 through the network N. The network N is an example of a public line based on a 6G or higher communication standard.

[0090] Figure 2A It is a first three-dimensional view of the forklift 10 according to the first embodiment.

[0091] As Figure 2A shown, the forklift 10 includes a control device 20, forklift forks 30, a pallet 40, and a guide 50.

[0092] The control device 20 is a part that controls the operation of the forklift 10. This "operation of the forklift 10" is a concept that includes the operations of each component of the forklift 10, as well as the operation of the forklift 10 itself, specifically, the autonomous driving operation of the forklift 10.

[0093] The forklift 10 has a housing 26. In the first embodiment, the housing 26 is in the shape of a rectangular parallelepiped as an example. The control device 20 is provided in the housing 26. The control unit 28 includes the control device 20 and the housing 26. A plurality of tires 22 are provided at the lower part of the housing 26. In addition, a central brain 24 is provided inside the control device 20. The central brain 24 is an example of an information processing device.

[0094] Figure 2B andFigure 2C This is a diagram showing the tires 22 of the forklift 10 according to the first embodiment. The tires 22 in the first embodiment include a pair of drive wheels 22A provided on the left and right sides at the front and rear centers of the forklift 10, and driven wheels 22B provided at the four corners. The drive wheels 22A are non-rotatable and can be driven by motors (not shown) independently mounted on the left and right sides. The driven wheels 22B are so-called casters that can rotate. By rotating the left and right drive wheels 22A in the same direction, the forklift 10 moves forward or backward. In this case, by changing the rotational speeds of the left and right drive wheels 22A rotating in the same direction, the forklift 10 can bend to the left or right. In addition, by rotating the left and right drive wheels 22A in opposite directions, the forklift 10 rotates on the spot. It should be noted that in each tire 22, a suspension for buffering the impact from the driving road may also be provided. Above, the forklift 10 of the first embodiment can travel freely on the driving road by independently rotating the left and right drive wheels 22A under the control of the central brain 24.

[0095] As Figure 1B shown, a plurality of gateways 23 are communicably connected to the central brain 24. The central brain 24 is connected to the external cloud 5 through the gateway 23. The central brain 24 is configured to be able to access the external cloud 5 via the gateway 23. On the other hand, due to the presence of the gateway 23, it is configured that the central brain 24 cannot be directly accessed from the outside.

[0096] Every time a predetermined time elapses, the central brain 24 outputs a request signal to the server. Specifically, the central brain 24 outputs a request signal indicating an inquiry to the cloud 5 as the server every 1 / 1,000,000,000 seconds.

[0097] As Figure 2A shown, the fork 30 is arranged to be able to extend relative to the housing 26 in the direction of arrow E1. The fork 30 is provided with a sensor 35 at the front end.

[0098] The pallet 40 has the goods L placed on the loading surface.

[0099] The guide member 50 extends upward from one end in the front-rear direction of the control device 20. In addition, the guide member 50 is provided with a sensor 55 at the upper end.

[0100] Here, examples of the above-mentioned sensors 35 and 55 are radar, lidar (LiDAR), high-pixel / long-focus / ultra-wide-angle / 360-degree / high-performance cameras, visual recognition, faint sound, ultrasonic, vibration, infrared, ultraviolet, electromagnetic waves, temperature, humidity, spot AI weather forecasting, high-precision multi-channel Global Positioning System (GPS), low-altitude satellite information, long-tail event AI data, etc. Long-tail event AI data refers to the trip data of cars equipped with Level 5.

[0101] As the detection information obtained from the above-mentioned sensors 35 and 55, and other sensors, the position information of the forklift 10, the center of gravity and orientation, the orientation of the tires 22, the material, the wear condition and air pressure, the condition of the road surface (friction coefficient, inclination in the vertical, horizontal and diagonal directions, material, road width, etc.), and the surrounding information indicating the surrounding conditions of the forklift 10 can be cited. Here, as an example, the surrounding information can be cited as, for example, that there are other goods in front of the pallet 40 being transported by the forklift 10, and the pallet 40 is placed halfway up the steps, etc.

[0102] In addition, as the above-mentioned detection information, the type, load, center of gravity, handling source, handling destination, and driving path of the goods L, the external gas temperature, the external gas humidity, and the surrounding conditions (birds, animals, footballs, accident vehicles, earthquakes, fires, winds, typhoons, heavy rains, light rains, snowstorms, fog, etc.) can be cited. In the first embodiment, the detection of the above-mentioned detection information is performed every one billionth of a second.

[0103] In the first embodiment, the central brain 24 functions as a calculation unit, and this calculation unit calculates the control variables for controlling the operation of the forklift 10 based on the detection information detected by the sensors 35, the sensor 55, and other sensors. The sensors 35, the sensor 55, and other sensors are an example of a "detection unit". In the first embodiment, the calculation of the above-mentioned control variables is performed every one billionth of a second.

[0104] In addition, in the first embodiment, the central brain 24 functions as a part of the control unit 28, and this control unit 28 controls the operation of the forklift 10 in units of one billionth of a second based on the above-mentioned calculated control variables.

[0105] The central brain 24 repeatedly executes Figure 3 the flowchart shown.

[0106] In step S10, the central brain 24 acquires the detection information detected by the sensors 35, the sensor 55, and other sensors. Then, the central brain 24 proceeds to step S11.

[0107] In step S11, the central brain 24 calculates a control variable based on the detection information obtained in step S10. Then, the central brain 24 proceeds to step S12.

[0108] In step S12, the central brain 24 controls the operation of the forklift 10 based on the control variable calculated in step S11. Then, the central brain 24 ends the processing of this flowchart.

[0109] For example, the central brain 24 controls the autonomous driving operation of the forklift 10, which is an operation of the forklift 10, to travel in the factory at a maximum speed of 20 km / h. Here, since the maximum speed of existing forklifts is about 5 km / h, with this central brain 24, it is possible to greatly improve production capacity and factory efficiency, etc.

[0110] Figures 4 to 6 It is an explanatory diagram showing an example of the control of the operation of the forklift 10 by the central brain 24. It should be noted that Figure 2A and Figures 4 to 6 The state of the forklift 10 shown is achieved by controlling the operation of the forklift 10 in units of one billionth of a second based on the control variable calculated by the central brain 24 based on the detection information detected by the sensor 35, the sensor 55, and other sensors.

[0111] Figure 4 It is a second three-dimensional view of the forklift 10 according to the first embodiment.

[0112] As Figure 2A and Figure 4 shown, the fork 30 of the forklift 10 can move up and down in a state of extending a specified amount from the control device 20. Thus, when picking up the cargo L from the forklift 10, the position of the fork 30 can be finely adjusted up and down. In addition, as Figure 4 shown, the fork 30 can be completely accommodated on the upper surface of the control device 20.

[0113] Figure 5 It is a third three-dimensional view of the forklift 10 according to the first embodiment.

[0114] As Figure 5 shown, in the forklift 10, the fork 30 and the pallet 40 can be moved up and down along the guide 50. Thus, the cargo L can be moved to a position higher than the control device 20.

[0115] Figure 6 It is a fourth three-dimensional view of the forklift 10 according to the first embodiment.

[0116] As Figure 6As shown, the fork 30 can be telescoped in the front-rear direction. In this figure, the fork 30 includes a first fork 30A supported on a guide 50 and a second fork 30B. The second fork 30B is separately provided above the first fork 30A and can slide on the first fork 30A. The telescoping of the fork 30 is controlled by the central brain 24 to drive a drive mechanism (not shown). Thus, by the second fork 30B sliding forward on the first fork 30A, the overall length of the fork 30 can be extended compared to the state where the second fork 30B is located on the first fork 30A, and the cargo L can be moved to a position farther from the control device 20. In addition, in the state where the fork 30 moves to the lowermost end of the forklift 10, when the second fork 30B slides forward on the first fork 30A, the front end of the second fork 30B extending downward abuts against the road surface, thereby suppressing deflection when the fork 30 is extended to the maximum extent. Additionally, a sensor identical to the sensor 35 provided on the second fork 30B can also be provided on the first fork 30A. Further, a portion extending downward can also be provided on the first fork 30A similarly to the front end of the second fork 30B, and a sensor identical to the sensor 35 can be provided in this portion. Thus, deflection of the first fork 30A can also be suppressed.

[0117] In addition, as Figure 6 shown, the guide 50 can be telescoped in the up-down direction. The telescoping of the guide 50 is controlled by the central brain 24 to drive a drive mechanism (not shown). Thus, for example, by moving the fork 30 to the upper part of the guide 50 and then extending the fork 30, the cargo L can be moved to a position higher than the control device 20 and farther from the control device 20. In addition, when no cargo L is placed on the pallet 40, by contracting the guide 50, the forklift 10 can move at high speed.

[0118] Here, as Figure 2A and Figures 4 to 6 shown, a sensor 35 is provided at the front end of the fork 30. Thus, the cargo L can be reliably grasped at high speed. In addition, even at Figure 6 the high position shown, the handover destination of the cargo L can be detected with high precision, so the cargo L can be handed over more reliably. As Figure 6 shown, these effects are also achieved when the fork 30 is extended.

[0119] In addition, as Figure 2A and Figures 4 to 6As shown, a sensor 55 is provided at the upper end of the guide member 50. Thus, by detecting the height of the shelf at a high position when the forklift forks 30 rise along the guide member 50, the forklift forks 30 can reach the height of the shelf smoothly and without error. In addition, even during the movement of the forklift 10, the sensor 55 always detects from a high position, so that it can travel safely to the destination and stop at the destination without error.

[0120] In addition, as Figure 2A and Figures 4 to 6 shown, the portion where the sensor 35 is provided at the front end of the forklift forks 30 extends downward from the forklift forks 30. Thus, this portion has the function of a sensor and serves as a counter balance. That is, when the forklift forks 30 move to the lowermost end of the forklift 10, since this portion abuts against the road surface, it can provide a supporting force when picking up the goods L.

[0121] It should be noted that Figure 2A and Figures 4 to 6 the state of the forklift 10 shown is an example of the result of controlling the operation of the forklift 10 by the central brain 24. Of course, there can be a state of the forklift 10 different from the states shown in the respective figures.

[0122] Here, as Figures 2A to 2C shown, the control unit 28 includes a control device 20 and a housing 26. The housing 26 is in the shape of a rectangular parallelepiped having a length L1, a width W1, and a height H1. The center of gravity CG1 of the control unit 28 is located closer to the rear side in the length direction than the center line CL1, that is, on the side opposite to the direction in which the forklift forks 30 extend (the direction of arrow E1). It should be noted that in the first embodiment, the center line CL1 is the center line of the control unit 28 and also the center line of the housing 26 when the forklift 10 is viewed from above.

