Cargo handling vehicle, cargo handling system and cargo handling program

Abstract

To improve the efficiency of cargo handling operations.SOLUTION: A cargo handling vehicle 20 includes a drivable vehicle body 10 having a fork 12 for performing loading and unloading operations, and a control unit 27. The control unit 27 acquires information on whether an adjacent position P2 adjacent to a loading target position P1 of the loading object is vacant, and if the adjacent position P2 is vacant, causes the vehicle body 10 to perform loading and unloading operations for the loading target position P1 while moving the vehicle body 10 into the adjacent position P2. This improves work efficiency compared to conventional loading and unloading operations that include a step of facing the loading target position.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a cargo handling vehicle, a cargo handling system, and a cargo handling program.

Background Art

[0002] Conventionally, cargo handling vehicles such as automated guided forklifts (AGF) for performing cargo handling operations have been known (see, for example, Patent Document 1). In the cargo handling operation by this type of cargo handling vehicle, a step of facing the front of the cargo handling target (for example, the position of the cargo or pallet) is included. If this step can be omitted, the work efficiency can be improved.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present invention has been made in view of the above circumstances, and an object thereof is to improve the efficiency of cargo handling operations.

Means for Solving the Problems

[0005] The cargo handling vehicle according to the present invention has a cargo handling unit that performs a cargo handling operation, a vehicle body that can travel, an acquisition unit that acquires information on whether an adjacent space adjacent to the cargo handling target position of the cargo handling target is empty, and a control unit that, when the adjacent space is empty, causes the vehicle body to perform a cargo handling operation on the cargo handling target position while entering the vehicle body into the adjacent space. is provided with.

Effects of the Invention

[0006] According to the present invention, the handling work can be made more efficient.

Brief Description of Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0009] [Configuration of Handling System] FIG. 1 is a diagram showing a handling system 1 according to the present embodiment, and FIG. 2 is a block diagram showing a schematic control configuration of the handling system 1. As shown in these figures, the handling system 1 performs handling operations (such as loading and unloading, transporting, stacking, picking, sorting, aligning loads, etc. and operations associated therewith) in the work area 50 by at least one handling vehicle 20. The handling system 1 is a system including, for example, a WMS (Warehouse Management System), a WES (Warehouse Execution System), a WCS (Warehouse Control System), etc.

[0010] The work area 50 is, for example, a warehouse or the like and is provided with load shelves 52. The load shelf 52 is a weight shelf for storing and preserving a plurality of loads L. The load shelf 52 has a plurality of handling spaces 53 arranged in a plurality of rows and a plurality of tiers. The handling space 53 is a space where the load L can be placed. The load L in this embodiment is not particularly limited, but is one in which at least one load is placed on a pallet (handling platform) 70. However, the load as the object of handling according to the present invention includes an empty pallet (single or stacked) on which no load is placed. The pallet 70 is formed in a short rectangular plate shape and has two hole portions (fork pockets) 72 into which a pair of forks 12 (see FIG. 4 etc.) of the handling vehicle 20 are inserted.

[0011] Specifically, the handling system 1 includes at least one handling vehicle 20 and a management server 30.

[0012] The handling vehicle 20 is a vehicle for performing handling operations, and is, for example, a forklift that can travel on the road without using rails or the like. The handling vehicle 20 holds the load L or the pallet 70 by a pair of left and right forks (handling parts) 12 of the vehicle body 10 and performs various handling operations. The handling vehicle 20 in this embodiment is an automated guided forklift (AGF) that can operate automatically (unmanned) and operates based on an operation command or the like from the management server 30.

[0013] Specifically, the loading and unloading vehicle 20 includes a vehicle body drive unit 21, a fork drive unit 28, an operation unit 22, a display unit 23, a communication unit 24, a position measurement device 25, a laser scanner 29, a memory unit 26, and a control unit 27.

[0014] The vehicle body drive unit 21 includes a traveling motor and a steering motor (both not shown), which are the drive sources of the vehicle body 10 of the loading and unloading vehicle 20. The traveling motor drives the drive wheels among the wheels. The steering motor rotates (steers) the steering wheels among the wheels. Note that the drive source is not limited to a motor, and an internal combustion engine or the like may be used.

