Movable body, control method, and program

Abstract

To provide a movable body capable of detecting with high accuracy a pallet movement in the left-right direction with respect to a fork.SOLUTION: A movable body has a fork extending in the front-back direction, a side shift mechanism to move the fork in the left-right direction, a roller integrated with the fork and provided movably in the left-right direction in the reference position which is the position between the fork tip part and a base part in the front-back direction and capable of rotating around the vertical direction as a rotating axis, and a rotation detection part to detect a roller rotation amount.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object, a control method, and a program. [Background technology]

[0002] Forklifts capable of side-shifting, which moves the forks left and right, are known. Patent Document 1 describes that when placing a pallet to the side of an object, the forks holding the pallet are side-shifted to bring the pallet into contact with the object. In Patent Document 1, a laser sensor provided at the base end of the fork irradiates a laser beam toward the tip of the fork, and based on the result of determining whether the laser is reflected, it is determined whether the pallet has slid on the fork and therefore whether the pallet has contacted the object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-104505 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when using a laser sensor as in Patent Document 1, the presence or absence of laser reflection only changes when the pallet moves significantly relative to the forks, so it is not possible to detect with high accuracy whether the pallet has moved left or right relative to the forks. In other words, for example, when the pallet has moved a small distance relative to the forks, it is not possible to detect that the pallet has moved left or right relative to the forks. Therefore, there is a need for a method to detect with high accuracy whether the pallet has moved left or right relative to the forks.

[0005] The present disclosure aims to provide a moving body, a control method, and a program that can detect with high accuracy whether a pallet has moved left or right relative to a fork. [Means for solving the problem]

[0006] The moving body according to the present disclosure includes a fork extending in the front-to-rear direction, a side shift mechanism that moves the fork in the left-to-right direction, a roller that is provided integrally with the fork and movable in the left-to-right direction at a reference position that is between the tip and base ends of the fork in the front-to-rear direction, and that is rotatable around an axis of rotation in the up-to-down direction, and a rotation detection unit that detects the amount of rotation of the roller.

[0007] A control method according to the present disclosure is a control method for a moving body having a fork extending in a front-to-rear direction, a side shift mechanism that moves the fork in a left-to-right direction, a roller that is provided so as to be movable in the left-to-right direction integrally with the fork at a reference position that is between the tip and base ends of the fork in the front-to-rear direction and that is rotatable around an axis of rotation in the up-to-down direction, and a rotation detection unit that detects the amount of rotation of the roller, the control method including the steps of: controlling the side shift mechanism to move the fork to one side in the left-to-right direction; and, when the amount of rotation of the roller detected by the rotation detection unit becomes equal to or greater than a predetermined threshold while the fork is moving to one side in the left-to-right direction, stopping the movement of the fork to one side in the left-to-right direction.

[0008] The program according to the present disclosure is a program that causes a computer to execute a method for controlling a moving body having forks extending in a front-to-rear direction, a side shift mechanism that moves the forks in a left-to-right direction, rollers that are provided integrally with the forks and movable in the left-to-right direction at a reference position that is between the tip and base ends of the forks in the front-to-rear direction and that can rotate around an axis of rotation in the up-to-down direction, and a rotation detection unit that detects the amount of rotation of the rollers, and causes the computer to execute the steps of controlling the side shift mechanism to move the forks to one side in the left-to-right direction, and when the amount of rotation of the rollers detected by the rotation detection unit becomes equal to or greater than a predetermined threshold while the forks are moving to one side in the left-to-right direction, stopping the movement of the forks to one side in the left-to-right direction. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to detect with high accuracy whether a pallet has moved left or right relative to the forks. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic side view of a moving body according to this embodiment. [Figure 2] FIG. 2 is a schematic enlarged partial view of the moving body according to this embodiment. [Figure 3] FIG. 3 is a schematic diagram of the mounting detection sensor and roller mechanism. [Figure 4] FIG. 4 is a schematic diagram of the mounting detection sensor and roller mechanism. [Figure 5] FIG. 5 is a schematic diagram of the roller mechanism. [Figure 6A] FIG. 6A is a schematic diagram for explaining the holding portion. [Figure 6B] FIG. 6B is a schematic diagram for explaining the holding portion. [Figure 7] FIG. 7 is a schematic diagram illustrating movement of the pallet in the Y direction. [Figure 8] FIG. 8 is a block diagram of the control device of this embodiment. [Figure 9] FIG. 9 is a schematic diagram illustrating unloading of a pallet. [Figure 10] FIG. 10 is a flowchart illustrating the unloading process flow. [Figure 11] FIG. 11 is a schematic diagram illustrating another example of the installation position of the roller mechanism. [Figure 12] FIG. 12 is a schematic diagram illustrating another example of the installation position of the roller mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations in which the respective embodiments are combined.

[0012] (Mobile) FIG. 1 is a schematic side view of a mobile body according to this embodiment, and FIG. 2 is a schematic partial enlarged view of the mobile body according to this embodiment. The mobile body 10 according to this embodiment is a mobile device. In this embodiment, the mobile body 10 is an automatically mobile device, but is not limited to this and may be a manned mobile body that moves by being operated by an operator. Furthermore, the mobile body 10 is a forklift, and in this embodiment, it is a so-called AGF (Automated Guided Forklift).

[0013] 1, the mobile object 10 includes a vehicle body 20, straddle legs 21, a mast 22, a lift bracket 24, a backrest 26, a carriage plate 28, forks 30, wheels 40, a control device 50, a roller mechanism 60, and a mounting detection sensor 70. In addition to the above configuration, the mobile object 10 may also include various mechanisms that a forklift has.

[0014] Hereinafter, the front-to-rear direction of the moving body 10 is referred to as the X direction, the left-to-right direction of the moving body 10 as the Y direction, and the up-down direction (vertical direction) of the moving body 10 as the Z direction. Furthermore, one of the X directions is appropriately referred to as the X1 direction, and the other of the X directions (the direction opposite to the X1 direction) is appropriately referred to as the X2 direction.

[0015] (Body) The vehicle body 20 is the body of the moving body 10, and has the control device 50 mounted therein, for example.

[0016] (Straddle leg) The straddle leg 21 is a shaft-shaped member provided at the end of the vehicle body 20 in the X1 direction and protruding in the X1 direction from the vehicle body 20. Two straddle legs 21 are provided side by side in the Y direction.

[0017] (mast) The mast 22 is a member provided on the X1-direction side of the car body 20 and extending in the Z direction. The mast 22 is provided inside the straddle legs 21 in the Y direction. In other words, the mast 22 is provided between the two straddle legs 21 in the Y direction. The shape of the mast 22 may be arbitrary, but in this embodiment, it may be configured to include two shaft-shaped members extending in the Z direction and aligned in the Y direction, and a connecting member connecting the two shaft-shaped members near their upper ends in the Z direction. The mast 22 is movable in the X direction relative to the car body 20 and the straddle legs 21.

