Mobile object, control method and program

Abstract

To appropriately approach a target even when the target is positioned further away than expected. [Solution] The mobile body includes a fork, a sensor attached to the fork, a path acquisition unit, a movement control unit, and a detection control unit. When the installation area in which the target object is placed is vertically higher than the position of the fork when positioned at its lowest vertical position, the path acquisition unit acquires a first path including a turning trajectory that faces the sensor toward the installation area, and the movement control unit moves the mobile body according to the first path. The detection control unit causes the sensor to detect the position and attitude of the target object when the sensor is facing the installation area and the fork is positioned vertically higher than the first position. The path acquisition unit acquires a second path to a target position that is set based on the position and attitude of the target object and has a predetermined position and attitude relative to the target object, and the movement control unit moves the mobile body according to the second path.

Description

[Technical Field]

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

[0002] Autonomous moving vehicles are known. For example, Patent Document 1 describes an unmanned forklift capable of loading and unloading cargo. Patent Document 1 describes detecting the point at which the forklift completes a 90° turn from one guide rail to the other, calculating the amount of deviation of the center of the vehicle body from the guide rail at the time the turn is completed, and performing a side shift to cancel out the deviation. According to Patent Document 1, by controlling the unmanned forklift in this manner, the forks can be properly inserted into the opening of a pallet even if the vehicle body deviates from the guide rail. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-63790 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while Patent Document 1 takes into consideration the misalignment between the car body and the guide rail, it does not consider the misalignment of the pallet from the guide rail. Therefore, according to Patent Document 1, if a target such as a pallet is positioned more misaligned than expected, there is a risk that the target cannot be approached properly.

[0005] The present disclosure aims to solve the above-mentioned problems and to provide a moving body, a control method, and a program that can appropriately approach a target even if the target is positioned further away than expected. [Means for solving the problem]

[0006] The mobile body according to the present disclosure is an automatically moving mobile body, and includes a fork movable in a vertical direction, a sensor provided on the fork for detecting an object, a route acquisition unit for acquiring information on a route along which the mobile body will move, a movement control unit for moving the mobile body according to the route, and a detection control unit for controlling the sensor. When an installation area in which a target object is placed is located at a second position vertically higher than a first position which is the position of the fork when positioned at its lowest vertical position, the route acquisition unit acquires a first route including a turning trajectory for directing the sensor toward the installation area, the movement control unit moves the mobile body according to the first route, the detection control unit causes the sensor to detect the position and attitude of the target object when the sensor faces the installation area as a result of movement along the first route and the fork is positioned at a third position vertically higher than the first position, the route acquisition unit acquires a second route to a target position which is set based on the position and attitude of the target object and which is a predetermined position and attitude relative to the target object, and the movement control unit moves the mobile body according to the second route.

[0007] The control method disclosed herein is a control method for a mobile body having a fork movable in a vertical direction and a sensor provided on the fork for detecting an object, and includes the steps of: when an installation area in which a target object is placed is at a second position vertically higher than a first position, which is the position of the fork when positioned at its lowest vertical position; acquiring a first path including a turning trajectory that causes the sensor to face the installation area; moving the mobile body according to the first path; causing the sensor to detect the position and attitude of the target object when the sensor faces the installation area as a result of movement along the first path and the fork is positioned at a third position vertically higher than the first position; acquiring a second path to a target position that is set based on the position and attitude of the target object and that is at a predetermined position and attitude relative to the target object; and moving the mobile body according to the second path.

[0008] The program according to the present disclosure is a program that causes a computer to execute a method for controlling a mobile body having a fork that can move vertically and a sensor attached to the fork that detects an object, and that causes the computer to execute the following steps when an installation area in which a target object is placed is at a second position that is vertically higher than a first position, which is the position of the fork when positioned at its lowest vertical position: acquiring a first path that includes a turning trajectory that causes the sensor to face the installation area; moving the mobile body according to the first path; causing the sensor to detect the position and attitude of the target object when the sensor faces the installation area as a result of movement along the first path and the fork is positioned at a third position that is vertically higher than the first position; acquiring a second path to a target position that is set based on the position and attitude of the target object and that is at a predetermined position and attitude relative to the target object; and moving the mobile body according to the second path. [Effects of the Invention]

[0009] According to the present disclosure, even if the target is positioned further away than expected, it is possible to appropriately approach the target. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a mobility control system according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram of the configuration of a moving body. [Figure 3] FIG. 3 is a schematic block diagram of the management device. [Figure 4] FIG. 4 is a schematic block diagram of an information processing device. [Figure 5] FIG. 5 is a schematic block diagram of a control device for a moving object. [Figure 6] FIG. 6 is a schematic diagram illustrating an example of the installation position of the target object. [Figure 7] FIG. 7 is a schematic diagram showing an example of a route for approaching a target. [Figure 8]FIG. 8 is a schematic diagram showing an example of a route for approaching a target. [Figure 9] FIG. 9 is a schematic diagram showing an example of a route for approaching a target. [Figure 10] FIG. 10 is a schematic diagram showing an example of a route for approaching a target. [Figure 11] FIG. 11 is a schematic diagram showing an example of a route for approaching a target. [Figure 12] FIG. 12 is a schematic diagram showing an example of a route for approaching a target. [Figure 13] FIG. 13 is a schematic diagram showing an example of a route for approaching a target. [Figure 14] FIG. 14 is a schematic diagram showing an example of a route for approaching a target. [Figure 15] FIG. 15 is a schematic diagram showing an example of a route for approaching a target. [Figure 16] FIG. 16 is a schematic diagram showing an example of a route for approaching a target. [Figure 17] FIG. 17 is a schematic diagram showing an example of a route for approaching a target. [Figure 18] FIG. 18 is a flowchart illustrating the flow of processing when a mobile object approaches a target located at a high position. 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] (Mobility Control System) FIG. 1 is a schematic diagram of a mobility control system according to this embodiment. As shown in FIG. 1, the mobility control system 1 according to this embodiment includes a mobile object 10, a management device 12, and an information processing device 14. The mobility control system 1 is a system that controls the movement of the mobile object 10 belonging to a facility F. The facility F is, for example, a facility that undergoes logistics management, such as a warehouse. In the mobility control system 1, the mobile object 10 picks up and transports a target object P placed within an area AR0 of the facility F. The area AR0 is, for example, the floor of the facility F, and is an area where shelves D on which the target object P is placed are arranged and where the mobile object 10 moves. In this embodiment, the target object P is a transport target object in which cargo is loaded on a pallet. The target object P has an opening Pb formed on its front surface Pa through which a fork 24 (described later) of the mobile object 10 is inserted. However, the target object P is not limited to a pallet on which cargo is loaded, and may be any form, for example, it may be cargo only without a pallet.

[0013] (Installation area) A plurality of installation areas AR are provided in an area AR0 within the facility F. The installation areas AR are areas set up for the installation of targets P. Depending on the status of the facility F, targets P may or may not be placed in each installation area AR. The position (coordinates), shape, and size of the installation areas AR are set in advance. In the example of FIG. 1, the installation areas AR are set up within shelves D provided on the area AR0, but this is not limited thereto. They may be set up on the area AR0 (i.e., the floor of the facility F) or within the loading platform of a vehicle that delivered the targets P to the facility F. In this embodiment, the installation areas AR are partitioned for each target P, and one target P is placed in each installation area AR, but this is not limited thereto. For example, at least one of the installation areas AR may be set up as a free space where multiple targets P can be placed. In the example of FIG. 1, the installation areas AR are rectangular, but the shape and size may be arbitrary, and the number of installation areas AR may also be arbitrary.

[0014] Hereinafter, one direction along the region AR0 is referred to as the X direction, and a direction along the region AR0 that intersects with the X direction is referred to as the Y direction. In this embodiment, the Y direction is a direction perpendicular to the X direction. The X and Y directions may also be referred to as directions along a horizontal plane. Furthermore, a direction perpendicular to the X and Y directions, more specifically, a direction pointing vertically upward, is referred to as the Z direction. Furthermore, in this embodiment, unless otherwise specified, "position" refers to a position (coordinate) in a coordinate system on a two-dimensional surface on the region AR0 (the coordinate system of the region AR0). Furthermore, unless otherwise specified, "attitude (orientation)" of the moving body 10, etc. refers to the orientation of the moving body 10, etc. in the coordinate system of the region AR0, and refers to the yaw angle (rotation angle) of the moving body 10 when the X direction is set to 0° when viewed from the Z direction.