[0123] The housing 26 is flat in the height direction, that is, in the up and down direction. This "flat" means that the height H1 is less than the maximum value max(L1, W1) of the length L1 and the width W1, that is, H1 < max(L1, W1). Moreover, preferably, H1 < 0.5 × max(L1, W1), and more preferably, H1 < 0.25 × max(L1, W1). It should be noted that in Figure 2A and Figure 2B the example shown, the length L1 is longer than the width W1, but it can also be a structure in which the length L1 is the same as the width W1, or a structure in which the width W1 is longer than the length L1.

[0124] In the first embodiment, the center of gravity of the control unit 28 is located on the rear side in the longitudinal direction (the direction of arrow L), that is, on the side opposite to the direction in which the fork 30 extends (the direction of arrow E1), with respect to the center line CL1. Therefore, for example, even when the fork 30 is in the extended state and there is a load L placed on the fork 30, the forklift 10 can be prevented from tipping over to the side in the extending direction of the fork 30. In particular, as Figure 6 shown, when the fork 30 is moved to the upper part of the guide member 50 and the fork 30 is in the extended state, the forklift 10 can be prevented from tipping over to the side in the extending direction of the fork 30.

[0125] In the first embodiment, the housing 26 is flat in the vertical direction. Therefore, compared with a structure in which the housing 26 is not flat in the vertical direction, the center of gravity CG1 is located on the lower side. Thus, compared with a structure in which the center of gravity CG1 is located on the upper side, the posture of the forklift 10 is stable. For example, even when the forklift 10 is traveling with a load L placed on the fork 30, the posture during acceleration, deceleration, rotation, etc. is stable.

[0126] In addition, the forklift 10 is not limited to the structure described above, and the following structure can also be adopted.

[0127] For example, the forklift 10 can also have Figure 2A and Figures 4 to 6 shown, another fork different from the fork 30 on the back side of the guide member 50. Moreover, when the movement of the forklift 10 is a short distance, the load L can be placed on this other fork instead of on the upper surface of the control device 20, and the forklift 10 can be moved in this state. Thus, according to this structure, the movement of the load L for a short distance can also be smoothly handled.

[0128] In addition, the forklift 10 can also be configured such that a protective member such as a fence can project upward from around Figure 2A and Figures 4 to 6 shown, the control device 20. By the upward projection of this protective member, the surroundings of the load L including the pallet 40 can be surrounded, so that the load L can be prevented from flying out when the forklift 10 is moving at high speed.

[0129] In addition, in the forklift 10, the control device 20, the fork 30, the pallet 40, and the guide member 50 can be separately configured. Thus, by combining the control device 20 with a device having a forklift function, the control device 20 controls the operation of the forklift 10, or by combining the control device 20 with a device having a drone function, the control device 20 controls the operation of the drone, etc., so that versatility can be achieved.

[0130] Figure 7An example of the hardware configuration of a computer 1200 that functions as a central brain 24 is schematically shown. The program installed in the computer 1200 enables the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or enables the computer 1200 to perform operations related to the device according to the present embodiment or the one or more "parts", and / or enables the computer 1200 to execute the process according to the present embodiment or a stage of the process. Such a program can be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0131] The computer 1200 according to the present embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216 that are interconnected via a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive can be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 can be a hard disk drive, a solid state drive, etc. The computer 1200 also includes a ROM 1230 and traditional input / output units such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0132] The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 from a frame buffer or the like provided in the RAM 1214 or within itself, and causes the image data to be displayed on the display device 1218.

[0133] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 within the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card, and / or writes programs and data to the IC card.

[0134] The ROM 1230 stores therein a boot program or the like executed by the computer 1200 at startup, and / or a program dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0135] The program is provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, enabling cooperation between the programs and the various types of hardware resources described above. The device or method may be configured by operating or processing information in accordance with the use of the computer 1200.

[0136] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and, based on the processing described in the communication program, command the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as the RAM 1214, the storage device 1224, the DVD-ROM, or the IC card, and transmits the read transmission data to the network, or writes the received data received from the network into the reception buffer provided on the recording medium.

[0137] In addition, the CPU 1212 may cause all or a necessary part of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. Next, the CPU 1212 may write the processed data back to the external recording medium.

[0138] Various types of information such as various types of programs, data, tables, and databases may be stored in the recording medium to undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214 and write the results back to the RAM 1214. The various types of processing include various types of operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc. described throughout this disclosure and specified by the instruction sequences of the programs. In addition, the CPU 1212 may retrieve information in files, databases, etc. within the recording medium. For example, in the case where a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may retrieve an entry that matches the condition specifying the attribute value of the first attribute from the plurality of entries and read the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0139] The programs or software modules described above can be stored in a computer-readable storage medium on or near computer 1200. Additionally, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, and thereby provide the program to computer 1200 via the network.

[0140] (Second Embodiment)

[0141] Next, the repetitive parts with the above-described embodiment will be omitted or simplified, and the second embodiment related to the present embodiment will be described.

[0142] In the second embodiment, the forklift 30 further includes a third forklift 30C. Figure 8A and Figure 8B is a side view showing the forklift 30 related to the second embodiment. Specifically, Figure 8A is a side view showing the stored state of the forklift 30, Figure 8B is a side view showing the extended state of the forklift 30.

[0143] As Figure 8A shown, in the stored state, the first forklift 30A, the second forklift 30B, and the third forklift 30C overlap. Here, the second forklift 30B is provided on the upper part of the first forklift 30A and can slide on the first forklift 30A, and the third forklift 30C is provided separately on the upper part of the second forklift 30B and can slide on the second forklift 30B.

[0144] As Figure 8B shown, in the extended state, the central brain 24 controls the driving of a driving mechanism (not shown), and the second forklift 30B and the third forklift 30C slide forward from the stored state. Thus, in the extended state, the overall length of the forklift 30 elongates compared to the stored state.

[0145] It should be noted that the extended state is not limited to the second forklift 30B and the third forklift 30C sliding forward as Figure 8B shown, and it can also be a state where only the third forklift 30C slides forward. Additionally, the forward sliding amount of the second forklift 30B and the third forklift 30C in the extended state is not limited to the Figure 8B shown sliding amount, and it can be more or less than that.

[0146] As described above, the forklift forks 30 can be telescoped into a storage state, an extended state in which only the third forklift fork 30C slides forward, and an extended state in which the second forklift fork 30B and the third forklift fork 30C slide forward, in three stages. Thus, for example, when the forklift forks 30 are moved to the lowest or highest position of the forklift 10, by changing from the storage state to the extended state, it is possible to easily convey the goods L placed on the inner side. It should be noted that although not shown, the fourth forklift fork can also extend thereon and move along the entire length of the forklift forks 30 in a state where the second forklift fork 30B and the third forklift fork 30C slide forward.

[0147] (Third Embodiment)

[0148] Next, the third embodiment according to the present embodiment will be described by omitting or simplifying the overlapping parts with the above-described embodiments.

[0149] Figure 9 FIG. 10 is a first block diagram showing an example of the functional configuration of the computer 1200 that functions as the central brain 24.

[0150] As Figure 9 shown, as a functional configuration, the CPU 1212 of the computer 1200 has a determination unit 121A, an acquisition unit 121B, a calculation unit 121C, and a control unit 121D. Each functional configuration is implemented by the CPU 1212 reading and executing a program installed in the computer 1200.

[0151] The determination unit 121A determines control information for calculating control variables for each operation of the forklift 10 from the detectable detection information. As an example, during the stop process of the forklift 10, the determination unit 121A acquires detection information that can be detected by the sensor 35, the sensor 55, and other sensors, and determines control information for calculating each control variable from the detection information. Specifically, the determination unit 121A determines control information used in calculating control variables for controlling the telescoping of the forklift forks 30, and control information used in calculating control variables for controlling the telescoping of the guide member 50, etc., from the detectable detection information.

[0152] The acquisition unit 121B acquires detection information detected by the sensor 35, the sensor 55, and other sensors every 1 nanosecond during the movement of the forklift 10.

[0153] During the movement of the forklift 10, the calculation unit 121C calculates control variables for controlling the operation of the forklift 10 by the control unit 121D every 1 nanosecond based on the control information previously determined by the determination unit 121A from the detection information acquired by the acquisition unit 121B.

[0154] The control unit 121D controls the operation of the forklift 10 every one billionth of a second based on the control variables calculated by the calculation unit 121C.

[0155] Next, the processing flow executed by the computer 1200 that functions as the central brain 24 will be described. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, expands it in the RAM 1214, and executes it, thereby executing Figure 3 the processing of the flowchart shown. It should be noted that as a prerequisite for this processing, the CPU 1212 determines the control information for calculating the control variables of each operation of the forklift 10 from the detectable information that can be obtained. Next, only step S11, whose processing content is different from that of the first embodiment, will be described below.

[0156] In step S11, the CPU 1212 calculates the control variables based on the control information previously determined from the detection information obtained in step S10. Then, the CPU 1212 proceeds to step S12.

[0157] As described above, in the computer 1200 that functions as the central brain 24 according to the third embodiment, the CPU 1212 determines the control information for calculating the control variables of each operation of the forklift 10 from the detectable information that can be obtained. Then, the CPU 1212 calculates the control variables for controlling the operation of the forklift 10 every one billionth of a second based on the control information determined during the stop of the forklift 10. Thus, by this computer 1200, compared with the case of determining the information for calculating the control variables of each operation of the forklift 10 during the movement of the forklift 10, the processing load of the CPU 1212 during the movement of the forklift 10 can be reduced.

[0158] (Fourth Embodiment)

[0159] Next, the repetitive parts with the above embodiments will be omitted or simplified to describe the fourth embodiment according to this embodiment.

[0160] In the fourth embodiment, which is different from the third embodiment, as a functional configuration, the CPU 1212 of the computer 1200 has an acquisition unit 121B, a calculation unit 121C, and a control unit 121D (see Figure 9 ).

[0161] The calculation unit 121C calculates, every one billionth of a second, a control variable for controlling the telescopic movement of the forklift forks 30 in the front-rear direction based on the detection information acquired by the acquisition unit 121B. For example, the calculation unit 121C calculates the telescopic amount of the forklift forks 30 corresponding to the positional relationship between the forklift 10 and the delivery destination of the cargo L based on the detection information, and calculates a control variable for telescoping the forklift forks 30 to that telescopic amount.

[0162] The control unit 121D controls the telescopic movement of the forklift forks 30 based on the control variable calculated by the calculation unit 121C.

