Route identification system, route identification device, and route identification method

Abstract

Provided is a route identification system capable of improving safety and efficiency of a system for using a moving body to load and transport an object to an unloading location. A route identification system (1) comprises an acquisition unit (1a) and an identification unit (1b). The acquisition unit (1a) acquires information related to the center of gravity of the object loaded onto the moving body. The identification unit (1b) identifies a route to the unloading location for the object in accordance with the safety, of transport of the object by the moving body, as determined on the basis of a control value for controlling the moving object and the information related to the center of gravity of the object.

Description

[Technical Field]

[0001] The present disclosure relates to a route identification system, a route identification device, and a route identification method. [Background technology]

[0002] Technology related to the control of moving objects when they carry goods is being researched.

[0003] For example, Patent Document 1 describes a forklift device designed to quickly transport loads. The forklift device described in Patent Document 1 includes an error prediction unit, a travel path correction unit, and a transport travel control unit. The error prediction unit predicts a first position error, which is a post-acquisition position error between the center position of the pallet on the forks after the pallet has been acquired and a reference position of the forks, and a first angle error, which is a post-acquisition angle error of the pallet relative to the forks. The travel path correction unit corrects the travel path from the acquisition position of the pallet to the placement position of the pallet so that the first position error and the first angle error cancel each other out when placing the pallet. The transport travel control unit performs travel control to transport the pallet according to the corrected travel path.

[0004] In this way, Patent Document 1 describes an invention that corrects the path from the pallet acquisition position to the pallet placement position so as to cancel out the angle error and position error between the pallet and the forks after the forklift has acquired the pallet.

[0005] Furthermore, Patent Document 2 describes a center-of-gravity estimation device intended to estimate the position of the center of gravity of a load in multiple directions of a loading vehicle when the load is loaded in the loading section of the loading vehicle. The center-of-gravity estimation device described in Patent Document 2 includes two load sensors that detect the loads on the two front wheels, left and right, respectively, and a pressure sensor that detects the pressure of the lift cylinder. The center-of-gravity estimation device calculates an estimated value of the center of gravity of the load in the longitudinal direction of the forklift based on the loads on the two front wheels detected by the two load sensors, the pressure of the lift cylinder detected by the pressure sensor, and data related to the structure of the forklift. The center-of-gravity estimation device calculates an estimated value of the center of gravity of the load in the lateral direction of the forklift based on the loads on the two front wheels detected by the two load sensors and data related to the structure of the forklift.

[0006] Thus, Patent Document 2 describes an invention that estimates the position of the center of gravity of a load from the load on the front wheels and the pressure of the lift cylinder. Patent Document 2 also describes that when the position of the center of gravity of the load is close to the allowable center of gravity value, the acceleration / deceleration speed and the turning speed are limited. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2020-001906 [Patent Document 2] Japanese Patent Publication No. 2020-111403 Summary of the Invention [Problem to be solved by the invention]

[0008] However, with the technology described in Patent Document 1, depending on the route after correction to cancel out the angle error and position error of the pallet and fork, there is a risk that safety may be reduced due to the forces acting on the pallet and moving body.

[0009] Furthermore, with the technology described in Patent Document 2, if the turning speed is limited every time the center of gravity of the cargo approaches or exceeds the allowable center of gravity value, there is a possibility that the goods will not be transported efficiently.

[0010] In view of the above circumstances, an object of the present disclosure is to improve safety and efficiency in a system in which an object is loaded onto a mobile body and transported to a loading and unloading location. [Means for solving the problem]

[0011] In order to achieve the above-mentioned object, the route identification system of the present disclosure comprises a first acquisition means for acquiring information regarding the center of gravity of an object loaded on a mobile body, and an identification means for identifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object on the mobile body, which is determined based on a control value for controlling the mobile body and information regarding the center of gravity of the object.

[0012] The route identification device according to the present disclosure includes a first acquisition means for acquiring information regarding the center of gravity of an object loaded on a mobile body, and an identification means for identifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object on the mobile body, which is determined based on a control value for controlling the mobile body and information regarding the center of gravity of the object.

[0013] The route identification method according to the present disclosure comprises acquiring information relating to the center of gravity of an object loaded on a mobile body, and identifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object on the mobile body, which is determined based on a control value for controlling the mobile body and information relating to the center of gravity of the object. [Effects of the Invention]

[0014] According to the present disclosure, it is possible to improve the safety and efficiency of a system in which an object is loaded onto a mobile body and transported to a loading and unloading location. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a block diagram showing an example of the configuration of a route identification system according to a first embodiment. [Figure 2] 2 is a block diagram showing a route identification device as an example of the configuration of the route identification system of FIG. 1. FIG. [Figure 3] 3 is a flow diagram for explaining an example of a route identification method in the route identification system of FIG. 1 or the route identification device of FIG. 2. FIG. [Figure 4] 2 is a block diagram showing a detailed configuration example of the route identification system of FIG. 1. FIG. [Figure 5] 5 is a side view schematically showing an example of a forklift traveling along a route identified by the route identification system of FIG. 4. FIG. [Figure 6] 5 is a flowchart for explaining an example of a route identification process in the remote control device in the route identification system of FIG. 4. FIG. [Figure 7] FIG. 7 is a schematic diagram showing an example of a route calculated in the route identification process of FIG. 6. [Figure 8] FIG. 7 is a schematic diagram for explaining a safety determination process in the path identification process of FIG. 6. [Figure 9] 7 is a schematic diagram showing an example of how obstacles are avoided on a route calculated by the route identification process of FIG. 6. FIG. [Figure 10] FIG. 10 is a flowchart illustrating an example of a route identification process in the route identification system according to the second embodiment. [Figure 11] FIG. 10 is a block diagram showing an example of the configuration of a route identification system according to a third embodiment. [Figure 12] FIG. 1 is a block diagram showing an example of the configuration of an apparatus. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the following description and drawings have been omitted and simplified as appropriate for clarity of explanation. In addition, in the following drawings, the same or similar elements are designated by the same reference numerals, and duplicate explanations are omitted as necessary.

[0017] (First embodiment) The first embodiment will be described with reference to Figures 1 to 9. First, the configuration and processing of this embodiment will be described with reference to Figures 1 to 3. Figure 1 is a block diagram showing an example of the configuration of a route identification system according to this embodiment.

[0018] The route identification system 1 according to this embodiment shown in Fig. 1 is a system for identifying a route of a mobile object such as a lift device, such as a forklift. The route identification system 1 can also be configured as a system including a movement control unit (not shown) that controls the movement of the mobile object, such as a forklift, or as a system including a movement control unit and the mobile object. The route identification system 1 can also be configured as a system including an operation control unit (not shown) that controls operations other than the movement of the mobile object, such as the operation of the forks of a forklift.

[0019] The route identified by the route identification system 1 is a route to the loading and unloading location of the object, and the starting point can be the point where the object is loaded, but is not limited to this and can also be any position on the moving body.

[0020] In the following, an autonomously movable forklift will be mainly used as an example of a mobile body, but the present invention is not limited to this, and can be applied to various other types of mobile bodies that can autonomously move and can transport objects to a loading and unloading location, i.e., can transport objects. Furthermore, the present invention can also be applied to mobile bodies that do not have an autonomous movement function, and in such cases, the specified route can be displayed on a display device in the driver's seat to guide the driver.

[0021] Furthermore, the term "object" can refer to an item, such as luggage, being transported by a moving object. When the moving object is a forklift, the object to be transported can refer to a luggage pallet and the luggage loaded on it. The luggage pallet can have a frame that forms a space into which the forks are inserted horizontally. Note that when transportation is performed without using a luggage pallet, the object is the luggage itself.

[0022] As shown in FIG. 1, the route identification system 1 according to this embodiment may include an acquisition unit 1a, which is an example of a first acquisition means, and an identification unit 1b, which is an example of an identification means. The route identification system 1 may include the acquisition unit 1a and the identification unit 1b distributed across multiple devices, regardless of the method of distribution. For example, the route identification system 1 may include a device including the acquisition unit 1a and a device including the identification unit 1b. Each device may include a computer device including hardware including, for example, one or more processors and one or more memories. At least some of the functions of the components included in each device may be realized by one or more processors operating in accordance with programs read from one or more memories. Furthermore, some of the functions that can be provided in the route identification system 1 may also be provided on a cloud server or the like.

[0023] Furthermore, the route identification system 1 can also be constructed as a single route identification device 2 including an acquisition unit 1a and an identification unit 1b, as shown in FIG. 2. FIG. 2 is a block diagram showing the route identification device 2, which is an example configuration of the route identification system 1 of FIG. 1. The route identification device 2 can be configured to include a computer device including hardware, for example, one or more processors and one or more memories. At least a part of the functions of each unit in the route identification device 2 can be realized by the one or more processors operating in accordance with a program read from one or more memories. Note that the route identification device 2 can also be implemented by distributing the functions of each unit to separate devices, and the method of distribution is not important. For example, the route identification device 2 can be configured to include a device including the acquisition unit 1a and a device including the identification unit 1b.