[0018] (Lift bracket) The lift bracket 24 is a member connected to the mast 22 so as to be movable in the Z direction. In this embodiment, the lift bracket 24 is provided between two shaft-shaped members of the mast 22 in the Y direction, and is connected to the two shaft-shaped members so as to be movable in the Z direction.

[0019] (backrest) The backrest 26 is a member connected to the lift bracket 24 so as to be movable in the Y direction. The backrest 26 is provided on the X1 direction side of the lift bracket 24. The shape of the backrest 26 may be any shape, and in this embodiment, for example, it is a fence-shaped member.

[0020] (carriage plate) The carriage plate 28 is a member provided on the backrest 26. The carriage plate 28 is provided on the X1 direction side of the backrest 26. The carriage plate 28 is connected to the lift bracket 24 via the backrest 26 and is movable in the Y direction integrally with the backrest 26 relative to the lift bracket 24. Note that the carriage plate 28 is not limited to being connected to the lift bracket 24 via the backrest 26, and may be directly connected to the lift bracket 24, for example, so as to be movable in the Y direction. In this case, the backrest 26 does not need to be provided.

[0021] (fork) The forks 30 are provided on the carriage plate 28. The forks 30 are movable in the Y direction integrally with the carriage plate 28 relative to the lift bracket 24. The forks 30 have a base 31 extending in the Z direction and claws 32 protruding from the base 31 in the X1 direction. The surface of the base 31 facing the X2 direction of the forks 30 is attached to the carriage plate 28. Two forks 30 are provided side by side in the Y direction. In this embodiment, the forks 30 are provided on the inner side of the two straddle legs 21 in the Y direction (between the two straddle legs 21). Note that, although the movable body 10 is configured to have one set of a pair of forks 30, a configuration in which multiple sets (for example, two sets) of a pair of forks 30 are arranged side by side in the Y direction may also be used. In this case, each set of a pair of forks 30 may be provided on the carriage plate 28 and movable in the Y direction integrally with the lift bracket 24.

[0022] In this embodiment, the fork 30 is provided with a backing plate 34. The backing plate 34 is provided in the X direction between the tip end 32A (the end on the X1 direction side) and the base end 32B (the end on the X2 direction side) of the claw 32. The backing plate 34 is a plate-shaped member that extends upward in the Z direction from a position between the tip end 32A and the base end 32B of the claw 32.

[0023] In this embodiment, when loading a pallet P onto the movable body 10, as shown in Fig. 4 described below, the claws 32 of the forks 30 are inserted into the holes H of the pallet P, and the end face of the pallet P on the X2 direction side is brought into contact with the surface of the backing plate 34 on the X1 direction side. Then, by moving the forks 30 upward in the Z direction in this state, the upper Z direction surfaces of the claws 32 hold the upper Z direction surface of the hole H of the pallet P, and the pallet P is loaded.

[0024] As described above, in this embodiment, the surface of the backing plate 34 on the X1 direction side is the contact surface with the pallet P. By providing the backing plate 34 in this manner, the pallet P can be held at the tip end of the claws 32, which prevents interference with the tailgate of the truck when loading the pallet P onto a truck, for example, and allows for more efficient loading onto the truck. However, the backing plate 34 is not an essential component and does not need to be provided on the forks 30. In this case, when loading the pallet P, the end surface of the pallet P on the X2 direction side is brought into contact with the surface of the base 31 of the forks 30 on the X1 direction side. In other words, if the backing plate 34 is provided, the backing plate 34 is the contact surface with the pallet P, and if the backing plate 34 is not provided, the base 31 is the contact surface with the pallet P.

[0025] (wheel) Wheels 40 are provided on the tip of each straddle leg 21 and on the vehicle body 20. That is, a total of three wheels 40 are provided, but the positions and number of wheels 40 may be arbitrary. The wheels 40 include driving wheels, steering wheels, driven wheels, etc. The function of each wheel 40 is not particularly limited.

[0026] (Control device) The control device 50 is a device that controls the movement of the moving body 10, and the detailed configuration will be described later.

[0027] (X-direction movement mechanism) The fork 30 is movable in the X direction relative to the vehicle body 20. In this embodiment, the mast 22, the lift bracket 24, the backrest 26, the carriage plate 28, and the fork 30 are movable in the X direction relative to the vehicle body 20. In other words, the movable body 10 moves the mast 22, the lift bracket 24, the backrest 26, the carriage plate 28, and the fork 30 as a unit in the X direction relative to the vehicle body 20.

[0028] The X-direction movement mechanism 20A that moves the fork 30 (the mast 22, the lift bracket 24, the backrest 26, the carriage plate 28, and the fork 30) in the X direction relative to the vehicle body 20 may have any configuration. For example, the X-direction movement mechanism 20A may move the fork 30 in the X direction in the same manner as a known forklift. For example, the X-direction movement mechanism 20A may have a configuration including a hydraulic cylinder and may move the fork 30 in the X direction by hydraulic pressure. Also, for example, the X-direction movement mechanism 20A may be made up of a rack provided on the straddle leg 21 and a pinion gear provided on the mast 22. In this case, the pinion gear rotates to move in the X direction along the gear groove of the rack.

[0029] (Z-direction movement mechanism) The fork 30 is movable in the Z direction relative to the vehicle body 20. In this embodiment, the lift bracket 24, the backrest 26, the carriage plate 28, and the fork 30 are movable in the Z direction relative to the vehicle body 20 (mast 22). That is, the movable body 10 moves the lift bracket 24, the backrest 26, the carriage plate 28, and the fork 30 as a unit in the Z direction relative to the vehicle body 20 (mast 22).

[0030] The Z-direction movement mechanism 20B that moves the forks 30 (lift bracket 24, backrest 26, carriage plate 28, and forks 30) in the Z direction relative to the vehicle body 20 may have any configuration. For example, the Z-direction movement mechanism 20B may move the forks 30 in the Z direction in a manner similar to that of a known forklift. For example, the Z-direction movement mechanism 20B may have a configuration including a hydraulic cylinder, and may move the forks 30 in the Z direction by hydraulic pressure.

[0031] (Y-direction movement mechanism) The fork 30 is movable (side-shiftable) in the Y direction relative to the vehicle body 20. In this embodiment, the backrest 26, the carriage plate 28, and the fork 30 are movable in the Y direction relative to the vehicle body 20 (lift bracket 24). That is, the movable body 10 moves the backrest 26, the carriage plate 28, and the fork 30 as a unit in the Y direction relative to the vehicle body 20 (lift bracket 24).

