Mobile device, control method, and program

Abstract

This improves the accuracy of detecting the unloading position even if the mast flexes. [Solution] The mobile body includes a fork mounted on the mast so as to be movable in the vertical direction, a sensor 26 that moves with the fork and acquires image information of the unloading position of the transported object lifted by the fork, a fork control unit 86 that moves the fork in the left and right direction by a side shift device 25, a calculation unit 88 that calculates the amount of side shift of the fork to the unloading position based on the change in the characteristic information of the unloading position indicated by the image information, and a determination unit 90 that determines whether the fork has moved to the unloading position based on the amount of side shift.

Description

Technical Field

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

Background Art

[0002] For example, a technology for automatically moving a moving body such as a forklift is known. For example, Patent Document 1 describes that a pallet is detected by a near-infrared camera provided on an unmanned forklift, and the unmanned forklift is guided to face the pallet.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a conventional moving body unloads a conveyed object lifted by a fork provided on a mast, if the unloading position is detected from an image of a camera provided on the mast, an error may occur in the unloading position due to the deflection of the mast.

[0005] The present disclosure solves the above-described problems, and an object thereof is to provide a moving body, a control method, and a program capable of improving the detection accuracy of the unloading position even when the mast is deflected.

Means for Solving the Problems

[0006] The mobile body according to this disclosure comprises a fork mounted on a mast so as to be movable in the vertical direction, a sensor that moves together with the fork and acquires image information of the unloading position of the transported object lifted by the fork, a fork control unit that moves the fork in the left-right direction by a side shift device, a calculation unit that calculates the amount of side shift of the fork to the unloading position based on the change in the characteristic information of the unloading position indicated by the image information, and a determination unit that determines that the fork has moved to the unloading position based on the amount of side shift.

[0007] The control method relating to this disclosure is a control method for a mobile body having a fork mounted so as to be movable in the vertical direction of a mast, and includes the steps of: acquiring image information of the unloading position of a transported object lifted by the fork from a sensor that moves together with the fork; moving the fork in the left-right direction with a side-shift device; calculating the amount of side-shift of the fork to the unloading position based on the change in characteristic information of the unloading position indicated by the image information; and determining that the fork has moved to the unloading position based on the amount of side-shift.

[0008] The program relating to this disclosure causes a mobile body equipped with a fork that is movable vertically on a mast to perform the following steps: acquire image information of the unloading position of a transported object lifted by the fork from a sensor that moves together with the fork; move the fork horizontally using a side shift device; calculate the amount of side shift of the fork to the unloading position based on the change in the characteristic information of the unloading position indicated by the image information; and determine that the fork has moved to the unloading position based on the amount of side shift. [Effects of the Invention]

[0009] According to this disclosure, the accuracy of detecting the unloading position can be improved even if the mast is deflected. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of the motion control system according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram showing an example of the items to be stored as shown in Figure 1. [Figure 3] Figure 3 is a schematic diagram of the configuration of the mobile body according to the first embodiment. [Figure 4] Figure 4 is a schematic block diagram of the control system. [Figure 5] Figure 5 is a schematic block diagram of an information processing device. [Figure 6] Figure 6 is a diagram illustrating the unloading operation of a moving object. [Figure 7] Figure 7 is a schematic diagram illustrating the deflection of the mast during unloading of a moving vehicle. [Figure 8] Figure 8 is a schematic block diagram of the control device for the mobile unit. [Figure 9] Figure 9 illustrates an example of calculating the amount of side shift from image information. [Figure 10] Figure 10 is a flowchart showing an example of the processing steps of a control method performed by a control device for a mobile object. [Figure 11] Figure 11 is a diagram illustrating the unloading operation of a mobile body according to the second embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the processing procedure of the control method performed by the mobile body according to the second embodiment. [Figure 13] Figure 13 is a flowchart showing an example of the processing procedure of the control method performed by the mobile body according to the third embodiment. [Figure 14] Figure 14 is a schematic block diagram of the control device for a mobile body according to the fourth embodiment. [Figure 15] Figure 15 is a diagram illustrating an example of measuring the amount of mast deflection. [Modes for carrying out the invention]

[0011] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Note that the present disclosure is not limited by this embodiment, and when there are multiple embodiments, those configured by combining each embodiment are also included.

[0012] (First Embodiment) (Overall Configuration of Movement Control System) FIG. 1 is a schematic diagram of a movement control system according to the first embodiment. FIG. 2 is a schematic diagram showing an example of the stored items shown in FIG. 1. As shown in FIG. 1, the movement control system 1 according to the first embodiment includes a mobile body 10, a management device 12, and an information processing device 14. The movement control system 1 is a system that controls the movement of the mobile body 10 belonging to the facility W. The facility W is a facility subject to logistics management, such as a warehouse, for example. In the movement control system 1, the conveyed item CA conveyed within the area AR of the facility W by the mobile body 10 is unloaded at the unloading position PA. The area AR is, for example, the floor surface of the facility W, and is an area where the stored item P is installed or the mobile body 10 moves. In this embodiment, the conveyed item CA is an object to be conveyed with goods loaded on a pallet, but is not limited to being something with goods loaded on a pallet and can be in any form. For example, it may be only the goods without a pallet. Hereinafter, one direction along the area AR is defined as the direction X, and a direction along the area AR and intersecting the direction X is defined as the direction Y. In this embodiment, the direction Y is a direction orthogonal to the direction X. The directions X and Y may be referred to as horizontal directions. Also, the direction orthogonal to the directions X and Y, that is, the vertical direction, is defined as the direction Z.

[0013] As shown in FIGS. 1 and 2, the storage object P is, for example, a rack, a nestable, etc. The storage object P has a plurality of columns PH and beams PG fixed between the columns PH. The area surrounded by the plurality of columns PH and the beams PG is the installation area AR0. In an example shown in FIG. 2, for the storage object P, the installation area AR0 has two upper and lower levels by one beam PG, and two unloading positions PA are set at each level. That is, a plurality of unloading positions PA are provided in the area AR within the facility W. The position (coordinates), shape, and size of the unloading position PA in the installation area AR0 are preset. Note that the number of unloading positions PA of the storage object P is not limited to this. The front surface Pa of the storage object P refers to the surface on the side where the moving body 10 approaches.

[0014] In the area AR within the facility W shown in FIG. 1, a plurality of storage objects P are provided. The installation area AR0 is an area where the conveyed object CA is unloaded. The installation area AR0 is an area where the conveyed object CA should be unloaded, and the unloading position PA is preset.