[0163] Next, the processing flow executed by the computer 1200 that functions as the central brain 24 will be described. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, expands and executes it in the RAM 1214, thereby executing Figure 10 the processing of the flowchart shown.

[0164] In step S20, the CPU 1212 acquires the detection information detected by the sensors 35, 55, and other sensors. Then, the CPU 1212 proceeds to step S21.

[0165] In step S21, the CPU 1212 calculates a control variable for controlling the telescopic movement of the forklift forks 30 based on the detection information acquired in step S20. Then, the CPU 1212 proceeds to step S22.

[0166] In step S22, the CPU 1212 controls the telescopic movement of the forklift forks 30 based on the control variable calculated in step S21. Then, the CPU 1212 ends Figure 10 the processing of the flowchart shown.

[0167] As described above, in the computer 1200 that functions as the central brain 24 according to the fourth embodiment, the CPU 1212 calculates, every one billionth of a second, a control variable for controlling the telescopic movement of the forklift forks 30 in the front-rear direction based on the detection information. Then, the CPU 1212 controls the telescopic movement of the forklift forks 30 based on the calculated control variable. Thus, with this computer 1200, the cargo L can be accurately moved to a position away from the control device 20. In addition, with this computer 1200, when no cargo L is placed on the pallet 40, the forklift 10 can be moved at high speed by retracting the forklift forks 30.

[0168] (Fifth Embodiment)

[0169] Next, the fifth embodiment according to the present embodiment will be described, omitting or simplifying the parts that overlap with the above embodiments.

[0170] Figure 11 is a side view showing the extended state of the fork 30 according to the fifth embodiment. As Figure 11 shown, the fork 30 according to the fifth embodiment is formed by overlapping a first fork 30A, a second fork 30B, and a third fork 30C. Further, a sensor 35A is provided at the front end of the first fork 30A, a sensor 35B is provided at the front end of the second fork 30B, and a sensor 35C is provided at the front end of the third fork 30C. The sensors 35A, 35B, and 35C have the same detection function as the sensor 35 of the above-described embodiment.

[0171] Here, in the fifth embodiment, the detection ranges of the sensors 35A, 35B, and 35C are common. Therefore, in the fifth embodiment, the detection information obtained by detecting the common range by the sensors 35A, 35B, and 35C is input to the central brain 24.

[0172] According to the above structure, in the computer 1200 that functions as the central brain 24 according to the fifth embodiment, the CPU 1212 functions as an acquisition unit 121B as follows: in addition to acquiring the detection information detected by the sensor 55 and other sensors, it also acquires the detection information obtained by detecting the common range by the sensors 35A, 35B, and 35C. Further, the CPU 1212 functions as a calculation unit 121C as follows: based on the acquired detection information, it calculates a control variable for controlling the telescopic movement of the fork 30 in the front-rear direction every one billionth of a second. Thus, by this computer 1200, compared with the case where there is one sensor 35 provided on the fork 30, the reliability of the detection information from the sensor 35 for calculating the control variable can be improved.

[0173] (Sixth Embodiment)

[0174] Next, the sixth embodiment according to the present embodiment will be described while omitting or simplifying the overlapping parts with the above-described embodiment.

[0175] The sixth embodiment is the same as the fifth embodiment in that the fork 30 includes a first fork 30A, a second fork 30B, and a third fork 30C. Further, the first fork 30A, the second fork 30B, and the third fork 30C are respectively provided with sensors 35A, 35B, and 35C.

[0176] Here, in the sixth embodiment, different from the fifth embodiment, the detection ranges of the sensors 35A, 35B, and 35C are different. Therefore, in the sixth embodiment, the detection information obtained by detecting different ranges by the sensors 35A, 35B, and 35C is input to the central brain 24.

[0177] According to the above structure, in the computer 1200 that functions as the central brain 24 related to the sixth embodiment, the CPU 1212 functions as the acquisition unit 121B as follows: in addition to acquiring the detection information detected by the sensor 55 and other sensors, it also acquires the detection information obtained by detecting different ranges by the sensors 35A, 35B, and 35C. In addition, the CPU 1212 functions as the calculation unit 121C as follows: based on the acquired detection information, it calculates the control variable for controlling the telescopic movement of the forklift 30 in the front-rear direction every one billionth of a second. Thus, by this computer 1200, compared with the case where there is only one sensor 35 provided on the forklift 30, the detection range of the sensor 35 is expanded, so that the control variable can be calculated based on a wide range of detection information.

[0178] (Seventh Embodiment)

[0179] Next, the repetitive parts with the above embodiments are omitted or simplified to describe the seventh embodiment related to the present embodiment.

[0180] Figure 12 is a perspective view showing the forklift 10 related to the seventh embodiment. As Figure 12 shown, the forklift 30 related to the seventh embodiment has a front forklift 30X housed on the upper surface of the control device 20, and a rear forklift 30Y provided on the back side of the guide member 50 and different from the front forklift 30X. The front forklift 30X and the rear forklift 30Y can be telescoped in the front-rear direction. And the telescopic movement of the front forklift 30X and the rear forklift 30Y is performed by the central brain 24 controlling the driving of a driving mechanism (not shown). The front forklift 30X is an example of the "first forklift", and the rear forklift 30Y is an example of the "second forklift".

[0181] Here, in the computer 1200 that functions as the central brain 24 according to the seventh embodiment, the CPU 1212 functions as a calculation unit 121C that calculates, every one billionth of a second, a control variable for controlling the expansion and contraction of the front fork 30X or the rear fork 30Y based on the acquired detection information. For example, when the CPU 1212 identifies, based on the acquired detection information, that the cargo L is present on the back side of the guide 50, it calculates a control variable for controlling the expansion and contraction of the rear fork 30Y. Then, the CPU 1212 functions as a control unit 121D that controls the expansion and contraction of the front fork 30X or the rear fork 30Y based on the calculated control variable. In the above case, the CPU 1212 expands and contracts the rear fork 30Y to the expansion and contraction amount based on this control variable, and places the cargo L on the rear fork 30Y. Thus, with this computer 1200, unlike the case where the fork 30 is provided only on one side, the front or the rear, of the control device 20, there is no need to rotate the forklift 10 when placing the cargo L on the side where the fork 30 is not provided onto the fork 30. Therefore, with this computer 1200, compared to the case where the fork 30 is provided only on one side, the front or the rear, of the control device 20, it is possible to contribute to a significant improvement in production capacity and factory efficiency, etc.

[0182] (Eighth Embodiment)

[0183] Next, the repetitive parts with the above embodiments will be omitted or simplified to describe the eighth embodiment according to the present embodiment.

[0184] In the eighth embodiment, which is the same as the fourth embodiment in terms of functional configuration, the CPU 1212 of the computer 1200 has an acquisition unit 121B, a calculation unit 121C, and a control unit 121D (see Figure 9 ).

[0185] The calculation unit 121C calculates, every one billionth of a second, a control variable for controlling the expansion and contraction of the guide 50 in the vertical direction, which is an operation of the forklift 10, based on the detection information acquired by the acquisition unit 121B. For example, the calculation unit 121C calculates the expansion and contraction amount of the guide 50 corresponding to the positional relationship between the forklift 10 and the handover destination of the cargo L based on the detection information, and calculates a control variable for expanding and contracting the guide 50 to this expansion and contraction amount.

[0186] The control unit 121D controls the expansion and contraction of the guide 50 based on the control variable calculated by the calculation unit 121C.

[0187] Next, the processing flow executed by the computer 1200 that functions as the central brain 24 will be described. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, expands it in the RAM 1214, and executes it, thereby executingFigure 10 Processing of the flowchart shown. It should be noted that only steps S21 and S22, where the processing content is different from that of the fourth embodiment, will be described below.

[0188] In step S21, the CPU 1212 calculates a control variable for controlling the expansion and contraction of the guide member 50 based on the detection information obtained in step S20. Then, the CPU 1212 proceeds to step S22.

[0189] In step S22, the CPU 1212 controls the expansion and contraction of the guide member 50 based on the control variable calculated in step S21. Then, the CPU 1212 ends Figure 10 Processing of the flowchart shown.

[0190] As described above, in the computer 1200 that functions as the central brain 24 according to the eighth embodiment, the CPU 1212 calculates a control variable for controlling the expansion and contraction of the guide member 50 in the up and down directions every 1 / 1,000,000,000 seconds based on the detection information. Then, the CPU 1212 controls the expansion and contraction of the guide member 50 based on the calculated control variable. Thus, with this computer 1200, the cargo L can be accurately moved to a position higher than the control device 20. In addition, with this computer 1200, when no cargo L is placed on the pallet 40, the forklift 10 can be moved at high speed by contracting the guide member 50.

[0191] (Ninth Embodiment)

[0192] Next, the ninth embodiment according to the present embodiment will be described by omitting or simplifying the parts that overlap with the above embodiments.

[0193] Figure 13 is a perspective view showing the forklift 10 according to the ninth embodiment. Specifically, Figure 13 shows a protruding state in which a protective member 600 such as a fence protrudes upward from around the control device 20. The protrusion of the protective member 600 is performed by controlling the drive of a drive mechanism (not shown) by the central brain 24. As an example, the protective member 600 is composed of a combination of four plate-like members.

[0194] Here, in the ninth embodiment, the same as in the fourth embodiment, as a functional configuration, the CPU 1212 of the computer 1200 has an acquisition unit 121B, a calculation unit 121C, and a control unit 121D (see Figure 9 ).

[0195] Calculation unit 121C calculates, every one billionth of a second, a control variable for controlling the protruding amount of protection member 600 that acts as the movement of forklift 10, based on the detection information acquired by acquisition unit 121B. Here, the detection information acquired by acquisition unit 121B includes dimension information indicating the dimensions of cargo L. Then, calculation unit 121C calculates, for example, a protruding amount that is more than half of the height dimension of cargo L based on the detection information, and calculates a control variable for causing protection member 600 to protrude to that protruding amount.

[0196] Control unit 121D controls the protruding amount of protection member 600 based on the control variable calculated by calculation unit 121C.

[0197] Next, the processing flow executed by computer 1200 that functions as central brain 24 will be described. Through computer 1200, CPU 1212 reads the program installed in computer 1200, expands and executes it in RAM 1214, thereby executing Figure 14 the processing of the flowchart shown.

[0198] In step S30, CPU 1212 acquires the detection information detected by sensors 35, sensor 55, and other sensors. Then, CPU 1212 proceeds to step S31.

[0199] In step S31, CPU 1212 calculates, based on the detection information acquired in step S30, a control variable for controlling the protruding amount of protection member 600. Then, CPU 1212 proceeds to step S32.