[0032] The Y-direction movement mechanism 25 (side shift mechanism) that moves the forks 30 (the backrest 26, the carriage plate 28, and the forks 30) in the Y direction relative to the vehicle body 20 may have any configuration. For example, the Y-direction movement mechanism 25 may move the forks 30 in the Y direction in a manner similar to that of a known forklift. For example, the Y-direction movement mechanism 25 may include a hydraulic cylinder and move the forks 30 in the X direction using hydraulic pressure. For example, in this embodiment, as shown in FIG. 2 , the Y-direction movement mechanism 25 is constituted by a hydraulic cylinder 24A provided on the lift bracket 24. The hydraulic cylinder 24A has a body (cylinder) fixed to the lift bracket 24, and a piston that is movable in the Y direction relative to the body is fixed to the carriage plate 28. In the Y-direction movement mechanism 25, the hydraulic cylinder 24A is driven by a drive device (not shown) to move the piston of the hydraulic cylinder 24A in the Y direction relative to the body, and the carriage plate 28 moves in the Y direction relative to the body. As a result, the fork 30 (the backrest 26, the carriage plate 28, and the fork 30) moves in the Y direction relative to the vehicle body 20 (the lift bracket 24).

[0033] (Installed detection sensor) 3 and 4 are schematic diagrams of the mounting detection sensor and roller mechanism. FIGS. 3 and 4 are schematic diagrams of the fork 30, roller mechanism 60, and mounting detection sensor 70 as viewed from the Y direction. FIG. 3 shows a state in which a pallet P is not mounted on the fork 30, and FIG. 4 shows a state in which a pallet P is mounted on the fork 30. The mounting detection sensor 70 is a sensor that detects whether a pallet P is mounted on the fork 30. The mounting detection sensor 70 may be a sensor of any type and configuration that can detect whether a pallet P is mounted on the fork 30. For example, the mounting detection sensor 70 may be a non-contact sensor such as a laser sensor that detects whether a pallet P is mounted by irradiating a laser beam or a camera that detects whether a pallet P is mounted by capturing an image. However, in this embodiment, the mounting detection sensor 70 is a contact-type sensor. An example of the configuration of the mounting detection sensor 70 in this embodiment will be described below.

[0034] As shown in FIG. 2, the mounting detection sensor 70 is provided integrally with the fork 30 and movable relative to the vehicle body 20. In this embodiment, the mounting detection sensor 70 is attached to the fork 30, but this is not limited thereto and may be attached to, for example, the carriage plate 28. As shown in FIG. 3, the mounting detection sensor 70 is provided at a position between the tip end 32A and the base end 32B of the claw 32 in the Z direction. The X1 direction side of the mounting detection sensor 70 is exposed; in other words, no other components of the movable body 10 are provided on the X1 direction side of the mounting detection sensor 70. A mounting detection sensor 70 is provided on each fork 30, and in this embodiment, two mounting detection sensors 70 are provided side by side in the Y direction. However, the number of mounting detection sensors 70 is not limited thereto and may be, for example, one.

[0035] 3, the mounting detection sensor 70 has a base 72, a lever 74, and a lever 76. The base 72 is fixed to the fork 30 at a position between the tip end 32A and the base end 32B of the claw 32. The base 72 is a plate-shaped member that extends upward in the Z direction at a position between the tip end 32A and the base end 32B of the claw 32.

[0036] The lever 74 is a plate-shaped member whose main surface faces in the X1 direction. The lever 74 is attached to the base 72 so as to be rotatable around the Y direction as a rotation axis relative to the base 72. More specifically, a rotation axis 72A extending in the Y direction is provided at the upper end of the base 72 in the Z direction, and the lever 74 is attached at its upper end in the Z direction so as to be rotatable around the rotation axis 72A. As shown in FIG. 3 , when no load is applied in the X2 direction, the lever 74 protrudes in the X1 direction beyond the contact surface of the fork 30 (the backing plate 34 in this example) and is attached to the base 72 so as to be inclined toward the X1 direction relative to the downward direction in the Z direction from the upper end to the lower end. When a load is applied in the X2 direction, the lever 74 rotates in the X2 direction around the rotation axis 72A as a rotation axis and moves in the X2 direction. When the load in the X2 direction is removed, the lever 74 rotates in the X1 direction around the rotation axis 72A and returns to the X1 direction.

[0037] The lever 76 is a member extending in the X direction. The lever 76 is attached to the base 72 so as to be rotatable around a rotation axis in the Y direction relative to the base 72. More specifically, a rotation axis 72B extending in the Y direction is provided at a lower end of the base 72 in the Z direction, and the lever 76 is attached at its end (base end) on the X2 direction side so as to be rotatable around the rotation axis 72B. As shown in FIG. 3 , when no load is applied downward in the Z direction, the lever 76 protrudes upward in the Z direction beyond the upper surface of the claw 32 in the Z direction and is attached to the base 72 so as to be inclined upward in the Z direction with respect to the X1 direction from the base end on the X2 direction side to the tip end on the X1 direction side. When a load is applied downward in the Z direction, the lever 76 rotates downward in the Z direction around the rotation axis 72B and moves downward in the Z direction. When the load in the downward Z direction is removed, the lever 76 rotates upward in the Z direction around the rotation axis 72B as the rotation axis, and then returns to the upward Z direction.

[0038] When no pallet P is loaded on the forks 30, no external load is acting on the levers 74, 76, and the loading detection sensor 70 is in the state shown in Fig. 3. That is, in this case, the lever 74 is in a first state in which it protrudes toward the X1 side beyond the contact surface of the forks 30 (the backing plate 34 in this example) and is tilted downward in the Z direction toward the X1 direction from its upper end toward its lower end in the Z direction. Similarly, the lever 76 is in a first state in which it protrudes upward in the Z direction beyond the upper surface of the claw 32 in the Z direction and is tilted upward in the Z direction with respect to the X1 direction from its base end on the X2 direction toward its tip end on the X1 direction.

[0039] On the other hand, when a pallet P is loaded on the forks 30, an external load acts on the levers 74, 76, and the loading detection sensor 70 assumes the state shown in FIG. 4 . That is, when the pallet P is loaded on the forks 30, the end face of the pallet P on the X1 direction side comes into contact with the lever 74, and a load acts on the lever 74 in the X2 direction. As a result, the lever 74 rotates in the X2 direction around the rotation shaft 72A as the rotation axis, and switches to a second state that is positioned further in the X2 direction than the first state. Similarly, when the pallet P is loaded on the forks 30, the upper surface of the hole H of the pallet P in the Z direction comes into contact with the lever 76, and a load acts on the lever 76 in the lower Z direction. As a result, the lever 76 rotates downward in the Z direction around the rotation shaft 72B as the rotation axis, and switches to a second state that is positioned lower in the Z direction than the first state.

[0040] In this way, the mounting detection sensor 70 can detect whether a pallet P has been mounted by the levers 74 and 76 switching between the first state and the second state. For example, the control device 50 detects that the levers 74 and 76 are in the first state, and determines that the pallet P is not mounted when they are in the first state. The control device 50 also detects that the levers 74 and 76 are in the second state, and determines that the pallet P is mounted when they are in the second state.