[0024] Next, the acquisition unit 1a and the identification unit 1b will be described.

[0025] The acquisition unit 1a acquires information relating to the center of gravity of an object loaded on a forklift (hereinafter referred to as object center of gravity information). The object center of gravity information is information on the center of gravity used to determine the safety of transportation, and may be, for example, information on the shape of the object or the coordinates of the object's center of gravity. The object center of gravity information may also include information on the object's weight. The route and method for acquiring the object center of gravity information are not important.

[0026] For example, the acquisition unit 1a can receive object center-of-gravity information measured by a center-of-gravity measuring device before loading onto a forklift. Alternatively, the acquisition unit 1a can receive the shape and weight of the object obtained before loading onto a forklift and calculate object center-of-gravity information from the received information, or receive object center-of-gravity information that is the result of such calculation. When the shape and weight of the object are received, the object center-of-gravity information can be calculated from the shape and weight, for example, assuming that the density of the object is uniform.

[0027] Here, the weight of the object can be measured using a weight measuring device before loading onto a forklift. Furthermore, the shape of the object can be obtained from the results of capturing an image of the object using a laser sensor such as LiDAR (registered trademark), an infrared Time Of Flight (ToF) camera, a 3D camera, or the like before loading onto a forklift. The shape can be measured from the entire surface, or it can be measured from an oblique direction of the object, and the shape of the non-measured surface can be estimated from the measurement results. "Before loading onto a forklift" may be any time before loading, and for example, if the object is a parcel, it can be when a delivery request for the parcel is received.

[0028] Alternatively, the acquisition unit 1a can receive from the forklift the results of detecting the weight distribution using a sensor sheet equipped on the forklift, and calculate the object's center of gravity information based on the results. Here, the weight distribution can refer to the distribution of surface pressure. Alternatively, the forklift can detect the weight distribution using a sensor sheet equipped on the forklift, and perform a process to calculate the object's center of gravity information based on the detection results, and the acquisition unit 1a can receive from the forklift the object's center of gravity information calculated on the forklift side.

[0029] The sensor sheet can be provided on a loading section that loads an object. Loading an object can refer to applying a load to an object, such as stacking the object, lifting the object by grasping the underside of a protruding portion or the like of the object, or lifting the object by suspending it with a sling attached to a part of the object. The loading section refers to the location where the load is applied. In the case of a forklift, loading an object onto the forks refers to loading the object onto the forks, and the loading section refers to the forks. The loading section can be, for example, a loading section that loads an object, or a support section that supports an object at multiple points, and can also be referred to as a loading section. The loading section is the part that lifts the object.

[0030] Alternatively, the acquisition unit 1a can receive the shape of the object obtained by capturing an image of the object with a camera or the like and the weight detected by a weight sensor installed on the forklift, and calculate the object's center of gravity information based on the results. This weight sensor can be installed on the loading unit that loads the object, for example, a sensor that detects the load on the loading unit of the forklift. However, the weight sensor only needs to measure the load on the loading unit caused by loading the object and obtain the measurement results, or be installed in a position where the measurement results can be obtained. The weight sensor may also be a sensor that calculates the load on the fork from the pressure of a hydraulic cylinder that controls the elevation and lowering of the fork. As in this example, the load on the loading unit can also be detected by another location connected to the loading unit.

[0031] The identification unit 1b identifies a route to a loading and unloading location of an object according to the safety of transporting the object by forklift. Here, the route refers to the path traveled by the forklift. The safety of transporting an object by forklift can indicate the possibility of damage to or falling of the forklift and the object. For example, if there is a high possibility that the object will fall or that the forklift will tip over, the safety is deemed low.

[0032] The safety of transporting an object using a forklift is determined based on a control value for controlling the forklift and information about the center of gravity of the object. The identification unit 1b can calculate information indicating safety and identify a route based on that information, or can input information indicating safety calculated externally and identify a route based on that information. However, the present invention is not limited to these examples. For example, the identification unit 1b can input a control value and information about the center of gravity of the object and identify a route based on the input control value and information about the center of gravity of the object so as to take safety into consideration.

[0033] The above control values ​​refer to control values ​​for moving the forklift, and are hereinafter referred to as movement control values. The movement control values ​​can refer to, for example, accelerator control values, brake control values, steering control values, etc. The steering wheel can also be called a steering wheel. However, some autonomously movable mobile bodies, such as autonomously movable forklifts, do not have steering wheels. Regardless of whether a steering wheel is present or not, the above steering wheel control value can refer to an angle value indicating the steering angle of a driven object such as a wheel. Since the steering angle corresponds to the turning angle, the steering wheel control value can be a turning angle value. The steering wheel control value can also include a control value indicating the turning radius.

[0034] Furthermore, instead of the accelerator control value and the brake control value, the movement control value can be an acceleration / deceleration value that indicates the acceleration or deceleration of the forklift. Also, instead of the acceleration / deceleration value, a speed value can be used as the movement control value, and in that case, the forklift will be accelerated or decelerated to match that speed value.

[0035] Furthermore, the route identification system 1 or the route identification device 2 may include a movement control unit (not shown) as described above. Alternatively, the route identification system 1 or the route identification device 2 may be connected to a movement control unit. This movement control unit controls the forklift to travel along the route identified by the identification unit 1b. Some or all of the values ​​used by this movement control unit to control the movement of the forklift can be acquired by the identification unit 1b as the movement control values.

[0036] Next, a route identification method in the route identification system 1 or route identification device 2 configured as described above will be described with reference to Fig. 3. Fig. 3 is a flow chart for explaining an example of the route identification method.

[0037] In this route identification method, the acquisition unit 1a acquires information about the center of gravity of an object loaded on a mobile object such as a forklift (step S1). Next, the identification unit 1b identifies a route to a loading / unloading location of the object according to the safety of transporting the object by the mobile object, which is determined based on the control values ​​for controlling the mobile object and the information about the center of gravity of the object (step S2). This completes the route identification process. Thereafter, the mobile object such as a forklift is caused to travel along the identified route.

[0038] Detailed examples of the process for acquiring center-of-gravity information and the process for specifying a route will be described with reference to FIGS. 4 to 9 . In this embodiment, performing these processes achieves the following effects. That is, in this embodiment, a safe and efficient route can be calculated by calculating a route, for example, from a loading location to an unloading location, based on safety determined based on the movement control value and object center-of-gravity information. The reason for a safe and efficient route can be more clearly understood by considering a case in which multiple turning and acceleration / deceleration locations exist. That is, in this embodiment, a route can be specified as a result of appropriately correcting or calculating the travel route at each turning location and each acceleration / deceleration location so as to ensure safety determined based on the movement control value and object center-of-gravity information. As a result, the specified route can be an efficient route while ensuring safety throughout the entire route, and can be a route with improved safety and efficiency compared to comparative examples that do not employ this embodiment or the second and third embodiments described below.

[0039] Here, the efficient route can refer to, for example, a route that can move to the unloading location in the shortest time, but is not limited to this, for example, a route that can move to the unloading location with the most energy savings, a route that can move in the shortest distance, etc. Known technologies can be applied to determine the conditions under which a route is generated and adopted, except for safety.

[0040] As described above, according to this embodiment, when an object is loaded onto a mobile body and transported to a loading and unloading location, it is possible to specify a route that improves safety and efficiency.

[0041] Next, a detailed configuration example of the route identification system 1 of Fig. 1 will be described with reference to Fig. 4 to Fig. 9. First, an outline of such a configuration example will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a block diagram showing a detailed configuration example of the route identification system 1 of Fig. 1. Fig. 5 is a side view schematically showing an example of a forklift traveling on a route identified by the route identification system of Fig. 4.

[0042] The route identification system 100 illustrated in FIG. 4 may include one or more forklifts R, a remote control device 20 which is an example of the route identification device 1, and one or more ToF cameras (hereinafter simply referred to as cameras) 30.

[0043] A camera 30 is connected to the remote control device 20 by wire or wirelessly. The camera 30 can be installed at one or more positions, such as on the ceiling, where the height of an object can be measured. The camera 30 is an example of a sensor provided for measuring the shape.

[0044] The camera 30 may include a sensor 31 such as a light receiving element, and a communication unit 32 that transmits sensor information detected by the sensor 31 or distance information calculated therefrom as shape information indicating the shape to the remote control device 20. The shape information may be transmitted to the remote control device 20 as information excluding background information such as the ground, but this excluding may be configured to be performed on the remote control device 20 side. Note that a sensor other than a ToF camera may also be used instead of the camera 30.

[0045] The camera 30 can acquire, as shape information, not only information indicating the shape of an object but also information indicating the shape of obstacles present in an area that can be identified as a path, and transmit this information to the remote control device 20 via the communication unit 32. To acquire information indicating the shape of an object, for example, a camera 30 located at the front upper part of the forklift R can be used. To acquire information indicating the shape of an obstacle, for example, a camera 30 located above each obstacle can be used. However, since it may be unclear where an obstacle is located, the path identification system 100 can acquire information indicating the shape of each obstacle from any one or more of all cameras 30 installed in positions that fill the movement range of the forklift R.

