Cargo handling vehicle

Abstract

To suppress deterioration of driving stability of a cargo handling vehicle.SOLUTION: The cargo handling vehicle performs cargo handling to a transport vehicle that is stopped in a state where obstacles are present therearound. The cargo handling vehicle is provided with a detection sensor for detecting a cargo handling object and a control device for controlling the cargo handling vehicle to travel along a route to the cargo handling object. The route includes a straight line and a curved line. The control device moves the cargo handling vehicle along the route where the length of a straight line is equal to or greater than a predetermined minimum value and the radius of a curve is equal to or greater than a predetermined minimum radius by a combination of forward and backward movement of the cargo handling vehicle.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to loading vehicles. [Background technology]

[0002] The control device disclosed in Patent Document 1 acquires a route for moving a moving object to a target position. Then, the control device moves the moving object along the route. The moving object is, for example, a forklift that handles cargo. The route is a route from a load to be loaded onto a transport vehicle to a load to be unloaded from the transport vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-165897 Summary of the Invention [Problem to be solved by the invention]

[0004] There may be obstacles around the transport vehicle. In this case, the range in which the moving body can move is limited. This may result in a lack of sufficient distance to move the moving body in a straight line, or the moving body may need to make sharp turns, which may reduce the running stability of the moving body. [Means for solving the problem]

[0005] The loading vehicle that solves the above problem is a loading vehicle that loads onto a transport vehicle that is stopped with obstacles around it, and is equipped with a detection sensor that detects the loading object, and a control device that controls the loading vehicle to travel along a route to the loading object, the route including straight lines and curves, and the control device causes the loading vehicle to travel along the route such that the length of the straight lines is equal to or greater than a predetermined minimum value and the radius of the curve is equal to or greater than a predetermined minimum radius by combining forward and reverse movements of the loading vehicle.

[0006] When a loading vehicle is driven to a loading target only by forward movement of the loading vehicle, the length of the straight line of the route may be less than the minimum value, or the radius of the curve of the route may be less than the minimum radius, depending on the relative positions of the loading vehicle and the transport vehicle. If the length of the straight line of the route is less than the minimum value, a sufficient distance cannot be secured for the loading vehicle to travel straight. If the radius of the curve of the route is less than the minimum radius, the loading vehicle needs to make a sharp turn. In response to this, by combining reverse movement of the loading vehicle, the position of the loading vehicle can be adjusted so that the loading vehicle can travel on a route in which the length of the straight line is equal to or greater than a predetermined minimum value, and the radius of the curve is equal to or greater than a predetermined minimum radius. This makes it possible to suppress a decrease in the running stability of the loading vehicle.

[0007] For the above-mentioned loading vehicle, when the loading vehicle reaches a predetermined loading start position, the control device may obtain the route by correcting a predetermined planned route from the loading start position to the loading object in accordance with the detection result of the detection sensor.

[0008] For the above-mentioned loading vehicle, the detection sensor may include a forward detection sensor that detects the loading object located in front of the loading vehicle, and a left-right detection sensor that detects the loading object located to the left and right of the loading vehicle. Effect of the Invention

[0009] According to the present invention, it is possible to suppress a decrease in the traveling stability of a loading vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing a transport vehicle and a loading vehicle. [Diagram 2] FIG. 2 is a perspective view of a loading vehicle. [Diagram 3] FIG. 3 is a schematic diagram of a loading vehicle. [Figure 4] FIG. 4 is a flowchart showing the control performed by the control device. [Diagram 5] FIG. 5 is a diagram showing an example of a route from a loading start position to an object to be loaded. [Figure 6] FIG. 6 is a diagram showing an example of a planned route. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of a loading vehicle will now be described. 1, a plurality of pillars P1 to P4 are provided in area A1. Area A1 is, for example, the whole or a part of a place such as a factory, a port, an airport, a commercial facility, or a public facility.