[0015] The mobile unit 10 is an automatically moving device. In this embodiment, the mobile unit 10 is a forklift, or more precisely, an AGF (Automated Guided Forklift). As illustrated in Figure 1, the mobile unit 10 moves over area AR in the facility W. The mobile unit 10 moves from the first position A1 to the second position A2 according to the first path R1 (wide-area path), detecting the stored items P multiple times using the sensor 26, which will be described later. The mobile unit 10 acquires a point cloud from the multiple detection results by the sensor 26 and determines the position and orientation of the stored items P based on the point cloud. Once the mobile unit 10 reaches the second position A2, it moves from the second position A2 to the target position A3 according to the second path R2 (approach path) set based on the position and orientation of the stored items P, and unloads the transported items CA. In this context, the position of the stored object P refers to the coordinates of the stored object P in the two-dimensional coordinate system CO in directions X and Y, and the orientation of the stored object P refers to the orientation (rotation angle) of the stored object P when viewed from a direction perpendicular to directions X and Y. Furthermore, the target position A3 is the position and orientation that is predetermined relative to the stored object P. In this embodiment, the target position A3 can be said to be the position and orientation in which the mobile body 10 can unload the transported object CA.

[0016] (Mobile) Figure 3 is a schematic diagram of the configuration of the mobile body according to the first embodiment. In Figure 3, the longitudinal direction XA, the lateral direction YA, and the vertical direction ZA are all perpendicular straight lines, with the forklift serving as the reference point.

[0017] As shown in Figure 3, the mobile body 10 comprises a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a side shift device 25, a sensor 26, and a control device 28.

[0018] The straddle legs 21 are a pair of shaft-shaped members that are provided at one end of the vehicle body 20 in the longitudinal direction XA and protrude from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. In other words, a total of three wheels 20A are provided, but the position and number of wheels 20A can be arbitrary.

[0019] The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction XA of the vehicle body 20. The mast 22 extends along the vertical direction ZA perpendicular to the longitudinal direction XA, and the backrest 23 is configured to move in the left-right direction YA and the vertical direction ZA. The mast 22 has a lift device (not shown), which raises and lowers the backrest 23, thereby raising and lowering the forks 24, i.e., moving them in the vertical direction ZA. When the forks 24 are inserted into the transported object CA, the lift device raises or lowers the forks 24 so that the front end of the forks 24 and the insertion opening of the transported object CA are on the same horizontal plane. When unloading the transported object CA, the lift device lowers the forks 24 so that the front end of the forks 24 is lower than the insertion opening of the transported object CA. The backrest 23 is a load receiving frame that prevents the load on the forks 24 from falling to the rear of the mast 22.

[0020] The fork 24 is mounted on the mast 22 via the backrest 23 so as to be movable in the vertical direction ZA. The fork 24 is movable relative to the mast 22 in the left-right direction YA of the vehicle body 20 by a side shift device 25. The fork 24 has a pair of forks 24A and 24B. Forks 24A and 24B extend from the backrest 23 (mast 22) toward the front of the vehicle body 20. Forks 24A and 24B are positioned apart from each other in the left-right direction YA of the mast 22. Hereinafter, in the longitudinal direction XA, the direction on the side of the movable body 10 where the fork 24 is not provided will be referred to as the rear direction, and the direction on the side where the fork 24 is provided will be referred to as the front direction.

[0021] The forks 24 are provided to extend along the front-rear direction XA, and when inserted into the opening (insertion port) of the pallet, they become capable of lifting the transported object CA. In this embodiment, the forks 24 are provided in pairs with a gap between them in the left-right direction YA, but a configuration of three or more forks is also possible.

[0022] The side shift device 25 moves the pair of forks 24 in the left-right direction YA without changing the distance between them. By moving the forks 24, the side shift device 25 adjusts the position of the forks 24 relative to the target object position.

[0023] Sensor 26 comprises sensor 26A and sensor 26B. Sensor 26A detects at least one of the position and orientation of an object present around the vehicle body 20. It can also be said that sensor 26A detects at least one of the position of an object relative to the moving body 10 and the orientation of an object relative to the moving body 10. In this embodiment, sensor 26A is provided at the front end of each straddle leg 21 and on the rear side of the vehicle body 20. Sensor 26A can be, for example, LiDAR (Light Detection and Ranging), a proximity sensor, etc. Note that the position of sensor 26A is not limited to this, and it may be provided at any position, and the number of sensors provided may also be arbitrary. Sensor 26A supplies sensor information indicating at least one of the position of an object relative to the moving body 10 and the orientation of an object relative to the moving body 10 to the control device 28.

[0024] Sensor 26B detects the position, orientation, etc., of the stored item P. Sensor 26B is provided on the underside of a pair of forks 24 on the backrest 23 and moves together with the forks 24. That is, even if the forks 24 move in the vertical direction ZA or the left-right direction YA, the relative positional relationship between the forks 24 and sensor 26B does not change. In this embodiment, the case in which a 3D ToF (Time of Flight) camera that measures distance (depth) is used as sensor 26B is described, but various sensors capable of detecting the position of an object can be used. Sensor 26B captures a depth image capable of identifying 3D position and distance, and supplies sensor information indicating the captured depth image to the control device 28.

[0025] The control device 28 is a computer and a device that controls the mobile body 10. The control device 28 detects the position of the object to be detected from the imaging information. The control device 28 calculates the relative position of the mobile body 10 and the pallet, which changes during the insertion operation of the fork 24. The control device 28 will be described later.

[0026] (Management device) Figure 4 is a schematic block diagram of the management device. The management device 12 is a system for managing logistics in facility W. In this embodiment, the management device 12 is a WMS (Warehouse Management System), but it is not limited to a WMS and may be any system, for example, a backend system such as another production management system. The location where the management device 12 is installed is arbitrary; it may be installed within facility W, or it may be installed at a location away from facility W and manage facility W from that location. The management device 12 is a computer and, as shown in Figure 4, includes a communication unit 30, a storage unit 32, and a control unit 34.

[0027] The control unit 34 is an arithmetic unit, or CPU (Central Processing Unit). The control unit 34 includes a task determination unit 36. The control unit 34 realizes the task determination unit 36 ​​and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute processing with a single CPU, or it may have multiple CPUs and execute processing with those multiple CPUs. The task determination unit 36 ​​may also be realized with hardware circuits. Furthermore, the program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium that can be read by the management device 12.