[0200] In step S32, CPU 1212 controls the protruding amount of protection member 600 based on the control variable calculated in step S31. Then, CPU 1212 ends Figure 14 the processing of the flowchart shown.

[0201] As described above, in computer 1200 that functions as central brain 24 according to the ninth embodiment, CPU 1212 calculates, every one billionth of a second, a control variable for controlling the protruding amount of protection member 600 that can protrude upward from around control device 20 and surround cargo L, based on the detection information. Then, CPU 1212 controls the protruding amount of protection member 600 based on the calculated control variable. Thereby, through this computer 1200, it is possible to surround more than half of the height dimension of cargo L with protection member 600, thus suppressing cargo L from flying out when forklift 10 moves at high speed.

[0202] (Tenth Embodiment)

[0203] Next, the tenth embodiment related to the present embodiment will be described by omitting or simplifying the repetitive parts of the above-described embodiments.

[0204] Figure 15 It is a second block diagram showing an example of the functional configuration of the computer 1200 that functions as the central brain 24.

[0205] As Figure 15 shown, as a functional configuration, the CPU 1212 of the computer 1200 has an acquisition unit 122A, a calculation unit 122B, and a control unit 122C. Each functional configuration is implemented by the CPU 1212 reading and executing a program installed in the computer 1200.

[0206] The acquisition unit 122A acquires the detection information detected by the sensor 35, the sensor 55, and other sensors every one billionth of a second during the movement of the forklift 10.

[0207] The calculation unit 122B calculates a control variable for controlling the operation of the forklift 10 every one billionth of a second based on the detection information acquired by the acquisition unit 122A. In the tenth embodiment, the calculation unit 122B calculates control variables for separately controlling the forward and backward telescoping of the fork 30 and the up and down telescoping of the guide member 50, which are the operations of the forklift 10. Here, the control variables for controlling the telescoping of the fork 30 and the guide member 50 respectively are control values for causing the fork 30 and the guide member 50 to telescope respectively so that the fork 30 or the guide member 50 does not contact other objects during the movement of the forklift 10.

[0208] The control unit 122C controls the telescoping of the fork 30 and the guide member 50 respectively during the movement of the forklift 10 based on the control variable calculated by the calculation unit 122B. In the tenth embodiment, the control unit 122C controls the telescoping of the fork 30 and the guide member 50 respectively so that the fork 30 or the guide member 50 does not contact other objects during the movement of the forklift 10. Specifically, during the movement of the forklift 10, when the fork 30 is likely to contact other objects, the control unit 122C shortens the overall length of the fork 30, or when the guide member 50 is likely to contact other objects, the control unit 122C shortens the overall length of the guide member 50.

[0209] Next, the processing flow executed by the computer 1200 that functions as the central brain 24 will be described. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, expands it in the RAM 1214, and executes it, thereby executing Figure 16 the processing of the flowchart shown.

[0210] In step S40, the CPU 1212 acquires the detection information detected by the sensors 35, 55, and other sensors. Then, the CPU 1212 proceeds to step S41.

[0211] In step S41, the CPU 1212 determines whether the forklift forks 30 or the guide 50 are likely to come into contact with other objects based on the detection information acquired in step S40 and the respective telescopic states of the forklift forks 30 and the guide 50. Here, when it is determined that the forklift forks 30 or the guide 50 are likely to come into contact with other objects (step S41: "Yes (YES)"), the CPU 1212 proceeds to step S42. On the other hand, when it is not determined that the forklift forks 30 or the guide 50 are likely to come into contact with other objects (step S41: "No (NO)"), the CPU 1212 ends Figure 16 the processing of the flowchart shown. For example, the CPU 1212 considers the positional relationship between other objects existing in the travel path of the forklift 10 and the forklift forks 30 or the guide 50, the travel route of the forklift 10, and the speed of the forklift 10, etc., to determine whether there is a possibility of contact between the forklift forks 30 or the guide 50 and other objects.

[0212] In step S42, the CPU 1212 calculates the control variables for controlling the respective telescopic movements of the forklift forks 30 and the guide 50 based on the detection information acquired in step S40. Then, the CPU 1212 proceeds to step S43.

[0213] In step S43, the CPU 1212 controls the respective telescopic movements of the forklift forks 30 and the guide 50 based on the control variables calculated in step S42 so that the forklift forks 30 or the guide 50 do not come into contact with other objects during the movement of the forklift 10. Then, the CPU 1212 ends Figure 16 the processing of the flowchart shown.

[0214] As described above, in the computer 1200 that functions as the central brain 24 according to the tenth embodiment, the CPU 1212 calculates a control variable for controlling the operation of the forklift 10 based on the detection information detected by the sensors 35, 55, and other sensors. Then, based on the calculated control variable, the CPU 1212 controls the respective extensions and contractions of the fork 30 and the guide 50 during the movement of the forklift 10 as operations of the forklift 10. Specifically, the CPU 1212 controls the respective extensions and contractions of the fork 30 and the guide 50 so that the fork 30 or the guide 50 does not come into contact with other objects during the movement of the forklift 10. Thus, with this computer 1200, it is possible to move the forklift 10 while extending and contracting the fork 30 and the guide 50 respectively so that the fork 30 or the guide 50 does not come into contact with other objects. Therefore, the forklift 10 can move in narrow places in the factory, etc., which can contribute to a significant increase in production capacity and factory efficiency, etc.

[0215] It should be noted that in the tenth embodiment, the respective extensions and contractions of the fork 30 and the guide 50 are controlled so that the fork 30 or the guide 50 does not come into contact with other objects during the movement of the forklift 10, but the control examples of the fork 30 and the guide 50 are not limited to this. For example, the CPU 1212 may also identify the position of the handover destination of the cargo L based on the detection information, and control the respective extensions and contractions of the fork 30 and the guide 50 during the movement of the forklift 10 according to the identified position of the handover destination of the cargo L. Thus, by extending and contracting the positions and heights, etc. of the fork 30 and the guide 50 in accordance with the handover destination of the cargo L during the movement of the forklift 10, it is possible to hand over the cargo L to the handover destination in a short time after the forklift 10 stops.

[0216] (Eleventh Embodiment)

[0217] Next, the repetitive parts with the above-described embodiments are omitted or simplified to describe the eleventh embodiment according to the present embodiment.

[0218] In the eleventh embodiment, the central brain 24, in the fork 30 shown as an example in Figure 8A and Figure 8B specifically controls the operation of the forklift 10 including at least one of the horizontal extension distance and the vertical movement distance of the fork 30 based on the load (weight) of the cargo L.

[0219] Figure 17 and Figure 18 are side views showing the forklift 10 according to the eleventh embodiment. Specifically, Figure 17 is a side view showing the situation where the fork 30 of the forklift 10 extends and contracts in the horizontal direction ( Figure 17 the arrow Z direction inFigure 18 is a side view showing the movement of the fork 30 of the forklift 10 in the vertical direction (height direction; Figure 18 the direction of arrow Y in the figure).

[0220] As Figure 17 shown, in the eleventh embodiment, the left and right driven wheels 22B on the front side of the forklift 10 are used as the tipping fulcrum O, and the center of gravity of the cargo L is used as the center of gravity G. Generally, the tipping moment of the forklift 10 is represented by the distance from the tipping fulcrum O × the load M of the cargo L. That is, when the load M of the cargo L is substantially the same, as an example, when the fork 30 is extended and retracted such that the horizontal direction (Z direction) distance from the tipping fulcrum O to the center of gravity G becomes the distance D1, compared with the case where the distance becomes a distance D2 shorter than the distance D1, the tipping moment becomes larger.

[0221] On the other hand, as Figure 18 shown, when the load M of the cargo L is substantially the same, as an example, when the guide member 50 moves such that the height in the vertical direction (Y direction) from the tipping fulcrum O to the center of gravity G becomes the height H1, compared with the case where the height becomes a height H2 lower than the height H1, the tipping moment becomes larger.

[0222] That is, when the load M of the cargo L is substantially the same, since the farther the cargo L is from the tipping fulcrum O, the larger the tipping moment, the forklift 10 is more likely to tip over. In addition, when the distance from the tipping fulcrum O to the center of gravity G is substantially the same, the larger the load M of the cargo L, the larger the tipping moment, so the forklift 10 is more likely to tip over.

[0223] As an example, the allowable range of the tipping moment is preset according to the position and load of the center of gravity of the forklift 10 in the state where the cargo L is not placed on the fork 30. The central brain 24 calculates a control variable based on the load M of the cargo L in the detection information obtained from the sensor 35, the sensor 55, and other sensors, so that the tipping moment when the cargo L is placed is within the preset allowable range of the tipping moment. For example, the control variable is at least one of the distance and height from the tipping fulcrum O to the center of gravity G of the cargo L. In addition, the central brain 24 controls at least one of the horizontal direction (Z direction) extension and retraction distance and the vertical direction (Y direction) movement distance of the fork 30 based on the calculated control variable, that is, based on at least one of the distance and height from the tipping fulcrum O to the center of gravity G of the cargo L. Specifically, the central brain 24 moves the fork 30 such that the center of gravity G of the cargo L is located at the calculated above-mentioned distance and above-mentioned height.

[0224] In this way, by controlling at least one of the horizontal (Z direction) extension and retraction distance and the vertical (Y direction) movement distance of the fork 30 based on the load of the cargo L, the risk of tipping over of the forklift 10 can be reduced.

[0225] (Twelfth Embodiment)

[0226] Next, a twelfth embodiment according to the present embodiment will be described while omitting or simplifying portions overlapping with the above-described embodiment.

[0227] Figure 19 1 is a side view showing the entire fork 30 according to the twelfth embodiment. Figure 19 The fork 30 is schematically shown as a whole.

[0228] like Figure 19 As shown in the figure, the forklift 10 of the twelfth embodiment includes a plurality of forks 30. The structure of each fork 30 can be Figure 6 , Figure 8A and Figure 8B In the twelfth embodiment, as an example, five forks 30 are provided. Specifically, a first fork 32A, a second fork 32B, a third fork 32C, a fourth fork 32D, and a fifth fork 32E are provided. It should be noted that in the twelfth embodiment, the first fork 32A to the fifth fork 32E are sometimes referred to as forks 30, respectively.

[0229] Each fork 30 is connected by a connecting portion 33. As an example, the connecting portion 33 is such that adjacent forks 30 can be connected with the connecting portion 33 as an axis. Figure 19 The adjacent forks 30 are connected in a manner that they can rotate relative to each other in the clockwise and counterclockwise directions. It should be noted that, as an example, the rotation of the fork 30 at the connection portion 33 is performed by a driving mechanism not shown in the figure. The driving mechanism is controlled by the central brain 24. In addition, the connection portion 33 has a locking mechanism that can lock the fork 30 at any angle. It should be noted that with respect to the connection portion 33 and the locking mechanism, well-known technologies can be used, and detailed descriptions are omitted here. The connection portion 33 at the rear end portion on the side opposite to the front end portion of the fork 30 on which the sensor 35 is provided is connected to the guide 50.