[0041] (roller mechanism) 3, the roller mechanism 60 has rollers 64 that can rotate around the Z direction as a rotation axis, and a rotation detection unit 66 that detects the amount of rotation of the rollers 64. The roller mechanism 60 detects the movement of the pallet P held by the forks 30 in the Y direction relative to the forks 30 (moving body 10) by detecting the amount of rotation of the rollers 64. A roller mechanism 60 is provided on each fork 30, and in this embodiment, two roller mechanisms 60 are provided side by side in the Y direction. However, the number of roller mechanisms 60 is not limited to this and may be, for example, one.

[0042] The roller mechanism 60 (rollers 64) is provided integrally with the fork 30 and is movable relative to the vehicle body 20. The roller mechanism 60 is provided on the fork 30 so that, when no load is acting on the roller mechanism 60 in the X2 direction (when the pallet P is not in contact with the roller 64), the roller 64 is located at a reference position between the tip end 32A and the base end 32B of the claw 32 in the X direction. In this embodiment, the reference position refers to the position of the roller 64 when the portion of the side of the roller 64 closest to the X1 direction is located closer to the X1 direction than the contact surface of the fork 30 (the backing plate 34 in this example). Note that the state in which no load is acting on the roller mechanism 60 in the X2 direction (when the pallet P is not in contact with the roller 64) can also be said to be a state in which the pallet P is not loaded on the fork 30.

[0043] The roller 64 has an exposed side surface (outer circumferential surface) on the X1 direction side; in other words, no other members of the movable body 10 are provided on the X1 direction side of the side surface of the roller 64. In this embodiment, the roller mechanism 60 is provided on the fork 30. More specifically, a part of the roller mechanism 60 (a storage section 61 described below) is provided on the upper Z-direction surface of the claw 32, closer to the X2 direction than the contact surface of the fork 30 (the backing plate 34 in this example). More specifically, the backing plate 34 has an opening 34A that penetrates from the surface on the X2 direction side to the surface on the X1 direction side. When no load is applied to the roller mechanism 60 in the X2 direction, the part of the side surface of the roller 64 closest to the X1 direction protrudes through the opening 34A and beyond the backing plate 34 in the X1 direction. When no load is applied to the roller mechanism 60 in the X2 direction, the roller 64 may be positioned further in the X2 direction than the position of the lever 74 of the mounting detection sensor 70 in the first state.

[0044] Fig. 5 is a schematic diagram of a roller mechanism. As shown in Fig. 5, roller mechanism 60 has a storage section 61, a base section 62, a pressing section 63, a roller 64, a pulley 64A, a rotating shaft section 65, a pulley 65A, a rotation detection section 66, and a holding section 68. However, roller mechanism 60 is not limited to having all of these components, and may have any configuration including roller 64 and rotation detection section 66.

[0045] (storage area) The storage section 61 is a member that stores the rollers 64 therein. The storage section 61 is attached to a member (the fork 30 in this example) to which the roller mechanism 60 is attached so as to be movable in the X direction. In the example of FIG. 5, the storage section 61 has an upper surface portion 61A, a lower surface portion 61B, and a back surface portion 61C. The upper surface portion 61A and the lower surface portion 61B are plate-shaped members whose main surfaces are in the Z direction. The lower surface portion 61B is provided below the upper surface portion 61A in the Z direction and faces the upper surface portion 61A in the Z direction. The back surface portion 61C connects the upper surface portion 61A and the lower surface portion 61B and is a plate-shaped member whose main surface is in the X direction. The back surface portion 61C is provided at the ends of the upper surface portion 61A and the lower surface portion 61B on the X2 direction side. More specifically, the back surface portion 61C extends in the Z direction from an upper Z-direction end connected to the X2-direction end of the upper surface portion 61A to a lower Z-direction end connected to the X2-direction end of the lower surface portion 61B.

[0046] (base) The base 62 is a member that holds the storage unit 61. The base 62 is fixed to a member (the fork 30 in this example) to which the roller mechanism 60 is attached. In this embodiment, the base 62 is a plate-shaped member whose main surface is in the Z direction. The storage unit 61 is attached to the base 62 so as to be movable in the X direction relative to the base 62. In the example of FIG. 5 , a rail extending in the X direction is formed on the upper surface of the base 62 in the Z direction, and a convex portion is formed on the lower surface of the lower surface 61B of the storage unit 61 in the Z direction, and this convex portion is inserted into the rail so as to be movable in the X direction. Note that the base 62 is not an essential component, and the storage unit 61 may be directly attached to the member (the fork 30 in this example) to which the roller mechanism 60 is attached so as to be movable in the X direction.

[0047] (Laura) As described above, the roller 64 is a roller that can rotate around the Z direction as its rotation axis. The roller 64 is stored in the storage section 61 so as to be rotatable relative to the storage section 61. The upper end of the roller 64 in the Z direction is connected to the upper surface section 61A, and the lower end of the roller 64 in the Z direction is connected to the lower surface section 61B, and the roller 64 rotates around the Z direction as its rotation axis. Because the roller 64 is provided in the storage section 61, it can move in the X direction together with the storage section 61 relative to the member to which the roller mechanism 60 is attached (the fork 30 in this example). The side surface of the roller 64 may be made of any material, for example, a urethane member.

[0048] (Rotating shaft) The rotating shaft portion 65 is a member that can rotate around the Z direction as a rotation axis. The rotating shaft portion 65 is stored in the storage portion 61 so as to be rotatable relative to the storage portion 61. The upper end of the rotating shaft portion 65 in the Z direction is connected to the upper surface portion 61A, and the lower end of the rotating shaft portion 65 in the Z direction is connected to the lower surface portion 61B, and the rotating shaft portion 65 rotates around the Z direction as a rotation axis. The rotating shaft portion 65 is a rotation transmission mechanism that transmits the rotation of the roller 64, and rotates in conjunction with the rotation of the roller 64. In this embodiment, the rotation of the roller 64 is transmitted to the rotating shaft portion 65 by a pulley. Specifically, a pulley 64A is provided on the rotation axis of the roller 64, and a pulley 65A is provided on the rotating shaft portion 65. The pulley 64A rotates integrally with the roller 64, and the pulley 65A rotates integrally with the rotating shaft portion 65. A belt (not shown) is hung between the side surface (outer periphery) of the pulley 64A and the side surface of the pulley 65A, and the rotation of the roller 64 (pulley 64A) is transmitted to the rotation shaft portion 65 (pulley 65A) via the belt.