[0028] The work determination unit 36 ​​determines the storage container P in which the transported object CA will be stored. Specifically, the work determination unit 36 ​​determines the work content, which indicates the information of the storage container P in which the transported object CA will be stored, based on, for example, the input work plan. The work content can also be said to be information that identifies the storage container P in which the transported object CA will be stored. In the example of this embodiment, the work content determines which storage container P in which equipment W the transported object CA will be transported to and by when. That is, the work content is information indicating the equipment W in which the storage container P in which the transported object CA will be stored is stored, the object to be transported (transported object CA), the location of the storage container P within the equipment W, and the transport time. The work determination unit 36 ​​transmits the determined work content to the information processing device 14 via the communication unit 30.

[0029] (Information processing device) Figure 5 is a schematic block diagram of the information processing device. The information processing device 14 is installed in the facility W and is a device that transmits and receives information regarding the movement of the mobile body 10 to and from the mobile body 10, a so-called ground system. The information processing device 14 is a computer and, as shown in Figure 5, 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 body 10, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 40 is wireless communication, but the communication method may be arbitrary. 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 RAM, a main memory device such as ROM, and an external memory device such as an HDD.

[0030] The control unit 44 is an arithmetic unit, i.e., a CPU. The control unit 44 includes a work content acquisition unit 50 and a mobile object selection unit 52. The control unit 44 reads a program (software) from the storage unit 42 and executes it to realize the work content acquisition unit 50 and the mobile object selection unit 52 and perform their processing. The control unit 44 may perform these processing with a single CPU, or it may have multiple CPUs and perform the processing with those multiple CPUs. In addition, at least a part of the work content acquisition unit 50 and the mobile object selection unit 52 may be realized with hardware circuits. Furthermore, the program for the control unit 44 stored in the storage unit 42 may be stored on a recording medium that the information processing device 14 can read.

[0031] The work content acquisition unit 50 acquires information on the work content determined by the management device 12, that is, information on the stored items P to be transported. From the information on the stored items P in the work content, the work content acquisition unit 50 identifies the unloading location PA where the transported items CA will be unloaded. For example, the storage unit 42 stores the stored items P and the installation area AR0 in which the stored items P are installed in association with each other, and the work content acquisition unit 50 identifies the unloading location PA in the installation area AR0 by reading this information from the storage unit 42. The mobile body selection unit 52 selects the target mobile body 10. For example, the mobile body selection unit 52 selects the mobile body 10 that will transport the transported items CA from among multiple mobile bodies belonging to the equipment W. The mobile body selection unit 52 may select the target mobile body 10 by any method.

[0032] (Unloading operation of a moving object) Figure 6 is a diagram illustrating the unloading operation of the mobile body 10. In Figure 6, a central axis 24C is set between a pair of forks 24. The central axis PX of the unloading position PA is perpendicular to the front Pa at the center of the front Pa of the stored goods P.

[0033] In scenario C1 shown in Figure 6, the mobile body 10 detects the unloading position PA with the sensor 26 and moves to the target position A3 with the transported object CA lifted by the forks 24. In this case, the mobile body 10 is facing the unloading position PA with the central axis 24C of the forks 24 offset from the central axis PX of the unloading position PA in the stored object P.

[0034] In the next scene C2, the mobile unit 10 performs a side shift operation of the forks 24, using the detected unloading position PA as the target value. For example, the mobile unit 10 performs a side shift operation of the forks 24 by moving the backrest 23 in the left-right direction YA to the right direction YAR using the side shift device 25 so that the central axis 24C of the pair of forks 24 and the central axis PX of the unloading position PA overlap.

[0035] In the next scene C3, the mobile body 10 moves in a straight line forward XAF with the central axis 24C of the pair of forks 24 aligned with the central axis PX of the unloading position PA, and moves the transported object CA directly above the unloading position PA. The mobile body 10 then lowers the backrest 23 and moves backward, completing the unloading of the transported object CA at the unloading position PA.

[0036] Figure 7 is a schematic diagram illustrating the deflection of the mast during unloading of a mobile device. As shown in Figure 7, during unloading, the mast 22 of the mobile device 10 may deflect in the left-right direction YA due to the lifted transported object CA. The amount of deflection of the mast 22 varies depending on the lifting height, the amount of side shift, the load of the transported object CA, etc. The lifting height is the height to which the forks 24 can be lifted from the lowest position to the highest position when the mast 22 of the mobile device 10 is vertical. In conventional technology, the unloading position was detected before the side shift operation to determine the amount of side shift in advance, and the side shift operation was performed based on this predetermined amount of side shift. As a result, the deflection of the mast 22 in the left-right direction YA became an error in unloading.

[0037] State ST1 in Figure 7 shows the case where the transported object CAA is small (low load). If displacement BA is the amount of displacement between the central axis 24C of the fork 24 before the side shift operation and the central axis 24CA of the fork 24 after the side shift operation, then when the load is small, displacement BA almost matches the target side shift amount predetermined based on the detection result of the unloading position before the side shift operation. On the other hand, state ST2 in Figure 7 shows the case where the transported object CAB is large (high load). If displacement BB is the amount of displacement between the central axis 24C of the fork 24 before the side shift operation and the central axis 24CB of the fork 24 after the side shift operation, then when the load is large, the mast 22 flexes under the load of the transported object CAB, causing displacement BB to be a larger displacement than displacement BA. As a result, displacement BB (actual side shift amount) may not match the target side shift amount predetermined based on the detection result of the unloading position before the side shift operation. Thus, if unloading is performed based on the detection result of the unloading position before the side shift operation, an error may occur in the unloading position due to the deflection of the mast 22 in the lateral direction YA.

[0038] The movable body 10 according to this embodiment provides a technique to prevent the deflection of the mast 22 in the lateral direction YA during unloading from becoming an error during unloading.

[0039] (Control device for mobile devices) Next, the control device 28 for the mobile body 10 will be described. Figure 8 is a schematic block diagram of the control device for the mobile body. The control device 28 controls the mobile body 10. The control device 28 controls the mobile body 10 to move along a second path R2 set based on multiple detection results from the sensor 26 of the mobile body 10 to the target position A3, and to unload the transported object CA onto the mobile body 10. The control device 28 is a computer and, as shown in Figure 8, includes a communication unit 70, a storage unit 72, and a control unit 74. The control device 28 is electrically connected to the side shift device 25, the sensor 26, and the drive unit 29. The control device 28 may also be electrically connected to the potentiometers, which are the operating amount detectors for the side shift device 25 and the drive unit 29. The control device 28 detects the unloading position PA before the side shift operation and predetermines the target side shift amount.

[0040] The drive unit 29 includes the drive unit and steering mechanism of the mobile body 10. The control device 28 is configured to control the movement, rotation, etc., of the mobile body 10 by controlling the drive unit and the movement mechanism of the drive unit 29.

[0041] The communication unit 70 is a module used in the control unit 74 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 70 is wireless communication, but the communication method may be arbitrary.