[0012] A plurality of pillars P1 to P4 are provided at intervals. Although four pillars P1 to P4 are illustrated in FIG. 1 as an example, the number of pillars P1 to P4 is arbitrary. The four pillars P1 to P4 are designated as a first pillar P1, a second pillar P2, a third pillar P3, and a fourth pillar P4, respectively. The distance between the first pillar P1 and the second pillar P2 is equal to the distance between the third pillar P3 and the fourth pillar P4. The distance between the first pillar P1 and the third pillar P3 is equal to the distance between the second pillar P2 and the fourth pillar P4. In other words, the line segments connecting the four pillars P1 to P4 form a rectangle.

[0013] A stopping position PS1 is set in the area A1. A transport vehicle T1 is stopped at the stopping position PS1. The transport vehicle T1 transports a load C. The transport vehicle T1 is, for example, a truck. The transport vehicle T1 is equipped with a loading platform C1. The load C is loaded on the loading platform C1. The overall length of the loading platform C1 is slightly shorter than the distance between the first pillar P1 and the second pillar P2. The overall length of the loading platform C1 may be longer than the distance between the first pillar P1 and the second pillar P2.

[0014] The transport vehicle T1 stops so that the platform C1 is inclined with respect to the direction in which the first pillar P1 and the second pillar P2 face each other. For example, the transport vehicle T1 stops so that the angle θ1 between the direction in which the first pillar P1 and the second pillar P2 face each other and the direction along the side of the platform C1 is 20° to 30°. The transport vehicle T1 stops so that the distance L1 between the first pillar P1 and the platform C1 in the left-right direction of the transport vehicle T1 and the distance L4 between the fourth pillar P4 and the platform C1 in the left-right direction of the transport vehicle T1 are equal. The transport vehicle T1 stops so that the distance L2 between the second pillar P2 and the platform C1 in the front-rear direction of the transport vehicle T1 and the distance L3 between the third pillar P3 and the platform C1 in the front-rear direction of the transport vehicle T1 are equal. The transport vehicle T1 stops with the pillars P1 to P4 around it. In order for the transportation vehicle T1 to stop as described above, a mark for stopping the transportation vehicle T1 as described above may be provided at the stopping position PS1.

[0015] In the area A1, a loading vehicle 10 is in operation. The loading vehicle 10 is a vehicle that performs loading and unloading, such as a forklift or an unmanned transport vehicle. The loading vehicle 10 performs loading and unloading. Loading is the work of loading the load C onto the loading platform C1. Unloading is the work of removing the load C loaded onto the loading platform C1 from the loading platform C1. By stopping the transport vehicle T1 as described above, a space is secured between the pillars P1 to P4 and the transport vehicle T1 in which the loading vehicle 10 can move. The expression "at least one" used in this specification means "one or more" of the desired options. As an example, the expression "at least one" used in this specification means "only one option" or "both of two options" if the number of options is two. As another example, the expression "at least one" used in this specification means "only one option" or "any combination of two or more options" if the number of options is three or more.

[0016] <Loading vehicle> 2, the cargo handling vehicle 10 includes a front pillar 11. The front pillars 11 are provided on both sides of the cargo handling vehicle 10 in the left and right direction, one on each side.

[0017] The cargo handling vehicle 10 includes drive wheels 12 and steering wheels 13. The drive wheels 12 rotate to cause the cargo handling vehicle 10 to travel. The cargo handling vehicle 10 is steered by adjusting the steering angle of the steering wheels 13.

[0018] The loading vehicle 10 is equipped with a loading apparatus 14. The loading apparatus 14 is equipped with an outer mast 16 and an inner mast 17. The inner mast 17 is provided so as to be able to rise and lower relative to the outer mast 16. The loading apparatus 14 is equipped with a lift bracket 18. The lift bracket 18 is provided so as to be able to rise and lower relative to the inner mast 17.