[0015] (Mobile) FIG. 2 is a schematic diagram of the configuration of a mobile body. The mobile body 10 is a device that can move automatically. In this embodiment, the mobile body 10 is a holonomic system that can move sideways and turn on the spot (pivot turn), but is not limited to this. In this embodiment, the mobile body 10 is a device that can transport a target object. Furthermore, in this embodiment, the mobile body 10 is a forklift, and more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift).

[0016] As shown in FIG. 2, the vehicle 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a sensor 26, and a control device 28. The straddle legs 21 are provided at one end of the vehicle body 20 in the longitudinal direction and are a pair of shaft-shaped members protruding from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. That is, a total of three wheels 20A are provided, but the positions and number of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends in an up-down direction (direction Z in this case) perpendicular to the longitudinal direction. The fork 24 is attached to the mast 22 movably in direction Z. The fork 24 may also be movable in the left-right direction of the vehicle body 20 relative to the mast 22 (a direction intersecting the up-down and longitudinal directions). The fork 24 has a pair of claws 24A, 24B. The claws 24A, 24B extend from the mast 22 toward the rear of the vehicle body 20. The claws 24A and 24B are spaced apart from each other in the lateral direction of the mast 22. Hereinafter, in the front-to-rear direction, the direction toward the side of the vehicle 10 where the fork 24 is provided is referred to as the rear direction, and the direction toward the side where the fork 24 is not provided is referred to as the front direction.

[0017] The sensor 26 detects at least one of the position and the attitude of an object present around the vehicle body 20. It can also be said that the sensor 26A detects at least one of the position of the object relative to the moving body 10 and the attitude of the object relative to the moving body 10.

[0018] The sensor 26 is, for example, a sensor that emits laser light. The sensor 26 emits laser light while scanning in one direction (here, the horizontal direction), and detects the position and orientation of an object from the reflected light of the emitted laser light. In other words, the sensor 26 can also be said to be a so-called two-dimensional (2D) LiDAR (Light Detection and Ranging). However, the sensor 26 is not limited to the above and may be a sensor that detects an object by any method, for example, a so-called three-dimensional (3D) LiDAR that scans in multiple directions, a so-called one-dimensional (1D) LiDAR that does not scan, or a camera.

[0019] In this embodiment, the sensors 26 are either provided on the forks 24 or not provided on the forks 24. Hereinafter, the sensors 26 provided on the forks 24 will be referred to as sensors 26B, and sensors other than sensor 26B provided on the forks 24 will be referred to as sensors 26A. Because sensor 26A is not provided on the forks 24, it does not move with the forks 24. In this embodiment, sensor 26A is provided at the tip of the straddle leg 21 and on the forward side of the vehicle body 20, but the locations at which sensor 26A is provided are not limited thereto and may be provided at any location, and the number of sensors provided may also be arbitrary. On the other hand, sensor 26B is provided on the forks 24 and therefore moves with the forks 24. Sensor 26B may be provided at any location that moves integrally with the forks 24, but in this embodiment, it is provided on the backrest, which is provided at the base end of the forks 24 and moves integrally with the forks 24.

[0020] The control device 28 controls the movement of the moving body 10. The control device 28 will be described later.

[0021] (Management device) FIG. 3 is a schematic block diagram of a management device. The management device 12 is a system that manages logistics in facility F. In this embodiment, the management device 12 is a WCS (Warehouse Control System) or WMS (Warehouse Management System), but is not limited to a WCS or a WMS and may be any system, for example, a back-end system such as another production management system. The location where the management device 12 is installed is arbitrary, and the management device 12 may be installed within facility F or at a location remote from facility F to manage facility F from that location. The management device 12 is a computer, and as shown in FIG. 3, includes a communication unit 30, a storage unit 32, and a control unit 34.

[0022] The communication unit 30 is a module used by the control unit 34 to communicate with external devices such as the information processing device 14, and may include, for example, a Wi-Fi (registered trademark) module or an antenna. In this embodiment, the communication method used by the communication unit 30 is wireless communication, but any communication method may be used. The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and may include, for example, 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).

[0023] The control unit 34 is a computing device and includes an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 34 includes a destination information setting unit 36. The control unit 34 implements the destination information setting unit 36 ​​and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute the processing using a single CPU, or may be provided with multiple CPUs and execute the processing using the multiple CPUs. The destination information setting unit 36 ​​may also be implemented using a hardware circuit. The program for the control unit 34 stored in the storage unit 32 may also be stored in a recording medium readable by the management device 12.

[0024] The destination information setting unit 36 ​​sets destination information indicating the destination of the moving object 10. Specific processing by the destination information setting unit 36 ​​will be described later.

[0025] The management device 12 may also perform processing other than setting the destination information. For example, the management device 12 may also set information for controlling mechanisms (such as elevators and doors) other than the moving body 10 provided in the facility F.

[0026] (Information processing device) FIG. 4 is a schematic block diagram of an information processing device. The information processing device 14 is provided in the facility F and processes information related to the movement of the mobile object 10. The information processing device 14 is, for example, a fleet control system (FCS), but is not limited thereto and may be any device that processes information related to the movement of the mobile object 10. The information processing device 14 is a computer and, as shown in FIG. 4, includes a communication unit 40, a storage unit 42, and a control unit 44. The communication unit 40 is a module used by the control unit 44 to communicate with external devices such as the management device 12 and the mobile object 10, and may include, for example, an antenna or a WiFi module. In this embodiment, the communication method used by the communication unit 40 is wireless communication, but any communication method may be used. The storage unit 42 is a memory that stores various information such as the calculation contents and programs of the control unit 44, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as a HDD.

[0027] The control unit 44 is a calculation device and includes a calculation circuit such as a CPU. The control unit 44 includes a path setting unit 46. The control unit 44 implements the path setting unit 46 and executes its processing by reading and executing a program (software) from the storage unit 42. The control unit 54 may execute the processing using one CPU, or may be provided with multiple CPUs and execute the processing using the multiple CPUs. The path setting unit 46 may also be implemented by a hardware circuit. The program for the control unit 44 stored in the storage unit 42 may also be stored in a recording medium readable by the information processing device 14.

[0028] The route setting unit 46 sets a first route R1 for the moving object 10. The specific processing contents of the route setting unit 46 will be described later.

[0029] In this embodiment, the management device 12 and the information processing device 14 are separate devices, but they may be integrated into one device. That is, the management device 12 may have at least some of the functions of the information processing device 14, and the information processing device 14 may have at least some of the functions of the management device 12.

[0030] (Control device for mobile objects) Next, the control device 28 of the mobile object 10 will be described. FIG. 5 is a schematic block diagram of the control device of the mobile object. The control device 28 is a device that controls the mobile object 10. The control device 28 is a computer, and as shown in FIG. 5, includes a communication unit 50, a memory unit 52, and a control unit 54. The communication unit 50 is a module used by the control unit 54 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna or a WiFi module. In this embodiment, the communication method used by the communication unit 50 is wireless communication, but any communication method may be used. The memory unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes, for example, at least one of a RAM, a main memory device such as a ROM, and an external memory device such as an HDD.

[0031] The control unit 54 is a computing device and includes a computing circuit such as a CPU. The control unit 54 includes a path acquisition unit 60, a movement control unit 62, and a detection control unit 64. The control unit 54 reads and executes a program (software) from the storage unit 52, thereby realizing the path acquisition unit 60, the movement control unit 62, and the detection control unit 64 and performing their processing. The control unit 54 may perform these processes using a single CPU, or may be provided with multiple CPUs and perform the processes using the multiple CPUs. At least a portion of the path acquisition unit 60, the movement control unit 62, and the detection control unit 64 may be realized by hardware circuits. The program for the control unit 54 stored in the storage unit 52 may be stored in a recording medium readable by the control device 28.

[0032] The route acquisition unit 60 acquires information indicating the route of the moving body 10 (a first route R1 and a second route R2 described below), and the movement control unit 62 controls the movement mechanisms of the moving body 10, such as the drive unit and steering, to control the movement of the moving body 10. The detection control unit 64 controls the sensor 26 of the moving body 10, causes the sensor 26 to detect surrounding objects, and acquires the detection results. Specific processing contents of these will be described later.

[0033] (Movement control system processing) The processing contents of the mobility control system 1 will be explained below.