[0046] Furthermore, one or more forklifts R are wirelessly connected to the remote control device 20 as control targets. In the following, one forklift R will be described as a control target, but other forklifts can also be control targets in the same way.

[0047] The forklift R may include a control unit 11 that controls the entire forklift R, a communication unit 12 that communicates wirelessly with the remote control device 20, a wheel drive unit 13 that drives the wheels, a fork drive unit 14 that drives the forks, a weight sensor 15, and an operation unit 16. The control unit 11 may be configured to include a computer device that includes hardware including, for example, one or more processors and one or more memories. At least some of the functions of the components provided within the forklift R may be realized by the one or more processors operating in accordance with programs read from the one or more memories. The communication unit 12 may also be configured to be able to be directly and wirelessly connected to the camera 30.

[0048] As shown in FIG. 5, the forklift R may include a lift unit Ra, which is part of the fork drive unit 14, mounted on the front of the forklift R, and forks Rb that can be raised and lowered by the lift unit Ra. The lift unit Ra may be configured with, for example, a lift cylinder, a lift chain, or the like, but various existing mechanisms may be used. Other components of the fork drive unit 14, such as a motor or engine that provides power to the lift unit Ra to raise and lower the forks Rb, may be provided on the main body of the forklift R. In FIG. 5, the forks Rb have a loading surface Rs on which a load pallet Cp, which is part of the target object, is loaded, and the weight sensor 15 may be installed on the loading surface Rs. For the sake of simplicity, the following description will be given as an example in which the load pallet Cp is used as part of the target object to calculate the center of gravity, etc.; however, a configuration in which the center of gravity, etc. is calculated as part of the forklift R may also be adopted.

[0049] The cargo loading pallet Cp comprises an upper frame, a lower frame, and a pair of side frames connecting them, which can form one or more spaces. By inserting the forks Rb into this space, objects including the cargo loading pallet Cp can be loaded; in the example of Figure 5, the cargo loading pallet Cp and the cargo Ca loaded thereon can be loaded. When the forks Rb load and lift the object, the lower surface Csu of the upper frame comes into contact with the loading surface Rs, allowing the weight sensor 15 to detect the weight. Furthermore, the upper surface Csb of the lower frame is the surface that comes into contact with the lower surface of the forks Rb when they are lowered to the bottom. However, some cargo loading pallets do not include a lower frame.

[0050] The wheel drive unit 13 drives wheels for moving the entire forklift R. As described above, the fork drive unit 14 can include the lift unit Ra and a drive source, and corresponds to the part on the forklift R side in the example of the operation control unit described above. The weight sensor 15 is an example of a sensor that detects the amount of load, and can obtain weight information that indicates the weight.

[0051] The operation unit 16 is an operation unit 16 that accepts operation operations when the forklift R is manually driven, and may include a handle, a lever, etc. An attachment including an actuator that enables automatic driving may be attached to the operation unit 16, and the actuator may be controlled to operate the operation unit 16, thereby enabling autonomous movement or remote control driving. Note that if the forklift R is a forklift dedicated to autonomous movement as exemplified here, the operation unit 16 may not be provided.

[0052] Furthermore, the forklift R may be a counter forklift in which the horizontal positions of the forks Rb are fixed, and although such an example is given, it may also be a reach forklift in which the forks Rb extend and retract horizontally.

[0053] The remote control device 20 may include a control unit 21 that controls the entire device, a communication unit 22 that communicates with the camera 30 and the forklift R, a display unit 23 that displays operation images for remote operation, and an operation input unit 24 that inputs operation content based on the operation images.

[0054] The control unit 21 includes an object information acquisition unit 21a and an identification unit 21b, which correspond to examples of the acquisition unit 1a and the identification unit 1b, respectively, and may also include an obstacle information acquisition unit 21c, a movement control unit 21d, and a fork operation control unit 21e, which are examples of a second acquisition means. The control unit 21 may be configured to include a computer device including hardware, for example, one or more processors and one or more memories. At least some of the functions of the components included in the remote control device 20 may be realized by the one or more processors operating in accordance with programs read from one or more memories.

[0055] The object information acquiring unit 21a acquires, as the weight of the object, the load amount of the forks Rb of the forklift R that carry the object. The object information acquiring unit 21a can be configured to acquire the load amount, in this example, weight information detected by the weight sensor 15, via the communication unit 22.

[0056] Furthermore, the object information acquisition unit 21a receives information indicating the shape of the object obtained by capturing an image of the object with the sensor 31 from the camera 30 via the communication unit 22. The camera 30 from which the information indicating the shape of the object is to be acquired can be determined by, for example, comparing the position of the object on the forklift R with the preset imaging range of the camera 30. The shape of the object can also be calculated from shape information obtained from two or more cameras 30.

[0057] Instead of the camera 30, a sensor similar to the sensor 31 of the camera 30 can be provided on the top of the lifting part Ra of the forklift R, or a separate sensor similar to the sensor 31 can be provided at a higher position on the forklift R via a pole or the like.

[0058] In this way, the object information acquiring unit 21a can acquire information indicating the weight and shape of the object, and calculates object center of gravity information based on the results.

[0059] The movement control unit 21d can store, for each of multiple types of movement control values, a movement control value and information indicating the result of movement control using that movement control value in association with each other. As described above, a movement control value refers to a control value for moving the forklift R, and can include, for example, an accelerator control value, a brake control value, a steering control value, and other types of values, examples of which will be given below. However, instead of the accelerator control value and the brake control value, the movement control value can also be an acceleration / deceleration value indicating the acceleration or deceleration of the forklift. Furthermore, instead of the acceleration / deceleration value, a speed value can also be used as the movement control value, in which case acceleration / deceleration is performed to match that speed value.

[0060] The movement control unit 12d can generate a movement instruction for the forklift R, for example, by reading out a corresponding movement control value from information indicating the result of movement control according to the desired result. Note that the remote control device 20 can also be provided with a separate acquisition unit (not shown) that acquires the movement control value of the forklift R from the forklift R.

[0061] The obstacle information acquisition unit 21c acquires information indicating the shape of an obstacle (hereinafter, "obstacle information") transmitted from the camera 30 via the communication unit 22. The acquired obstacle information may be information indicating only the shape of an obstacle, with an object that does not exist under normal circumstances being regarded as an obstacle. An object that does not exist under normal circumstances can be determined, for example, by storing map information about an area, such as a warehouse or factory, in which the forklift R travels in advance in the remote control device 20, and the obstacle information acquisition unit 21c referring to the map information and executing the following determination process. This determination process is a process for determining whether an object exists in the area other than a place where the forklift R cannot travel. The obstacle information acquisition unit 21c can execute the above determination process, for example, based on shape information transmitted from the camera 30 and the position of the imaging range of the camera 30. If the obstacle information acquisition unit 21c determines through the above determination process that an object exists other than a place where the forklift R cannot travel, it can determine that the object is an obstacle and acquire the shape of the obstacle.

[0062] Here, objects that exist in a normal state can be registered in map information and excluded by referring to the map information. The normal state may refer to the state as shown in the map information stored. Alternatively, the normal state may refer to the state captured in an image acquired by the camera 30 at a predetermined timing. Furthermore, the map information is information indicating the environment in which a mobile object such as a forklift R moves. Here, the environment in which the mobile object moves can be, for example, the inside of a factory or a warehouse. For example, the map information may indicate the range within which the mobile object can travel, and may include information indicating the positions of walls and obstacles.

[0063] Furthermore, when map information includes information indicating the position of an obstacle, rather than the obstacle information transmitted from the camera 30, the obstacle information acquisition unit 21c can acquire the information indicating the position of the obstacle as obstacle information from the map information. Note that, although it is assumed that the camera 30 transmits the obstacle information to the remote control device 20, the camera 30 can also transmit a captured image to the remote control device 20, and the obstacle information acquisition unit 21c can acquire the obstacle information from the captured image.

[0064] The fork operation control unit 21e corresponds to the portion of the remote control device 20 in the example of the operation control unit described above, and controls operations such as raising and lowering of the forks Rb of the forklift R. The raising and lowering operation of the forks Rb refers to the operation of raising or lowering the forks Rb, which changes the height of the forks Rb. The height of the forks Rb can also be detected by a sensor separately provided on the forklift R, and the raising and lowering operation can be controlled based on the detection result.

[0065] In addition to the lifting operation, the controlled operations include the extension and retraction of the forks Rb in the case of a reach forklift, and also the operation of changing the tilt angle if the forklift R is capable of changing the tilt angle of the forks Rb. The tilt angle can be referred to as the tilt angle. Regarding the extension and retraction operation, the extension and retraction value of the forks Rb can be detected by a sensor separately provided on the forklift R, etc., and the extension and retraction operation can be controlled based on the detection result. Regarding the tilt angle change operation, the tilt angle of the forks Rb can be detected by a sensor separately provided on the forklift R, etc., and the change operation can be controlled based on the detection result.