[0015] The fork drive unit 28 is a drive source for operating the pair of forks 12. The fork drive unit 28 of the present embodiment includes an inclination cylinder 281, a lifting cylinder 282, and a reach cylinder 283 that tilt, lift, and extend / retract (stretch and contract) the pair of forks 12 with respect to the vehicle body 10. These cylinders are piston cylinders driven by hydraulic pressure (for example, oil pressure). The inclination cylinder 281 tilts the mast (not shown) that supports the pair of forks 12 in the front-rear direction of the vehicle body. The lifting cylinder 282 lifts and lowers the pair of forks 12 along the mast. Two lifting cylinders 282 are provided on the left and right of the vehicle body 10 corresponding to the pair of forks 12. The reach cylinder 283 extends and retracts (stretches and contracts) the pair of forks 12 in the front-rear direction of the vehicle body 10 (substantially perpendicular to the mast).

[0016] The operation unit 22 is an operation means for the driver to perform various operations during manned (manual) driving. The operation unit 22 includes, for example, a steering wheel, pedals, levers, various buttons, etc., and outputs an operation signal corresponding to these operation contents to the control unit 27. The display unit 23 is, for example, a liquid crystal display, an organic electro-luminescence display, or other displays, and displays various information based on the display signal input from the control unit 27. Note that the display unit 23 may be a touch panel that also serves as a part of the operation unit 22, or may include a speaker capable of voice display (output). The communication unit 24 is a communication device capable of transmitting and receiving various types of information to and from the management server 30, other handling vehicles 20, and the like.

[0017] The position measurement device 25 measures the position of the handling vehicle 20 itself. The information on the self-position acquired by the position measurement device 25 is transmitted to, for example, the management server 30 and used for position control of the handling vehicle 20 itself. The specific configuration of the position measurement device 25 is not particularly limited, and for example, it may utilize GNSS (Global Navigation Satellite System), SLAM (Simultaneous Localization and Mapping) technology, indoor positioning (indoor mapping) technology, or other technologies.

[0018] The laser scanner 29 is an example of the acquisition unit according to the present invention. It acquires distance information within a predetermined scan area (measurement area) in front of the vehicle body 10 and outputs the result to the control unit 27. The laser scanner 29 of the present embodiment is a three-dimensional distance sensor (for example, 3D-LiDAR (Laser Imaging Detection and Ranging)). However, as long as the laser scanner 29 can detect an object in any direction around the vehicle body 10, its position, quantity, sensor type, etc. are not particularly limited.

[0019] The storage unit 26 is a memory composed of, for example, RAM (Random Access Memory) and ROM (Read Only Memory), etc. It stores various programs and data and also functions as a working area for the control unit 27. The storage unit 26 of the present embodiment stores a handling program for executing the later-described loading process (see FIG. 3) and unloading process (see FIG. 6). The control unit 27 is composed of, for example, a CPU (Central Processing Unit), etc., and controls the operations of each part of the handling vehicle 20. Specifically, the control unit 27 operates each part based on a control command from the management server 30 or the operation content of the operation unit 22, develops a program pre-stored in the storage unit 26, and executes various processes in cooperation with the developed program.

[0020] The management server 30 centrally controls the cargo handling system 1 and is configured to be able to control the operation of the cargo handling vehicle 20. The management server 30 may be a personal computer, a smartphone, a tablet terminal, or the like. Specifically, the management server 30 includes an operation unit 31, a display unit 32, a communication unit 34, a storage unit 36, and a control unit 37.

[0021] The operation unit 31 is an operation means for an operator to perform various operations for operating the management server 30, and includes, for example, a pointing device such as a mouse or a keyboard. The display unit 32 is, for example, a liquid crystal display, an organic electroluminescence display, or other display. The display unit 32 displays various information based on a display signal input from the control unit 37. Further, the display unit 32 may be a touch panel that also serves as at least a part of the operation unit 31. The communication unit 34 is a communication device capable of transmitting and receiving various information to and from each cargo handling vehicle 20.

[0022] The storage unit 36 is a memory constituted by, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like, stores various programs and data, and also functions as a work area for the control unit 37. The control unit 37 is constituted by, for example, a CPU (Central Processing Unit) or the like, and controls the operation of each part of the management server 30. Specifically, the control unit 37 develops a program pre-stored in the storage unit 36 based on the operation content of the operation unit 31 and the like, and executes various processes in cooperation with the developed program.