[0049] (Rotation detection unit) The rotation detection unit 66 is a sensor that detects the rotation of the roller 64. In this embodiment, the rotation detection unit 66 detects the amount of rotation of the roller 64. The rotation detection unit 66 may be any sensor that detects the rotation of the roller 64, but in this embodiment, it is a potentiometer. In this embodiment, the rotation detection unit 66 is attached to the rotating shaft 65 and detects the rotation of the rotating shaft 65. That is, the rotation detection unit 66 outputs an electrical signal corresponding to the amount of rotation of the rotating shaft 65. Because the rotating shaft 65 rotates in synchronization with the roller 64, it is possible to detect whether the roller 64 has rotated and the amount of rotation of the roller 64 from the electrical signal corresponding to the amount of rotation of the rotating shaft 65. However, the rotation detection unit 66 is not limited to detecting the rotation of the rotating shaft 65, and may be attached to the roller 64 and directly detect the rotation of the roller 64.

[0050] (Pressing part) The pressing unit 63 is a mechanism that presses the rollers 64 in the X1 direction (applies a load to the rollers 64 in the X1 direction). In this embodiment, the pressing unit 63 presses the storage unit 61 in the X1 direction, thereby pressing the rollers 64 stored in the storage unit 61 in the X1 direction. In the example of FIG. 5, the pressing unit 63 has a fixed unit 63A and an elastic unit 63B. The fixed unit 63A is a member that is fixed to a member (fork 30 in this example) to which the roller mechanism 60 is attached. The elastic unit 63B connects the fixed unit 63A and the storage unit 61 and is an elastic member that is elastically deformable in the X direction. The elastic unit 63B may be, for example, a spring that expands and contracts in the X direction, and has an end on the X2 direction side connected to the fixed unit 63A and an end on the X1 direction side connected to the X2 direction surface of the back unit 61C.

[0051] When no load is acting on the roller mechanism 60 in the X2 direction, the pressing portion 63 presses the roller 64 (storage portion 61 in this example) in the X1 direction so that the portion of the side of the roller 64 closest to the X1 direction is positioned closer to the X1 direction than the backing plate 34. That is, as shown in Fig. 3, when the pallet P is not in contact with the roller 64 (when the pallet P is not mounted on the forks 30), no load is acting on the roller 64 in the X2 direction, and therefore the roller 64 is in a first state in which the portion of the side of the roller 64 closest to the X1 direction is positioned closer to the X1 direction than the contact surface of the forks 30 (backing plate 34 in this example).

[0052] On the other hand, as shown in FIG. 4, when the pallet P is in contact with the rollers 64 (when the pallet P is loaded on the forks 30), the end faces of the pallet P on the X2 direction side come into contact with the rollers 64, and a load acts on the rollers 64 in the X2 direction. This load causes the rollers 64 and the storage section 61 to move in the X1 direction relative to the member to which the roller mechanism 60 is attached (the forks 30 in this example). That is, when the pallet P is loaded on the forks 30, the rollers 64 are in a second state in which their sides are in contact with the pallet P and are positioned further in the X2 direction than in the first state. Note that when the pallet P is unloaded from the forks 30, the pallet P is no longer loaded on the forks 30, and the load on the rollers 64 in the X2 direction is released, returning to the first state shown in FIG. 3.

[0053] By providing the pressing portion 63 that presses the roller 64 in this way, the roller 64 can be brought into appropriate contact with the pallet P, and the movement of the pallet P in the Y direction can be appropriately detected. However, the configuration of the pressing portion 63 is not essential.

[0054] (holding part) 6A and 6B are schematic diagrams illustrating the holding unit. The holding unit 68 is a mechanism that holds the rollers 64 in an initial position in the rotation direction when no load is acting on the roller mechanism 60 in the X2 direction. The initial position refers to a position in the rotation direction of the rollers 64 where the rotation angle of the rollers 64 is a predetermined value. For example, the rotation angle of the rollers 64 at the initial position is set to 0°. In this case, when the pallet P moves in the Y direction relative to the forks 30 while in contact with the rollers 64, the rollers 64 rotate with the movement, and the rotation angle becomes an angle different from 0°, and the rollers 64 are held in that state. Thereafter, when the pallet P is released from contact with the rollers 64, the holding unit 68 rotates the rollers 64 in the opposite direction to return the rotation angle to 0° (initial position) and hold them in that state.

[0055] The holding portion 68 may have any configuration capable of holding the roller 64 in the initial position, but in this embodiment, as shown in FIG. 6A, the holding portion 68 has a lever 68A, fixed portions 68B, 68C, 68D, and a coil spring 68E.

[0056] Lever 68A is a plate-shaped member whose main surface is in the Z direction. Lever 68A is provided inside storage section 61 and is fixedly attached to rotation shaft section 65. Lever 68A rotates together with rotation shaft section 65 around the Z direction, with the point where it is fixed to rotation shaft section 65 as its rotation axis. Fixed section 68B is a member that protrudes from the lower Z-direction surface of lever 68A and is fixed to lever 68A. Two fixed sections 68B are provided side by side in the Y direction. Fixed section 68C is a member that protrudes from the upper Z-direction surface of lower surface section 61B of storage section 61 and is fixed to lower surface section 61B. Two fixed sections 68C are provided side by side in the Y direction. Fixed section 68D is a member that protrudes from the upper Z-direction surface of lower surface section 61B of storage section 61 and is fixed to lower surface section 61B. The fixed portion 68D is provided between the two fixed portions 68B in the Y direction.

[0057] The coil spring 68E is composed of an axial spring member. The coil spring 68E is composed of two axial portions 68E1, each having a spring member extending linearly from one end and the other end, and an annular portion 68E2, which has a spring member wound in an annular shape between the two axial portions 68E1. The coil spring 68E is disposed between two fixed portions 68B arranged side by side in the Y direction. More specifically, the coil spring 68E is fixed to the fixed portion 68D with the annular portion 68E2 inserted into the fixed portion 68D. In addition, one (upper side in Figure 6A) shaft-shaped portion 68E1 of the coil spring 68E contacts the inner side in the Y direction (lower side in Figure 6) of the outer surface of one of the fixed portions 68B, and the other (lower side in Figure 6A) shaft-shaped portion 68E1 contacts the inner side in the Y direction (upper side in Figure 6A) of the outer surface of the other fixed portion 68B.

[0058] When the pallet P in contact with the roller 64 moves in the Y direction from the state shown in FIG. 6A, the roller 64 rotates, and the lever 68A also rotates together with the rotation shaft portion 65. FIG. 6B shows an example in which the lever 68A rotates counterclockwise from the state shown in FIG. 6A. As a result, the shaft portion 68E1 of the coil spring 68E is pushed in the rotational direction by the fixed portion 68B, which rotates together with the lever 68A, and elastically deforms. Thereafter, when the pallet P is released from contact with the roller 64, the elastic force of the coil spring 68E pushes the fixed portion 68B in the opposite direction, causing the lever 68A to rotate in the opposite direction and return to its initial position. The roller 64 rotates in synchronization with the lever 68A via the rotation shaft portion 65, and therefore rotates together with the lever 68A in the opposite direction and returns to its initial position.