[0066] The identification unit 21b identifies a route along which the forklift R will travel to a loading and unloading location of the object, depending on the safety of transporting the object by the forklift R. The safety can be determined based on the movement control value read from the movement control unit 21d and information including the object center of gravity information acquired by the object information acquisition unit 21a.

[0067] The object center of gravity information can include the center of gravity Gc of the luggage Ca and luggage loading pallet Cp, which are examples of the object, and the force Fgc acting on the center of gravity Gc. Furthermore, in addition to the object center of gravity information, the object information acquisition unit 21a can acquire information on a composite center of gravity, exemplified by the center of gravity Gs of the composite center of gravity of the object and the forklift R, and the force Fgs acting on the center of gravity Gs. Hereinafter, the information on the composite center of gravity will be referred to as composite center of gravity information. Safety can be determined based on the movement control value read from the movement control unit 21d and at least one of the object center of gravity information and the composite center of gravity information acquired by the object information acquisition unit 21a. The center of gravity Gs and the force Fgs of the composite center of gravity can be calculated from the center of gravity Gc and the force Fgc, the center of gravity Gr of the forklift R, and the force Fgr acting on the center of gravity Gr.

[0068] The forces Fgc, Fgr, and Fgs are all forces due to weight alone when the forklift R is stopped or when it is assumed that the forklift R will be stopped during route identification. For example, when the forklift R is stopped, the force Fgs acting on the center of gravity Gs of the composite center of gravity can be the sum of the weight of the object and the weight of the forklift R. On the other hand, when the forklift R is actually moving or when it is assumed that the forklift R will be moving during route identification, centrifugal force and inertial force are also added to the forces Fgc, Fgr, and Fgs.

[0069] As described above, the identification unit 21b can calculate information indicating safety and identify a route based on that information, or can input information indicating safety calculated externally and identify a route based on that information. Here, only the former example will be described. However, the present invention is not limited to these examples. For example, the identification unit 21b can input a movement control value and object center-of-gravity information and identify a route based on the input movement control value and object center-of-gravity information in a way that takes safety into consideration.

[0070] In the example described here, the identification unit 21b first generates a tentative route from the current location to the location where the cargo Ca is to be loaded and unloaded, using a predetermined algorithm, based on map information that includes at least the range in which the forklift R can move. As the predetermined algorithm, for example, Reeds Shepp can be applied, but it is not limited to this.

[0071] This map information can also be referred to as environmental map information. The map information used when generating a tentative route can reflect obstacle information acquired by the obstacle information acquisition unit 21c, but even in a configuration in which the information is not reflected, a tentative route can be generated based on the map information and the obstacle information. This map information can be stored in a storage device provided in the control unit 21. Note that, for autonomous movement control, similar map information can also be stored in a storage device provided in the control unit 11 of the forklift R.

[0072] Next, the specification unit 21b calculates various movement control values ​​for the forklift R to travel along the generated tentative route. Here, as described above, the movement control unit 21d can store, for each of a plurality of types of movement control values, the movement control value and information indicating the result of movement control based on the movement control value in association with each other. The specification unit 21b calculates various movement control values ​​for the forklift R to travel along the generated tentative route. In this calculation, at least one of an initial value, an upper limit value, and a lower limit value can be set for each of the various movement control values ​​for the accelerator, brake, steering wheel, etc.

[0073] The determination unit 21b then executes at least one of the following processes: a calculation process for calculating a force acting on the center of gravity of the object based on the calculated various movement control values ​​and the object center of gravity information; and a process for calculating a force acting on a composite center of gravity of the forklift R and the object based on the calculated various movement control values ​​and the composite center of gravity information. The determination unit 21b then determines safety by, for example, estimating safety based on the calculated forces. Here, when only the force acting on the composite center of gravity is calculated, safety is primarily estimated against the forklift R tipping over while traveling. When only the force acting on the object's center of gravity is calculated, safety is estimated against the load Ca or the load Ca and the load pallet Cp falling while traveling or immediately after stopping traveling. In addition to safety against the load Ca falling, safety against damage caused by the load Ca moving relative to the forklift R can also be estimated. Examples of situations in which damage occurs due to movement include a situation in which the load Ca collides with an exterior wall or other obstacle when it moves slightly relative to the forks Rb, resulting in damage, or a situation in which the load Ca suddenly moves relative to the forks Rb, resulting in damage due to collision with the lift unit Ra.

[0074] The method for estimating safety does not matter. For safety regarding tipping, it is sufficient to determine whether or not the load will tip or the level of the possibility of tipping using a known calculation method. For safety regarding falling, it is sufficient to determine whether or not the load will fall or the level of the possibility of falling by taking into account factors such as the coefficient of friction between the load Ca and the load pallet Cp, and the coefficient of friction between the load pallet Cp and the forks Rb. Note that estimating safety means estimating risk, so information indicating safety as an estimation result can also be treated as information indicating risk.

[0075] Here, since various movement control values ​​change depending on whether the tentative route is going straight, whether it is a curve, whether it is a slope, and the road surface conditions, the specification unit 21b calculates various movement control values ​​for each section in the tentative route where changes occur. Then, the specification unit 21b calculates forces and estimates safety for each section.

[0076] The identification unit 21b then identifies a route by modifying at least one of the generated tentative route and various movement control values ​​based on the estimated safety and the generated tentative route. The modification performed by the identification unit 21b is not necessary if safety has reached a predetermined level. Furthermore, after modifying at least one of the generated tentative route and various movement control values, the identification unit 21b may repeat the process of calculating the force and estimating the safety until safety reaches a predetermined level.

[0077] Note that, among the functions of the identification unit 21b, functions other than the function of finally identifying a route, i.e., functions of generating a tentative route, calculating a movement control value, calculating a force, and determining safety, can be configured to be executed by a component separate from the identification unit 21b. For example, the control unit 21 of the remote control device 20 may include the following generation unit, control value calculation unit, force calculation unit, and determination unit, all of which are not shown. The generation unit is an example of a generation means that generates a tentative route based on map information including a range within which a mobile object, such as a forklift R, can move. The control value calculation unit is an example of a control value calculation means that calculates a movement control value for a mobile object, such as a forklift R, to travel along the generated tentative route. The force calculation unit is an example of a force calculation means that executes at least one of the following first and second calculation processes. The first calculation process is a process of calculating a force acting on the center of gravity of an object based on the calculated movement control value and object center of gravity information. The second calculation process is a process of calculating a force acting on the combined center of gravity of the mobile object and the object based on the calculated movement control value and combined center of gravity information. The determination unit is an example of a determination means for determining safety in accordance with the calculated force. Then, the identification unit 21b identifies a route based on the determined safety and the generated tentative route.

[0078] As described above, the remote control device 20 may also include an obstacle information acquisition unit 21c that acquires information about obstacles present in an area that can be identified as a route. In this case, the route may be calculated based on the obstacle information, and if an obstacle is detected to have been placed after calculation, the route may be recalculated. In this case, safety may be determined based on the movement control value, object center of gravity information, and obstacle information.

[0079] Furthermore, the fork operation control unit 21e can perform control to adjust the loading position of an object on the forklift R based on composite center of gravity information, which is information related to the composite center of gravity of the forklift R and the object. As described above, the composite center of gravity information can be exemplified by the center of gravity position Gs of the composite center of gravity of the object and the forklift R, and the force Fgs acting on the center of gravity position Gs. The method for calculating the composite center of gravity information is as described above. The loading position of the object can refer to the position of the cargo Ca relative to the forks Rb or the position of the cargo Ca and the cargo loading pallet Cp, that is, the loading position relative to the forks Rb. The adjustment targets vary depending on the operations that the forklift R can perform, but can include the height of the forks Rb, the extension / retraction value of the reach, the tilt angle, etc.

[0080] In this case, the specification unit 21b may specify a route depending on the safety as a result of performing the adjustment control. In this way, safety is improved by adjusting the loading position of the object according to the composite center of gravity, and then the route is recalculated with an estimation of safety from various movement control values, etc., thereby enabling safer movement control and route specification.

[0081] Next, an example of the route identification process in the identification unit 21b will be described with reference to Figs. 6 to 9. Fig. 6 is a flow diagram illustrating an example of the route identification process in the remote control device 20 in the route identification system 100 of Fig. 4. Fig. 7 is a schematic diagram showing an example of a route calculated by the route identification process of Fig. 6, and Fig. 8 is a schematic diagram illustrating a safety determination process in the route identification process of Fig. 6. Fig. 9 is a schematic diagram showing an example of how obstacles are avoided on the route calculated by the route identification process of Fig. 6.

[0082] In the route identification process illustrated in Figure 6, first, the identification unit 21b generates a tentative route from the current location to the location where the luggage Ca is to be unloaded using a predetermined algorithm based on map information that reflects obstacle information, such as that illustrated in Figure 7 (step S11).