[0023] [Operation of the Cargo Handling System] Subsequently, the operation of the cargo handling system 1 (cargo handling vehicle 20) when performing cargo handling work will be described. In the following, unless otherwise specified, each direction of "front, rear, left, and right" refers to the direction as seen from the cargo handling vehicle 20. Also, the front side (front) of the vehicle body 10 is the side (direction) toward which the tip of the fork 12 is facing. Also, hereinafter, for convenience, the operations (processes) during loading and unloading will be described separately, but these may be executed as a series of operations.

[0024] <Loading process> FIG. 3 is a flowchart showing the flow of the loading process. FIGS. 4 and 5 are diagrams for explaining the loading process. The loading process is a process executed when the handling vehicle 20 picks up load L from the loading shelf 52. This loading process is executed by the control unit 27 of the handling vehicle 20 reading out and expanding the corresponding handling program from the storage unit 26.

[0025] As shown in FIG. 3, first, the control unit 27 of the handling vehicle 20 starts a predetermined handling operation based on, for example, an operation command from the management server 30 (step S1). In the present embodiment, as the handling operation, a loading operation of picking up the pallet 70 (load L) from a predetermined loading target position P1 on the loading shelf 52 is executed.

[0026] When the handling operation is started, the control unit 27 runs the handling vehicle 20 toward the loading target position P1 on the loading shelf 52 (step S2). Here, as shown in FIG. 4(a), it is assumed that the handling vehicle 20 runs along the width direction of the loading shelf 52 (the direction orthogonal to the direction facing the loading shelf 52; the left - right direction in the figure) and approaches the loading target position P1. Also, in the present embodiment, it is assumed that the handling vehicle 20 runs with the front side of the vehicle body 10 facing the traveling direction. At this time, the handling vehicle 20 runs while maintaining a predetermined distance in the left - right direction of the vehicle body 10 with respect to the loading shelf 52 (or the wall surface of its row). The predetermined distance is a distance that does not contact the loading shelf 52 even when the vehicle body 10 is turned to face the loading shelf 52 with the fork 12 extended forward (reached out).

[0027] Next, when approaching to a predetermined distance from the loading target position P1, the control unit 27 turns the vehicle body 10 to face the loading target position P1 (step S3). At this time, while turning the vehicle body 10, the control unit 27 raises (lifts up) and reaches out the fork 12 in accordance with the height of the pallet 70 at the loading target position P1. Further, at a point slightly before that, the control unit 27 adjusts the tilt angle as necessary to horizontally position the fork 12 in advance.

[0028] Next, the control unit 27 advances the vehicle body 10 and inserts the fork 12 into the hole 72 of the pallet 70, and holds the pallet 70 with the fork 12 (step S4).

[0029] Next, the control unit 27 determines whether or not the adjacent position (adjacent space) P2 adjacent to the loading target position P1 in the cargo rack 52 is empty (step S5). Whether the adjacent position is "empty" means that when the loading vehicle 10 enters, there is no object that contacts the vehicle body 10 to such an extent that the work is obstructed in the position (space). To determine whether or not the adjacent position P2 is empty, the adjacent position P2 may be scanned with the laser scanner 29 to detect the presence or absence of an object. This scan is preferably executed during the turning of the vehicle body 10 in step S3 or during the traveling in step S2. Alternatively, information on whether or not a load is placed at the adjacent position P2 may be acquired from the management server 30. This information acquisition may be executed at any time as long as it is before step S4.

[0030] In step S5, when it is determined that the adjacent position P2 is not empty (step S5; No), the control unit 27 linearly retreats the vehicle body 10 until the pallet 70 completely comes out of the cargo rack 52, and then turns the vehicle body 10 (step S6). Here, by turning to the rear side, the rear side of the vehicle body 10 is directed in the subsequent traveling direction (the side where it has traveled in step S1). More specifically, as shown in FIG. 4(b), the control unit 27 sequentially and successively performs shortening (reach-in) of the fork 12, retreat of the vehicle body 10, and turning to the rear side. Further, when the vehicle body 10 turns, lowering (lift-down) and rearward tilt of the fork 12 are simultaneously (or sequentially) executed.