[0019] The load handling device 14 includes two forks 19. The forks 19 are attached to a lift bracket 18. As shown in FIG. 3, the loading vehicle 10 includes a control device 30. The control device 30 includes a processor 31 and a storage unit 32. The processor 31 is, for example, a central processing unit (CPU), a graphics processing unit (GPU), or a digital signal processor (DSP). The storage unit 32 includes a random access memory (RAM) and a read only memory (ROM). The storage unit 32 stores program codes or instructions configured to cause the processor 31 to execute processing. The storage unit 32, i.e., the computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The control device 30 may be configured by a hardware circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). The control device 30, which is a processing circuit, may include one or more processors operating according to a computer program, one or more hardware circuits such as an ASIC or an FPGA, or a combination thereof.

[0020] The cargo handling vehicle 10 includes a travel motor 41 and a travel control device 42. The travel motor 41 rotates the drive wheels 12. The cargo handling vehicle 10 moves forward or backward depending on the rotation direction of the travel motor 41. For example, the cargo handling vehicle 10 moves forward when the travel motor 41 rotates forward. The cargo handling vehicle 10 moves backward when the travel motor 41 rotates backward. The travel control device 42 controls the rotation direction and rotation speed of the travel motor 41. The travel control device 42 is, for example, a motor driver.

[0021] The cargo handling vehicle 10 includes a steering motor 43 and a steering control device 44. The steering motor 43 adjusts the steering angle of the steering wheels 13. The steering control device 44 controls the rotation direction and the rotation speed of the steering motor 43. The steering control device 44 is, for example, a motor driver.

[0022] The control device 30 causes the loading vehicle 10 to travel by issuing commands to the travel control device 42 and the steering control device 44 . The loading vehicle 10 includes a hydraulic actuator 45 and a hydraulic mechanism 46. The hydraulic actuator 45 includes a lift cylinder for raising and lowering the forks 19, and a tilt cylinder for tilting the forks 19. The hydraulic mechanism 46 is a member for controlling the supply and discharge of hydraulic oil to the hydraulic actuator 45. The hydraulic mechanism 46 includes a loading motor for driving a pump that discharges hydraulic oil, and a control valve for distributing the hydraulic oil.

[0023] The cargo handling vehicle 10 includes an external sensor 51. The external sensor 51 is a sensor that allows the control device 30 to recognize three-dimensional coordinates of an object present around the cargo handling vehicle 10. The external sensor 51 is, for example, a millimeter wave radar, a stereo camera, a ToF (Time of Flight) camera, or a LIDAR (Laser Imaging Detection and Ranging).

[0024] The external sensor 51 outputs point cloud data to the control device 30. The point cloud data is data indicating the coordinates of a point in a sensor coordinate system. The sensor coordinate system is a three-axis orthogonal coordinate system with the external sensor 51 as the origin. The point represents a part of the surface of an object present around the loading vehicle 10. For example, if the external sensor 51 is a LIDAR, the external sensor 51 irradiates a laser on the surroundings and receives light reflected from the point where the laser hits, thereby deriving the distance to the point. The external sensor 51 derives the coordinates of the point in the sensor coordinate system based on the distance to the point and the irradiation angle of the laser.

[0025] The cargo handling vehicle 10 includes an auxiliary storage device 52. The auxiliary storage device 52 is a non-volatile storage device in which data can be rewritten. The auxiliary storage device 52 is, for example, a hard disk drive or a solid state drive.

[0026] The auxiliary storage device 52 stores map data MD that indicates the environment of the area A1 in which the loading vehicle 10 is used. The map data MD is information about the physical structure of the area A1, such as the shapes of objects present in the area A1 and the size of the area A1. In this embodiment, the map data MD is data that expresses the structure of the area A1 using coordinates in a map coordinate system. The map coordinate system is, for example, a two-axis orthogonal coordinate system. The map coordinate system is a coordinate system that has an origin at any one point in the area A1. The map data MD may include the coordinates in the map coordinate system of the parking position PS1 and the coordinates in the map coordinate system of the pillars P1 to P4.

[0027] The control device 30 estimates the self-position of the cargo handling vehicle 10. The self-position is a coordinate indicating a point of the cargo handling vehicle 10 in a map coordinate system. The point of the cargo handling vehicle 10 is arbitrary, but may be, for example, the center position of the cargo handling vehicle 10 in the horizontal direction.