[0034] (Destination information settings) The destination information setting unit 36 ​​of the management device 12 sets destination information indicating the destination of the moving object 10. In this embodiment, a waypoint is set in advance for each position (coordinate) in the area AR0. The destination information setting unit 36 ​​may specify a waypoint corresponding to the destination as the destination information. The destination information setting unit 36 ​​may set the destination information using any method. For example, the destination information setting unit 36 ​​may acquire order information indicating the target object to be transported, the source and destination, and set the destination information based on the order information. When picking up a target object P placed in the installation area AR, for example, a waypoint may be set at a position corresponding to the installation area AR, and the position may be set as the destination information. The destination information setting unit 36 ​​transmits the set destination information to the information processing device 14 via the communication unit 30.

[0035] (Setting the first route) The route setting unit 46 of the information processing device 14 sets a first route R1 for the moving body 10. In this embodiment, the route setting unit 46 sets the first route R1 based on destination information. Specifically, the route setting unit 46 sets, as the first route R1, a route from the origin to the destination that passes through each position within a predetermined distance range from each waypoint. The origin position may be set arbitrarily; for example, the waypoint closest to the current position of the moving body 10 may be set as the origin. For example, the route setting unit 46 sets, as the first route R1, a route from the initial position to the destination that passes through each position within a predetermined distance range from each waypoint, based on the destination information and map information of the facility F.

[0036] The route setting unit 46 transmits information about the set first route R1 to the mobile object 10. The route acquisition unit 60 of the mobile object 10 acquires information about the first route R1 set by the information processing device 14. The movement control unit 62 of the mobile object 10 moves the mobile object 10 according to this first route R1. However, the route acquisition unit 60 may correct the first route R1 based on the first route R1 and information about the vehicle specifications of the mobile object 10 so that the first route R1 is a route that the mobile object 10 can follow, and use the corrected route as the first route R1 that the mobile object 10 will actually follow. The information about the vehicle specifications is, for example, specifications that affect the route that the mobile object 10 can travel, such as the size and minimum turning radius of the mobile object 10. Here, "moving according to a route" does not necessarily mean moving strictly along the route, but rather means moving so as to follow the route as closely as possible, and also includes moving to a position some distance from the route.

[0037] In the above description, the information processing device 14 sets the first route R1 and the mobile object 10 corrects the first route R1, but the entity that sets and corrects the first route R1 may be arbitrary. For example, the mobile object 10 may set the first route R1, or the information processing device 14 may correct the first route R1. Furthermore, in this embodiment, the route acquisition unit 60 of the mobile object 10 sets the second route R2, which will be described later, but the entity that sets the second route R2 is not limited to the mobile object 10, and the information processing device 14 may set the second route R2.

[0038] (Movement of moving objects) The movement control unit 62 of the moving object 10 moves the moving object 10 according to the first route R1. The movement control unit 62 moves the moving object 10 so as to pass through the first route R1 by successively grasping the position information of the moving object 10. Any method for acquiring the position information of the moving object 10 may be used, but for example, in this embodiment, a detection object (not shown) is provided in the facility F, and the movement control unit 62 acquires information on the position and attitude of the moving object 10 based on the detection of the detection object. Specifically, the moving object 10 irradiates a laser light toward the detection object and receives the laser light reflected by the detection object to detect its own position and attitude in the facility F. The method for acquiring information on the position and attitude of the moving object 10 is not limited to using the detection object, and for example, SLAM (Simultaneous Localization and Mapping) may be used.

[0039] (Move to the target) Hereinafter, the processing contents when the moving body 10 approaches the target object P in order to pick up the target object P will be described.

[0040] (target position) In this embodiment, the robot moves along a first path R1 to approach the target P, detects the position and orientation of the target P using the sensor 26, and sets a second path R2 based on the detection result to further approach the target P. Depending on the location of the target P, some targets P can be detected by the sensor 26A (the sensor 26 that does not move with the fork 24) and some cannot. That is, for example, a target P located in an installation area AR1 within the detection range of the sensor 26A can be detected by the sensor 26A. On the other hand, a target P located in an installation area AR2 located further to the Z-direction than the detection range of the sensor 26A cannot be detected by the sensor 26A because the sensor 26A cannot move in the Z-direction. FIG. 6 is a schematic diagram illustrating an example of the installation location of the target. In the example of Fig. 6, the installation area AR set on the first stage D1 (the stage lowest in the vertical direction) of the shelf D is set as the installation area AR1, and the installation area AR set on the second stage D2 (the stage higher than the first stage) of the shelf D is set as the installation area AR2. However, Fig. 6 is just an example, and for example, the installation area AR set on the floor surface of the area AR0 may also be set as the installation area AR1, or the installation area AR set on the third stage or higher of the shelf D may also be set as the installation area AR1.

[0041] Thus, position B1 in the Z direction of installation area AR1 is within the detection range of sensor 26A in the Z direction, but position B2 in the Z direction of installation area AR2 is further to the Z direction than the detection range of sensor 26A in the Z direction. Furthermore, position B2 is further to the Z direction than position B1. Also, if the position of fork 24 of movable body 10 located in area AR0 when it is positioned furthest away from the Z direction (vertically downward) is defined as position A1, then position B2 is further to the Z direction than position A1. Whether the installation area AR corresponds to the installation area AR1 or the installation area AR2 is determined appropriately depending on the installation position of the sensor 26A on the moving body 10 and the performance of the sensor 26A, but for example, the installation area AR whose position in the Z direction (position B1) is 150 mm or less (height from the floor 150 mm or less) may be the installation area AR1, and the installation area AR whose position in the Z direction (position B2) is higher than 1.5 m (or 1.8 m) may be the installation area AR2. Note that in the example of Fig. 6, positions B1 and B2 are the positions of the target P installed in the installation areas AR1 and AR2, but they may refer to any positions that serve as references for the installation areas AR1 and AR2, and may be, for example, a position on the surface of the installation areas AR1 and AR2 where the target P is placed (on the base of a shelf).

[0042] In this embodiment, a route for approaching the target P installed in the installation area AR1 and a route for approaching the target P installed in the installation area AR2 are set using different methods. This allows the target P to be picked up appropriately depending on the installation position. Hereinafter, a method for setting a route for approaching the target P installed in the installation area AR1 and a route for approaching the target P installed in the installation area AR2 will be described.

[0043] (Route to approach the target in installation area AR1) The case of approaching a target P placed in the installation area AR1 will be described below. FIGS. 7 and 8 are schematic diagrams showing an example of a route for approaching a target. The route setting unit 46 of the information processing device 14 determines whether the destination installation area AR is the installation area AR1 or the installation area AR2 based on the destination information. That is, the route setting unit 46 determines that the target P placed in the installation area AR1 will be approached when the Z-direction position of the destination installation area AR indicated in the destination information corresponds to the height of position B1. When it is determined that the target P placed in the installation area AR1 will be approached, the route setting unit 46 sets a route toward the waypoint corresponding to the installation area AR1 as a first route R1. Note that information regarding the Z-direction position of the installation area AR is set in advance.

[0044] When approaching a target P placed in the installation area AR1, the path setting unit 46 sets, as the first path R1, a path including a detection trajectory R1a and an approach trajectory R1b ​​connected to the detection trajectory R1a. The detection trajectory R1a is a trajectory that crosses the installation area AR1 (target P) in a passage forward of the installation area AR1 (target P). The front of the installation area AR1 (target P) refers to the side of the target P where the front surface Pa of the target P faces (the side from which the moving body 10 approaches). That is, in the example of FIG. 7, the path setting unit 46 sets, as the detection trajectory R1a, a path that heads from the opposite side in the Y direction from the installation area AR1 (target P) (the left side in FIG. 7) to a position Q1 on the Y direction side of the installation area AR1 (target P) (the right side in FIG. 7) in the passage ST that extends in the Y direction on the X direction side (forward side) of the installation area AR1 (target P).

[0045] The approach trajectory R1b ​​is a trajectory that heads from position Q1 toward position Q1A (waypoint) corresponding to the installation area AR1. Position Q1A is a position and orientation that is a predetermined position and orientation for the target P (in this example, a position and orientation that allows the moving body 10 to pick up the target P) when it is assumed that the position and orientation of the target P in the installation area AR1 satisfy a predetermined condition (the target P is ideally positioned without deviation in the installation area AR1). The approach trajectory R1b ​​is a curved path that returns from position Q1 to the opposite side in the Y direction and heads toward the opposite side in the X direction (approaching the installation area AR1).