[0042] The storage unit 72 is a memory that stores various information such as the calculation contents and programs of the control unit 74, and includes at least one of the following: RAM, main memory such as ROM, and external memory such as HDD. The storage unit 72 can store programs 721, work information 722, sensor information 723, change information 724, etc. Program 721 includes a program for realizing functions such as movement control, fork control, and detection control of the mobile body 10. Work information 722 includes information indicating the first path R1, second path R2, etc. of the mobile body 10 obtained from the information processing device 14, database, etc. Sensor information 723 includes image information of the unloading position PA obtained from the sensor 26. Change information 724 includes information such as changes in characteristic information of the unloading position PA and the amount of side shift based on image information including a depth image in which distance can be identified. The storage unit 72 can store the sensor information 723 and the change information 724 in association and in chronological order.

[0043] The control unit 74 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 74 includes an information acquisition unit 80, a movement control unit 82, a detection control unit 84, a fork control unit 86, a calculation unit 88, and a determination unit 90. The control unit 74 reads and executes a program 721 (software) from the storage unit 72 to realize the information acquisition unit 80, the movement control unit 82, the detection control unit 84, the fork control unit 86, the calculation unit 88, and the determination unit 90, and executes their processing. The control unit 74 may execute these processes with a single CPU, or it may have multiple CPUs and execute the processing with those multiple CPUs. In addition, at least a part of the information acquisition unit 80, the movement control unit 82, the detection control unit 84, the fork control unit 86, the calculation unit 88, and the determination unit 90 may be realized with hardware circuits. Furthermore, the program 721 for the control unit 74 stored in the storage unit 72 may be stored on a recording medium that the control device 28 can read.

[0044] The information acquisition unit 80 acquires various information related to the work, such as the first pass R1, the second pass R2, the structure of the stored item P, and the location of the stored item P, as work information 722. When the mobile body 10 is selected as the work target, the information acquisition unit 80 may acquire work information from the information processing device 14, or it may read work information that has been previously stored in the storage unit 72.

[0045] The movement control unit 82 controls the movement mechanism of the drive unit 29, such as the drive unit and steering, to control the movement of the mobile body 10. The movement control unit 82 moves the mobile body 10 according to the first path R1 and the second path R2 acquired by the information acquisition unit 80. The movement control unit 82 moves the mobile body 10 so that it passes through the first path R1 and the second path R2 by sequentially grasping the position information of the mobile body 10. The method of acquiring the position information of the mobile body 10 is arbitrary, but for example, in this embodiment, a detection object (not shown) is provided in the equipment W, and the movement control unit 82 acquires position and orientation information of the mobile body 10 based on the detection of the detection object. The position of the mobile body 10 is the coordinate in the two-dimensional coordinate system CO of directions X and Y in the area AR of the equipment W. The orientation of the mobile body 10 is the orientation (rotation angle) of the mobile body 10 when viewed from direction Z which is perpendicular to directions X and Y.

[0046] The movement control unit 82 controls the movement of the mobile body so that the forks 24 approach the front Pa of the stored goods P. The movement control unit 82 moves the mobile body 10 to the target position A3 by moving it along the second path R2 (approach path), and positions it so that it faces the unloading position PA of the stored goods P.

[0047] The detection control unit 84 causes the sensor 26 to detect the position of the stored object P, the front view Pa of the stored object P, the position of the fork 24, etc., and acquires the detection results of the sensor 26 as a point cloud. The detection control unit 84 stores the acquired information as sensor information 723 in the storage unit 72 in chronological order. For example, the detection control unit 84 analyzes the position of the stored object P, the front view Pa of the stored object P, the characteristic position of the stored object P, etc., based on the point cloud obtained by the sensor 26, and stores the analysis results as sensor information 723 in the storage unit 72. The characteristic position of the stored object P is the position of a characteristic structure set for the stored object P, and includes, for example, the position where the column PH and the beam PG intersect.

[0048] The fork control unit 86 moves the pair of forks 24 in the left-right direction YA using the side shift device 25. The fork control unit 86 controls the side shift until the pair of forks 24 are facing the unloading position PA.

[0049] The calculation unit 88 calculates the amount of side shift of the fork 24 to the unloading position PA based on the change in the characteristic information of the unloading position PA indicated by the image information. In this embodiment, the calculation unit 88 calculates the amount of side shift of the fork 24 to the unloading position PA based on the characteristic information indicating the intersection position of the column PH and beam PG of the stored goods P, as indicated by the image information acquired at different timings during the side shift of the fork 24. The calculation unit 88 stores the change information 724, including the calculated amount of side shift, in the storage unit 72. The characteristic information may include, for example, information indicating the characteristic structure of the stored goods P, markers, other transported goods CA stored in the stored goods P, etc.

[0050] Figure 9 illustrates an example of calculating the amount of side shift from image information. In scene C11 shown in Figure 9, the mobile body 10 is stopped near the front Pa of the stored item P with the transported item CA lifted by the forks 24, and image information G11 of the front Pa of the stored item P is acquired by the sensor 26B. Subsequently, while the mobile body 10 is stopped, the forks 24 are moved to the right in YAR by the side shift device 25. In the next scene C12, the mobile body 10 acquires image information G12 of the front Pa of the stored item P at the side-shifted position using the sensor 26B. In this case, the calculation unit 88 sets the reference axis PL1 to the column PH of the stored item P indicated by the image information G11, and sets the reference axis PL2 to the same column PH of the stored item P indicated by the image information G12. Based on the displacement ZH between the reference axis PL1 and the reference axis PL2, the calculation unit 88 calculates the amount of side shift, including the change in the left-right direction YA due to the deflection of the mast 22. For example, if the position of the transported object CA changes in the left-right direction YA due to the bending of the mast 22, the position of the column PH of the stored object P shown in the image also changes in the left-right direction YA. Therefore, the moving body 10 reduces the error in the left-right direction YA due to the bending of the mast 22 by continuously calculating the actual amount of side shift, including the amount of change in the left-right direction YA due to the bending of the mast 22, from the image information, without relying on the potentiometer, which is the operating amount detector of the side shift device 25.

[0051] As shown in Figure 8, the determination unit 90 determines that the fork 24 has moved to the unloading position based on the side shift amount calculated by the calculation unit 88. The determination unit 90 determines that the fork 24 has moved to the unloading position if the actual side shift amount calculated by the calculation unit 88 matches the predetermined target side shift amount to the unloading position PA. The determination unit 90 determines that the fork 24 has not moved to the unloading position if the side shift amount does not match the side shift amount to the unloading position PA. The determination unit 90 stores the determination result in the storage unit 72. Then, the fork control unit 86 stops the side shift of the fork 24 if the determination unit 90 determines that the fork 24 has moved to the unloading position.