[0230] In the twelfth embodiment, when the locking function is released, the five forks 30 can be stored in the folded state by folding the forks 30 so that the angle between the adjacent forks 30 becomes smaller (see FIG. Figure 20 and Figure 21 ). In addition, by unfolding the folded fork 30, it is possible to Figure 19 The deformation shown is step-like.

[0231] According to the above structure, as Figure 20 shown, for example, as an example of the detection information obtained from sensors 35, sensor 55, and other sensors, that is, the surrounding information of the forklift 10, it is assumed that it is detected that there is other cargo L in front of the pallet 40 transported by the forklift 10. In this case, the central brain 24 obtains information related to the shape of the above other cargo L and the position information of the pallet 40 from sensors 35, sensor 55, and other sensors. Then, based on the obtained information, the connection part 33 is driven and controlled, and thereby the telescopic amount of each fork, the rotation amount and rotation direction at the connection part 33 are calculated as control variables.

[0232] Based on the calculated control variables, the central brain 24 controls the deformation of each fork 30. Thereby, the pallet 40 can be placed on the forks 30 without causing the other cargo L to move in front of the pallet 40. It should be noted that after the pallet 40 is placed on the forks 30, the central brain 24 calculates the telescopic amount of each fork 30 and the vertical movement amount of the guide member 50 as control variables, and based on the calculated control variables, each fork 30 is telescoped and vertically moved. Thereby, the pallet 40 carrying the cargo L can be moved to a desired position.

[0233] In addition, as Figure 21 shown, for example, as an example of the detection information obtained from sensors 35 and sensor 55, and other sensors, that is, the surrounding information of the forklift 10, it is assumed that it is detected that the pallet 40 transported by the forklift 10 is placed in the middle of a step. In this case, the central brain 24 obtains information related to the shape of the above step and the position information of the pallet 40 from sensors 35, sensor 55, and other sensors. Then, based on the obtained information, the connection part 33 is driven and controlled, and thereby the telescopic amount of each fork and the rotation amount and rotation direction at the connection part 33 are calculated as control variables.

[0234] Based on the calculated control variables, the central brain 24 controls the deformation of each fork 30. Thereby, for example, even when the pallet 40 is located at a position higher than the upper end of the vertical direction of the guide member 50, the pallet 40 can be placed on the forks 30. It should be noted that after the pallet 40 is placed on the forks 30, the central brain 24 calculates the telescopic amount of each fork 30 and the vertical movement amount of the guide member 50 as control variables, and based on the calculated control variables, each fork 30 is telescoped and vertically moved. Thereby, the pallet 40 carrying the cargo L can be moved to a desired position.

[0235] (The thirteenth embodiment)

[0236] Next, the thirteenth embodiment related to the present embodiment will be described by omitting or simplifying the repetitive parts of the above-described embodiments.

[0237] In the forklift 10 of the thirteenth embodiment, as Figures 22 to 24 shown, the control unit 28 includes a housing 26 and a control device 20. Further, as Figure 25 shown, the control device 20 is configured to be detachable from the housing 26.

[0238] As Figure 23 and Figure 25 shown, the control device 20 has a semi-circular portion and a rectangular portion when viewed from above. Further, the control device 20 as a whole has a length L2, a width W2, and a height H2. The control device 20 has a shape that is non-linearly symmetric with respect to the center line CL2 in the length direction.

[0239] In the thirteenth embodiment, the housing 26 has a rectangular parallelepiped shape with a length L3, a width W3, and a height H3. In the thirteenth embodiment, the housing 26 is also flat in the height direction, i.e., the up-and-down direction.

[0240] An installation portion 62 for installing the control device 20 is formed on the housing 26. The installation portion 62 of the housing 26 corresponds to the shape of the control device 20 and has a semi-circular portion and a rectangular portion. The installation portion 62 is open to the side opposite to the direction in which the fork 30 extends. The control device 20 enters the installation portion 62 in a posture such that the semi-circular portion of the control device 20 faces the same direction as the direction in which the fork 30 extends. When the control device 20 enters the specified position of the installation portion 62, the rear surface 26B of the housing 26 and the rear surface 20B of the control device 20 are aligned in a straight line when viewed from above, and the housing 26 and the control device 20 form an integral rectangular shape.

[0241] Contact portions 64 are provided on the housing 26 and the control device 20. In a state where the control device 20 is installed at the specified position of the installation portion 62, the housing 26 and the control device 20 are in electrical contact through the contact portions 64.

[0242] In a state where the control device 20 is installed at the specified position of the installation portion 62, the center of gravity CG2 of the control device 20 is located on the rear side with respect to the center line CL2 in the length direction of the control device 20, i.e., on the side opposite to the direction in which the fork 30 extends (arrow E1 direction).

[0243] The center of gravity CG3 of the housing 26 is located on the rear side with respect to the center line CL3 in the length direction, i.e., on the side opposite to the direction in which the fork 30 extends (arrow E1 direction). The center of gravity CG3 mentioned here is the center of gravity of the housing 26 alone in a state where the control device 20 is not installed in the installation portion 62.

[0244] In the forklift 10 of the thirteenth embodiment having such a structure, the control device 20 can be loaded and unloaded with respect to the housing 26. It can enter the installation portion 62 from the state where the control device 20 is separated from the housing 26 as shown, and as shown, it is installed on the housing 26. Figure 25 In the state where the control device 20 is installed on the housing 26, the center of gravity CG2 of the control device 20 is located on the side closer to the opposite side of the direction in which the forklift forks 30 extend (arrow E1 direction) than the center line CL2. Therefore, for example, even when the forklift forks 30 are in the extended state and the goods L are placed on the forklift forks 30, the forklift 10 can be prevented from tipping to the side in the extending direction of the forklift forks 30. Even in the state where the forklift forks 30 are moved to the upper part of the guide member 50 and the forklift forks 30 are further extended (see Figures 22 to 24 shown as the first embodiment), the forklift 10 can be prevented from tipping to the side in the extending direction of the forklift forks 30.

[0245] In addition, in the thirteenth embodiment, the center of gravity CG3 of the housing 26 is also located on the side closer to the opposite side of the direction in which the forklift forks 30 extend (arrow E1 direction) than the center line CL3. Therefore, for example, even when the forklift forks 30 are in the extended state and the goods L are placed on the forklift forks 30, the forklift 10 can be prevented from tipping to the side in the extending direction of the forklift forks 30. Figure 6 )

[0246] Here, for example, as shown, consider the case where the control device 20 is separated from the housing 26. Even in this case, the center of gravity CG3 of the housing 26 is located on the side closer to the opposite side of the direction in which the forklift forks 30 extend (arrow E1 direction) than the center line CL3. Therefore, when the forklift forks 30 are in the extended state and the goods L are placed on the forklift forks 30, the forklift 10 can be prevented from tipping to the side in the extending direction of the forklift forks 30.

[0247] Here, for example, as shown Figure 25 in, consider the case where the control device 20 is separated from the housing 26. Even in this case, the center of gravity CG3 of the housing 26 is located on the side closer to the opposite side of the direction in which the forklift forks 30 extend (arrow E1 direction) than the center line CL3. Therefore, when the forklift forks 30 are in the extended state and the goods L are placed on the forklift forks 30, the forklift 10 can be prevented from tipping to the side in the extending direction of the forklift forks 30.

[0248] In the thirteenth embodiment, the control device 20 has a shape that is non-linearly symmetric with respect to the center line CL2. Therefore, when the control device 20 is installed on the housing 26, it is easy to determine the installation direction. In addition, in the thirteenth embodiment, as an example of the non-linearly symmetric shape of the control device 20, it has a semicircular part and a rectangular part. Thus, a structure can be realized in which it is easy to set the center of gravity CG2 of the control device 20 at a position deviated from the center line CL2.

[0249] In the thirteenth embodiment, the housing 26 is also flat in the vertical direction, and the center of gravity CG3 of the housing 26 is located on the lower side. Therefore, the posture of the forklift 10 is stable. For example, even when the forklift 10 travels with the goods L placed on the forklift forks 30, the posture of the forklift 10 is stable.

[0250] (The Fourteenth Embodiment)

[0251] Next, the repetitive parts with the above-described embodiments will be omitted or simplified to describe the fourteenth embodiment related to the present embodiment.

[0252] The fourteenth embodiment is characterized in that a movable partition-type protective member 60A is provided on the pallet 40 included in the forklift 10. Hereinafter, the differences from the first embodiment will be described. It should be noted that the same reference numerals are given to the same structures, and their detailed descriptions are omitted.

[0253] As Figure 26 shown, the control device 20 of the fourteenth embodiment is configured to be connectable to the pallet 40 having the protective member 60A (see Figure 27 ) through communication.

[0254] The pallet 40 of the fourteenth embodiment has a loading surface 40L for loading the goods L, and protective members 60A as movable partitions provided on the respective sides of the loading surface 40L (see Figure 27 and Figure 29 ). In addition, as Figure 28 shown, the pallet 40 includes a communication unit 401 for communicating with the control device 20, a drive unit 403 for driving the protective member 60A, and a control unit 402 for controlling the communication unit 401 and the drive unit 403.

[0255] As Figure 27 shown, the protective member 60A of the fourteenth embodiment is a plate-like member provided on the four sides of the rectangular pallet 40. It should be noted that the height of the protective member 60A is not limited to the ratio of Figure 27 , and can be set as needed. In addition, the width of the protective member 60A is not limited to the case where it is provided across the entire area of each side of the pallet 40, and it may be provided on a part of each side or multiple ones may be provided on each side. It should be noted that the number of the protective members 60A is not limited to four.

[0256] In addition, as Figure 29 shown, the protective member 60A of the fourteenth embodiment can be turned over in an outward-opening manner. Thereby, the goods L can easily enter and exit the pallet 40. In this way, the protective member 60A is a movable type that stands up like a partition or is turned over in an outward-opening manner.

[0257] The operation of this protective member 60A is controlled by the central brain 24 of the control device 20 in a manner linked to the traveling state of the forklift 10. The central brain 24 controls the protective member 60A based on the information detecting the acceleration when the forklift 10 is traveling. It should be noted that the detection information including the acceleration when the forklift 10 is traveling can be detected based on the sensor 35.