[0083] Next, the specification unit 21b calculates various movement control values ​​for the forklift R to travel along the generated tentative route (step S12). Here, an example will be described in which the speed, acceleration / deceleration, and turning radius of the moving body are calculated as the movement control values ​​for the forklift R, and an example will be described in which obstacles Ob1 to Ob3 exist between the current position St and the loading / unloading location Go as shown in FIG.

[0084] In this example, first, the arrival speed, acceleration, and no turning radius are calculated for the acceleration section from the current location St. No turning radius means straight travel. Next, for the section between obstacles Ob1 and Ob2 just before reaching obstacle Ob3, the arrival speed, acceleration, and no turning radius are calculated as the deceleration period. Next, for the following section, the turning center C1 and turning radius rs1 are calculated as the turning period, and a constant turning speed (not shown) is also calculated. Of course, the turning speed can also be calculated so that it is not constant. Next, for the straight section until passing between obstacles Ob2 and Ob3, movement control values ​​are calculated for each of the acceleration section and deceleration period. Next, for the following section, the turning center C2 and turning radius rs2 are calculated as the turning period, and a constant turning speed (not shown) is also calculated. Finally, for the straight section toward the loading / unloading location Go, movement control values ​​are calculated for each of the acceleration section and deceleration section. It should be noted that there are constant speed sections between the acceleration section and the deceleration section, and for these constant speed sections as well, movement control values ​​can be calculated that indicate that the vehicle will move straight ahead at at least a constant speed.

[0085] In step S12, the identification unit 21b calculates, for each section, at least one of the force acting on the combined center of gravity of the forklift R and the object and the force acting on the center of gravity of the object based on the calculated various movement control values ​​(step S13). For example, for each section, the identification unit 21b estimates, based on the acceleration / deceleration of the forklift R, or the speed and turning radius of the forklift R, at least one of the magnitude of the force acting on the center of gravity of the object and the magnitude of the force acting on the combined center of gravity when the forklift R travels along the generated tentative route.

[0086] Next, the specification unit 21b estimates the safety of each section according to the force calculated in step S13 (step S14). As described above, when only the force acting on the composite center of gravity is calculated, the safety of the forklift R against tipping over while traveling is estimated, and when only the force acting on the center of gravity of the object is calculated, the safety of the object against falling or being damaged can be estimated.

[0087] For example, if the horizontal force Fc acting on the center of gravity Gc of the object shown in FIG. 8 is estimated to be greater than the static friction force between the luggage Ca and the luggage loading pallet Cp or the static friction force between the top surface of the fork Rb and the luggage loading pallet Cp, the system determines that the area is unsafe. This determination can be made during deceleration in a straight section or during a turning section. As described above, a determination of unsafe means a determination of danger, and high safety is synonymous with low risk, and low safety is synonymous with high risk. Both static friction forces may be measured in advance or set to a predetermined value. If a predetermined value is set, the system may determine that the area is unsafe if the centrifugal force or inertial force exceeds a predetermined value corresponding to the static friction force and the weight of the object. Furthermore, in a turning section, the system may determine that the area is unsafe, i.e., dangerous, if the maximum centrifugal force acting on the center of gravity Gc of the object is greater than a predetermined threshold. Furthermore, a dangerous area may be determined if the centrifugal force or inertial force acting on the combined center of gravity Gs is estimated to be greater than the force acting on the combined center of gravity Gs due to the mass of the forklift R and the object.

[0088] In any of the safety assessment methods, by setting small threshold values ​​for forces such as static friction, centrifugal force, and inertial force, the ultimately identified path can be provided with a margin to prevent the object from falling or the forklift R from tipping over. In this way, safety can be assessed with a margin in the safe direction.

[0089] As exemplified here, safety can be determined based on various movement control values, object center of gravity information, and composite center of gravity information.

[0090] The identification unit 21b can also be configured to output a safety or risk assessment result using a learning model that has been machine-learned using learning data that indicates various movement control values ​​of the forklift R and the results of tipping over or dropping of cargo. In this case, the identification unit 21b can input various movement control values ​​for each section into this learning model and obtain an output of a safety or risk assessment result for that section. The algorithm, etc. of this learning model are not limited.

[0091] The identification unit 21b then determines whether or not there is a high-risk location with respect to the estimated safety for each section (step S15), and if there is not, identifies the tentative route as the route to travel (step S16), and ends the process. A high-risk location can refer to a high-risk section.

[0092] On the other hand, if the answer is YES in step S15, at least one of the route of the high-risk area and various movement control values ​​is changed (step S16), and the process returns to step S12. However, if the movement control value is changed in step S16, even if the process returns to step S12, the process proceeds to step S13 without going through the process of step S12. The identification unit 21b repeats the change in step S16 and the processes of steps S12 to S14 until safety reaches a predetermined level, that is, until the answer is NO in step S15.

[0093] The determination unit 21b may execute the change in step S16 while also determining whether the change shortens the time to the unloading location Go. Referring to FIG. 9, a processing example of the determination unit 21b based on factors other than shortening the time to the unloading location Go will be described. FIG. 9 shows three tentative routes for the forklift R turning while avoiding the obstacle Ob, using arrows. In FIG. 9, the tentative routes indicated by the two-dot chain arrow, solid arrow, and dashed arrow are tentative routes with increasing turning radii for avoiding the obstacle Ob, and the turning speeds may be the same or different. However, for convenience, the following tentative routes will be described. The tentative route indicated by the two-dot chain arrow in FIG. 9 refers to a tentative route in which the turning radius is smaller than a reference value and the speed is slower than when traveling straight ahead. Furthermore, the tentative route indicated by the solid arrow in FIG. 9 refers to a tentative route in which the turning radius is set to a reference value and the speed is slower than when traveling straight ahead. The tentative route indicated by the dashed arrow in FIG. 9 indicates a tentative route in which the turning radius is made larger than the reference value and the vehicle speed is set to approximately the same as when traveling straight.

[0094] The identification unit 21b can execute the change in step S16 so that the tentative route does not have to proceed closely around a corner formed by an obstacle Ob, as shown by the two-dot chain arrow in FIG. 9 . For example, the identification unit 21b can execute the change in step S16 while determining whether the tentative route allows for travel with ample space, as shown by the solid and dashed arrows in FIG. 9 . This improves travel safety and reduces the number of times steps S12 to S14 and S16 are repeated until safety reaches a predetermined level. Note that corners may also be created by pillars or the like that are already present near the tentative route along which the forklift R travels, even when there is no obstacle Ob. Using the example of FIG. 9 , which of the three tentative routes is selected may be selected taking into consideration the safety of the section near the obstacle Ob, i.e., the section shown in FIG. 9 , and the safety and drivable tentative route of the tentative route in the section next to the section in FIG. 9 .

[0095] Furthermore, when generating the tentative route in step S11, a predetermined margin can be provided for the moving object, which is made up of the forklift R and the target object, in the width direction of the tentative route, i.e., in the left-right direction relative to the direction of travel of the tentative route. In other words, when generating the route, the moving object can be set to be larger by a predetermined value on both sides than its actual size. This reduces the possibility of a YES determination in step S15, thereby improving safety. Of course, since there is a possibility that the forklift R may drop the target object in a forward direction relative to the direction of travel of the tentative route, a predetermined margin can also be provided for the moving object in the forward direction of travel of the tentative route.

[0096] Furthermore, calculation of the movement control value in step S12 can be performed for the obstacle Ob using various methods as illustrated in Fig. 9. For example, the identification unit 21b can calculate a movement control value that reduces the turning radius to a reference value and reduces the speed compared to when traveling straight, as illustrated by the two-dot chain arrow in Fig. 9. Furthermore, the identification unit 21b can calculate a movement control value that keeps the turning radius at the reference value and reduces the speed compared to when traveling straight, as illustrated by the solid arrow in Fig. 9. Furthermore, the identification unit 21b can calculate a movement control value that increases the turning radius to a reference value and maintains the same speed as when traveling straight, as illustrated by the dashed arrow in Fig. 9.

[0097] In step S12, in addition to the movement control value, various movement control values ​​that are control values ​​for controlling the fork movement in the fork movement control unit 21e can also be calculated. The movement control value can include a control value for the lifting and lowering movement of the fork Rb, and the control value for the lifting and lowering movement can be a value indicating the height of the fork Fb after movement, an acceleration / deceleration value indicating the acceleration or deceleration of the lifting and lowering movement, or the lifting and lowering speed. If the forklift R is a reach forklift, the movement control value can include a control value for the extension and retraction movement of the fork Rb, and the control value for the extension and retraction movement can be a value indicating the extension length. If the forklift R is capable of changing the tilt angle of the fork Rb, the movement control value can include a control value for changing the tilt angle, such as a value indicating the tilt angle. When the movement control value and the movement control value are calculated in step S12, steps S13 and S16 are as follows. That is, in step S13, the determination unit 21b calculates the force when movement control and movement control are performed using the calculated movement control value and motion control value, respectively, and in step S16, the motion control value can also be subject to change.

[0098] In the above, in this embodiment, the mobile body has been mainly described as a forklift, but the configuration and shape of the forklift are not limited to those exemplified, and the present invention can also be applied to mobile bodies other than forklifts.