[0052] (Control method for the control device) Next, the control method executed by the control device 28 of the mobile body 10 will be described. Figure 10 is a flowchart showing an example of the processing procedure of the control method executed by the control device 28 of the mobile body 10. The processing procedure shown in Figure 10 is executed by the control unit 74 of the control device 28 when the transported goods CA of the mobile body 10 are unloaded.

[0053] As shown in Figure 10, the control device 28 continues to detect the unloading position PA using the sensor 26 during side shifting (step S101). For example, the control device 28 stores sensor information 723, including an image of the stored items P acquired by the sensor 26, in the storage unit 72 and proceeds to processing in S102.

[0054] The control device 28 calculates the amount of side shift based on the change in the characteristics of the left-right direction YA due to the side shift operation indicated by the image information (step S102). For example, the control device 28 calculates the amount of side shift from the change in the characteristic information in the image information contained in the current sensor information 723 and the characteristic information in the previous image information, and stores the calculation result in the storage unit 72. The control device 28 may use the characteristic information of the stored item P used in the past as the characteristic information of the previous item. When the processing in step S102 is completed, the control device 28 proceeds to step S103.

[0055] The control device 28 determines that the forks 24 have moved to the unloading position based on the amount of side shift (step S103). For example, the control device 28 calculates the amount of side shift to the unloading position PA, and determines that the forks 24 have moved to the unloading position if the actual amount of side shift calculated in step S102 matches the predetermined target amount of side shift to the unloading position PA. After the control device 28 stores the determination result in the storage unit 72, it proceeds to step S104.

[0056] Based on the determination result in step S103, the control device 28 determines whether or not the unloading position PA is reached (step S104). If the control device 28 determines that the unloading position PA is not reached (No in step S104), it returns to the previously described S101 and continues the side shift operation. If the control device 28 determines that the unloading position PA is reached (Yes in step S104), it proceeds to step S105.

[0057] The control device 28 stops the side shift of the fork 24 (step S105). For example, the control device 28 controls the side shift device 25 so that the side shift of the fork 24 stops. Once the process in step S105 is completed, the control device 28 terminates the processing procedure shown in Figure 10.

[0058] In the first embodiment, the mobile body 10 can calculate the amount of side shift of the forks 24 to the unloading position PA from the change in the characteristic information of the stored items P shown in the image during the insertion operation of the forks 24 when unloading, and can determine that it has moved to the unloading position based on the amount of side shift. As a result, the mobile body 10 can reduce the error of the side shift in the left-right direction YA due to the deflection of the mast 22 by calculating the amount of side shift including the amount of change in the side shift direction due to the deflection of the mast 22.

[0059] (Second Embodiment) Next, a second embodiment will be described. In the second embodiment, the method for detecting the unloading position after the completion of the side shift operation differs from that of the first embodiment. In the second embodiment, parts that are common to the configuration of the first embodiment will not be described. Note that the second embodiment may be applied to or combined with the mobile body of the first embodiment.

[0060] In the second embodiment, the mobile body 10, similar to the first embodiment, comprises a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, forks 24, a side shift device 25, a sensor 26, and a control device 28. The control device 28 is a computer and includes a communication unit 70, a storage unit 72, and a control unit 74. The control unit 74 includes an information acquisition unit 80, a movement control unit 82, a detection control unit 84, a fork control unit 86, a calculation unit 88, and a determination unit 90.

[0061] The calculation unit 88 calculates the amount of side shift of the fork 24 based on the image information acquired by the sensor 26 after the side shift operation of the fork 24 is completed. The determination unit 90 determines whether the amount of side shift is greater than a threshold for determination. Specifically, the determination unit 90 determines whether the amount of side shift after the side shift operation of the fork 24 is completed is greater than a threshold for determination. If the determination unit 90 determines that the amount of side shift is greater than the threshold, the fork control unit 86 controls the side shift based on the amount of side shift.

[0062] When the control unit 74 determines that the side shift amount is below a threshold, the determination unit 90 determines that the control unit 74 terminates the detection of the unloading position and terminates the side shift of the forks 24 by the fork control unit 86. The storage unit 72 stores information on the side shift amount corresponding to the unloading position PA in the change information 724. The change information 724 associates the side shift amount corresponding to the unloading position PA with the identification information of the moving body 10, the weight information of the conveyed object CA, and the like.

[0063] Figure 11 is a diagram illustrating the unloading operation of the mobile body 10 according to the second embodiment. In scene C21 shown in Figure 11, the mobile body 10 is stopped near the front Pa of the stored item P with the transported item CA lifted by the forks 24. The mobile body 10 is acquiring an image of the front Pa of the stored item P using the sensor 26B. While stationary, the mobile body 10 is moving the forks 24 to the right (YAR) of the unloading position PA using the side shift device 25.

[0064] In the next scene C22, the mobile body 10 moves to a position where the forks 24 have passed the unloading position PA due to a side shift caused by the deflection of the mast 22. At this side-shifted position, the mobile body 10 acquires an image of the front Pa of the stored goods P using sensor 26B and recognizes that it has shifted from the unloading position PA based on the changes in the characteristics of the stored goods P. Based on the image, the mobile body 10 calculates the amount of side shift to the unloading position PA. In this case, the mobile body 10 calculates the amount of side shift to the left YAL in the left-right direction YA.

[0065] In the next scene C23, the mobile body 10, while stationary, moves its forks 24 to the left (YAL) of the unloading position PA using the side shift device 25. Once the side shift is complete, the mobile body 10 acquires an image of the front Pa of the stored goods P using sensor 26B, detects the unloading position PA based on the changes in the characteristics of the stored goods P, and calculates the amount of side shift from the current position to the unloading position PA. The mobile body 10 repeats the operations from scene C21 to scene C23 until the calculated amount of side shift falls below a threshold for determination. In this way, the mobile body 10 can reduce the error in the left-right YA side shift due to the deflection of the mast 22 by calculating the amount of side shift that includes the amount of change in the side shift direction due to the deflection of the mast 22. Furthermore, the mobile body 10 can reduce the number of determinations compared to making determinations at predetermined intervals by detecting the unloading position PA with sensor 26 after the completion of the side shift operation and determining that it has moved to the unloading position.

[0066] (Control method for the control device) Next, a control method executed by the control device 28 of the mobile body 10 according to the second embodiment will be described. Figure 12 is a flowchart showing an example of a processing procedure of the control method executed by the mobile body 10 according to the second embodiment. The processing procedure shown in Figure 12 is executed by the control unit 74 of the control device 28 when the mobile body 10 unloads the transported goods CA.