[0028] The self-location is estimated by comparing the detection result of the external sensor 51 with the map data MD. The control device 30 acquires point cloud data output by the external sensor 51. The control device 30 extracts landmarks having the same shape as the landmarks obtained from the point cloud data from the map data MD. The control device 30 recognizes the position of the landmark from the map data MD. The positional relationship between the landmark position and the loading vehicle 10 can be grasped from the detection result of the external sensor 51. Therefore, the control device 30 can estimate the self-location by recognizing the landmark position. A landmark is an object having characteristics that can be identified by the external sensor 51. A landmark is a physical structure whose position is unlikely to change. The landmarks are, for example, walls and pillars P1 to P4. The self-location may be estimated by combining the estimation of the self-location using the external sensor 51 with dead reckoning using an internal sensor. The self-location estimation may be performed by combining the estimation of the self-location using the external sensor 51 with the estimation of the self-location using satellite signals transmitted from a Global Navigation Satellite System (GNSS) satellite.

[0029] The loading vehicle 10 is equipped with a communication device 61. The communication device 61 receives commands from a higher-level control device 91. The higher-level control device 91 is provided, for example, in area A1. The higher-level control device 91 transmits operation data to the communication device 61. The operation data includes commands for the loading vehicle 10. The commands include, for example, a command to cause the loading vehicle 10 to proceed, a loading command to cause the loading vehicle 10 to start loading, and a loading command to cause the loading vehicle 10 to start unloading. The control device 30 controls the loading vehicle 10 in accordance with the commands from the higher-level control device 91.

[0030] The loading vehicle 10 is equipped with at least one detection sensor 71, 72. The detection sensors 71, 72 detect the loading object. In the case of loading, the loading object is the loading platform C1 on which the load C is placed. In the case of unloading, the loading object is the load C placed on the loading platform C1. The detection sensors 71, 72 detect the relative distance between the loading object and the loading vehicle 10. The detection sensors 71, 72 are, for example, a laser range finder, a camera, or a radar.

[0031] In this embodiment, two detection sensors 71, 72 are provided. The two detection sensors 71, 72 include a forward direction detection sensor 71 and a left-right direction detection sensor 72. The forward direction detection sensor 71 detects a loading object located in front of the loading vehicle 10. The left-right direction detection sensor 72 detects a loading object located in the left-right direction of the loading vehicle 10.

[0032] 2, the front direction detection sensor 71 is provided, for example, on the lift bracket 18. The left / right direction detection sensor 72 is provided, for example, on the front pillar 11. <Control performed by the control device> The control performed by the control device 30 during loading and unloading will now be described.

[0033] As shown in FIG. 4, in step S1, the control device 30 moves the loading vehicle 10 to the loading start position. The upper control device 91 transmits a command including, for example, coordinates in a map coordinate system representing the loading start position. The control device 30 moves the loading vehicle 10 to the loading start position in response to the command from the upper control device 91. The loading start position is, for example, a position a predetermined distance away from the stopping position PS1. Multiple loading start positions may be set. When multiple loading start positions are set, the upper control device 91 transmits a command including the map coordinate system coordinates of one loading start position selected from the multiple loading start positions.

[0034] In step S2, the control device 30 receives a loading command. The loading command is a loading command or a loading command. For example, the control device 30 receives the loading command after moving to a loading start position according to the operation data.

[0035] Next, in step S3, the control device 30 acquires the detection results of the detection sensors 71, 72. From the detection results, the control device 30 recognizes the distance from the loading vehicle 10 to the loading object, i.e., the relative distance between the loading vehicle 10 and the loading object. When the loading vehicle 10 is located at the loading start position and the loading object is located in front of the loading vehicle 10, the control device 30 only needs to acquire the detection result of the forward direction detection sensor 71. When the loading vehicle 10 is located at the loading start position and the loading object is located to the left or right of the loading vehicle 10, the control device 30 only needs to acquire the detection result of the left and right direction detection sensor 72.