[0258] Specifically, the central brain 24 of the control device 20 receives the acceleration of the forklift 10, and the central brain 24 sends the detection information of the acceleration to the tray 40. On the other hand, the communication unit 401 of the tray 40 receives the detection information from the central brain 24 of the control device 20. When the received detection information indicates an increase in acceleration, the driving unit 403 of the tray 40 raises the protective member 60A. In addition, when the received detection information indicates a decrease in acceleration, the driving unit 403 of the tray 40 lowers the protective member 60A.

[0259] It should be noted that as the determination criterion for the increase or decrease in acceleration performed by the control unit 402 of the tray 40, when the communication unit 401 receives the detection information related to the acceleration above the set value, the control unit 402 controls to raise the protective member 60A through the driving unit 403. In addition, when the communication unit 401 receives the detection information related to the acceleration less than the set value, the control unit 402 controls to lower the protective member 60A through the driving unit 403. In this way, based on the threshold value that can be preset in advance, the control unit 402 determines the increase or decrease in acceleration, and makes the protective member 60A movable through the driving unit 403.

[0260] In addition, the control unit 402 of the tray 40 can also perform the following control regardless of the acceleration of the forklift 10: when it is detected by weight that there is a cargo L placed on the tray 40, the protective member 60A is raised.

[0261] In addition, the central brain 24 of the control device 20 can also control to raise only the protective member 60A located in the direction opposite to the acceleration of the forklift 10.

[0262] The direction opposite to the acceleration of the forklift 10 is the direction of the acceleration applied to the cargo L. If only the protective member 60A in the direction of the acceleration applied to the cargo L is raised, even if the cargo moves when the forklift accelerates, it is possible to prevent the cargo from falling, etc. through the protective member 60A.

[0263] Specifically, the central brain 24 of the control device 20 receives the detection information of the increase in the acceleration of the forklift 10 (including the information on the direction of the acceleration as well). The communication unit 401 of the pallet 40 receives the detection information from the central brain 24 of the control device 20. Based on the received information, the drive unit 403 of the pallet 40 raises the guard 60A located in the direction opposite to the direction of the acceleration. That is, when the forklift 10 in the fourteenth embodiment accelerates, the guard 60A at the rear side of the pallet 40 is raised, and when the forklift 10 decelerates, the guard 60A at the front side of the pallet 40 is raised. In addition, when the forklift 10 in the fourteenth embodiment rotates to the right, the guard 60A on the left side of the pallet 40 is raised, and when the forklift 10 rotates to the left, the guard 60A on the right side of the pallet 40 is raised.

[0264] In addition, the central brain 24 of the control device 20 receives the detection information of the decrease in the acceleration of the forklift 10 (including the information on the direction of the acceleration as well). The communication unit 401 of the pallet 40 receives the detection information from the central brain 24 of the control device 20. Based on the received information, the drive unit 403 of the pallet 40 lowers the guard 60A located in the direction opposite to the direction of the acceleration.

[0265] In this way, by controlling the central brain 24 of the control device 20 to only raise the guard 60A located in the direction opposite to the acceleration of the forklift 10, the use of the minimum number of guards 60A is controlled, and the equipment cost of the forklift 10 can be reduced.

[0266] It should be noted that lowering the guard 60A means that, as Figure 29 shown, it not only means tipping over in an outward-opening manner, but also includes operating in a manner of being stored on the back side of the pallet 40.

[0267] As described above, the guard 60A in the fourteenth embodiment stands up like a partition at the position of the edge of the pallet 40 of the forklift 10 loaded with the goods L, thus having the effects of preventing the goods from falling, scattering, and tipping over.

[0268] (Fifteenth Embodiment)

[0269] Next, the repetitive parts with the above-described embodiments are omitted or simplified to describe the fifteenth embodiment related to the present embodiment.

[0270] The feature of the fifteenth embodiment is that the forklift forks 30 are provided at multiple positions in the height direction of the guide member 50 provided in the forklift 10. Hereinafter, the differences from the first embodiment will be described. In addition, the same reference numerals are given to the same structures, and their detailed descriptions are omitted.

[0271] The guide member 50 of the fifteenth embodiment has forks 30 at multiple positions in the height direction. Specifically, as Figure 30 shown, the fork 30 includes a fork 301, a fork 302, and a fork 303.

[0272] The fork 301 is disposed in the upper region of the guide member 50, the fork 302 is disposed in the middle region of the guide member 50, and the fork 303 is disposed in the lower region of the guide member 50. Each region may be evenly distributed in the height direction of the guide member 50, or adjacent regions may overlap. For example, in the case of even distribution, the height from the lower end to 1 / 3 of the guide member 50 may be used as the lower region, the height from 1 / 3 to 2 / 3 may be used as the middle region, and the height from 2 / 3 to the upper end may be used as the upper region. In addition, for example, in the case of region overlap, the height from the lower end to 3 / 7 of the guide member 50 may be used as the lower region, the height from 2 / 7 to 5 / 7 may be used as the middle region, and the height from 4 / 7 to the upper end may be used as the upper region. It should be noted that the positions and ranges of the regions for each fork 30 are not limited to the above examples, and the forks 30 can be arranged according to the required positions. In addition, the number of forks 30 is not limited to three.

[0273] In the fifteenth embodiment, the telescopic linkage of each fork 30 can be achieved by multiple forks 30. Specifically, the control unit (such as the central brain 24) of the control device 20 controls the extension, etc. of the multiple forks 30. For example, an example of loading the goods L loaded on the pallet 40 on the upper, middle, and lower three-layer shelves onto the forklift 10 of the fifteenth embodiment will be described. First, the control unit of the control device 20 extends the fork 303 located in the lower region of the guide member 50, and places the lower pallet 40 on the extended fork 303. Next, during the period when the control unit retracts the fork 303, it extends the fork 302 located in the middle region of the guide member 50, and places the middle pallet 40 on the extended fork 302. Further, during the period when the control unit retracts the fork 302, it extends the fork 301 located in the upper region of the guide member 50, and places the upper pallet 40 on the extended fork 301.

[0274] In this way, by making the telescopic linkages of the multiple forks 30, it is possible to reduce unnecessary actions and waiting times when loading multiple goods L onto the forklift 10, and perform efficient logistics.

[0275] In the fifteenth embodiment, when the forklift 10 loads multiple goods L, there is no restriction on the order of loading the goods onto each fork 30. However, considering the balance of the forklift 10, the control unit of the control device 20 can perform the following control: place the goods L in the order of the fork 303, the fork 302, and the fork 301, and unload the goods L in the order of the fork 301, the fork 302, and the fork 303.

[0276] Furthermore, when the forklift 10 is loaded with cargo L, the camera as the sensor 35 provided at the front end of each fork 30 may read the label of the cargo L on the shelf, and the control unit may obtain information related to the type and weight of the cargo L, and determine at least one of the loading order and the unloading order of the cargo L with respect to each fork 30 based on the obtained information. For example, as described above, in consideration of the balance of the forklift 10, the control unit may determine to load the cargo L in the order of the fork 303, the fork 302, and the fork 301 from the heavier cargo L, and determine to unload the cargo L in the order of the fork 301, the fork 302, and the fork 303 from the lighter cargo L.

[0277] It should be noted that, if the weight of the cargo L to be loaded on the fork 301 is light, the control unit may also perform the following control: before loading the cargo L on the forks 302 and 303, the light cargo L is loaded on the forks 301. In addition, if the weight of the cargo L loaded on the forks 302 is the heaviest, the control unit may also perform the following control: before unloading the cargo L on the forks 301 and 303, the cargo L on the forks 302 is unloaded.

[0278] In addition, the control unit of the control device 20 may move each fork 30 in conjunction with the travel state of the forklift 10. Specifically, the control unit of the control device 20 controls the extension and retraction of each fork 30 based on the acceleration relative to the forklift 10.

[0279] For example, when the forklift 10 is stopped, each fork 30 is extended and retracted so that the center of gravity of the loaded cargo L and the center of gravity of the control device 20 are as close as possible (that is, so that the front and rear positions of the center of gravity of each cargo L in a plan view are close to the center of gravity of the control device 20). In this case, when the forklift 10 starts to travel and the acceleration changes, the control unit controls each fork 30. That is, when the forklift 10 accelerates, the control unit extends each fork 30, and when it decelerates, the control unit retracts each fork 30. In this way, the balance of the forklift 10 during travel can be controlled, and the tipping of the forklift 10 can be suppressed.

[0280] It should be noted that, as described above, when the balance is controlled by extending and retracting the forks 30, not all of the forks 30 may be extended or retracted, but only specific forks 30 may be extended or retracted. For example, only the fork 301 that has the greatest influence on the balance of the forklift 10 and is farthest from the tire 22 (i.e., located at the highest position) may be extended or retracted.

[0281] Furthermore, in the case of controlling the balance, the control unit of the control device 20 may extend or retract the fork 30 when a predetermined speed is exceeded or when a predetermined acceleration is exceeded.

[0282] It should be noted that the acceleration is acquired by the control unit through the analysis of the captured images of the cameras serving as sensors 35 and 55, the information of the acceleration sensor mounted as another sensor, and the calculation of differentiating the speed. In addition, the speed is acquired by the control unit through the analysis of the captured images of the cameras serving as sensors 35 and 55, the calculation based on the rotational speed of the tire 22, and the calculation of integrating the acceleration.

[0283] As described above, the forklift 10 of the fifteenth embodiment can efficiently carry multiple goods L by arranging a plurality of forks 30 on the guide member 50 and controlling them by the control device 20. Furthermore, according to the fifteenth embodiment, compared with the conventional forklift having an operating portion, various loading methods and handling manners of goods can be provided.

[0284] (Sixteenth Embodiment)

[0285] Next, the sixteenth embodiment related to the present embodiment will be described by omitting or simplifying the overlapping parts with the above embodiments.

[0286] The feature of the sixteenth embodiment is that the forklift 10 has forks 30 not only in front of the guide member 50 but also behind it. Hereinafter, the differences from the first embodiment and the fifteenth embodiment will be described. It should be noted that the same reference numerals are given to the same structures, and their detailed descriptions are omitted.

[0287] As Figure 31 shown, the guide member 50 of the sixteenth embodiment has a fork 304 behind the guide member 50. It should be noted that the setting position of the fork 304 in the height direction is not limited to Figure 31 the position shown and can be arranged at a flexible height according to needs. In addition, the number of forks 304 is not limited to one. For example, as shown in the fifteenth embodiment, three forks 30 can also be provided behind the guide member 50.

[0288] It should be noted that the telescopic control of each fork 30 is the same as that of the fifteenth embodiment and is controlled by the control unit of the control device 20. That is, through the control unit, the telescoping of the fork 30 corresponding to the loading order of the goods L and the balance of the forklift 10 using the telescoping of the fork 30 can be controlled.