[0031] On the other hand, in step S5, when it is determined that the adjacent position P2 is empty (step S5; Yes), as shown in FIG. 5(a), the control unit 27 moves the vehicle body 10 (fork 12 holding the pallet 70) into the adjacent position P2 while turning backward (step S7). In the example of FIG. 5(a), the rear side of the vehicle body 10 is oriented in the subsequent traveling direction. Further, when the vehicle body 10 turns, the control unit 27 sequentially performs reach-in, lift-down, and backward tilt of the fork 12. However, among these, lift-down and backward tilt of the fork 12 may be performed simultaneously, but are performed after the pallet 70 has completely come out of the storage shelf 52.

[0032] In this way, by simultaneously and comprehensively performing backward movement and turning using the empty adjacent position P2, the work can be made more efficient compared to the case of performing them sequentially. Furthermore, when the reach operation of the fork 12 is simultaneously performed in addition to the backward movement and turning of the vehicle body 10, the work can be made even more efficient. Also, compared to the case of sequentially performing backward movement and turning, since the turning ends at a position closer to the storage shelf 52 (see FIG. 4(b)), in the subsequent traveling, the vehicle can travel on a passage position closer to the storage shelf 52. As a result, the passage width required for the work can be reduced.

[0033] Note that in FIG. 5(a), the case where the adjacent position P2 on the side opposite to the subsequent traveling direction (the left side in the figure) with respect to the cargo pickup target position P1 is empty is illustrated. However, conversely, when the empty adjacent position P2 is on the subsequent traveling direction side (the right side in the figure), as shown in FIG. 5(b), it is only necessary to turn backward while entering the adjacent position P2 by so-called switchback. In this case, the front side of the vehicle body 10 is oriented in the subsequent traveling direction. Even in this case, compared to the case of performing a switchback without entering the adjacent position P2 (see the two-dot chain line in the figure), the work can be made more efficient and the passage width required for the work can be reduced.

[0034] Thereafter, the control unit 27 drives the vehicle body 10 toward the loading position (step S8). Thereby, the cargo pickup process is completed.

[0035] <Loading Process> FIG. 6 is a flowchart showing the flow of the loading process. FIG. 7 is a diagram for explaining the loading process. The loading process is a process executed when the handling vehicle 20 places the load L on the storage shelf 52. This loading process is executed by the control unit 27 of the handling vehicle 20 reading and expanding the corresponding handling program from the storage unit 26. The loading process and the unloading process may be included in a single handling program. In this embodiment, a loading operation is performed in which the load L (pallet 70) held by the fork 12 is placed at a predetermined loading target position P3 on the storage shelf 52.

[0036] As shown in FIG. 6, in the loading process, first, the control unit 27 runs the handling vehicle 20 toward the loading target position P3 (step T1). Here, it is assumed that the handling vehicle 20 runs along the width direction of the storage shelf 52 and approaches the loading target position P3. Also, in this embodiment, it is assumed that the handling vehicle 20 runs with the front side of the vehicle body 10 facing the traveling direction.

[0037] Next, the control unit 27 determines whether the adjacent position (adjacent space) P4 adjacent to the loading target position P3 on the storage shelf 52 is empty (step T2). Whether the adjacent position P4 is empty may be detected by scanning the adjacent position P4 with the laser scanner 29 to detect the presence or absence of an object. This scan is preferably executed during the running in step T1. Alternatively, information on whether a load is placed at the adjacent position P4 may be obtained from the management server 30. This information acquisition may be executed at any time as long as it is before step T3. The control unit 27 may acquire the necessary information and execute the determination in step T2 until it reaches the point where it starts turning in step T3 described later.

[0038] In step T2, when it is determined that the adjacent position P4 is not empty (step T2; No), the control unit 27 turns the vehicle body 10 without entering the adjacent position P4 and aligns it with the loading target position P3 (step T3). At this time, similar to step S3 in the loading process, the control unit 27 performs lift-up and reach-out in accordance with the height of the loading target position P3 while turning the vehicle body 10. Also, the control unit 27 performs horizontal extension of the fork 12 at a point slightly before that. Then, the control unit 27 advances the vehicle body 10 and enters the vehicle body 10 into the loading target position P3 (step T4).