[0059] By providing the holder 68 that returns the roller 64 to its initial position in this way, it is possible to properly detect the rotation of the roller 64 and therefore the movement of the pallet P in the Y direction. However, the configuration of the holder 68 is not essential.

[0060] (Pallet movement in Y direction) FIG. 7 is a schematic diagram illustrating movement of a pallet in the Y direction. Here, as shown in FIG. 4, when the pallet P is mounted on the fork 30, the side surface of the roller 64 in the X1 direction comes into contact with the end surface of the pallet P in the X2 direction (the upper surface of the hole H in this embodiment). Then, as shown in FIG. 7, for example, when the lower surface of the pallet P in the Z direction within the hole H slides in the Y direction relative to the claw portion 32, causing the pallet P to move in the Y direction relative to the fork 30, the roller 64 rolls against the end surface of the pallet P and rotates in the Y direction around the Z direction as its rotation axis. In this way, the roller 64 rotates as the pallet P moves in the Y direction, and the rotation is detected by the rotation detection unit 66, so that the movement of the pallet P in the Y direction can be appropriately detected. Furthermore, since the roller 64 rotates even when the pallet P moves slightly in the Y direction, this embodiment allows the movement of the pallet P in the Y direction to be detected with high accuracy.

[0061] (Control device) Next, the control device 50 of the moving body 10 will be described. Fig. 8 is a block diagram of the control device of this embodiment. The control device 50 is a computer, and as shown in Fig. 8, has a communication unit 51, a storage unit 52, and a control unit 53. The control device 50 may be configured as a stand-alone device, may be configured integrally with other devices, or may be configured as a system combining various devices such as an arithmetic circuit and a data server, and is not particularly limited.

[0062] The communication unit 51 is a communication module that communicates with an external device, such as an antenna. The control device 50 communicates with the external device via wireless communication, but wired communication may also be used, and any communication method may be used.

[0063] The storage unit 52 is a memory that stores various information such as the contents of calculations and programs of the control unit 53, and includes at least one of a main storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive). The program for the control unit 53 stored in the storage unit 52 may be stored in a recording medium that can be read by the control device 50.

[0064] The control unit 53 is a calculation device and includes a calculation circuit such as a CPU (Central Processing Unit). The control unit 53 includes a movement control unit 53A, a fork control unit 53B, and a determination unit 53C. The control unit 53 reads and executes a program (software) from the storage unit 52, thereby realizing the movement control unit 53A, the fork control unit 53B, and the determination unit 53C and executing the processes. The control unit 53 may execute these processes using one CPU, or may be provided with multiple CPUs and execute the processes using the multiple CPUs. At least a part of the processes of the movement control unit 53A, the fork control unit 53B, and the determination unit 53C may be implemented using hardware circuits.

[0065] The movement control unit 53A controls the drive unit, steering, etc. of the moving body 10 to control the movement of the moving body 10. The fork control unit 53B controls each movement mechanism (X-direction movement mechanism, Y-direction movement mechanism, and Z-direction movement mechanism) of the moving body 10 to move the forks 30. The determination unit 53C determines whether the pallet P loaded on the forks 30 has come into contact with an object while the forks 30 are being side-shifted.

[0066] (Controller processing) The processing details of the control device 50 when unloading a pallet P are described below. FIG. 9 is a schematic diagram illustrating pallet unloading. FIG. 9 shows an example of unloading as viewed from the X1 direction (the tip end side of the claws 32). The example in FIG. 9 illustrates a case where a pallet P loaded with a load Q is unloaded adjacent to the side (left side in the example in FIG. 9) of an unloaded pallet P0 loaded with a load Q0. That is, the unloading position (the position where the pallet P is unloaded) in the example in FIG. 9 is a position adjacent to the side of the pallet P0. However, in the example in FIG. 9, a buffer material R is placed on the side (left side in the example in FIG. 9) of the pallet P0, and the unloading position is a position adjacent to the buffer material R. The unloading position in FIG. 9 is the bed of a truck, but is not limited to this and may be a shelf, floor, or the like.

[0067] The movement control unit 53A of the control device 50 moves the movable body 10 carrying the pallet P to a position for unloading. Once the movable body 10 has moved to the unloading position, as shown in the upper diagram of FIG. 9, the fork control unit 53B of the control device 50 moves the forks 30 in the X1 direction to move the pallet P carried on the forks 30 to a position to the side of the unloading position (to the right in the example of FIG. 9) and vertically above the unloading position. The fork control unit 53B then moves (side shifts) the forks 30 toward the pallet P0 in the Y direction (to the direction YA in the example of FIG. 9). The pallet P moves in the direction YA together with the forks 30 and comes into contact with an object on the YA side (cushioning material R in the example of FIG. 9) as shown in the lower diagram of FIG. 9.

[0068] If the forks 30 continue to move in the direction YA while the pallet P is in contact with an object, the pallet P is prevented from moving in the direction YA by the contacting object and therefore slides relative to the forks 30, moving in the opposite direction to the direction YA relative to the forks 30. This causes the rollers 64 of the moving body 10 to rotate. The determination unit 53C of the control device 50 acquires information (e.g., an electrical signal) on the amount of rotation of the rollers 64 from the rotation detection unit 66. When the amount of rotation of the rollers 64 reaches or exceeds a predetermined threshold, the determination unit 53C determines that the pallet P has come into contact with the object (that the pallet P has reached the unloading position) and determines that side shifting should be stopped. When the determination unit 53C determines that side shifting should be stopped (that the pallet P has come into contact with the object), in other words, when the amount of rotation of the rollers 64 reaches or exceeds a predetermined threshold, the fork control unit 53B stops side shifting of the forks 30 in the direction YA. The fork control section 53B then moves the forks 30 downward in the Z direction (vertically downward) to unload the pallet P at the unloading position.

[0069] In this way, in this embodiment, side shifting is stopped by determining whether the pallet P has come into contact with an object based on the amount of rotation of the roller 64. Therefore, since it is possible to quickly detect whether the pallet P has come into contact with an object, it is possible to prevent the pallet P from being pressed hard against the object.

[0070] The threshold value for the rotation amount, which is used as the criterion for determining whether to stop side shifting, may be set arbitrarily. For example, since a roller 64 is provided on each fork 30, it may be determined whether to stop side shifting based on the rotation amount of both rollers 64. By making a determination using the rotation amounts of the two rollers 64 in this manner, it is possible to detect with high accuracy whether the pallet P has come into contact with an object. For example, the determination unit 53C may determine to stop side shifting when the rotation amounts of both rollers 64 are equal to or greater than a threshold. In other words, in this case, side shifting is not stopped even if the rotation amount of only one roller 64 is equal to or greater than the threshold. However, the present invention is not limited to this, and the determination unit 53C may also determine to stop side shifting when the rotation amount of either roller 64 is equal to or greater than a threshold.