[0036] Next, in step S4, the control device 30 acquires a route from the loading start position to the loading object. The loading vehicle 10 travels along the route. The route is expressed in coordinates of a map coordinate system. Fig. 5 shows, as an example, a case where the loading vehicle 10 travels along routes R1 and R2 from two loading start positions A2 and A3 toward the loading objects C11 and C12. An explanation will be given using this example.

[0037] The path from the loading start position A2 to the loading object C11 is defined as the first path R1. The path from the loading start position A3 to the loading object C12 is defined as the second path R2. The first path R1 includes a reverse path RB and a forward path RF. The reverse path RB includes a straight line RS1. The forward path RF includes straight lines RS2, RS3, and a curve RC1. The curve RC1 is located between the straight lines RS2 and RS3. The second path R2 includes straight lines RS4, RS5, and a curve RC2. The curve RC2 is located between the straight lines RS4 and RS5. The reverse path RB is a path along which the loading vehicle 10 moves backward. The forward path RF is a path along which the loading vehicle 10 moves forward.

[0038] A predetermined minimum value is set for the straight lines RS1 to RS5. When the cargo handling vehicle 10 moves straight after turning, the steering angle changed due to the turn must be returned to the original angle. In this case, if the straight lines RS1 to RS5 are short, the cargo handling vehicle 10 may reach the curves RC1 and RC2 before the steering angle is returned to the original angle, which may decrease the running stability.

[0039] The radius of the curves RC1 and RC2 is set to a predetermined minimum radius. When the radius of the curves RC1 and RC2 is small, it is necessary to change the steering angle of the steering wheels 13 greatly. In addition, when completing a turn and going straight, it is necessary to return the steering angle to its original state. However, the larger the steering angle is, the greater the amount of return of the steering angle to its original state becomes, which causes vibrations in the cargo handling vehicle 10. These factors may reduce the running stability of the cargo handling vehicle 10.

[0040] The routes R1 and R2 are set so that the lengths of the straight lines RS1 to RS5 are equal to or greater than a predetermined minimum value, and the radii of the curves RC1 and RC2 are equal to or greater than a predetermined minimum radius. For example, when the loading vehicle 10 is located at the loading start position A2, the loading object C11 is located to the right of the loading vehicle 10, and the distance between the loading vehicle 10 and the loading object C11 in the front-rear direction of the loading vehicle 10 is short. In this case, when the loading vehicle 10 is made to travel using only the forward route RF, the loading vehicle 10 needs to make a sharp turn. In contrast, the first route R1 includes the reverse route RB and the forward route RF. Therefore, the first route R1 is a route that combines the forward and reverse movements of the loading vehicle 10. By moving the loading vehicle 10 backward using the reverse route RB, the separation distance between the loading vehicle 10 and the loading object C11 in the front-rear direction of the loading vehicle 10 can be increased. Then, from this state, the loading vehicle 10 is moved forward toward the loading object C11 on the forward route RF. As a result, the control device 30 can cause the loading vehicle 10 to travel along the first route R1, in which the length of the straight lines RS1-RS3 is equal to or greater than a predetermined minimum value and the radius of the curve RC1 is equal to or greater than a predetermined minimum radius, by combining forward and reverse movements of the loading vehicle 10.

[0041] When the loading vehicle 10 is located at the loading start position A3, the loading object C12 is located in front of the loading vehicle 10. Therefore, the loading vehicle 10 can reach the loading object C12 only by moving forward. The second route R2 is a route that allows the loading vehicle 10 to only move forward out of the forward and reverse movements. In other words, the second route R2 is a route that only allows the loading vehicle 10 to move forward.