[0289] As described above, the forklift 10 of the sixteenth embodiment is also equipped with forks 30 behind the guide member 50. In addition to the effects of the fifteenth embodiment, it can also efficiently carry multiple goods in different directions.

[0290] (Seventeenth Embodiment)

[0291] Next, the seventeenth embodiment related to the present embodiment will be described by omitting or simplifying the repetitive parts of the above-described embodiments.

[0292] The seventeenth embodiment is characterized by including a plurality of pairs of forks 30 that can rotate in the left - right direction. The up - down movement and left - right rotation of the forks 30 are controlled by the central brain 24 to drive the driving mechanism. Hereinafter, the differences from the first embodiment will be described. It should be noted that the same reference numerals are given to the same structures, and their detailed descriptions are omitted.

[0293] (Structure)

[0294] Figure 32 and Figure 33 are perspective views showing a control example of the forklift 10 according to the seventeenth embodiment. As Figure 32 and Figure 33 shown, the forks 30 without a load can rotate in the left - right direction relative to the guide member 50. The load in the seventeenth embodiment is a pallet 40 loaded with goods L.

[0295] The guide member 50 of the seventeenth embodiment includes a plurality of pairs of forks 30. The plurality of pairs of forks 30 in the seventeenth embodiment are a pair of forks 301 and a pair of forks 302. Each pair of forks moves up - down and rotates left - right in a linked manner. In addition, the forks 30 move along a guide rail 60 described later. It should be noted that the plurality of pairs of forks 30 are not limited to two pairs, and may be three or more pairs.

[0296] The guide rail 60 is configured to include two vertical rails that extend in the up - down direction along the extension direction of the guide member 50. In addition, the guide rail 60 of the seventeenth embodiment has horizontal rails at the upper and lower ends of the vertical rails that can rotate the forks 30 in the left - right direction. It should be noted that the positions where the horizontal rails are provided are not limited to the upper and lower ends of the vertical rails, and may be any position on the vertical rails. In addition, three or more horizontal rails may be provided.

[0297] Figure 32 The forks 301 shown in Figure 32 show the following state: the state where the front end of the forks 301 moved to the upper end of the extension rail faces the front of the forklift 10, and the front end is rotated outward by 90 degrees. In addition,

[0298] Figure 33 The forks 301 shown inFigure 33 The fork 302 shown shows the situation of rising on the vertical track in a state where the pallet 40 loaded with the goods L is placed.

[0299] Figure 34 It is a perspective view schematically showing the structure of the fork 30 and the guide 50 of the forklift 10 according to the seventeenth embodiment. As Figure 34 shown, the fork 30 includes a support portion 31, and the guide 50 includes a cover 51.

[0300] The fork 30 is formed to protrude from the support portion 31. In addition, the support portion 31 is sandwiched between the guide 50 and the cover 51 so as to be movable up and down and rotatable left and right. The fork 30 and the support portion 31 move along the guide rail 60. It should be noted that the support portion 31 and the fork 30 may be formed integrally, or may be provided so that the fork 30 can be detached from the support portion 31.

[0301] The guide 50 of the seventeenth embodiment has a substantially cylindrical shape. In addition, a gap through which the support portion 31 can move is provided between the cover 51 and the guide 50, and the cover 51 is formed outside the guide 50. The guide 50 is provided with a guide rail 60 through which the fork 30 passes. The guide rail 60 is configured as a groove communicating from the surface to the inside of the cover 51, and constitutes a circulating track for the movement of the fork 30. Hereinafter, the guide rail 60 may sometimes be referred to as the "circulating track 60".

[0302] Figure 35 It is a schematic view of the movable area where the fork 30 according to the seventeenth embodiment rotates in the left - right direction. As Figure 35 shown, the fork 30 rotates along the guide rail 60 provided on the cover 51 together with the support portion 31.

[0303] Figure 36 It is a schematic view of the drive mechanism of the fork 30 according to the seventeenth embodiment. The guide 50 and the support portion 31 have a linear motor mechanism as the drive mechanism of the fork 30. Specifically, this linear motor mechanism includes a stator plate 52 provided on the guide 50 and the cover 51 and a movable plate 53 provided on the support portion 31.

[0304] The stator plate 52 is provided on the outer peripheral portion of the guide 50 and the inner peripheral portion of the cover 51. The stator plate 52 is composed of, for example, a plurality of first coils arranged alternately along the vertical track and a plurality of second coils arranged alternately along the horizontal track.

[0305] The movable plate 53 provided in the support portion 31 is provided on the surface facing the stator plate 52. The movable plate 53 is, for example, a magnet plate in which the N - poles and S - poles of a plurality of permanent magnets are arranged alternately.

[0306] (Function)

[0307] The control unit (e.g., the central brain 24) of the control device 20 has the function of controlling the linear motor mechanism. The control unit has the following functions: by controlling the linear motor mechanism, it not only controls the up and down movement of the forklift forks 30, but also controls the rotation in the left and right directions. In addition, the control unit controls the forklift forks 30 to move along the guide rail 60.

[0308] (Function)

[0309] Here, for example, use Figure 32 and Figure 33 to illustrate the control in the case where the pallet 40 loaded with a plurality of goods L and disposed at the lower part is repeatedly moved upward in the forklift 10 of the seventeenth embodiment.

[0310] First, as Figure 32 shown, when the pallet 40 loaded with the goods L is placed on the forklift forks 302, the forklift forks 302 rise to carry the goods L. Here, the control unit causes the forklift forks 302 to rise by controlling the current of the first coil of the stator plate 52 provided on the guide member 50.

[0311] On the other hand, after the handling is completed and the forklift forks 301 without the pallet 40 loaded with the goods L placed thereon rise along the circulation track 60. When the forklift forks 301 reach the upper end of the vertical track, the forklift forks 301 rotate outward 90 degrees in the left and right directions. Here, the control unit causes the forklift forks 301 to rotate by controlling the current of the second coil of the stator plate 52 provided on the guide member 50. After that, the forklift forks 301 descend along the circulation track 60.

[0312] Next, as Figure 33 shown, when the forklift forks 301 without the pallet 40 loaded with the goods L placed thereon reach the lower end of the vertical track, the forklift forks 301 rotate inward 90 degrees to prepare for placing the pallet 40 loaded with other goods L.

[0313] Then, when the pallet 40 loaded with other goods L is placed on the forklift forks 301 and the handling of the goods L is completed by the forklift forks 302, it becomes the same state as Figure 32 . That is, the state of Figure 32 and the state of Figure 33 are repeated.

[0314] The above example of the control is an example of the case where the pallet 40 disposed at the lower part and loaded with a plurality of goods L is repeatedly moved upward, but is not limited thereto, and is also applicable to the case where the pallet 40 disposed at the upper part and loaded with a plurality of goods L is repeatedly moved downward. In this case, the direction in which the forklift forks 30 circulate along the circulation track 60 is opposite to that in the above example.

[0315] (Summary of the Seventeenth Embodiment)

[0316] As described above, the control unit of the control device 20 of the seventeenth embodiment performs control so that the fork 30 carrying the load and the fork 30 not carrying the load move along different other vertical tracks. Therefore, the fork 30 carrying the load can quickly carry the cargo L without being obstructed by the fork 30 not carrying the load.

[0317] In addition, a pair of forks 30 moving in one direction rotate at the upper and lower ends of the vertical track and move in the opposite direction opposite to this one direction on the other vertical track, so as to quickly prepare the fork 30 for carrying the next cargo L. That is, the next cargo L to be carried can be quickly placed on the fork 30. In addition, by moving a plurality of pairs of forks 30 along the circular track 60, the forklift 10 can carry a plurality of cargos L in sequence.

[0318] By setting the drive mechanism of the fork 30 as a linear motor, the drive mechanism does not require backlash and can reduce idling. Therefore, the control unit of the control device 20 of the seventeenth embodiment can control the fork 30 with high precision. That is, the time required for the alignment of the fork 30 generated when placing the cargo L on the fork 30 and when unloading the cargo L can be reduced. In addition, through electrical control, it is easy to perform switching in the opposite direction such as the up and down movement or left and right rotation of the fork 30. In addition, since no mechanical power transmission member is required when the fork 30 moves, the generation of noise and the loss caused by wear can be reduced.

[0319] [Modification Example of the Seventeenth Embodiment]

[0320] In the seventeenth embodiment, the movable area for rotating the fork 30 in the left and right directions is set to 90 degrees, but the maximum rotation angle of the fork 30 is not limited to this. Therefore, in the modification example, by extending the horizontal track of the guide rail 60, the movable area of the fork 30 is expanded inward.

[0321] Figures 37 to 39 It is a schematic diagram when the tray 40 is placed on the fork 30 according to the modification example of the seventeenth embodiment. In the modification example, first, a pair of forks 30 rotate in the left and right directions so as to match the orientation of the insertion port of the tray 40. Then, by extending the fork 30, the fork 30 is inserted into the insertion port of the tray 40. As a result, as Figure 37 shown, the tray 40 is placed on the fork 30.

[0322] Next, after the tray 40 is placed, the fork 30 rotates so as to face the front of the forklift 10. Here, as Figure 38 shown, the control device 20 controls the rotation of each fork 30 in the left and right directions. As a result, as Figure 39As shown, the tray 40 is placed on a pair of forks 30 in a well-balanced manner.

[0323] As described above, the control unit of the control device 20 according to the modified example of the seventeenth embodiment controls the rotation of the forks 30 based on the calculated control variable. Thus, the movable area of the forks 30 extends not only within the range where the forks 30 can be telescopically extended and retracted and within the range where they can be moved up and down, but also to the range where they can be rotated in the left-right direction. Therefore, under specified conditions, it is possible to place the tray 40 that is not directly facing the forklift 10 on a pair of forks 30 without changing the orientation of the forklift 10 itself. The specified conditions refer, for example, to the orientation of the insertion port of the tray 40 being opposed to the orientation formed by rotating the pair of forks 30 in the left-right direction.

[0324] The control unit of the control device 20 according to the modified example of the seventeenth embodiment controls the up-and-down movement and left-right rotation of the forks 30 that move along the guide member 60 for each of one or more forks 30. Thus, even when multiple forks 30 move simultaneously, it is possible to prevent collisions between the forks 30 based on the detection information detected by the detection unit. In addition, when a load is placed after the forks 30 are rotated in the left-right direction, by controlling the up-and-down movement and left-right rotation of each of the forks 30, it is possible to reconfigure the load in a well-balanced manner.

