System and method for controlling cargo handling vehicles

Abstract

To provide a system for controlling a cargo handling vehicle capable of smoothly approaching a target of cargo handling work.SOLUTION: A system for controlling a cargo handling vehicle includes an objection sensor mounted on the cargo handling vehicle to detect an object and a controller for controlling the cargo handling vehicle. The controller includes an identification unit for identifying a target from the object based on object detection data of the object sensor, a distance calculation unit for calculating a distance between the cargo handling vehicle and the target based on the object detection data of the object sensor, a storage unit for storing a plurality of pieces of route data for making the cargo handling vehicle travel to face the target, a selection unit for selecting one route data from the plurality of pieces route data based on the distance, and a travel control unit for controlling the traveling of the cargo handling vehicle based on the selected route data.SELECTED DRAWING: Figure 15

Description

【Technical Field】 【0001】 The present disclosure relates to a system and method for controlling a cargo handling vehicle. 【Background Art】 【0002】 In the technical field related to cargo handling vehicles, a forklift as disclosed in Patent Document 1 is known. 【Prior Art Document】 【Patent Document】 【0003】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2019-036302 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 When automatically performing cargo handling work using a cargo handling vehicle, a technology that can smoothly approach the object of the cargo handling work with the cargo handling vehicle is desired. 【0005】 The present disclosure aims to provide a system and method for controlling a cargo handling vehicle that can smoothly approach the object of the cargo handling work. 【Means for Solving the Problems】 【0006】 According to the present disclosure, a system for controlling a cargo handling vehicle is provided. The system includes an object sensor attached to the cargo handling vehicle for detecting an object, and a controller for controlling the cargo handling vehicle. The controller has an identification unit for identifying a target from the object based on the object detection data of the object sensor, a distance calculation unit for calculating the distance between the cargo handling vehicle and the target based on the object detection data of the object sensor, a storage unit for storing a plurality of path data for running the cargo handling vehicle so as to face the target directly, a selection unit for selecting one path data from the plurality of path data based on the distance, and a running control unit for controlling the running of the cargo handling vehicle based on the selected path data. [Effects of the Invention] 【0007】 This disclosure provides a system and method for controlling a cargo handling vehicle that can smoothly approach the object of cargo handling operations. [Brief explanation of the drawing] 【0008】 [Figure 1] Figure 1 is a front perspective view showing a cargo handling vehicle according to an embodiment. [Figure 2] Figure 2 is a schematic diagram showing an object sensor according to an embodiment. [Figure 3] Figure 3 is a view of a cargo handling vehicle according to an embodiment, seen from above. [Figure 4] Figure 4 is a schematic diagram showing the first forward sensor according to the embodiment. [Figure 5] Figure 5 is a schematic diagram showing the state in which the second forward sensor according to the embodiment is detecting an object. [Figure 6] Figure 6 is a schematic diagram showing the state in which the second forward sensor according to the embodiment is detecting an object. [Figure 7] Figure 7 is a block diagram showing the configuration of a control system for a cargo handling vehicle according to an embodiment. [Figure 8] Figure 8 is a block diagram of the controller according to the embodiment. [Figure 9] Figure 9 is a schematic diagram showing an example of a method for identifying an object according to the embodiment. [Figure 10] Figure 10 is a schematic diagram showing the location of the storage space surrounding the object according to the embodiment. [Figure 11] Figure 11 is a schematic diagram showing cargo handling operations according to an embodiment. [Figure 12] Figure 12 is a flowchart showing a control method for a cargo handling vehicle according to an embodiment. [Figure 13] Figure 13 shows an example of display data shown on the display device when the automatic mode enable switch according to the embodiment is operated. [Figure 