[0042] In this embodiment, the control device 30 obtains the routes R1 and R2 by correcting the planned route from the loading start positions A2 and A3 to the loading objects C11 and C12. The planned route is determined in advance according to the loading start positions A2 and A3. Since the stopping position PS1 is determined, the loading start positions A2 and A3 are determined, and thus the relative position between the loading vehicle 10 and the loading platform C1 when the loading vehicle 10 is located at the loading start positions A2 and A3 is determined. In addition, the positions of the pillars P1 to P4 present around the stopping position PS1 and the loading start positions A2 and A3 can be grasped. Therefore, a planned route that can reach the loading objects C11 and C12 while avoiding the pillars P1 to P4 can be generated in advance. The planned route is stored in, for example, the storage unit 32 or the auxiliary storage device 52. The pillars P1 to P4 are an example of an obstacle. If there is an obstacle other than the pillars P1 to P4, the planned route may be generated so as to avoid this obstacle.

[0043] The planned route includes straight lines and curved lines. The planned route can be obtained by generating a route starting from the loading start positions A2, A3 and ending at the loading objects C11, C12. The route is generated by a route generating device. The route generating device may be the control device 30 or an external device.

[0044] When generating the planned route, the route generation device generates a planned route for the cargo handling vehicle 10 to travel to the loading target only in forward motion. If the length of the straight line of the planned route is less than the minimum value, or the radius of the curve of the planned route is less than the minimum radius, the route generation device generates a planned route in which the length of the straight line is equal to or greater than a predetermined minimum value and the radius of the curve is equal to or greater than a predetermined minimum radius by a combination of forward and reverse motion of the cargo handling vehicle 10. The minimum value and minimum radius set for the planned route are the same as the minimum value and minimum radius set for the routes R1 and R2. That is, the planned route is set so that when the routes R1 and R2 are acquired from the planned route, the length of the straight lines RS1 to RS3 is equal to or greater than a predetermined minimum value, and the radius of the curves RC1 and RC2 is equal to or greater than a predetermined minimum radius.

[0045] FIG. 6 shows the planned route RP of the first route R1 as an example. The planned route RP includes straight lines RPS1, RPS2, and RPS3 and a curve RPC1. The straight line RPS1 corresponds to the straight line RS1. The straight line RPS2 corresponds to the straight line RS2. The straight line RPS3 corresponds to the straight line RS3. The curve RPC1 corresponds to the curve RC1. The planned route RP is set so that the lengths of the straight lines RPS1, RPS2, and RPS3 are equal to or greater than a predetermined minimum value, and the radius of the curve RPC1 is equal to or greater than a predetermined minimum radius. The planned route RP of the first route R1 is set so that the lengths of the straight lines RPS1, RPS2, and RPS3 are equal to or greater than a predetermined minimum value, and the radius of the curve RPC1 is equal to or greater than a predetermined minimum radius, due to a combination of forward and reverse movements of the loading vehicle 10.

[0046] Depending on the position of the transport vehicle T1 and the position of the load C, there may be a deviation between the positions of the objects C11 and C12 assumed in the planned route RP and the actual positions of the objects C11 and C12. In this case, the end point of the planned route RP may deviate from the objects C11 and C12. For this reason, the control device 30 corrects the planned route RP to make the end points of the routes R1 and R2 coincide with the objects C11 and C12. The control device 30 can grasp the relative positions of the objects C11 and C12 between the loading vehicle 10 and the objects C11 and C12 from the detection results of the detection sensors 71 and 72, and therefore can grasp the coordinates of the objects C11 and C12 in the map coordinate system. For example, since the control device 30 grasps its own position, it can grasp the coordinates of the objects C11 and C12 in the map coordinate system from its own position and the relative position. The control device 30 corrects the planned route RP so that the end point of the planned route RP coincides with the objects C11 and C12 by changing at least one of the lengths of the straight lines RPS1, RPS2, and RPS3 of the planned route RP, the length of the curve RPC1 of the planned route RP, and the radius of the curve RPC1 of the planned route RP. This correction makes it possible to obtain routes R1 and R2.