[0067] As shown in Figure 12, the control device 28 performs unloading position detection (step S201). For example, the control device 28 detects the unloading position PA from the image information of the stored items P acquired by the sensor 26, calculates the amount of side shift including the direction of movement to the unloading position based on information such as the position and distance of the stored items P, and stores it in the storage unit 72. When the processing of step S201 is completed, the control device 28 proceeds to step S202.

[0068] The control device 28 performs a side shift operation (step S202). For example, the control device 28 controls the side shift device 25 based on the side shift amount calculated in step S201 to shift the fork 24 toward the unloading position PA. Once the processing in step S202 is complete, the control device 28 proceeds to step S203.

[0069] The control device 28 performs unloading position detection (step S203). For example, the control device 28 detects the unloading position PA from the image information of the stored items P acquired by the sensor 26, calculates the amount of side shift including the direction of movement to the unloading position based on information such as the position and distance of the stored items P, and stores the required amount of side shift in the storage unit 72. When the processing in step S203 is completed, the control device 28 proceeds to step S204.

[0070] The control device 28 determines whether the required side shift amount is below a threshold (step S204). For example, the control device 28 compares the required side shift amount calculated in step S203 with a preset threshold for determination and determines whether the required side shift amount is below the threshold. If the control device 28 determines that the required side shift amount is not below the threshold (No in step S204), it returns to step S202, which has already been described, and repeats the process. If the control device 28 determines that the required side shift amount is below the threshold (Yes in step S204), it proceeds to step S205.

[0071] The control device 28 completes the unloading position detection and side shift operation (step S205). For example, since the fork 24 is located at the unloading position PA, the control device 28 completes the unloading position detection using the sensor 26 and completes the side shift operation by calculating the side shift amount from the image information. Once the processing in step S205 is completed, the control device 28 proceeds to step S206.

[0072] The control device 28 retains information on the amount of side shift relative to the unloading position PA (step S206). For example, the control device 28 stores the amount of side shift until it moves to the unloading position PA as change information 724 in the storage unit 72 and associates it with information such as the weight of the transported object CA, the lifting height, and the ID of the moving body 10. When the processing in step S206 is completed, the control device 28 terminates the processing procedure shown in Figure 12.

[0073] (Third embodiment) Next, a third embodiment will be described. The third embodiment is a modification of the second embodiment, and differs from the second embodiment in that it performs unloading at the same unloading position PA again. In the third embodiment, parts that have the same configuration as the first and second embodiments will not be described. Note that the third embodiment may be applied to or combined with the mobile bodies of the first and second embodiments.

[0074] In the third embodiment, the mobile body 10, as in the first and second embodiments, comprises a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, forks 24, a side shift device 25, a sensor 26, and a control device 28. The control device 28 is a computer and includes a communication unit 70, a storage unit 72, and a control unit 74. The control unit 74 includes an information acquisition unit 80, a movement control unit 82, a detection control unit 84, a fork control unit 86, a calculation unit 88, and a determination unit 90.

[0075] If the fork control unit 86 is performing another unload at the unloading position PA, it operates the side shift based on the side shift amount corresponding to the unloading position PA stored in the memory unit 72. For example, the fork control unit 86 recognizes that it is performing another unload at the unloading position PA if it can retrieve the side shift amount corresponding to the unloading position PA from the memory unit 72.

[0076] (Control method for the control device) Next, a control method executed by the control device 28 of the mobile body 10 according to the third embodiment will be described. Figure 13 is a flowchart showing an example of a processing procedure of the control method executed by the mobile body 10 according to the third embodiment. The processing procedure shown in Figure 13 is executed by the control unit 74 of the control device 28 when the mobile body 10 unloads the transported goods CA.

[0077] As shown in Figure 13, the control device 28 determines whether or not it is the first unloading at the unloading location PA (step S211). For example, the control device 28 determines that it is the first unloading if the amount of side shift corresponding to the unloading location PA is not stored in the storage unit 72. For example, the operation history etc. may be included in the operation information 722 at the unloading location PA, and the control device 28 may determine whether or not it is the first unloading based on the operation information 722. If the control device 28 determines that it is the first unloading (Yes in step S211), it proceeds to step S201 and executes the processes from step S201 to step S206, similar to the second embodiment.

[0078] Furthermore, if the control device 28 determines that this is not the first unloading (No in step S211), it proceeds to step S212. The control device 28 refers to the stored side shift amount (step S212). For example, the control device 28 refers to the side shift amount of the change information 724 associated with the unloading position PA, which is stored in the memory unit 72, and sets that side shift amount as the current side shift amount. Once the processing in step S212 is complete, the control device 28 proceeds to step S202, which has already been described.

[0079] The control device 28 performs a side shift operation (step S202). For example, the control device 28 controls the side shift device 25 based on the side shift amount referenced in step S212, thereby shifting the fork 24 toward the unloading position PA. Once the process in step S202 is complete, the control device 28 proceeds to step S203.

[0080] The control device 28 performs unloading position detection (step S203). For example, the control device 28 detects the unloading position PA from the image information of the stored items P acquired by the sensor 26, calculates the amount of side shift including the direction of movement to the unloading position based on information such as the position and distance of the stored items P, and stores the required amount of side shift in the storage unit 72. When the processing in step S203 is completed, the control device 28 proceeds to step S204.

[0081] The control device 28 determines whether the required side shift amount is below a threshold (step S204). If the control device 28 determines that the required side shift amount is not below a threshold (No in step S204), it returns to step S202, which has already been described, and repeats the process. If the control device 28 determines that the required side shift amount is below a threshold (Yes in step S204), it proceeds to step S205.

[0082] The control device 28 completes the unloading position detection and side shift operation (step S205). For example, since the fork 24 is located at the unloading position PA, the control device 28 completes the unloading position detection using the sensor 26 and completes the side shift operation by calculating the side shift amount from the image information. Once the processing in step S205 is completed, the control device 28 proceeds to step S206.

[0083] The control device 28 retains information on the amount of side shift relative to the unloading position PA (step S206). For example, the control device 28 stores the amount of side shift until it moves to the unloading position PA as change information 724 in the storage unit 72 and associates it with information such as the weight of the transported object CA, the lifting height, and the ID of the moving body 10. When the processing in step S206 is completed, the control device 28 terminates the processing procedure shown in Figure 13.

[0084] In the third embodiment, the mobile body 10, for the same unloading position PA, has a past side shift amount that includes the deflection amount of the mast 22. By using this side shift amount for the side shift during the second and subsequent unloading operations, the mobile body 10 can stop the side shift at a position close to the target unloading position PA of the initial side shift operation. As a result, the mobile body 10 can reduce the number of repetitions required for detecting the unloading position PA and performing the side shift operation, thereby improving throughput.