[0046] The first path R1 is not limited to one including the detection trajectory R1a and the approach trajectory R1b, but may have the detection trajectory R1a without including the approach trajectory R1b.

[0047] The path acquisition unit 60 of the moving body 10 acquires information about the first path R1 set as described above, and the movement control unit 62 moves the moving body 10 according to the first path R1. The movement control unit 62 moves the moving body 10 from the current position of the moving body 10 along the detected trajectory R1a, across the installation area AR1 (target P), to position Q1, with the forward direction of the moving body 10 as the traveling direction. However, the present invention is not limited to this, and the movement control unit 62 may also move the moving body 10 with the backward direction of the moving body 10 as the traveling direction.

[0048] The detection control unit 64 of the moving body 10 causes the sensor 26A to detect the position and posture of the target P while the moving body 10 is moving along the detection trajectory R1a. The detection control unit 64 causes the sensor 26A to detect the target P by directing the sensor 26A toward the installation area AR1, the position of which is known. Note that in the example of Fig. 7, the sensor 26A provided in the forward direction of the moving body 10 is used for detection, but this is not limiting, and the sensor 26A may be provided in a straddle leg, for example.

[0049] For example, in a configuration in which the sensor 26A emits laser light, the detection control unit 64 causes the sensor 26 to scan laterally (horizontally) while emitting laser light from the sensor 26 while the moving object 10 is moving along the detection trajectory R1a. The target P reflects the laser light LT from the sensor 26. The sensor 26 receives the reflected light from the target P. The detection control unit 64 acquires a point cloud, which is a collection of measurement points, based on the detection results of the reflected light received by the sensor 26. The measurement points are points that indicate the positions (coordinates) at which the laser light is reflected, and the point cloud refers to a collection of points that indicate the positions at which the laser light is reflected. In this embodiment, the detection control unit 64 calculates the positions (coordinates) of the points where the reflected light is reflected as measurement points based on the detection results of the reflected light. The detection control unit 64 calculates the position and orientation of the target P (the position and orientation of the front surface Pa of the target P) based on each measurement point (point cloud).

[0050] The path acquisition unit 60 acquires a second path R2. The second path R2 is a path set based on the position and orientation of the target P detected by the sensor 26A while the target P was moving along the first path R1 (detection trajectory R1a). As shown in FIG. 8, the second path R2 is a trajectory from position Q1 to target position Q2, which is set based on the position and orientation of the target P. The target position Q2 is a predetermined position and orientation relative to the target P (a position and orientation at which the moving body 10 can pick up the target P). For example, the target position Q2 may be a position at which the fork 24 can be inserted into the opening Pb of the target P by moving straight from that position, or a position at which the fork 24 can be inserted into the opening Pb of the target P by moving the fork 24 backward from that position. In this embodiment, the path acquisition unit 60 calculates a position and orientation at which the target P can be picked up from the position and orientation of the target P, and sets the calculated position and orientation as the target position Q2. As an example, the target position Q2 may be a position that is moved in parallel by 1000 mm from the entrance of the opening Pb in the axial direction of the opening Pb of the target P. The path acquisition unit 60 sets the trajectory from the position Q1, which is the start position, to the set target position Q2 as the second path R2.

[0051] The second route R2 is not limited to a trajectory starting from the position Q1, and may be, for example, a trajectory from a starting position shifted from the position Q1 to the target position Q2. In this case, the moving object 10 may move along a preset trajectory (for example, the approach trajectory R1b ​​of the first route R1) to the starting position of the second route R2.

[0052] When the second route R2 is acquired, the movement control unit 62 switches the route to be used from the first route R1 to the second route R2 and moves the moving object 10 toward the target position Q2 so as to pass through the second route R2. Specifically, the movement control unit 62 turns around at the position Q1 and moves the moving object 10 from the position Q1 to the target position Q2 along the second route R2, with the backward direction as the forward direction.

[0053] When the moving body 10 reaches the target position Q2, the movement control unit 62 moves the moving body 10 straight along the path R3, protrudes the fork 24 toward the rear of the moving body 10, and inserts the fork 24 into the opening Pb of the target object P. This allows the moving body 10 to pick up the target object P. Thereafter, for example, the movement control unit 62 moves the moving body 10 in the opposite direction along the path R3 and the second path R2 to return to position Q1, and moves the moving body 10 to its next destination. However, movement along the path R3 is not essential; for example, the target object P may be picked up simply by protruding the fork 24 from the target position Q2. The operation after reaching the target position Q2 may be similar in other subsequent cases.

[0054] As described above, when the target P is present in the installation area AR1 that can be detected by the sensor 26A, the moving body 10 detects the position and posture of the target P while moving along the detection trajectory R1a of the first path R1, and sets the second path R2 to approach the target P. This allows the target P to be detected while approaching the target P, so the second path R2 can be set quickly and the operation time can be shortened.

[0055] In the above case, the side shift amount may be set along with the second route R2 as described below, and the fork 24 may be side shifted while the moving body 10 is moved along the second route R2.

[0056] (Route to approach the target in installation area AR2) The following describes a case where the mobile object 10 approaches a target P located in the installation area AR2 that cannot be detected by the sensor 26A. The path setting unit 46 of the information processing device 14 determines that the mobile object 10 will approach the target P located in the installation area AR2 when the Z-direction position of the destination installation area AR indicated in the destination information corresponds to the height of position B2. When approaching the target P located in the installation area AR2, the path acquisition unit 60 of the mobile object 10 acquires, as the first path R1, a path toward the waypoint corresponding to the installation area AR2. In this case, the path acquisition unit 60 acquires, as the first path R1, a path including a turning trajectory R1B that directs the sensor 26B toward the installation area AR2. The detection control unit 64 then causes the sensor 26B to detect the position and orientation of the target P when the sensor 26B faces the installation area AR2 due to movement along the first path R1 and the fork 24 is positioned at position A2 vertically above position A1 (the position of the fork 24 when positioned at the lowest vertical position). Then, the path acquisition unit 60 acquires a second path R2 to a target position Q2 that is set based on the position and orientation of the target P and that is a predetermined position and orientation with respect to the target.

[0057] As described above, the sensor 26A may not be able to detect the target P located in the installation area AR2, which is located at a high position. On the other hand, the sensor 26B can detect the target P located at the height of the installation area AR2 by moving in the Z direction together with the fork 24, but can only detect the target P within a range of a predetermined angle (e.g., 180 degrees) in the left-right direction. Therefore, while the moving object 10 is crossing the passage ST, the target P may be located outside the left-right detection range of the sensor 26B, and the target P may not be properly detected. In contrast, in this embodiment, when approaching the target P located in the installation area AR2, the sensor 26B (the rear end of the moving object 10) is directed toward the installation area AR2 on the turning trajectory R1B, and the fork 24 (sensor 26B) is raised in the Z direction, and the sensor 26B is then caused to detect the target P. This ensures that the target P is located within the detection range of the sensor 26B, allowing the target P to be properly detected. Therefore, according to this embodiment, even if the target P is positioned more deviated than expected with respect to the installation area AR2, it is possible to set the second route R2 that allows an appropriate approach to the target P. Specific processing contents will be described below.

[0058] (When the aisle is narrow) In this embodiment, when the target P is located in the installation area AR2, the processing content is changed depending on the width W of the passage ST. The processing when the width W of the passage ST is narrow will be described below. However, it is not essential to change the processing content depending on the width W of the passage ST, and for example, even when the width W of the passage ST is equal to or greater than a threshold value, the moving object 10 may be controlled by the method described below.

[0059] 9 to 11 are schematic diagrams showing examples of paths for approaching a target. When the width W of an aisle ST ahead of the installation area AR2, which is the destination, is narrower than a predetermined threshold, the path setting unit 46 sets, as the first path R1, a path including an approach trajectory R1A and a turning trajectory R1B connected to the approach trajectory R1A, as shown in FIG. 9. In this case, the turning trajectory R1B is a trajectory along which the moving body 10 turns on the spot (pivot turn), as will be described later. The width W of the aisle ST is predetermined at the time of, for example, the layout design of the equipment F, and is therefore predetermined by the position of the installation area AR2. In other words, whether the width W of the aisle ST is narrower than the predetermined threshold is known in advance for each installation area AR2. When the installation area AR2 is the destination, where the width W of the aisle ST is narrower than the predetermined threshold, the path setting unit 46 sets, as the first path R1, a path including the approach trajectory R1A and the turning trajectory R1B. However, without being limited to this, the route setting unit 46 may obtain information on the width W of the aisle ST from the position of the destination installation area AR2 and the layout information of the equipment F, and determine whether the width W of the aisle ST is narrower than a predetermined threshold value.