[0047] Next, in step S5, the control device 30 causes the cargo handling vehicle 10 to travel along the routes R1, R2 obtained in step S4. Next, in step S6, when the loading vehicle 10 moves to the front of the loading objects C11, C12, the control device 30 performs loading. Loading is performed, for example, using a loading sensor. The loading sensor is, for example, a camera arranged to capture an image of the front of the loading vehicle 10. If the loading objects C11, C12 are the loading platform C1, the control device 30 loads the loading object while grasping the relative position between the fork 19 and the loading platform C1 from the image data obtained by imaging with the camera. If the loading objects C11, C12 are the load C, the control device 30 unloads the load while grasping the relative position between the fork 19 and the load C from the image data obtained by imaging with the camera.

[0048] [Operation of this embodiment] When the loading vehicle 10 is to travel to the loading objects C11, C12 only by forward movement of the loading vehicle 10, the length of the straight lines RS1-RS5 of the routes R1, R2 may be less than the minimum value, or the radius of the curves RC1, RC2 of the routes R1, R2 may be less than the minimum radius, depending on the positional relationship between the loading vehicle 10 and the transport vehicle T1. For example, as described above, the loading object C11 is located to the right of the loading vehicle 10, and the distance between the loading vehicle 10 and the loading object C11 in the front-rear direction of the loading vehicle 10 is short. In this case, when the loading vehicle 10 is to travel to the loading object C11 only by forward movement of the loading vehicle 10, it is necessary to make a sharp turn of the loading vehicle 10 by reducing the radius of the curve RC1 in order to move the loading vehicle 10 so that the loading object C11 is located in front of the loading vehicle 10.

[0049] In response to this, by combining the reverse movement of the loading vehicle 10, the position of the loading vehicle 10 can be adjusted so that the loading vehicle 10 can travel along the routes R1 and R2 in which the length of the straight lines RS1 to RS5 is equal to or greater than a predetermined minimum value and the radius of the curves RC1 and RC2 is equal to or greater than a predetermined minimum radius. For example, if the loading object C11 is located to the right of the loading vehicle 10 and the distance between the loading vehicle 10 and the loading object C11 in the front-rear direction of the loading vehicle 10 is short, the loading vehicle 10 can be moved backwards to increase the distance between the loading vehicle 10 and the loading object C11. By increasing the distance between the loading vehicle 10 and the loading object C11, the forward route RF can be lengthened, so that the loading vehicle 10 can be made to travel along the first route R1 in which the length of the straight lines RS1 to RS3 is equal to or greater than a predetermined minimum value and the radius of the curve RC1 is equal to or greater than a predetermined minimum radius.

[0050] [Effects of this embodiment] (1) By combining the reverse movement of the loading vehicle 10, the position of the loading vehicle 10 can be adjusted so that the loading vehicle 10 can travel on the routes R1 and R2 in which the length of the straight lines RS1 to RS5 is equal to or greater than a predetermined minimum value and the radii of the curves RC1 and RC2 are equal to or greater than a predetermined minimum radius. This makes it possible to suppress a decrease in the running stability of the loading vehicle 10.

[0051] (2) When the loading vehicle 10 reaches the predetermined loading start positions A2, A3, the control device 30 obtains the routes R1, R2 by correcting the planned route RP according to the detection results of the detection sensors 71, 72. By determining the planned route RP in advance, the time required to obtain the routes R1, R2 can be shortened compared to the case where route generation is performed after the loading vehicle 10 reaches the loading start positions A2, A3.

[0052] (3) The detection sensors 71, 72 include a forward detection sensor 71 and a left-right detection sensor 72. This allows the loading objects C11, C12 to be detected even if they are located in front of the loading vehicle 10 or to the left or right of the loading vehicle 10. When obtaining the routes R1, R2 to the loading objects C11, C12, it is sufficient that the loading objects C11, C12 are located in front of the loading vehicle 10 or to the left or right of the loading vehicle 10, so the orientation of the loading vehicle 10 when it reaches the loading start positions A2, A3 is not easily restricted.

[0053] [Example of change] The embodiment can be modified as follows: The embodiment and the following modified examples can be combined with each other to the extent that there is no technical contradiction.