[0071] (Processing flow) The unloading process flow described above will now be described. FIG. 10 is a flowchart illustrating the unloading process flow. As shown in FIG. 10, the control device 50 side-shifts the forks 30 toward the unloading position when the pallet P loaded on the forks 30 is positioned to the side of the unloading position and vertically higher than the unloading position (step S10). Then, while the forks 30 are being side-shifted, the control device 50 sequentially acquires information on the rotation amount of the rollers 64 from the rotation detection unit 66. If the rotation amount of the rollers 64 is less than a threshold value (step S12; No), the control device 50 returns to step S10 and continues the side-shift. On the other hand, if the rotation amount of the rollers 64 is equal to or greater than the threshold value (step S12; Yes), that is, if the pallet P comes into contact with an object and slides relative to the forks 30, the control device 50 determines that the pallet P has come into contact with the object and stops the side-shift (step S14). Then, the control device 50 moves the forks 30 downward in the Z direction to unload the pallet P at the unloading position.

[0072] In the above description, an example has been described in which the vehicle 10 is an unmanned vehicle. However, the vehicle 10 may also be a manned vehicle operated by an operator, as described above. In this case, the forks 30 are moved by the operator. That is, in this case, the process of step S10 in FIG. 10 is performed by the operator. Furthermore, the determination of step S12 in FIG. 10 is performed by the control device 50, as in the case of an unmanned vehicle. If the amount of rotation of the roller 64 is equal to or greater than the threshold value in step S12 (step S12; Yes), the control device 50 may automatically stop the side shifting, as in the case of an unmanned vehicle. Alternatively, the control device 50 may output an alarm (audio, image, etc.) urging the operator to stop the side shifting, rather than automatically stopping the side shifting. In this case, the operator can recognize the alarm and stop the side shifting.

[0073] (Other examples) Next, other examples of the installation position of the roller mechanism 60 will be described. In the above embodiment, the roller mechanism 60 (rollers 64) was installed on the fork 30, but the installation position is not limited to this. Other examples of the installation position of the roller mechanism 60 will be described below.

[0074] FIG. 11 is a schematic diagram illustrating another example of the installation position of the roller mechanism. As shown in FIG. 11, the roller mechanism 60 (rollers 64) may be provided between the pair of forks 30 in the Y direction. In this case, for example, as shown in FIG. 11, a member 60A connecting the pair of forks 30 may be provided between the pair of forks 30, and the roller mechanism 60 (rollers 64) may be provided on this member 60A. In this example, when the pallet P is not in contact with the rollers 64 (when the pallet P is not loaded on the forks 30), the portion of the side of the roller 64 closest to the X1 direction is positioned closer to the X1 direction (toward the front of the paper in FIG. 11) than the contact surface of the fork 30 (the backing plate 34 in this example).

[0075] By providing the rollers 64 between the pair of forks 30 in this way, the rollers 64 can come into contact with a wide area between the holes H on the end face of the pallet P, and therefore the rollers 64 can be rotated appropriately as the pallet P moves in the Y direction. Note that although the example in FIG. 11 shows one roller mechanism 60, a roller mechanism 60 may be provided for each fork 30, as in the above-described embodiment.

[0076] The fork 30 may be configured so that the distance in the Y direction between the two claws 32 is variable. For example, the distance in the Y direction between the two claws 32 can be changed by individually side-shifting the claws 32 in the Y direction. In this case, in this example, the member 60A may also be configured so that the length in the Y direction is variable according to the distance in the Y direction between the two claws 32.

[0077] FIG. 12 is a schematic diagram illustrating another example of the installation position of the roller mechanism. As shown in FIG. 12, the roller mechanism 60 (rollers 64) may be provided on the outer side of the forks 30 in the Y direction (i.e., on the side opposite to the side where the other fork 30 is located). In this case, for example, as shown in FIG. 12, each fork 30 may be provided with a member 60A extending outward in the Y direction, and the roller mechanism 60 (rollers 64) may be provided on this member 60A. In this example, when the pallet P is not in contact with the rollers 64 (when the pallet P is not loaded on the forks 30), the portion of the side of the roller 64 closest to the X1 direction is located closer to the X1 direction (toward the front of the paper in FIG. 12) than the contact surface of the fork 30 (the backing plate 34 in this example).

[0078] By arranging the roller 64 on the outside of the fork 30 in this manner, the roller 64 can be brought into contact with a wide area of ​​the end face of the pallet P outside the hole H, so that the roller 64 can rotate appropriately as the pallet P moves in the Y direction.

[0079] In this example, if the distance in the Y direction between the two claw portions 32 is variable, the member 60A may also be configured so that its length in the Y direction can change depending on the distance in the Y direction between the two claw portions 32.

[0080] (effect) As described above, the movable body 10 according to the first aspect of the present disclosure includes the fork 30 extending in the front-rear direction (X direction), a side shift mechanism (Y-direction movement mechanism 25) that moves the fork 30 in the left-right direction (Y direction), the roller 64 that is provided so as to be movable in the left-right direction integrally with the fork 30 at a reference position that is between the tip end 32A and the base end 32B of the fork 30 in the front-rear direction and is rotatable about an axis of rotation in the up-down direction (Z direction), and the rotation detection unit 66 that detects the amount of rotation of the roller 64. According to the present disclosure, the roller 64 rotates as the pallet P moves in the Y direction, and the rotation is detected by the rotation detection unit 66, thereby making it possible to appropriately detect the movement of the pallet P in the Y direction. Furthermore, because the roller 64 rotates even when the pallet P moves slightly in the Y direction, according to the present disclosure, the movement of the pallet P in the Y direction can be detected with high accuracy.

[0081] The movable body 10 according to the second aspect of the present disclosure is the movable body 10 according to the first aspect, and further includes a pressing unit 63 that presses the roller 64 forward (toward the X1 direction) to hold the roller 64 at a reference position when the roller 64 is not in contact with the pallet P. This allows the roller 64 to be brought into appropriate contact with the pallet P, and makes it possible to appropriately detect movement of the pallet P in the Y direction.

[0082] The movable body 10 according to a third aspect of the present disclosure is the movable body 10 according to the first or second aspect, and further includes a holding portion 68 that holds the roller 64 at an initial position in the rotation direction when the roller 64 is not in contact with the pallet P. This allows the rotation of the roller 64 to be properly detected, and the movement of the pallet P in the Y direction to be properly detected.

[0083] The movable body 10 according to a fourth aspect of the present disclosure is the movable body 10 according to any one of the first to third aspects, and further includes a loading detection sensor 70 that is provided integrally with the forks 30 so as to be movable in the left-right direction (Y direction) and that detects whether a pallet P is loaded on the forks 30. This makes it possible to detect whether a pallet P is loaded on the forks 30, and by the rotation of the rollers 64, it is possible to appropriately detect the movement of the pallet P in the Y direction.