[0060] The approach trajectory R1A is a path that passes through the passage ST and heads toward the position Q1. Here, the position Q1 may be set as appropriate, but when the width W of the passage ST is narrower than a predetermined threshold, the path setting unit 46 preferably sets the position Q1 to a position in the passage ST that faces the installation area AR2, as shown in FIG.

[0061] It is preferable that the path setting unit 46 sets the approach trajectory R1A when the aisle ST is narrow so that it passes through a position close to the installation area AR2. That is, for example, the path setting unit 46 may set the distance W1 (see FIG. 9) between the approach trajectory R1A and the installation area AR2 when the width W of the aisle ST is narrower than a predetermined threshold value to be shorter than the distance W1 (see FIG. 12) between the approach trajectory R1A and the installation area AR2 when the width W of the aisle ST is equal to or greater than the predetermined threshold value. This makes it possible to appropriately prevent the moving body 10 from interfering with shelves or the like on the opposite side of the installation area AR2 when the moving body 10 turns, even when the aisle ST is narrow.

[0062] The turning trajectory R1B is a trajectory along which the moving body 10 turns so that the sensor 26B faces the installation area AR2. More specifically, when the width W of the passage ST is narrower than a predetermined threshold, the path setting unit 46 sets the turning trajectory R1B as a trajectory along which the moving body 10 turns on the spot (pivot turn). The turning on the spot (pivot turn) refers to a turning pattern in which the direction of the moving body 10 is changed without changing the coordinates of the reference position of the moving body 10. Furthermore, the turning on the spot can be said to be a turning pattern in which the moving body 10 turns while positioning the position of the rotation center of the turning within the area occupied by the moving body 10 (vehicle body area) as viewed from the Z direction. In this embodiment, the turning on the spot (pivot turn) may include both a first pattern in which the moving body 10 turns with only some of the wheels steerable and a second pattern in which the moving body 10 turns with all of the wheels steerable. The first pattern refers to a pattern (a so-called heel turn in this example) in which the steerable wheels (wheels 21A provided on the vehicle body 20 in this example) are steered on the spot while the drivable wheels are driven to turn around one of the non-steerable wheels (one of the wheels 21A provided on the straddle leg 21 in this example) as the center of rotation. The second pattern refers to a pattern (a so-called pivot turn in this example) in which the steerable wheels are steered on the spot while the drivable wheels are driven to turn around an arbitrary position (for example, the center of the vehicle body) within the area occupied by the vehicle 10 (vehicle body area) as the center of rotation. In this embodiment, the path setting unit 46 sets the coordinates of the reference position of the vehicle 10 (for example, the center position of the vehicle body) as position Q1, and sets a turning trajectory R1B such that the sensor 26B (the rearward end of the vehicle 10) faces the installation area AR2 around position Q1 as the center of rotation. The turning trajectory R1B may be a trajectory that turns the moving body 10 by a predetermined angle (for example, 90 degrees) so that the sensor 26B (the rear end of the moving body 10) faces the installation area AR2.

[0063] The path acquisition unit 60 of the moving body 10 acquires information about the first path R1 set as described above, and the movement control unit 62 moves the moving body 10 according to the first path R1. As shown in Fig. 9, the movement control unit 62 moves the moving body 10 from the current position of the moving body 10 along the approach trajectory R1A to position Q1, with the forward direction of the moving body 10 as the traveling direction. However, the present invention is not limited to this, and the movement control unit 62 may also move the moving body 10 with the backward direction of the moving body 10 as the traveling direction.

[0064] 9 and 10, when the moving body 10 reaches position Q1, the movement control unit 62 switches from the approach trajectory R1A to the turning trajectory R1B and moves the moving body 10 according to the turning trajectory R1B. The movement control unit 62 turns the moving body 10 in place according to the turning trajectory R1B, with the reference position (position Q1) of the moving body 10 as the center of rotation.

[0065] After the moving body 10 starts moving along the turning trajectory R1B, the detection control unit 64 of the moving body 10 causes the sensor 26B to detect the position and orientation of the target P while the fork 24 (sensor 26B) is raised to position A2. The detection control unit 64 may cause the sensor 26B to detect the position and orientation of the target P while the moving body 10 is turning along the turning trajectory R1B, or may cause the sensor 26B to detect the position and orientation of the target P after the moving body 10 has finished turning along the turning trajectory R1B. The timing for raising the fork 24 (sensor 26B) to position A2 may also be arbitrary. The fork 24 may be raised before reaching position Q1, after reaching position Q1, or after the moving along the turning trajectory R1B has finished. Here, the degree to which the fork 24 is raised (the height of position A2) may be set based on the position of the installation area AR2 in the Z direction.

[0066] The method for calculating the position and orientation of the target P based on the detection result of the sensor 26B may be the same as the method based on the detection result of the sensor 26A described above.

[0067] The path acquisition unit 60 acquires a second path R2. The second path R2 is a path set based on the position and orientation of the target P detected by the sensor 26B. As shown in FIGS. 10 and 11, the second path R2 is a path that causes the moving body 10 to reach a target position Q2. As described above, the target position Q2 is a position and orientation that is set based on the position and orientation of the target P and is a predetermined position and orientation with respect to the target P (a position and orientation at which the moving body 10 can pick up the target P).

[0068] When the first route R1 includes a turning trajectory R1B for turning on the spot (i.e., when the width W of the passage ST is narrower than a threshold value), the route acquisition unit 60 sets a turning trajectory for turning on the spot (pivot turning) as the second route R2. That is, in this case, as shown in Fig. 10 and Fig. 11, when the position and posture of the target P are detected by the sensor 26B, the route acquisition unit 60 sets, as the second route R2, a turning trajectory in which the moving body 10 is oriented so as to be able to pick up the target P while keeping the center of rotation at position Q1. That is, the route acquisition unit 60 sets, as the second route R2, a turning trajectory in which the posture of the moving body 10 corresponds to the posture of the target P.

[0069] Furthermore, even if the posture of the moving body 10 rotates along the second path R2 and corresponds to the posture of the target object P, the reference position of the moving body 10 remains at position Q1. Therefore, it is possible that the left-right position of the moving body 10 and the left-right position of the target object P are misaligned. In this case, the path acquisition unit 60 also sets the left-right movement amount (side shift amount) of the fork 24 so as to eliminate the left-right misalignment between the moving body 10 and the target object P. In this case, for example, the path acquisition unit 60 calculates the left-right misalignment between position Q1 and the target object P, and sets the movement direction and movement amount that keep the misalignment within a predetermined range (e.g., zero) as the side shift amount. In the example of FIG. 11, since the target object P is misaligned to the left with respect to position Q1, the path acquisition unit 60 sets the side shift amount so that the movement direction is leftward. Note that if the left-right misalignment between position Q1 and the target object P is within a predetermined range, the side shift amount need not be set, and side shifting may not be performed.

[0070] When the second route R2 is acquired, the movement control unit 62 switches the route to be used from the first route R1 to the second route R2 and moves the moving body 10 toward the target position Q2 so as to pass through the second route R2. Specifically, the movement control unit 62 rotates the moving body 10 according to the rotation trajectory of the second route R2, and sets the posture of the moving body 10 to a posture corresponding to the posture of the target object P. Furthermore, if a side shift amount is set, the movement control unit 62 side-shifts the forks 24 by the set movement direction and movement amount. As a result, the moving body 10 reaches the target position Q2 where the target object P can be picked up. Note that the timing of the side shift may be arbitrary; for example, the side shift may be performed while the moving body 10 is moving along the second route R2, or after the moving along the second route R2 is completed.

[0071] When the moving body 10 reaches the target position Q2, the movement control unit 62 moves the moving body 10 straight along the path R3, protrudes the fork 24 toward the rear of the moving body 10, and inserts the fork 24 into the opening Pb of the target object P. This causes the moving body 10 to pick up the target object P.

[0072] As described above, when the target P is in the installation area AR2 at a height that cannot be detected by the sensor 26A and the width W of the passage ST is narrow, the movable body 10 sets the first path R1 (turning trajectory R1B) for turning on the spot, turns the movable body 10 on the turning trajectory R1B, and with the forks 24 raised in the Z direction, causes the sensor 26B to detect the target P, and sets the second path R2. As a result, even if the target P is at a high position and the passage ST is narrow, and the target P is shifted from the expected position, the target P can be properly detected and picked up.