[0054] The control device 30 may obtain a route to the object to be handled by performing route generation. For example, when the loading vehicle 10 reaches the loading start position, the control device 30 may generate a route based on the detection results of the detection sensors 71, 72. The control device 30 grasps the relative positions of the loading vehicle 10 and the object to be handled from the detection results of the detection sensors 71, 72. Since the control device 30 grasps its own position, it can grasp the coordinates of the object to be handled in the map coordinate system from its own position and the relative position. The control device 30 generates a route so that the end point of the route coincides with the object to be handled. The control device 30 generates a route that causes the loading vehicle 10 to travel to the object to be handled only by moving forward. If the length of the straight line of this route is equal to or greater than the minimum value and the radius of the curve of this route is equal to or greater than the minimum radius, the control device 30 causes the loading vehicle 10 to travel along this route. If the length of a straight line in the route is less than the minimum value, or the radius of a curve in the route is less than the minimum radius, the control device 30 generates a route in which the length of a straight line is equal to or greater than a predetermined minimum value and the radius of a curve is equal to or greater than a predetermined minimum radius by combining forward and reverse movements of the cargo handling vehicle 10. Then, the control device 30 causes the cargo handling vehicle 10 to travel along this route.

[0055] The loading vehicle 10 may be provided with one of the forward detection sensor 71 and the left-right detection sensor 72 as the detection sensors 71 and 72. In this case, the orientation of the loading vehicle 10 may be adjusted so that the detection sensors 71 and 72 can detect the loading object when the loading vehicle 10 reaches the loading start position. For example, when the loading vehicle 10 is provided with only the forward detection sensor 71 as the detection sensor 71 and 72, the loading object may be positioned in front of the loading vehicle 10 when the loading vehicle 10 reaches the loading start position. When the loading vehicle 10 is provided with only the left-right detection sensor 72 as the detection sensor 71 and 72, the loading object may be positioned to the left and right of the loading vehicle 10 when the loading vehicle 10 reaches the loading start position. This allows the loading object to be detected when acquiring the route, so that the planned route can be corrected. In addition, route generation can also be performed.

[0056] The left-right direction detection sensor 72 may be capable of detecting an object located to the left or to the right. When the left-right direction detection sensor 72 detects an object located to the left, the orientation of the loading vehicle 10 may be adjusted so that the object is located to the left of the loading vehicle 10 when the loading start position is reached.

[0057] The cargo handling vehicle 10 may perform only one of loading and unloading. The transport vehicle T1 may be stopped in any state. For example, the transport vehicle T1 may be stopped so that the platform C1 is parallel to the direction in which the first pillar P1 and the second pillar P2 face each other. [Explanation of symbols]

[0058] A2, A3...loading start position, C11, C12...loading object, P1 to P4...pillars which are an example of an obstacle, R1, R2...route, RC1, RC2...curve, RS1 to RS5...straight line, T1...transport vehicle, 10...loading vehicle, 30...control device, 71, 72...detection sensor.

Claims

1. A loading vehicle that loads a transport vehicle that is stopped in a state where an obstacle exists around the vehicle, A detection sensor that detects an object to be loaded; a control device that controls the loading vehicle to travel along a route to the loading object, The path includes a straight line and a curved line, The control device includes: A loading vehicle that travels along the route in which the length of the straight line is equal to or greater than a predetermined minimum value and the radius of the curve is equal to or greater than a predetermined minimum radius by combining forward and reverse movements of the loading vehicle.

2. The loading vehicle according to claim 1, wherein the control device, when the loading vehicle reaches a predetermined loading start position, acquires the route by correcting a predetermined planned route from the loading start position to the loading object in accordance with the detection result of the detection sensor.

3. The loading vehicle according to claim 1 or claim 2, wherein the detection sensor includes a forward direction detection sensor that detects the loading object located in front of the loading vehicle, and a left-right direction detection sensor that detects the loading object located to the left and right of the loading vehicle.

Images