[0085] (Fourth Embodiment) Next, the fourth embodiment will be described. In the fourth embodiment, the amount of deflection of the mast 22, which changes depending on the lifting height, side shift amount, and the load of the conveyed object CA, is measured in advance, and the method of using this deflection amount differs from the other embodiments. In the fourth embodiment, the parts that have the same configuration as the first to third embodiments will not be described. Note that the fourth embodiment may be applied to or combined with the moving bodies of the first to third embodiments.

[0086] Figure 14 is a schematic block diagram of the control device for the mobile body 10 according to the fourth embodiment. As shown in Figure 14, the mobile body 10 according to the fourth embodiment includes a body 20, wheels 20A, straddle legs 21, a mast 22, forks 24, a side shift device 25, a sensor 26, and a control device 28, similar to the first to third embodiments. The control device 28 is a computer and includes a communication unit 70, a storage unit 72, and a control unit 74. The control unit 74 includes an information acquisition unit 80, a movement control unit 82, a detection control unit 84, a fork control unit 86, a calculation unit 88, and a determination unit 90.

[0087] The memory unit 72 further stores deflection information 300. The deflection information 300 includes, for example, information that measures the amount of deflection of the mast 22 which changes depending on the lifting height, unloading position PA, and the load of the conveyed object CA, and expresses the measured amount of deflection in the form of a table or function. In this embodiment, the deflection information 300 has information that shows a lookup table or function for obtaining the amount of deflection of the mast 22 from the lifting height, side shift amount, and load of the conveyed object CA. The deflection information 300 may also include, for example, information of a machine learning model that has been trained to output the amount of deflection from a combination of lifting height, side shift amount, and load of the conveyed object CA.

[0088] The calculation unit 88 calculates the amount of side shift of the forks 24 to the unloading position PA based on the deflection information 300 obtained by measuring the amount of deflection of the mast 22, the lifting height, the unloading position PA, and the load of the conveyed object.

[0089] Figure 15 is a diagram illustrating an example of measuring the deflection amount of the mast 22. As shown in Figure 15, the mobile body 10 acquires image information of the unloading position PA while the forks 24 are in their initial position without being side-shifted. Then, the mobile body 10 side-shifts the forks 24 from the initial position by an amount corresponding to the side-shift amount of the unloading position PA and acquires image information of the unloading position PA. In this case, the displacement BC of the unloading position is the difference between the unloading position before the side-shift and the unloading position after the side-shift.

[0090] The calculation unit 88 of the mobile body 10 can calculate the side shift amount SH from the unloading position PA based on the characteristic information of the acquired image information using the following formula (Equation 1). Side shift amount SH = Displacement BC of the unloading position - Mast deflection amount BD ... (Equation 1)

[0091] The calculation unit 88 identifies the lifting height of the fork 24, the unloading position PA, and the load of the conveyed object CA, and calculates the side shift amount SH corresponding to the deflection information 300, lifting height, side shift amount, and load of the conveyed object using (Equation 1) of the deflection information 300. The calculation unit 88 stores the calculated side shift amount SH in the storage unit 72. For example, the processing procedure shown in Figure 12 can be modified to include a process in steps S201 and S203, which detect the unloading position, in which a process is performed to calculate the side shift amount of the fork 24 to the unloading position PA based on the deflection information 300, lifting height, unloading position PA, and load of the conveyed object.

[0092] In the fourth embodiment, the mobile body 10 uses deflection information 300 obtained by pre-measuring the lifting height of the fork 24, the unloading position PA, and the load of the conveyed object CA. Therefore, the side shift can be stopped at a position close to the target unloading position PA. As a result, the mobile body 10 can reduce the number of repetitions required for detecting the unloading position PA and performing the side shift operation, thereby improving throughput.

[0093] (effect) The mobile body 10 according to the first aspect of this disclosure includes a fork 24 mounted on a mast 22 so as to be movable in the vertical direction, a sensor 26 that moves with the fork 24 and acquires image information of the unloading position of the transported object CA lifted by the fork 24, a fork control unit 86 that moves the fork 24 in the left-right direction by a side shift device 25, a calculation unit 88 that calculates the amount of side shift of the fork 24 to the unloading position PA based on the change in the characteristic information of the unloading position indicated by the image information, and a determination unit 90 that determines whether the fork 24 has moved to the unloading position based on the amount of side shift. As a result, the mobile body 10 can calculate the amount of side shift of the fork 24 to the unloading position PA from the change in the characteristic information of the stored object P indicated by the image information during the insertion operation of the fork 24 when unloading, and determine whether it has moved to the unloading position based on the amount of side shift. As a result, the moving body 10 can reduce the error in the side shift in the left-right direction (YA) due to the deflection of the mast 22 by calculating the amount of side shift that includes the amount of change in the side shift direction (left-right direction YA) due to the deflection of the mast 22.

[0094] In the mobile body 10 according to the second aspect of this disclosure, the calculation unit 88 calculates the amount of side shift of the fork 24 based on image information acquired by the sensor 26 after the side shift operation of the fork 24 is completed, the determination unit 90 determines whether the amount of side shift is greater than a threshold for determination, and if the determination unit 90 determines that the amount of side shift is greater than the threshold, the fork control unit 86 controls the side shift of the fork 24 based on the amount of side shift. As a result, the mobile body 10 can reduce the error of the side shift in the left-right direction YA due to the deflection of the mast 22 by calculating the amount of side shift including the amount of change in the side shift direction due to the deflection of the mast 22. Furthermore, the mobile body 10 can reduce the number of determinations compared to making determinations at predetermined intervals by detecting the unloading position PA with the sensor 26 after the side shift operation is completed and determining that it has moved to the unloading position PA.

[0095] In the third aspect of this disclosure, when the determination unit 90 determines that the amount of side shift is below a threshold, the mobile body 10 terminates the detection of the unloading position PA and terminates the side shift of the forks 24 by the fork control unit 86. As a result, the mobile body 10 terminates the detection of the unloading position PA and the side shift of the forks 24 simultaneously, thereby reducing the error in the side shift in the left-right direction YA.

[0096] The mobile body 10 according to the fourth aspect of this disclosure further includes a storage unit 72 that stores information on the amount of side shift corresponding to the unloading position PA. As a result, the mobile body 10 can store the relationship between the unloading position PA and the amount of side shift, which can contribute to checking the side shift operation and malfunctions of the fork 24.