[0039] On the other hand, in step T2, when it is determined that the adjacent position P4 is empty (step T2; Yes), as shown in FIG. 7(a), the control unit 27 advances and turns while entering the vehicle body 10 (the fork 12 holding the pallet 70) into the adjacent position P4 (step T5). Then, the vehicle body 10 is in a state of entering the loading target position P3 (for example, a state where the load L can be placed in the loading target position P3 just by lowering the lift). Also, the control unit 27 sequentially executes lift-up and reach-out during the turning of the vehicle body 10. However, the lift-up is executed in advance so that the load L does not contact the goods shelf 52. Also, the control unit 27 performs horizontal extension of the fork 12 at a point slightly before that.

[0040] In this way, by simultaneously and complexly executing forward movement and turning using the empty adjacent position P4, the work can be made more efficient compared to the case of sequentially executing these. Furthermore, when the reach operation of the fork 12 is simultaneously performed in addition to the forward movement and turning of the vehicle body 10, the work can be made even more efficient. Also, compared to the case of sequentially executing forward movement and turning, turning can start at a position closer to the goods shelf 52, so in the previous travel, a passage position closer to the goods shelf 52 can be traveled. As a result, the passage width required for the work can be reduced.

[0041] In Fig. 7(a), the case where the adjacent position P4 on the side opposite to the previous traveling direction (the left side in the figure) with respect to the loading target position P3 is vacant is illustrated. However, conversely to this case, when the vacant adjacent position P4 is on the previous traveling direction side (the right side in the figure), as shown in Fig. 7(b), at the traveling time of step T1, the vehicle body 10 may approach the loading target position P3 with the rear side (the side opposite to the fork 12) facing the traveling direction. Then, while entering the adjacent position P4 by so-called switchback and turning forward, the vehicle body 10 may be made to enter the loading target position P3. Therefore, the control unit 27 may preferably acquire in advance from, for example, the management server 30 which of the left and right adjacent positions of the loading target position P3 is vacant, and determine the direction of the vehicle body 10 when approaching the loading target position P3 in step T1 according to this. Specifically, when the vacant adjacent position P4 is on the back side in the traveling direction with respect to the loading target position P3, it is preferable to travel with the front side of the vehicle body 10 facing the traveling direction, and when it is on the front side in the traveling direction, it is preferable to travel with the rear side of the vehicle body 10 facing the traveling direction.

[0042] After the vehicle body 10 is made to enter the loading target position P3 by step T4 or T5, the control unit 27 lowers the fork 12 and places the load L (pallet 70) at the loading target position P3 (step T6).

[0043] After that, the control unit 27 causes the vehicle body 10 to travel toward the next handling position (step T7). Thereby, the loading process is completed.

[0044] [Technical Effects of the Present Embodiment] As described above, according to the present embodiment, when the adjacent spaces (adjacent positions P2, P4) adjacent to the handling target handling target positions (loading target position P1, loading target position P3) are vacant, the handling operation with respect to the handling target position is performed while the vehicle body 10 enters the adjacent space. Thereby, the working efficiency can be improved as compared with the conventional handling work including the step of facing directly the handling target position.

[0045] Also, according to the present embodiment, before or after the handling operation with respect to the handling target positions (loading target position P1, unloading target position P3), the vehicle body 10 travels in a direction orthogonal to the direction directly facing the handling target position. Then, when the vehicle body 10 enters the adjacent space (adjacent positions P2, P4), the forward or backward movement and the turning of the vehicle body 10 are executed simultaneously. Therefore, by executing the forward or backward movement and the turning of the vehicle body 10 simultaneously, the handling work can be made more efficient. Also, it is possible to turn at a position closer to the handling target position than when facing the handling target position directly. Therefore, in the traveling before and after the handling operation, it is possible to travel at a position close to the handling target position (loading shelf 52). As a result, the passage width required for the work can be reduced.

[0046] Also, according to the present embodiment, when the vehicle body 10 enters the adjacent space (adjacent positions P2, P4), the telescoping of the fork 12 is executed. Thereby, in addition to the forward or backward movement and the turning of the vehicle body 10, by also executing the telescoping of the fork 12 simultaneously, the handling work can be made even more efficient.