[0099] For example, examples of mobile objects include a crane vehicle or robot that suspends an object from a hole or the like provided in the object, a robot that grasps an object by a handle or the like provided on the object in the vertical direction and raises and lowers it with an arm, and a robot that can load an object onto an arm or the like.

[0100] In the case of a robot that suspends an object, the loading unit corresponds to a sling made of a hook and a wire, and a sensor such as a weight sensor that detects the load amount can be installed on the winch portion of the hook or wire. In this case, loading an object corresponds to suspending and lifting the object by hooking a sling around a part of the object, such as a hole or a protrusion in the object, and then lifting it. In the case of a robot that grasps an object vertically, the loading unit corresponds to a lower member of the grasper, and a sensor that detects the load amount can be installed on the upper surface of the lower member of the grasper or on the operating part of the arm that lifts the grasper. In this case, loading an object corresponds to placing the object on the lower member of the grasper and clamping it between the upper member of the grasper. In the case of a robot that can load cargo and cargo pallets onto an arm, the loading unit corresponds to the part where the object is loaded, similar to a forklift, and the sensor that detects the load amount can be installed in the same location as a forklift or on the operating part of the arm. In this case, loading an object refers to loading an object onto an arm or the like, as with a forklift.

[0101] For a moving body equipped with a load-carrying unit that suspends an object, the centrifugal force acting on the object when turning will vary depending on the length of the wire, for example. Also, this centrifugal force may cause the object to move forward, backward, left, or right, and collide with an obstacle, so it is advisable to set a margin for the width in the left-right direction and the length in the front-back direction as a moving object.

[0102] Furthermore, the types of the moving body are not limited to moving bodies that move on land, but can also be objects that move underwater or on water, such as ships and underwater drones, or objects (flying bodies) that move in the air, such as aircraft and flying drones. Furthermore, the moving body can also be a mobile robot, such as an AGV (Automated Guided Vehicle).

[0103] As described above, the above-mentioned moving body may have a function of moving by autonomous control, a function of moving by operation by an operator, or both functions. If the moving body has a function of moving by autonomous control, it will perform automatic driving (autonomous driving) based on information from various sensors mounted on the moving body. Furthermore, the moving body may be configured to be able to switch between automatic driving and manual driving by a passenger (for example, a driver inside the vehicle in the case of an autonomous driving vehicle).

[0104] (Second embodiment) The second embodiment will be described with reference to Fig. 10, focusing on the differences from the first embodiment, but the various examples described in the first embodiment can be applied to this embodiment. Furthermore, since the functions of the route identification system according to this embodiment are the same as those of the route identification system 100 in Fig. 4, with some exceptions, this embodiment will also be described based on the notation of the configuration examples in Fig. 4, Fig. 5, and Fig. 8.

[0105] First, the identification unit 21b in this embodiment will be described. The identification unit 21b in this embodiment differs from the identification unit 21b in the first embodiment in the order in which the routes are identified.

[0106] The specification unit 21b in this embodiment first calculates an allowable range of movement control values ​​that ensures the safety of transporting an object by the forklift R, based on at least one of combined center of gravity information, which is information about the combined center of gravity of the forklift R and the object, and object center of gravity information, which is information about the center of gravity of the object. Here, too, the calculation can be performed for various movement control values.

[0107] Next, the identification unit 21b generates a tentative route from the current location to the location where the cargo Ca is to be loaded and unloaded using a predetermined algorithm based on map information that includes at least the range in which the forklift R can move. In this embodiment, too, obstacle information may be reflected in the map information, or the identification unit 21b may calculate a route based on the map information and the obstacle information. In addition, the predetermined algorithm may be, for example, Reeds Shepp, but is not limited to this.

[0108] The identification unit 21b then identifies various movement control values ​​according to the calculated tolerance range, such as by determining various movement control values ​​for moving along the generated tentative route within the calculated tolerance range. Furthermore, if the identification unit 21b is unable to determine a value within the specified tolerance range for at least one of the various movement control values, it may modify the generated tentative route and identify the various movement control values ​​again, repeating this process until the value can be determined within the tolerance range. The identification unit 21b then identifies a route according to the safety of transporting the object by the moving object, which is determined based on the various movement control values ​​identified and the generated tentative route.

[0109] Note that, among the functions of the identification unit 21b in this embodiment, functions other than the function of finally identifying a route, i.e., functions of calculating the allowable range, generating the tentative route, and identifying the movement control value, can be configured to be executed by a component separate from the identification unit 21b. For example, the control unit 21 of the remote control device 20 may include the following calculation unit, tentative route generation unit, and control value identification unit, all of which are not shown. The calculation unit is an example of a calculation means that calculates the allowable range of the movement control value based on at least one of object center of gravity information and composite center of gravity information. The tentative route generation unit is an example of a tentative route generation means that generates a tentative route in accordance with map information including a range within which a mobile object, such as a forklift R, can move. The control value identification unit is an example of a control value identification means that identifies a movement control value for moving along the generated tentative route in accordance with the calculated allowable range. The identification unit 21b then identifies a route in accordance with the safety of transporting the object by the mobile object, which is determined based on the identified movement control value and the generated tentative route.

[0110] An example of such a route identification process will be described with reference to Fig. 10. Fig. 10 is a flow diagram for explaining an example of a route identification process in the route identification system 100 according to this embodiment.

[0111] In the route identification process illustrated in Fig. 10, the identification unit 21b first calculates a safe range for the movement control value (step S21). The safe range refers to an allowable range in consideration of safety. The calculated allowable range is not a range that depends on the section of the tentative route or the section of the route that can be identified.

[0112] In step S21, the specifying unit 21b calculates, based on at least one of the composite center of gravity information and the object center of gravity information, an allowable range of movement control values ​​that ensures the safety of transporting the object by the forklift R. For example, the specifying unit 21b calculates safe values ​​among the movement control values ​​of the forklift R based on the composite center of gravity information and the object center of gravity information. More specifically, the specifying unit 21b calculates upper limits of acceleration / deceleration, turning radius, turning speed, etc. that are estimated to be safe based on the forces acting on the forklift R and the object.

[0113] Furthermore, in step S21, a table may be created in advance by simulation regarding the relationship between the object center of gravity information, the composite center of gravity information, and acceleration / deceleration, and the relationship between the object center of gravity information, the composite center of gravity information, the speed during turning, and the turning radius, etc. The specification unit 21b may also refer to the table and acquire the allowable ranges of various movement control values ​​from the composite center of gravity information and the object center of gravity information.

[0114] Next, the identification unit 21b generates a tentative route from the current location to the location where the luggage Ca is to be unloaded, using a predetermined algorithm, based on map information that includes at least the range in which the forklift R moves (step S22). For example, the identification unit 21b generates a tentative route from the current location to the location where the luggage Ca is to be unloaded, using a predetermined algorithm, based on map information that reflects obstacle information as exemplified in FIG.

[0115] Then, the specification unit 21b determines various movement control values ​​for moving along the generated tentative route within the allowable range calculated in step S22 (step S23).

[0116] Next, the identification unit 21b determines whether all of the various movement control values ​​can be determined to values ​​within the calculated allowable range (step S24), and if YES, identifies the tentative route generated in step S22 as the route along which the forklift R should travel (step S26), and terminates the processing.

[0117] On the other hand, if step S24 is NO, that is, if it is not possible to determine at least one value, the identification unit 21b changes the calculated tentative route, that is, executes tentative route correction (step S25), returns to step S23, and again determines various movement control values, etc. In step S25, for example, when correcting a tentative route related to turning, the change may be made to hasten the start of the turn, or the change may be made to increase the turning radius.

[0118] Here, if it is estimated that the initially calculated tentative path and turning speed will cause the forklift R to tip over or the object to fall, for example, three correction methods can be adopted, as illustrated in FIG.

[0119] First, as illustrated by the dashed-dotted arrow in FIG. 9 , the movement control values ​​can be modified to reduce the turning radius from the initially calculated value and decrease the initially calculated speed. This modification method involves deceleration, which may cause the object to lean forward and become more likely to fall, necessitating measures such as avoiding sudden deceleration. However, this modification method is effective when the tentative path width of the forklift R is narrow. Alternatively, the determination unit 21b can modify the movement control values ​​to maintain the turning radius at the reference value and decrease the speed compared to straight travel, as illustrated by the solid arrow in FIG. 9 . This modification method involves deceleration, which may cause the object to lean forward and become more likely to fall, necessitating measures such as avoiding sudden deceleration. Alternatively, the determination unit 21b can modify the movement control values ​​to increase the turning radius from the reference value and maintain the same speed as straight travel, as illustrated by the dashed arrow in FIG. 9 . With this correction method, no acceleration or deceleration occurs, so there is a low possibility of the object falling or the forklift R tipping over, but while it can be applied when the width of the tentative route over which the forklift R can move is wide, it is difficult to apply when it is narrow. Therefore, such a correction method should be selected appropriately depending on the range over which the forklift R can travel, the width of the road over which the forklift can travel, the weight of the object, the speed of the moving body, the force acting on the center of gravity of the object, the force acting on the combined center of gravity, etc.