[0097] In the mobile body 10 according to the fifth aspect of this disclosure, the fork control unit 86 operates the side shift of the forks 24 based on the side shift amount corresponding to the unloading position PA stored in the memory unit 72 when unloading again to the same unloading position PA. As a result, the mobile body 10 can use the side shift amount for the second and subsequent unloadings, since the past side shift amount includes the deflection amount of the mast 22, for the same unloading position PA, thereby stopping the side shift at a position close to the target unloading position PA of the initial side shift operation. Consequently, the mobile body 10 can reduce the number of repetitions of detecting the unloading position PA and performing the side shift operation, thereby improving throughput.

[0098] In the mobile body 10 according to the sixth aspect of this disclosure, the calculation unit 88 calculates the amount of side shift of the forks 24 to the unloading position PA based on deflection information 300 obtained by measuring the amount of deflection of the mast 22 for each lifting height of the forks 24, the unloading position PA, and the load of the conveyed object CA, and the lifting height, the unloading position PA, and the load of the conveyed object CA. As a result, the mobile body 10 can stop the side shift at a position close to the target unloading position PA because it uses deflection information 300 obtained by pre-measuring the lifting height of the forks 24, the unloading position PA, and the load of the conveyed object CA.

[0099] A control method according to a seventh aspect of this disclosure is a control method for a mobile body 10 equipped with a fork 24 mounted on a mast 22 so as to be movable in the vertical direction, and includes the steps of: acquiring image information of the unloading position PA of the transported object lifted by the fork 24 from a sensor 26 that moves together with the fork 24; moving the fork 24 in the left-right direction with a side shift device 25; calculating the amount of side shift of the fork 24 to the unloading position PA based on the change in the characteristic information of the unloading position PA indicated by the image information; and determining that the fork 24 has moved to the unloading position PA based on the amount of side shift. As a result, the control method can calculate the amount of side shift of the fork 24 to the unloading position PA from the change in the characteristic information of the stored object P indicated by the image information during the insertion operation of the fork 24 when unloading the mobile body 10, and determine that it has moved to the unloading position PA based on the amount of side shift. As a result, the control method can reduce the error of the side shift in the left-right direction YA due to the deflection of the mast 22 by calculating the amount of side shift including the amount of change in the side shift direction (left-right direction YA) due to the deflection of the mast 22.

[0100] A program according to the eighth aspect of this disclosure includes the steps of: acquiring image information of the unloading position PA of a transported object lifted by a fork 24 from a sensor 26 that moves together with the fork 24; moving the fork 24 in the left-right direction using a side-shift device 25; calculating the amount of side-shift of the fork 24 to the unloading position PA based on the change in the characteristic information of the unloading position PA indicated by the image information; and determining that the fork 24 has moved to the unloading position based on the amount of side-shift. As a result, the control method can calculate the amount of side-shift of the fork 24 to the unloading position PA from the change in the characteristic information of the stored object P indicated by the image information during the insertion operation of the fork 24 when the mobile body 10 is unloading, and determine that it has moved to the unloading position PA based on the amount of side-shift. As a result, the program can reduce the error of the side-shift in the left-right direction YA due to the deflection of the mast 22 by calculating the amount of side-shift including the amount of change in the side-shift direction (left-right direction YA) due to the deflection of the mast 22.

[0101] Although embodiments of the present disclosure have been described above, the embodiments are not limited to those described herein. Furthermore, the aforementioned components include those that can be easily conceived by those skilled in the art, those that are substantially the same, and those that fall within the so-called equivalent range. Moreover, the aforementioned components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the gist of the embodiments described above.

[0102] 10 Mobile Units 12 Management device 14 Information Processing Devices 22 Mast 23 Backrest 24 Forks 25 Side shift device 26 sensors 28 Control device 29 Drive unit 70 Communications Department 72 Memory section 74 Control Unit 80 Information acquisition department 82 Mobile Control Unit 84 Detection Control Unit 86 Fork Control Unit 88 Calculation Unit 90 Judgment section 300 Flexure Information 721 Programs 722 Work Information 723 Sensor Information 724 Change Information CA transported goods P Storage PA unloading location PH pillar PG beam

Claims

1. A fork mounted on the mast so as to be movable in the vertical direction, A sensor that moves together with the fork and acquires image information of the unloading position of the transported object lifted by the fork, A fork control unit that moves the fork in the left-right direction by a side shift device, A calculation unit that calculates the amount of side shift of the fork to the unloading position based on the change in the characteristic information of the unloading position indicated by the image information, A determination unit that determines whether the fork has moved to the unloading position based on the amount of side shift, A mobile device equipped with [the necessary components].

2. The calculation unit calculates the amount of the side shift of the fork based on the image information acquired by the sensor after the side shift operation of the fork is completed. The determination unit determines whether the amount of side shift is greater than the threshold for determination, The movable body according to claim 1, wherein the fork control unit controls the side shift of the fork based on the side shift amount when the determination unit determines that the side shift amount is greater than the threshold amount.

3. The movable body according to claim 2, wherein when the determination unit determines that the amount of side shift is less than or equal to a threshold, the detection of the unloading position is terminated and the side shift of the fork by the fork control unit is terminated.

4. The mobile body according to claim 3, further comprising a storage unit for storing information on the amount of side shift corresponding to the unloading position.

5. The movable body according to claim 4, wherein the fork control unit operates the side shift based on the amount of side shift corresponding to the unloading position stored in the storage unit when it is unloading again to the unloading position.

6. The mobile body according to claim 1, wherein the calculation unit calculates the amount of side shift of the forks to the unloading position based on the deflection information obtained by measuring the amount of deflection of the mast for each lifting height of the forks, the unloading position, and the load of the conveyed object, and the lifting height, the unloading position, and the load of the conveyed object.

7. A method for controlling a moving body equipped with a fork that is mounted so as to be movable in the vertical direction of the mast, The steps include: acquiring image information of the unloading position of the transported object lifted by the fork from a sensor that moves together with the fork; A step of moving the fork in the left-right direction using a side shift device, A step of calculating the amount of side shift of the fork to the unloading position based on the change in the characteristic information of the unloading position indicated by the image information, A step of determining that the fork has moved to the unloading position based on the amount of side shift, A control method including

8. A mobile body equipped with a fork that is mounted to move vertically on the mast, The steps include: acquiring image information of the unloading position of the transported object lifted by the fork from a sensor that moves together with the fork; A step of moving the fork in the left-right direction using a side shift device, A step of calculating the amount of side shift of the fork to the unloading position based on the change in the characteristic information of the unloading position indicated by the image information, A step of determining that the fork has moved to the unloading position based on the amount of side shift, A program that executes something.

Images