[0084] A movable body 10 according to a fifth aspect of the present disclosure is the movable body 10 according to any one of the first to fourth aspects, wherein the rollers 64 are provided on the forks 30. According to the present disclosure, movement of the pallet P in the Y direction can be appropriately detected.

[0085] A movable body 10 according to a sixth aspect of the present disclosure is the movable body 10 according to any one of the first to fourth aspects, in which the roller 64 is provided between the pair of forks 30 in the left-right direction. According to the present disclosure, movement of the pallet P in the Y direction can be appropriately detected.

[0086] A movable body 10 according to a seventh aspect of the present disclosure is the movable body 10 according to any one of the first to fourth aspects, in which the rollers 64 are provided outside the forks 30 in the left-right direction. According to the present disclosure, movement of the pallet P in the Y direction can be appropriately detected.

[0087] A movable body 10 according to an eighth aspect of the present disclosure is the movable body 10 according to any one of the first to seventh aspects, further including a control device 50 that controls movement of the forks 30. The control device 50 includes a fork control unit 53B that controls the side shift mechanism (Y-direction movement mechanism 25) to move the forks 30 to one side in the left-right direction, and a determination unit 53C that stops the movement of the forks 30 to one side in the left-right direction when the amount of rotation of the rollers 64 detected by the rotation detection unit 66 becomes equal to or greater than a predetermined threshold while the forks 30 are moving to one side in the left-right direction. According to the present disclosure, since it is possible to quickly detect whether the pallet P has come into contact with an object and stop the side shift, it is possible to prevent the pallet P from being pressed hard against the object.

[0088] A control method according to a ninth aspect of the present disclosure is a control method for a moving body including forks 30 extending in the front-rear direction (X direction), a side shift mechanism (Y-direction movement mechanism 25) that moves the forks 30 in the left-right direction (Y direction), rollers 64 that are integrally mounted with the forks 30 and move left-right at a reference position between the distal end 32A and the proximal end 32B of the forks 30 in the front-rear direction and are rotatable about a rotation axis in the up-down direction (Z direction), and a rotation detector 66 that detects the amount of rotation of the rollers 64. The control method includes the steps of controlling the side shift mechanism to move the forks 30 to one side in the left-right direction, and determining that a pallet P loaded on the forks 30 has come into contact with an object located to one side in the left-right direction when the amount of rotation of the rollers 64 detected by the rotation detector 66 becomes equal to or greater than a predetermined threshold while the forks 30 are moving to one side in the left-right direction. According to the present disclosure, the movement of the pallet P in the Y direction can be detected with high accuracy.

[0089] A program according to a tenth aspect of the present disclosure is a program that causes a computer to execute a control method for a moving body that includes forks 30 extending in the front-to-rear direction (X direction), a side shift mechanism (Y-direction movement mechanism 25) that moves the forks 30 in the left-to-right direction (Y direction), rollers 64 that are provided integrally with the forks 30 and movable in the left-to-right direction at a reference position that is between the tip ends 32A and base ends 32B of the forks 30 in the front-to-rear direction and that can rotate around an axis of rotation in the up-and-down direction (Z direction), and a rotation detection unit 66 that detects the amount of rotation of the rollers 64. The program causes the computer to execute the steps of controlling the side shift mechanism to move the forks 30 to one side in the left-to-right direction, and determining that a pallet P loaded on the forks 30 has come into contact with an object located on one side in the left-to-right direction when the amount of rotation of the rollers 64 detected by the rotation detection unit 66 becomes equal to or greater than a predetermined threshold while the forks 30 are moving to one side in the left-to-right direction.

[0090] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments. [Explanation of symbols]

[0091] 10 Mobile 20 Body 30 forks 60 Roller mechanism 64 Laura 66 Rotation detection unit P Palette

Claims

1. a fork extending in the front-rear direction; a side shift mechanism that moves the fork in the left-right direction; a roller that is provided integrally with the fork and movable in the left-right direction at a reference position that is a position between the tip end and the base end of the fork in the front-rear direction, and that is rotatable about a rotation axis that is in the up-down direction; a rotation detection unit that detects the amount of rotation of the roller; having Mobile object.

2. The roller further includes a pressing portion that presses the roller forward to hold the roller at the reference position when the roller is not in contact with the pallet. The moving body according to claim 1 .

3. The roller further includes a holding portion that holds the roller at an initial position in a rotation direction when the roller is not in contact with the pallet. The moving body according to claim 1 or 2.

4. The device further includes a loading detection sensor that is provided integrally with the forks and is movable in the left-right direction, and that detects whether a pallet is loaded on the forks. The moving body according to claim 1 or 2.

5. The roller is provided on the fork. The moving body according to claim 1 or 2.

6. The roller is provided between the pair of forks in the left-right direction. The moving body according to claim 1 or 2.

7. The roller is provided outward of the fork in the left-right direction. The moving body according to claim 1 or 2.

8. Further, a control device for controlling the movement of the fork is provided. The control device a fork control unit that controls the side shift mechanism to move the fork to one side in the left-right direction; a determination unit that stops the movement of the forks to one side in the left-right direction when the amount of rotation of the roller detected by the rotation detection unit becomes equal to or greater than a predetermined threshold while the forks are moving to one side in the left-right direction; Including, The moving body according to claim 1 or 2.

9. A method for controlling a moving body including: forks extending in a front-rear direction; a side shift mechanism for moving the forks in a left-right direction; rollers that are provided integrally with the forks and movable in the left-right direction at a reference position that is between a tip end and a base end of the forks in the front-rear direction, and that are rotatable about a rotation axis extending in a vertical direction; and a rotation detection unit that detects an amount of rotation of the rollers, controlling the side shift mechanism to move the fork to one side in the left-right direction; a step of stopping the movement of the forks to one side in the left-right direction when an amount of rotation of the roller detected by the rotation detection unit becomes equal to or greater than a predetermined threshold while the forks are moving to one side in the left-right direction; Including, Control method.

10. A program for causing a computer to execute a method for controlling a moving body having forks extending in a front-rear direction, a side shift mechanism for moving the forks in a left-right direction, rollers that are provided integrally with the forks and movable in the left-right direction at a reference position that is between a tip end and a base end of the forks in the front-rear direction and that are rotatable about a rotation axis in the up-down direction, and a rotation detection unit that detects an amount of rotation of the rollers, controlling the side shift mechanism to move the fork to one side in the left-right direction; a step of stopping the movement of the forks to one side in the left-right direction when an amount of rotation of the roller detected by the rotation detection unit becomes equal to or greater than a predetermined threshold while the forks are moving to one side in the left-right direction; causing the computer to execute program.

Images