[0073] (When the aisle is wide) The following describes the processing when the width W of the passage ST is wide. Figures 12 to 15 are schematic diagrams showing examples of routes to approach a target. However, it is not essential to vary the processing content depending on the width W of the passage ST as described above, and even when the width W of the passage ST is equal to or greater than a threshold, the moving object 10 may be controlled by the method described below.

[0074] When the destination is an installation area AR2 where the width W of the passage ST is equal to or greater than a predetermined threshold, the path setting unit 46 sets a path including an approach path R1A and a turning path R1B connected to the approach path R1A as the first path R1, as shown in Figures 12 and 13. In this case, the turning path R1B is a path along which the moving object 10 normally turns, as will be described later.

[0075] The approach trajectory R1A is a route that passes through the passage ST and heads toward position Q0. Here, position Q0 may be set as appropriate, but if the width W of the passage ST is equal to or greater than a predetermined threshold, the path setting unit 46 preferably sets position Q0 to a position on the passage ST that is closer to the Y direction than the installation area AR2 (a position that has passed through the installation area AR2). That is, in this case, the path setting unit 46 sets the approach trajectory R1A so that it crosses the installation area AR2. However, this is not limited to this, and for example, if the traveling direction of the moving body 10 is the rearward direction, position Q0 may be set to a position on the opposite side of the installation area AR2 in the Y direction.

[0076] The turning trajectory R1B is a trajectory along which the moving body 10 turns so that the sensor 26B faces the installation area AR2. More specifically, when the width W of the passage ST is equal to or greater than a predetermined threshold, the path setting unit 46 sets the trajectory along which the moving body 10 normally turns as the turning trajectory R1B. A normal turning pattern refers to a turning pattern in which the direction of the moving body 10 is changed while the coordinates of the reference position of the moving body 10 are brought closer to the installation area AR2. Furthermore, a normal turning pattern can be said to be a turning pattern in which the moving body 10 turns while positioning the rotation center of the turning outside the area occupied by the moving body 10 (the vehicle body area) as viewed from the Z direction. In other words, the turning trajectory R1B is a curved trajectory that turns from position Q0 to position Q1, which is closer to the installation area AR2 than position Q0. The turning trajectory R1B may be a trajectory that turns the moving body 10 by a predetermined angle (for example, 90 degrees) so that the sensor 26B (the rear end of the moving body 10) faces the installation area AR2.

[0077] The path setting unit 46 may make the radius of curvature of the turning path R1B, which is a normal turning path, smaller so that the sensor 26B faces the installation area AR2 as quickly as possible. In this case, for example, the path setting unit 46 may make the radius of curvature of the turning path R1B smaller than the radius of curvature of the first path R1 when turning at an intersection, or smaller than the radius of curvature of the second path R2 when approaching the installation area AR1, which is located at a lower position.

[0078] The path acquisition unit 60 of the moving object 10 acquires information about the first path R1 set as described above, and the movement control unit 62 moves the moving object 10 according to the first path R1. As shown in FIGS. 12 and 13 , the movement control unit 62 moves the moving object 10 from its current position to position Q0 according to the approach trajectory R1A, with the forward direction of the moving object 10 as its travel direction, turns around at position Q0 so that the backward direction of the moving object 10 is its travel direction, and moves the moving object 10 from position Q0 to position Q1 according to the turning trajectory R1B. However, the turning around is not limited to this. For example, the position Q0 may be set on the opposite side of the Y direction, and the backward direction of the moving object 10 may be set as its travel direction, with the moving object 10 moving along the approach trajectory R1A to position Q0, and then moving the moving object 10 from position Q0 to position Q1 according to the turning trajectory R1B.

[0079] After the moving body 10 starts moving along the turning trajectory R1B, the detection control unit 64 of the moving body 10 raises the fork 24 (sensor 26B) to position A2 and causes the sensor 26B to detect the position and orientation of the target P. The detection control unit 64 may cause the sensor 26B to detect the position and orientation of the target P while the moving body 10 is moving along the turning trajectory R1B, or may cause the sensor 26B to detect the position and orientation of the target P when the moving body 10 finishes moving along the turning trajectory R1B. The timing for raising the fork 24 (sensor 26B) to position A2 may also be arbitrary. The fork 24 may be raised before reaching position Q0, after reaching position Q0, or after the moving along the turning trajectory R1B has finished. Here, the degree to which the fork 24 is raised (the height of position A2) may be set based on the position of the installation area AR2 in the Z direction.

[0080] The method for calculating the position and orientation of the target P based on the detection result of the sensor 26B may be the same as the method based on the detection result of the sensor 26A described above.

[0081] The path acquisition unit 60 acquires a second path R2. The second path R2 is a path set based on the position and attitude of the target P detected by the sensor 26B. As shown in FIG. 14, the second path R2 is a trajectory to a target position Q2 set based on the position and attitude of the target P. As described above, the target position Q2 is a position and attitude that are predetermined with respect to the target P (a position and attitude at which the moving body 10 can pick up the target P).

[0082] The route acquisition unit 60 may set the second route R2 so as to result in a normal turn, or may set the second route R2 so as to result in an on-the-spot turn. Each case will be described below.

[0083] (Second route of normal turning) The path acquisition unit 60 sets the second path R2 so as to perform a normal turn when the positional relationship between the position of the moving body 10 when the position and attitude of the target P are detected and the detected position of the target P satisfies a predetermined condition. The predetermined condition may be any, but may be satisfied when a distance W2 between the position of the moving body 10 when the position and attitude of the target P are detected and the detected position of the target P is equal to or greater than a predetermined threshold. Note that, in FIGS. 13 and 14, a case is shown as an example in which the position and attitude of the target P are detected at position Q1, and therefore the distance between position Q1 and the position of the target P is set to distance W2.

[0084] In this case, the path acquisition unit 60 sets the path from the position of the moving body 10 when the position and posture of the target object P are detected (position Q1 in Figure 14) to the target position Q2 while making a normal turn as the second path R2.

[0085] 15, even in this case, the fork 24 may be side-shifted while the moving object 10 is moving along the second path R2. In this case, for example, the path acquisition unit 60 preferably sets, as the second path R2, a path that minimizes the degree to which the moving object 10 bulges in the direction X (the side opposite the installation area AR2) among paths that can be used to position the fork 24 facing the opening Pb of the target P by side-shifting the fork 24. The path acquisition unit 60 also sets the amount of left-right movement (amount of side-shift) of the fork 24 so as to eliminate any left-right deviation between the moving object 10 and the target P. In this case, for example, the path acquisition unit 60 calculates the amount of left-right deviation between the target position Q2 and the target P, and sets the amount of side-shift as a moving direction and a moving amount that keep the deviation within a predetermined range (for example, zero).

[0086] When the second route R2 is acquired, the movement control unit 62 switches the route to be used from the first route R1 to the second route R2 and moves the moving object 10 toward the target position Q2 so as to pass through the second route R2. Specifically, the movement control unit 62 switches from the turning trajectory R1B of the first route R1 to the second route R2 and causes the moving object 10 to reach the target position Q2.

[0087] Furthermore, when side-shifting the fork 24, the movement control unit 62 side-shifts the fork 24 by the set movement direction and movement amount while moving the moving body 10 along the second path R2, as shown in FIG. 15.

[0088] 14 and 15, when the moving body 10 reaches the target position Q2, the movement control unit 62 moves the moving body 10 straight along the path R3, protrudes the fork 24 toward the rear of the moving body 10, and inserts the fork 24 into the opening Pb of the target object P. In this way, the moving body 10 picks up the target object P.

[0089] (Second route of turning on the spot) 16 and 17 are schematic diagrams showing an example of a path for approaching a target. When the positional relationship between the position of the moving body 10 when the position and attitude of the target P are detected and the detected position of the target P does not satisfy a predetermined condition, the path acquisition unit 60 sets a second path R2 so as to turn on the spot. The predetermined condition may be any, but may be determined not to be satisfied when a distance W2 between the position of the moving body 10 when the position and attitude of the target P are detected and the detected position of the target P is less than a predetermined threshold. Note that, in FIGS. 16 and 17, a case is shown as an example in which the position and attitude of the target P are detected at position Q1, and therefore the distance between position Q1 and the position of the target P is set to distance W2.