[0325] [Remarks]

[0326] In the seventeenth embodiment, although a linear motor mechanism is provided on the support portion 31, the guide member 50, and the cover 51, it is also possible to provide the linear motor mechanism on the forks 30 themselves so that Figure 8A and Figure 8B the linear motor can be used in the extension of the forks 30 as shown. It should be noted that this linear motor mechanism is not limited to a combination of a permanent magnet and an electromagnet, and any combination selected from a permanent magnet, an electromagnet, and a magnetic body where at least one is an electromagnet is acceptable.

[0327] The blocks in the flowcharts and block diagrams in this embodiment may represent stages of a process of performing operations or "parts" of a device that functions to perform operations. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuits may include, for example, reconfigurable hardware circuits such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and storage elements.

[0328] A computer-readable storage medium may include any tangible device capable of storing instructions executable by a suitable device. As a result, a computer-readable storage medium having instructions stored therein has a product including the instructions that can be executed to generate a unit for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy (registered trademark) disks, magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (registered trademark) disk, memory stick, integrated circuit card, etc.

[0329] Computer-readable instructions can include any one of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source code or object code described in any combination of one or more programming languages, where the one or more programming languages include object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc. and traditional procedural programming languages such as the "C" programming language or similar programming languages.

[0330] The computer-readable instructions can be provided locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, causing the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device to execute the computer-readable instructions to generate units for performing the operations specified in the flowchart or block diagram. As examples of the processor, include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, etc.

[0331] Above, the technology of the present disclosure has been described using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Those skilled in the art should be clear that various changes or improvements can be made to the above embodiments. As can be seen from the claims, embodiments with such changes or improvements can also be included in the technical scope of the present disclosure.

[0332] It should be noted that the execution order of each process such as actions, sequences, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is not particularly specified as "before...", "earlier than...", etc., or as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. Regarding the action flowcharts in the claims, the specification, and the drawings, even if descriptions such as "first", "then", etc. are used for convenience, it does not mean that it must be implemented in that order.

[0333] The entire disclosures of Japanese Patent Application No. 2022-171807, filed on October 26, 2022, Japanese Patent Application No. 2022-175752, filed on November 1, 2022, Japanese Patent Application No. 2022-178314, filed on November 7, 2022, Japanese Patent Application No. 2022-194990, filed on December 6, 2022, Japanese Patent Application No. 2022-195223, filed on December 6, 2022, Japanese Patent Application No. 2022-195224, filed on December 6, 2022, Japanese Patent Application No. 2022-195939, filed on December 7, 2022, Japanese Patent Application No. 2022-199788, filed on December 14, 2022, Japanese Patent Application No. 2023-026751, filed on February 22, 2023, Japanese Patent Application No. 2023-061761, filed on April 5, 2023, and Japanese Patent Application No. 2023-091230, filed on June 1, 2023 are hereby incorporated by reference in their entirety into this specification.

[0334] All documents, patent applications, and technical standards cited in this specification are hereby incorporated by reference into this specification to the same extent as if each such document, patent application, and technical standard were specifically and individually incorporated by reference.

Claims

1. An information processing device, wherein, the information processing device includes: a calculation unit that calculates a control variable for controlling the operation of the forklift based on detection information detected by a detection unit mounted on the forklift; and a control unit that controls the operation of the forklift based on the control variable calculated by the calculation unit.

2. The information processing device according to claim 1, wherein, the control unit controls the operation of the forklift in units of one billionth of a second based on the control variable calculated by the calculation unit.

3. The information processing device according to claim 1, wherein, the information processing device includes a determination unit that determines, from the detectable detection information, control information for calculating the control variable for each operation of the forklift, and the calculation unit calculates the control variable for the control unit to control the operation of the forklift based on the control information determined by the determination unit.

4. The information processing device according to claim 1, wherein, the calculation unit calculates the control variable for controlling the telescopic movement of a forklift tine that can be telescoped in the front-rear direction and is a movement of the forklift based on the detection information: and the control unit controls the telescopic movement of the forklift tine based on the control variable calculated by the calculation unit.

5. The information processing device according to claim 4, wherein, for the forklift tine formed by overlapping a plurality of forklift tines, the detection unit is mounted on each of the plurality of forklift tines: and the calculation unit calculates the control variable based on the detection information obtained by the plurality of detection units detecting a common range.

6. The information processing device according to claim 4, wherein, for the forklift tine formed by overlapping a plurality of forklift tines, the detection unit is mounted on each of the plurality of forklift tines: and the calculation unit calculates the control variable based on the detection information obtained by the plurality of detection units detecting different ranges.

7. The information processing device according to claim 4, wherein, the calculation unit calculates the control variable for controlling the telescopic movement of a first forklift tine of the forklift tine or a second forklift tine different from the first forklift tine in the forklift based on the detection information: and the control unit controls the telescopic movement of the first forklift tine or the second forklift tine based on the control variable calculated by the calculation unit.

8. The information processing device according to claim 1, wherein, the calculation unit calculates the control variable for controlling the telescopic movement of a guide member that can be telescoped in the up-down direction and is a movement of the forklift based on the detection information, and the control unit controls the telescopic movement of the guide member based on the control variable calculated by the calculation unit.

9. The information processing device according to claim 1, wherein, the calculation unit calculates the control variable for controlling the protruding amount of a protection member that can protrude upward and surround the goods and is a movement of the forklift based on the detection information, The control unit controls the protruding amount of the protection member based on the control variable calculated by the calculation unit.

10. The information processing device according to claim 1, wherein, during the movement of the forklift, the control unit controls the telescopic movement of at least one of the forklift forks that can be telescoped in the front-rear direction and the guide member that can be telescoped in the up-down direction as an operation of the forklift based on the control variable calculated by the calculation unit.

11. The information processing device according to claim 10, wherein, the control unit controls the telescopic movement of at least one of the forklift forks and the guide member so that the forklift forks or the guide member do not come into contact with other objects during the movement of the forklift.

12. The information processing device according to claim 1, wherein, the calculation unit calculates the control variable for controlling the operation of the forklift including at least one of the telescopic distance in the horizontal direction and the moving distance in the up-down direction of the forklift forks based on the detection information detected by the detection unit and including the weight of the goods placed on the forklift forks of the forklift, the control unit controls the operation of the forklift including at least one of the telescopic distance in the horizontal direction and the moving distance in the up-down direction of the forklift forks based on the control variable calculated by the calculation unit.

13. The information processing device according to claim 1, wherein, the calculation unit calculates the control variable for controlling the operation of the forklift including the deformation of the plurality of forklift forks based on the detection information detected by the detection unit mounted on the forklift having the plurality of forklift forks that are respectively deformed in a stepped shape, the control unit controls the operation of the forklift including the deformation of the plurality of forklift forks based on the control variable calculated by the calculation unit.

14. The information processing device according to claim 13, wherein, the detection information includes the surrounding information indicating the surrounding conditions of the forklift, the calculation unit calculates the control variable for controlling the deformation of the plurality of forklift forks based on the surrounding information, the control unit controls the operation of the forklift based on the control variable for controlling the deformation of the plurality of forklift forks.

15. The information processing device according to claim 1, wherein, the center of gravity of the control unit is located on the side opposite to the direction in which the forklift forks extend.

16. The information processing device according to claim 15, wherein, the control unit includes: a housing having the forklift forks; and a control device disposed in the housing.

17. The information processing device according to claim 16, wherein, the housing is flat in the up-down direction.

18. The information processing device according to claim 17, wherein, the control device can be detached from and attached to the housing.

19. The information processing device according to claim 18, wherein, the control device has a non-linearly symmetric shape when viewed from above.

20. The information processing device according to claim 18, wherein, The center of gravity of the control device is located on the side opposite to the direction in which the fork extends when the control device is installed on the housing.

21. The information processing device according to claim 18, wherein, The center of gravity of the housing is located on the side opposite to the direction in which the fork extends.

22. The information processing device according to claim 1, wherein, The control unit controls the height of a protective member provided on at least one of the four sides of the platform on which goods are placed on the forklift.

23. The information processing device according to claim 22, wherein, The control unit raises the protective member as the acceleration increases when the forklift is running.

24. The information processing device according to claim 23, wherein, The control unit lowers the protective member as the acceleration decreases when the forklift is running.

25. The information processing device according to claim 23, wherein, The control unit raises the protective member on the side opposite to the acceleration direction of the forklift.

26. The information processing device according to claim 1, wherein, The calculation unit calculates a control variable for controlling the operation of the forklift including the rotation of the fork based on the detection information detected by the detection unit mounted on the forklift having a guide member extending in the vertical direction and a fork capable of rotating in the left-right direction relative to the guide member, The control unit controls the operation of the forklift including the rotation of the fork based on the control variable calculated by the calculation unit.

27. The information processing device according to claim 26, wherein, For each of one or more of the forks, the control unit controls the up-and-down movement and left-right rotation of the fork moving on a specified circular track along the guide member, and the circular track includes a vertical track extending in the vertical direction.

28. The information processing device according to claim 27, wherein, The control unit performs control, such that a pair of forks carrying a load moves along the vertical track, and causes the other pair of forks not carrying a load to move along another vertical track different from the vertical track on the circular track in a state of being rotated to a specified angle in the left-right direction.

29. The information processing device according to claim 28, wherein, The control unit performs control, such that when the pair of forks moving in one direction along the vertical track reaches the end of the vertical track, the forks are rotated to a specified angle in the left-right direction and move in the opposite direction opposite to the one direction on the other vertical track.

30. The information processing device according to claim 26, wherein, The drive mechanism of the fork is a linear motor.

31. A program, wherein, The program causes a computer to function as the information processing device according to any one of claims 1 to 30.

32. A forklift, wherein, The forklift has a guide member extending in the vertical direction, and the forklift includes: A plurality of forks, which can move in the vertical direction in each height area of the guide member and can make the part for placing goods extend and retract in the front-rear direction relative to the guide member; A detection unit mounted on the forklift; And A control unit that controls the vertical movement and extension / retraction of the plurality of forks based on the information detected by the detection unit.

33. The forklift according to claim 32, wherein One or more of the forks are provided in front of and behind the guide member respectively.

34. The forklift according to claim 32 or 33, wherein The detection unit detects information related to the weight of each of the goods placed on each of the forks, The control unit controls the plurality of forks based on at least one of the loading order and unloading order of the goods relative to the plurality of forks determined according to the weight of each of the goods.

35. The forklift according to claim 32 or 33, wherein The control unit performs autonomous driving based on the information detected by the detection unit.

36. The forklift according to claim 35, wherein The control unit controls each of the forks based on the center of gravity position of the forklift.

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