[0047] [Others] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above embodiments (including modified examples). For example, in the above embodiment, the handling vehicle acquires information on whether or not the adjacent position (adjacent space) of the handling target is vacant during the execution of the handling work. However, when planning the work content of the handling vehicle 20 in advance, it may be possible to determine the work order so that the state where the adjacent space is vacant becomes more frequent. Specifically, for example, when transporting the load L between the first loading shelf 52A shown in FIG. 8(a) and the second loading shelf 52B shown in FIG. 8(b), the load L is moved in the following order. 1. Move the load L at position a2 of the first loading shelf 52A to position b1 of the second loading shelf 52B 2. Move the load L at position b3 of the second loading shelf 52B to position a1 of the first loading shelf 52A 3. Move the load L at position a3 of the first loading shelf 52A to position b2 of the second loading shelf 52B As a result, the handling work can be sequentially executed with an adjacent space adjacent to the handling target position being empty. Consequently, the handling work can be efficiently executed by effectively utilizing the adjacent space.

[0048] In addition, in the above embodiment, the case of loading or unloading the cargo rack 52 has been described as an example. However, the place where the present invention can be applied is not limited to the cargo rack, and it may be anywhere as long as it is a place where the load is placed, such as the loading platform of a truck. Also, the direction in which the handling vehicle 10 approaches or separates from the handling target position may be any direction that intersects with the direction facing the handling target position (cargo rack 52), and it does not have to be perpendicular to the facing direction.

[0049] In addition, in the above embodiment, the control unit 27 mounted on the handling vehicle 20 performs various calculations and the like. However, a control means (for example, a management server) provided outside the handling vehicle 20 may perform calculations based on the information transmitted from the handling vehicle 20 and transmit the results to the handling vehicle 20.

[0050] In addition, in the above embodiment, the handling vehicle 20 is an unmanned vehicle (unmanned transport forklift) that can operate without a driver. However, the handling vehicle according to the present invention includes those that can be manned (including remote operation), those that can switch between manned and unmanned operation, and the present invention can also be used as an assist function for manned operation. In addition, the handling vehicle according to the present invention is not limited to a forklift as long as it can hold a load with a fork (or something similar) and travel, and includes, for example, an automated guided vehicle (AGV) that travels without a driver. In addition, the details shown in the above embodiment can be appropriately changed without departing from the spirit of the invention.

Explanation of reference numerals

[0051] 1 Handling system 10 Vehicle body 12 Fork (handling part) 20 Handling vehicle 27 Control Unit (Acquisition Unit) 29 Laser Scanner (Acquisition Unit) 30 Management Server (Management Unit) 52 Shelf 70 Pallet L Load P1 Load Picking Target Position (Handling Target Position) P2 Adjacent Position (Adjacent Space) P3 Load Placement Target Position (Handling Target Position) P4 Adjacent Position (Adjacent Space)

Claims

1. It has a loading and unloading section that performs loading and unloading operations, a vehicle body capable of traveling, an acquisition unit that acquires information on whether or not there is an adjacent space adjacent to the loading and unloading target position of the loading and unloading target, and a control unit that, when the adjacent space is empty, causes the vehicle body to perform a loading and unloading operation on the loading and unloading target position while entering the adjacent space with the vehicle body. A loading and unloading vehicle comprising the above.

2. The control unit travels the vehicle body in a direction orthogonal to the direction directly facing the loading and unloading target position before or after the loading and unloading operation on the loading and unloading target position, and simultaneously executes forward or backward movement and turning of the vehicle body when entering the adjacent space with the vehicle body. The loading and unloading vehicle according to Claim 1.

3. The loading and unloading section is capable of expanding and contracting in the front-rear direction of the vehicle body, and the control unit executes expansion and contraction of the loading and unloading section when entering the adjacent space with the vehicle body. The loading and unloading vehicle according to Claim 2.

4. The loading and unloading vehicle is an unmanned vehicle capable of operating unmanned. The loading and unloading vehicle according to Claim 1.

5. A loading and unloading system comprising the loading and unloading vehicle according to Claim 1 and a management unit capable of communicating with the loading and unloading vehicle, wherein the management unit determines the work order so that the state where the adjacent space is empty increases when planning the work content of the loading and unloading vehicle in advance.

6. A computer of a loading and unloading vehicle having a loading and unloading section that performs loading and unloading operations, a vehicle body capable of traveling, and an acquisition unit that acquires information on whether or not there is an adjacent space adjacent to the loading and unloading target position of the loading and unloading target, is caused to function as a control unit that, when the adjacent space is empty, causes the vehicle body to perform a loading and unloading operation on the loading and unloading target position while entering the adjacent space with the vehicle body. A loading and unloading program.

Images