[0090] In this case, the path acquisition unit 60 sets, as the second path R2, a trajectory of turning on the spot (pivot turning) from the position of the moving body 10 when the position and attitude of the target P are detected (position Q1 in FIG. 14). That is, in this case, as shown in FIGS. 16 and 17, when the position and attitude of the target P are detected by the sensor 26B, the path acquisition unit 60 sets, as the second path R2, a turning trajectory in which the moving body 10 is oriented so as to be able to pick up the target P, while keeping the center of rotation at position Q1 (the position where the position and attitude of the target P are detected). That is, the path acquisition unit 60 sets, as the second path R2, a turning trajectory in which the attitude of the moving body 10 corresponds to the attitude of the target P.

[0091] The path acquisition unit 60 also sets the amount of left-right movement (amount of side shift) of the fork 24 so as to eliminate the left-right deviation between the moving body 10 and the target object P. In this case, for example, the path acquisition unit 60 calculates the amount of left-right deviation between position Q1 (the position where the position and posture of the target object P are detected) and the target object P, and sets the direction and amount of movement that will keep the amount of deviation within a predetermined range (for example, zero) as the amount of side shift. However, if the amount of left-right deviation between position Q1 and the target object P is within the predetermined range, it is not necessary to set the amount of side shift, and side shifting is not required.

[0092] When the second route R2 is acquired, the movement control unit 62 switches the route to be used from the first route R1 to the second route R2 and moves the moving body 10 toward the target position Q2 so as to pass through the second route R2. Specifically, the movement control unit 62 rotates the moving body 10 according to the rotation trajectory of the second route R2, and sets the posture of the moving body 10 to a posture corresponding to the posture of the target object P. Furthermore, if a side shift amount is set, the movement control unit 62 side-shifts the forks 24 by the set movement direction and movement amount. As a result, the moving body 10 reaches the target position Q2 where the target object P can be picked up. Note that the timing of the side shift may be arbitrary; for example, the side shift may be performed while the moving body 10 is moving along the second route R2, or after the moving along the second route R2 is completed.

[0093] When the moving body 10 reaches the target position Q2, the movement control unit 62 moves the moving body 10 straight along the path R3, protrudes the fork 24 toward the rear of the moving body 10, and inserts the fork 24 into the opening Pb of the target object P. This causes the moving body 10 to pick up the target object P.

[0094] As described above, when the target P is in the installation area AR2 at a height that cannot be detected by the sensor 26A and the width W of the passage ST is narrow, the movable body 10 sets the first path R1 (turning trajectory R1B) for turning on the spot, turns the movable body 10 on the turning trajectory R1B, and with the forks 24 raised in the Z direction, causes the sensor 26B to detect the target P, and sets the second path R2. As a result, even if the target P is at a high position and the passage ST is narrow, and the target P is shifted from the expected position, the target P can be properly detected and picked up.

[0095] Furthermore, by determining whether to perform an in-place turn or a normal turn on the second route R2 depending on the positional relationship between the moving body 10 and the target P when the position and attitude of the target P are detected, it is possible to appropriately approach the target P depending on the positional relationship. That is, for example, when the moving body 10 and the target P are close, it is possible to approach the target P by performing an in-place turn without, for example, turning back. Also, for example, when the moving body 10 and the target P are sufficiently far apart, it is possible to approach the target P while reducing the load on the wheels by performing a normal turn. However, the process of determining whether to perform an in-place turn or a normal turn on the second route R2 depending on the positional relationship is not essential. That is, regardless of the positional relationship, the second route R2 may be performed by an in-place turn or a normal turn.

[0096] (Processing flow) The process flow for making the moving body 10 approach the target object P in the installation area AR2 located at a high position as described above will be described. Fig. 18 is a flowchart for explaining the process flow for making the moving body approach a target object located at a high position. In the following, the process for when the target object P in the installation area AR2 located at a high position is the destination will be described.

[0097] If the width of the passage ST ahead of the destination installation area AR2 is equal to or greater than a predetermined threshold (step S10; Yes), the path setting unit 46 of the information processing device 14 sets a path including the normal turning trajectory R1B as the first path R1 (step S12). On the other hand, if the width of the passage ST is less than the threshold (step S10; No), the path setting unit 46 sets a path including the on-the-spot turning trajectory R1B as the first path R1 (step S14).

[0098] The movement control unit 62 of the moving object 10 moves the moving object 10 according to the set first route R1 (step S16), and when the moving object 10 starts turning along the turning trajectory R1B of the first route R1, the detection control unit 64 detects the position and attitude of the target P with the fork 24 (sensor 26B) raised to position A2 (step S18). If the position and attitude of the target P are not detected (step S18; No), the process returns to step S16 (or step S18), and the process is repeated until the position and attitude of the target P are detected. If the position and attitude of the target P are detected (step S18; Yes) and the positional relationship between the moving object 10 and the target P satisfies a predetermined condition (step S20; Yes), the route acquisition unit 60 sets a second route R2 for normal turning (step S22). On the other hand, if the positional relationship between the moving body 10 and the target object P does not satisfy the predetermined condition (step S20; No), the path acquisition unit 60 sets a second path R2 for turning on the spot (step S24). After setting the second path R2 in steps S22 and S24, the movement control unit 62 moves the moving body 10 according to the second path R2 (step S26) to cause the moving body 10 to approach the target object P.

[0099] (effect) As described above, the mobile body 10 according to the first aspect of the present disclosure is an automatically moving mobile body, and includes the fork 24 movable in the vertical direction (Z direction), the sensor 26B provided on the fork 24 to detect an object, the path acquisition unit 60 acquiring information about the path along which the mobile body 10 will move, the movement control unit 62 moving the mobile body 10 along the path, and the detection control unit 64 controlling the sensor 26B. When the installation area AR2 in which the target object P is located is at a second position (position B2) vertically higher than position A1 (first position), which is the position of the fork 24 when positioned at its lowest vertical position, the path acquisition unit 60 acquires a first path R1 including a turning trajectory R1B that directs the sensor 26B toward the installation area AR2, and the movement control unit 62 moves the mobile body 10 along the first path R1. The detection control unit 64 causes the sensor 26B to detect the position and orientation of the target P when the sensor 26B faces the installation area AR2 as a result of movement along the first path R1 and the fork 24 is positioned at position A2 (third position) vertically above position A1 (first position). The path acquisition unit 60 acquires a second path R2 to a target position Q2 that is set based on the position and orientation of the target P and that is a predetermined position and orientation relative to the target P, and the movement control unit 62 moves the moving body 10 along the second path R2. According to the present disclosure, even if the target P is positioned higher than expected in the installation area AR2, the moving body 10 can be caused to appropriately approach the target P.

[0100] A moving body 10 according to a second aspect of the present disclosure is the moving body 10 according to the first aspect, wherein the detection control unit 64 further acquires a side shift amount, which is the amount of left-right movement of the fork 24, set based on the amount of left-right deviation between the moving body 10 and the position of the target object P, and the movement control unit 62 moves the moving body 10 along a second route R2 and moves the fork 24 based on the side shift amount. According to the present disclosure, by also using the side shift, the moving body 10 can be made to appropriately approach the target object P.

[0101] A moving body 10 according to a third aspect of the present disclosure is the moving body 10 according to the first or second aspect, and the path acquisition unit 60 acquires, as the first path R1, a path (path of turning on the spot) in which the center of rotation of the turning trajectory R1B is located within the body area of ​​the moving body 10. According to the present disclosure, by turning on the spot and pointing the sensor 26B toward the target P, the position and attitude of the target P can be appropriately detected, and the moving body 10 can be made to appropriately approach the target P.

[0102] A moving body 10 according to a fourth aspect of the present disclosure is the moving body 10 according to any one of the first to third aspects, and the path acquisition unit 60 acquires, as the first path R1, a path (a normal turning path) in which the center of rotation of the turning trajectory R1B is located outside the body area of ​​the moving body 10. According to the present disclosure, by orienting the sensor 26B toward the target P by normal turning, the position and attitude of the target P can be appropriately detected, and the moving body 10 can be made to appropriately approach the target P.