[0120] In this way, when it is difficult to follow the calculated tentative route within the allowable ranges for various movement control values, for example, when it is not possible to turn along the tentative route, the determination unit 21b corrects the corresponding portion of the calculated tentative route. Then, the processing of steps S23 to S25 is repeated until all of the movement control values ​​can be determined within the allowable ranges.

[0121] As described above, according to this embodiment, in addition to the effects of the first embodiment, the allowable range of the movement control value is determined first, so that the route and movement control value can be determined quickly.

[0122] Note that the present embodiment can also include a fork operation control unit 21e, which can perform control to adjust the loading position of an object on the forklift R based on the composite center of gravity information. Also in this embodiment, the identification unit 21b can identify a route depending on the safety resulting from the adjustment control. That is, the identification unit 21b can improve safety by adjusting the loading position of the object based on the composite center of gravity information, and then calculate various movement control values ​​within a safe range, generate a tentative route, and calculate movement control values ​​for moving along the tentative route within a safe range. This enables safe movement control and route identification.

[0123] Also in this embodiment, the various operation control values, which are the various control values ​​that control the fork operation by the fork operation control unit 21e, are calculated to have a safe range in step S21, and can be used as calculation and judgment targets in addition to the movement control values ​​in steps S23 and S24.

[0124] (Third embodiment) The third embodiment will be described with reference to Fig. 11, focusing on the differences from the first embodiment, but the various examples described in the first and second embodiments can be applied to this embodiment. Fig. 11 is a block diagram showing an example of the configuration of a route identification system according to this embodiment.

[0125] As shown in Fig. 11, a route identification system 100a according to this embodiment is a system in which the distribution of functions is different from that of the route identification system 100 shown in Fig. 4. The route identification system 100a includes one or more cameras 30, a remote control device 20a, and one or more forklifts Raa.

[0126] The remote control device 20a includes a control unit 21, a communication unit 22, a display unit 23, and an operation input unit 24. The remote control device 20a can accept user operations, such as specifying a loading and unloading location for the forklift Raa using the display unit 23 and the operation input unit 24, and transmit the specification to the forklift Raa via the communication unit 22.

[0127] The forklift Raa is the forklift R of Figure 4, except that the control unit 11 is equipped with an object information acquisition unit 11a and an identification unit 11b, which correspond to examples of the acquisition unit 1a and the identification unit 1b, respectively, as well as an obstacle information acquisition unit 11c, a movement control unit 11d, and a fork operation control unit 11e.

[0128] The object information acquisition unit 11a can acquire shape information from the camera 30 via the communication unit 12, and can acquire information indicating weight from the weight sensor 15. The obstacle information acquisition unit 11c can acquire shape information about an obstacle from the camera 30 via the communication unit 12. Note that the information from the camera 30 can also be configured to be received via the remote control device 20a.

[0129] The movement control unit 11d controls the wheel drive unit 13 to control the movement of the forklift Raa. The fork operation control unit 11e controls the fork drive unit 14 to control the height and other operations of the forks Rb. As described above, the operations to be controlled can include operations to change the tilt angle and the extension / retraction values ​​of the forks Rb, depending on the functions of the forklift Raa. The identification unit 11b identifies a route to the loading / unloading location of the object according to the safety of transporting the object by the forklift Raa, which is determined based on at least the operation control value for the forklift Raa and the object's center of gravity information.

[0130] As described above, in this embodiment, in addition to the effects of the first or second embodiment, the functions required can be realized mainly by the forklift Raa alone. However, as explained in the first embodiment, the form of distribution of functions does not matter, and is not limited to the configurations of FIG. 4 or FIG. 11. For example, all components, including the camera 30, can be mounted on the forklift. Furthermore, functions that can be provided on the remote control device side can also be provided on a cloud server or the like.

[0131] (others) In the present disclosure, the path identification device, the remote control device, the forklift control unit, the camera, etc. may be configured to include a device such as a computer. FIG. 12 is a block diagram showing an example of the configuration of the device. As shown in FIG. 12, the device 500 includes a CPU (Central Processing Unit) 510 as a control unit, a storage unit 520, a ROM (Read Only Memory) 530, and a RAM (Random Access Memory) 540. Furthermore, the device 500 may include a communication interface (IF: Interface) 550 and a user interface 560.

[0132] The device 500 can be used as any of a path determination device, a remote control device, a control unit of a forklift, a camera, etc. For example, the device 500 can be used as an internal control device of a forklift.

[0133] The communication interface 550 is an interface for connecting the device 500 to a communication network via wired communication means or wireless communication means, etc. The user interface 560 may include a display unit such as a display, etc. The user interface 560 may also include input units such as a keyboard, a mouse, and a touch panel.

[0134] The storage unit 520 is an auxiliary storage device that can store various types of information. The storage unit 520 does not necessarily have to be a part of the device 500, but may be an external storage device or a cloud storage connected to the device 500 via a network.

[0135] The ROM 530 is a non-volatile storage device. For example, a semiconductor storage device with a relatively small capacity, such as a flash memory, is used for the ROM 530. The programs executed by the CPU 510 can be stored in the storage unit 520 or the ROM 530. The storage unit 520 or the ROM 530 stores various programs for realizing the functions of each unit in the device 500.

[0136] The program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, compact discs (CDs), digital versatile discs (DVDs), Blu-ray discs or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0137] The RAM 540 is a volatile storage device. Various semiconductor memory devices such as a dynamic random access memory (DRAM) or a static random access memory (SRAM) are used for the RAM 540. The RAM 540 can be used as an internal buffer for temporarily storing data and the like. The CPU 510 loads a program stored in the storage unit 520 or the ROM 530 into the RAM 540 and executes it. The CPU 510 executes the program, thereby realizing the functions of each unit in the device 500. The CPU 510 may have an internal buffer for temporarily storing data and the like.

[0138] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the above-described embodiments, and changes and modifications to the above-described embodiments without departing from the spirit of the present disclosure are also included in the present disclosure. In addition, some or all of the above-described embodiments can be combined as appropriate.

[0139] For example, some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes.