[0103] A moving body 10 according to a fifth aspect of the present disclosure is the moving body 10 according to the fourth aspect, wherein the path acquisition unit 60 acquires a second path R2 including a trajectory (normal turning trajectory) that turns around the outside of the body region of the moving body 10 as the center of rotation when the positional relationship between the moving body 10 and the target P when the sensor 26B detects the position and attitude of the target P satisfies a predetermined condition, and acquires a second path R2 including a trajectory (in-place turning trajectory) that turns around the inside of the body region of the moving body 10 as the center of rotation when the sensor 26B detects the position and attitude of the target P does not satisfy the predetermined condition. According to the present disclosure, the turning pattern of the second path R2 can be determined depending on the positional relationship between the moving body 10 and the target P when the position and attitude of the target P are detected, thereby enabling an appropriate approach to the target P.

[0104] A moving body 10 according to a sixth aspect of the present disclosure is the moving body 10 according to the fifth aspect, and the predetermined condition is that the distance W2 between the moving body 10 and the target P is equal to or greater than a predetermined threshold when the sensor 26B detects the position and attitude of the target P. According to the present disclosure, when the moving body 10 and the target P are close to each other, the moving body 10 can approach the target P by turning on the spot, for example, without having to turn around. Also, when the moving body 10 and the target P are sufficiently far apart, the moving body 10 can approach the target P while reducing the load on the wheels by turning normally.

[0105] A moving body 10 according to a seventh aspect of the present disclosure is the moving body 10 according to any one of the first to sixth aspects, and when an installation area AR1 in which a target P is placed is at position B1 (fourth position) vertically below installation area AR2 (position B2), the path acquisition unit 60 acquires a first path R1 including a detection trajectory R1a that passes in front of the installation area AR1, and the movement control unit 62 moves the moving body 10 along the first path R1. Then, while the moving body 10 is moving along the first path R1, the detection control unit 64 causes the sensor 26A to detect the position and orientation of the target P0, and the path acquisition unit 60 acquires a second path R2 to a target position Q2 that is set based on the position and orientation of the target P and has a predetermined position and orientation relative to the target P, and the movement control unit 62 moves the moving body 10 along the second path R2. According to the present disclosure, when picking up a target P at a low position, the target P can be detected while heading towards the target P, so the second route R2 can be set quickly, shortening the work time and allowing the target P to be approached appropriately.

[0106] A control method according to an eighth aspect of the present disclosure is a control method for a moving body 10 having a fork 24 movable in a vertical direction (Z direction) and a sensor 26B provided on the fork 24 for detecting an object, the control method including the steps of: acquiring a first route R1 including a turning trajectory R1B that directs the sensor 26B toward the installation area AR2 when the installation area AR2 in which the target object P is located is at a second position (position B2) that is vertically higher than a position A1 (first position) that is the position of the fork 24 when positioned at the lowest vertical position; the step of moving the movable body 10 along the first path R1, the step of causing the sensor 26B to detect the position and attitude of the target P in a state where the sensor 26B faces the installation area AR2 by the movement along the first path R1 and the fork 24 is located at a position A2 (third position) vertically above the position A1 (first position), the step of acquiring a second path R2 to a target position Q2 that is set based on the position and attitude of the target P and has a predetermined position and attitude with respect to the target P, and the step of moving the movable body 10 along the second path R2. According to the present disclosure, even if the target P is positioned higher than expected in the installation area AR2, the movable body 10 can be made to appropriately approach the target P.

[0107] The program according to the ninth aspect of the present disclosure causes a computer to execute a control method for a moving body 10 having a fork 24 that is movable in the vertical direction (Z direction) and a sensor 26B that is provided on the fork 24 and detects an object. This program causes the computer to execute the following steps when the installation area AR2 in which the target P is placed is at a second position (position B2) vertically higher than position A1 (first position), which is the position of the fork 24 when positioned at the lowest vertical position: acquiring a first path R1 including a turning trajectory R1B that directs the sensor 26B toward the installation area AR2; moving the mobile body 10 along the first path R1; causing the sensor 26B to detect the position and attitude of the target P when the sensor 26B is facing the installation area AR2 due to movement along the first path R1 and the fork 24 is positioned at position A2 (third position) vertically higher than position A1 (first position); acquiring a second path R2 to a target position Q2 that is set based on the position and attitude of the target P and that is a predetermined position and attitude for the target P; and moving the mobile body 10 along the second path R2. According to the present disclosure, even if the target P is positioned higher than expected in the installation area AR2, the moving body 10 can be made to approach the target P appropriately.

[0108] 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]

[0109] 10 Mobile 12 Management device 14 Information processing equipment 24 Fork 26A, 26B sensors 60 Route acquisition unit 62 Movement control unit 64 Detection control section AR1, AR2 installation area P target R1 1st pathway R1A approach trajectory R1B turning trajectory R2 Second pathway

Claims

1. A mobile object that moves automatically, a fork that is movable in a vertical direction; a sensor provided on the fork to detect an object; a route acquisition unit that acquires information about a route that the moving object travels; a movement control unit that moves the moving object along the path; a detection control unit that controls the sensor; Including, When the installation area where the target is placed is at a second position that is vertically higher than a first position that is the position of the fork when it is positioned at the lowest vertical position, the path acquisition unit acquires a first path including a turning trajectory that directs the sensor toward the installation area; the movement control unit moves the moving body along the first path; the detection control unit causes the sensor to detect the position and attitude of the target object when the sensor faces the installation area due to the movement along the first path and the fork is positioned at a third position vertically above the first position; the path acquisition unit acquires a second path to a target position that is set based on the position and attitude of the target object and that is at a predetermined position and attitude with respect to the target object; The movement control unit moves the moving object along the second path. Mobile object.

2. the detection control unit further acquires a side shift amount, which is a lateral movement amount of the fork, set based on a lateral deviation amount between the movable body and the target object; the movement control unit moves the movable body along the second path and moves the fork based on the side shift amount. The moving body according to claim 1 .

3. the path acquisition unit acquires, as the first path, a path in which a rotation center of the turning path is located within a vehicle body area of ​​the moving object; The moving body according to claim 1 or 2.

4. the path acquisition unit acquires, as the first path, a path in which a rotation center of the turning trajectory is located outside a vehicle body area of ​​the moving object; The moving body according to claim 1 or 2.

5. The route acquisition unit When the sensor detects the position and attitude of the target, if a positional relationship between the moving body and the target satisfies a predetermined condition, the second route is acquired, the second route including a trajectory that turns around an outside of a body region of the moving body as a center of rotation; If the positional relationship does not satisfy the predetermined condition, the second route including a trajectory that turns around a vehicle body area of ​​the moving object as a rotation center is acquired. The moving body according to claim 4.

6. The predetermined condition indicates that the distance between the moving body and the target object is equal to or greater than a predetermined threshold when the sensor detects the position and orientation of the target object. The moving body according to claim 5 .

7. When the installation area in which the target is placed is at a fourth position vertically below the second position, the path acquisition unit acquires a first path including a detection trajectory passing in front of the installation area; the movement control unit moves the moving body along the first path; The detection control unit causes a sensor different from the sensor to detect the position and attitude of the target while the moving body is moving along the first path. the path acquisition unit acquires a second path to a target position that is set based on the position and attitude of the target object and that is at a predetermined position and attitude with respect to the target object; The movement control unit moves the moving object along the second path. The moving body according to claim 1 or 2.

8. A method for controlling a moving body having a fork movable in a vertical direction and a sensor provided on the fork for detecting an object, comprising: When the installation area where the target is placed is at a second position that is vertically higher than a first position that is the position of the fork when it is positioned at the lowest vertical position, acquiring a first path including a turning trajectory that directs the sensor toward the installation area; moving the moving object along the first path; a step of causing the sensor to detect the position and orientation of the target object while the sensor faces the installation area due to the movement along the first path and the fork is positioned at a third position vertically above the first position; acquiring a second route to a target position that is set based on the position and attitude of the target and that is a predetermined position and attitude with respect to the target; moving the moving object along the second path; Including, Control method.

9. A program for causing a computer to execute a control method for a moving object having a fork that is movable in a vertical direction and a sensor that is provided on the fork and detects an object, the program comprising: When the installation area where the target is placed is at a second position that is vertically higher than a first position that is the position of the fork when it is positioned at the lowest vertical position, acquiring a first path including a turning trajectory that directs the sensor toward the installation area; moving the moving object along the first path; a step of causing the sensor to detect the position and orientation of the target object while the sensor faces the installation area due to the movement along the first path and the fork is positioned at a third position vertically above the first position; acquiring a second route to a target position that is set based on the position and attitude of the target and that is a predetermined position and attitude with respect to the target; moving the moving object along the second path; The computer executes the program.

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