[0140] (Appendix 1) a first acquisition means for acquiring information about the center of gravity of an object loaded on the moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; A route determination system comprising: (Appendix 2) a second acquisition means for acquiring information about an obstacle present in an area that can be identified as the route; The safety is determined based on the control value, information about the center of gravity of the object, and information about the obstacle. 10. The routing system of claim 1. (Appendix 3) The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. 10. The routing system of claim 1. (Appendix 4) performing control to adjust the loading position of the object on the moving body based on information about the combined center of gravity of the moving body and the object; the specifying means specifies the path depending on the safety as a result of performing the adjusting control. A route identification system according to any one of appendices 1 to 3. (Appendix 5) a generation means for generating a tentative route in accordance with map information including a range within which the mobile object can move; a control value calculation means for calculating the control value for the moving object to travel along the generated tentative route; a force calculation means for performing at least one of a process of calculating a force acting on the center of gravity of the object in accordance with the calculated control value and information relating to the center of gravity of the object, and a process of calculating a force acting on the combined center of gravity of the moving body and the object in accordance with the calculated control value and information relating to the combined center of gravity of the moving body and the object; a determination means for determining the safety in accordance with the calculated force; Equipped with the specifying means specifies the route based on the determined safety and the generated tentative route. A route identification system according to any one of appendices 1 to 4. (Appendix 6) a calculation means for calculating an allowable range of the control value based on at least one of information relating to the center of gravity of the object and information relating to the combined center of gravity of the moving body and the object; a tentative route generating means for generating a tentative route in accordance with map information including a range within which the mobile object can move; a control value specifying means for specifying the control value for moving along the generated tentative route in accordance with the calculated allowable range; Equipped with the specifying means specifies the route depending on the safety of transportation of the object by the moving body, which is determined based on the specified control value and the generated tentative route. A route identification system according to any one of appendices 1 to 4. (Appendix 7) a first acquisition means for acquiring information about the center of gravity of an object loaded on the moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; A route identification device comprising: (Appendix 8) a second acquisition means for acquiring information about an obstacle present in an area that can be identified as the route; The safety is determined based on the control value, information about the center of gravity of the object, and information about the obstacle. 8. The route determination device according to claim 7. (Appendix 9) The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. 8. The route determination device according to claim 7. (Appendix 10) performing control to adjust the loading position of the object on the moving body based on information about the combined center of gravity of the moving body and the object; the specifying means specifies the path depending on the safety as a result of performing the adjusting control. 10. A route identification device according to any one of appendixes 7 to 9. (Appendix 11) a generation means for generating a tentative route in accordance with map information including a range within which the mobile object can move; a control value calculation means for calculating the control value for the moving object to travel along the generated tentative route; a force calculation means for performing at least one of a process of calculating a force acting on the center of gravity of the object in accordance with the calculated control value and information relating to the center of gravity of the object, and a process of calculating a force acting on the combined center of gravity of the moving body and the object in accordance with the calculated control value and information relating to the combined center of gravity of the moving body and the object; a determination means for determining the safety in accordance with the calculated force; Equipped with the specifying means specifies the route based on the determined safety and the generated tentative route. 11. A route identification device according to any one of Supplementary notes 7 to 10. (Appendix 12) a calculation means for calculating an allowable range of the control value based on at least one of information relating to the center of gravity of the object and information relating to the combined center of gravity of the moving body and the object; a tentative route generating means for generating a tentative route in accordance with map information including a range within which the mobile object can move; a control value specifying means for specifying the control value for moving along the generated tentative route in accordance with the calculated allowable range; Equipped with the specifying means specifies the route depending on the safety of transportation of the object by the moving body, which is determined based on the specified control value and the generated tentative route. 11. A route identification device according to any one of Supplementary notes 7 to 10. (Appendix 13) Obtaining information about the center of gravity of an object loaded on a moving body; specifying a route to a loading and unloading location for the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; A route determination method including: (Appendix 14) obtaining information about obstacles present in an area that can be identified as the route; The safety is determined based on the control value, information about the center of gravity of the object, and information about the obstacle. 14. The method of claim 13. (Appendix 15) The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. 14. The method of claim 13. (Appendix 16) performing control to adjust the loading position of the object on the moving body based on information about a combined center of gravity of the moving body and the object; The step of identifying the path includes identifying the path depending on the safety as a result of performing the adjusting control. A route identification method according to any one of Supplementary Notes 13 to 15. (Appendix 17) generating a tentative route according to map information including a range within which the moving body can move; calculating the control value for the moving object to travel along the generated tentative route; Executing at least one of a process of calculating a force acting on the center of gravity of the object in accordance with the calculated control value and information relating to the center of gravity of the object, and a process of calculating a force acting on the combined center of gravity of the moving body and the object in accordance with the calculated control value and information relating to the combined center of gravity of the moving body and the object; determining the safety in response to the calculated force; Including, and determining the route based on the determined safety and the generated tentative route. 17. A route identification method according to any one of Supplementary notes 13 to 16. (Appendix 18) calculating an allowable range of the control value based on at least one of information regarding the center of gravity of the object and information regarding a combined center of gravity of the moving body and the object; generating a tentative route according to map information including a range within which the moving body can move; specifying the control value for moving along the generated tentative route according to the calculated tolerance; Including, and specifying the route in accordance with the safety of transportation of the object by the moving body, which is determined based on the specified control value and the generated tentative route. 17. A route identification method according to any one of Supplementary notes 13 to 16. (Appendix 19) On the computer, Obtaining information about the center of gravity of an object loaded on a moving body; specifying a route to a loading and unloading location for the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; A program for executing a route specification process including the steps of: (Appendix 20) the route identification process includes acquiring information about obstacles present in an area that can be identified as the route; The safety is determined based on the control value, information about the center of gravity of the object, and information about the obstacle. 19. The program described in Appendix 19. (Appendix 21) The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. 19. The program described in Appendix 19. (Appendix 22) the path identification process includes performing control to adjust a loading position of the object on the moving body based on information about a combined center of gravity of the moving body and the object; The identifying step identifies the path depending on the safety as a result of performing the adjusting control. A program according to any one of appendices 19 to 21. (Appendix 23) The route identification process includes: generating a tentative route according to map information including a range within which the moving body can move; calculating the control value for the moving object to travel along the generated tentative route; Executing at least one of a process of calculating a force acting on the center of gravity of the object in accordance with the calculated control value and information relating to the center of gravity of the object, and a process of calculating a force acting on the combined center of gravity of the moving body and the object in accordance with the calculated control value and information relating to the combined center of gravity of the moving body and the object; determining the safety in response to the calculated force; Including, and determining the route based on the determined safety and the generated tentative route. A program according to any one of appendices 19 to 22. (Appendix 24) The route identification process includes: calculating an allowable range of the control value based on at least one of information regarding the center of gravity of the object and information regarding a combined center of gravity of the moving body and the object; generating a tentative route according to map information including a range within which the moving body can move; specifying the control value for moving along the generated tentative route according to the calculated tolerance; Including, and specifying the route in accordance with the safety of transportation of the object by the moving body, which is determined based on the specified control value and the generated tentative route. A program according to any one of appendices 19 to 22. [Explanation of symbols]

[0141] Ca: Luggage Cp: ​​Pallet for loading luggage Csb: Top of the lower frame Csu: Underside of upper frame R, Raa: Forklift Ra: Lift section Rb: Fork Rs: Loading surface 1, 100, 100a: Route identification system 1a: Acquisition part 1b, 11b, 21b: Specific part 2: Route identification device 11, 21: Control unit 11a, 21a: Object information acquisition unit 11c, 21c: Obstacle information acquisition unit 11d, 21d: Movement control unit 11e, 21e: Fork operation control section 12, 22, 32: Communications Department 13: Wheel drive unit 14: Fork drive unit 15: Weight sensor 16:Operation unit 20, 20a: Remote control device 23: Display section 24: Operation input section 30: Camera 31: Sensor 500: Equipment 510:CPU 520: Storage section 530:ROM 540:RAM 550: Communication interface 560: User Interface

Claims

1. a first acquisition means for acquiring information about the center of gravity of an object loaded on the moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; Equipped with The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. Route identification system.

2. A first acquisition means for acquiring information regarding the center of gravity of an object loaded on a moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; Equipped with performing control to adjust the loading position of the object on the moving body based on information about the combined center of gravity of the moving body and the object; the specifying means specifies the path depending on the safety as a result of performing the adjusting control. Route identification system.

3. A first acquisition means for acquiring information regarding the center of gravity of an object loaded on a moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; a generation means for generating a tentative route in accordance with map information including a range within which the mobile object can move; a control value calculation means for calculating the control value for the moving object to travel along the generated tentative route; a force calculation means for performing at least one of a process of calculating a force acting on the center of gravity of the object in accordance with the calculated control value and information relating to the center of gravity of the object, and a process of calculating a force acting on the combined center of gravity of the moving body and the object in accordance with the calculated control value and information relating to the combined center of gravity of the moving body and the object; a determination means for determining the safety in accordance with the calculated force; Equipped with the specifying means specifies the route based on the determined safety and the generated tentative route. Route identification system.

4. A first acquisition means for acquiring information regarding the center of gravity of an object loaded on a moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; a calculation means for calculating an allowable range of the control value based on at least one of information relating to the center of gravity of the object and information relating to the combined center of gravity of the moving body and the object; a tentative route generating means for generating a tentative route in accordance with map information including a range within which the mobile object can move; a control value specifying means for specifying the control value for moving along the generated tentative route in accordance with the calculated allowable range; Equipped with the specifying means specifies the route depending on the safety of transportation of the object by the moving body, which is determined based on the specified control value and the generated tentative route. Route identification system.

5. A second acquisition means for acquiring information about obstacles present in an area that can be identified as the route, The safety is determined based on information about the obstacle. The route specification system according to any one of claims 1 to 4.

6. a first acquisition means for acquiring information about the center of gravity of an object loaded on the moving body; a specifying means for specifying a route to a loading and unloading location of the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; Equipped with The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. Route identification device.

7. Obtaining information about the center of gravity of an object loaded on a moving body; specifying a route to a loading and unloading location for the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; Including, The safety is determined based on the control value, information about the center of gravity of the object, and information about the combined center of gravity of the moving body and the object. Route determination method.

8. Obtaining information about the center of gravity of an object loaded on a moving body; specifying a route to a loading and unloading location for the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; performing control to adjust the loading position of the object on the moving body based on information about the combined center of gravity of the moving body and the object; Including, The step of identifying the path includes identifying the path depending on the safety as a result of performing the adjusting control. Route determination method.

9. Obtaining information about the center of gravity of an object loaded on a moving body; specifying a route to a loading and unloading location for the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; generating a tentative route according to map information including a range within which the moving body can move; calculating the control value for the moving object to travel along the generated tentative route; Executing at least one of a process of calculating a force acting on the center of gravity of the object in accordance with the calculated control value and information relating to the center of gravity of the object, and a process of calculating a force acting on the combined center of gravity of the moving body and the object in accordance with the calculated control value and information relating to the combined center of gravity of the moving body and the object; determining the safety in response to the calculated force; Including, determining the route includes determining the route based on the determined safety and the generated tentative route. Route determination method.

10. Obtaining information about the center of gravity of an object loaded on a moving body; specifying a route to a loading and unloading location for the object in accordance with the safety of transporting the object by the moving body, which is determined based on a control value for controlling the moving body and information about the center of gravity of the object; calculating an allowable range of the control value based on at least one of information regarding the center of gravity of the object and information regarding a combined center of gravity of the moving body and the object; generating a tentative route according to map information including a range within which the moving body can move; specifying the control value for moving along the generated tentative route according to the calculated tolerance; Including, specifying the route includes specifying the route depending on safety of transportation of the object by the moving body, which is determined based on the specified control value and the generated tentative route. Route determination method.

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