14] FIG. 14 is a diagram showing an example of display data displayed on a display device when an automatic mode start switch according to an embodiment is operated. [Figure 15] FIG. 15 is a diagram schematically showing the relationship between distance and route data according to an embodiment. [Figure 16] FIG. 16 is a diagram schematically showing a transport vehicle that travels so as to approach an object based on a generated route according to an embodiment. [Figure 17] FIG. 17 is a diagram schematically showing a state in which a transport vehicle according to an embodiment is approaching an object. [Figure 18] FIG. 18 is a diagram schematically showing a state in which a transport vehicle according to an embodiment is approaching an object. [Figure 19] FIG. 19 is a diagram schematically showing a state in which a transport vehicle according to an embodiment is approaching an object. Embodiments for Carrying Out the Invention 【0009】 Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used. 【0010】 In the embodiments, the terms left, right, front, rear, up, and down are used to describe the positional relationships of the respective parts. These terms indicate relative positions or directions based on the origin of the vehicle body coordinate system defined for the transport vehicle. 【0011】 [Transport Vehicle] FIG. 1 is a perspective view from the front showing a transport vehicle 1 according to an embodiment. In the embodiment, the transport vehicle 1 is appropriately referred to as a forklift 1. In the embodiment, the transport vehicle 1 is a counterbalanced forklift. Note that the transport vehicle is not particularly limited, and for example, a wheel loader to which a fork attachment can be attached may be used. 【0012】 Forklift 1 performs cargo handling operations. Cargo handling operations include retrieval operations, which involve picking up cargo from a predetermined storage location, and loading operations, which involve placing the picked-up cargo at a predetermined target location. Forklift 1 performs at least a portion of the cargo handling operations automatically. In embodiments, the operating modes of forklift 1 include a manual mode, which performs cargo handling operations based on operator input, and an automatic mode, which performs at least a portion of the cargo handling operations automatically. In embodiments, cargo is a loading platform or container on which goods are loaded. Cargo is, for example, a pallet, skid, or container. Cargo has a pair of fork insertion holes. 【0013】 The forklift 1 comprises a body 2, a cab 3 supported by the body 2, a work implement 4 positioned in front of the body 2, wheels 5 supporting the body 2, and an object sensor 7 for detecting objects. 【0014】 The vehicle body 2 includes a counterweight 6 and fenders 8. The counterweight 6 is located at the rear of the vehicle body 2. The counterweight 6 is attached to the rear of the vehicle body 2 to balance the weight of the forklift 1 in the front-rear direction when the forklift 1 picks up a load. The fenders 8 are located at the front of the vehicle body 2. The fenders 8 are located on the left and right sides of the vehicle body 2, respectively. 【0015】 Cab 3 forms the driver's cabin. The operator of forklift 1 can board cab 3 and operate forklift 1. 【0016】 The work implement 4 performs at least part of the cargo handling operations. The work implement 4 is positioned in front of the vehicle body 2. The work implement 4 is supported by the vehicle body 2. The work implement 4 has a mast 41, a bracket 42, and a fork 43. 【0017】 The mast 41 is tiltably supported at the front of the vehicle body 2. The mast 41 is elongated vertically. The bracket 42 supports the forks 43. The bracket 42 is supported on the mast 41. The bracket 42 is movable vertically along the mast 41. The forks 43 support the cargo. The forks 43 are supported on the mast 41 via the bracket 42. 【0018】 A pair of forks 43 are provided. The forks 43 include a first fork 43A and a second fork 43B positioned to the right of the first fork 43A. The bracket 42 supports the first fork 43A and the second fork 43B. 【0019】 The wheels 5 support the vehicle body 2. At least a portion of the wheels 5 is positioned below the vehicle body 2. The wheels 5 have a front wheel 5F and a rear wheel 5R. The front wheel 5F is positioned in front of the rear wheel 5R. The front wheel 5F is positioned on the left and right sides of the vehicle body 2, respectively. The rear wheel 5R is positioned on the left and right sides of the vehicle body 2, respectively. Each of the front wheel 5F and the rear wheel 5R is rotatable around a pivot axis. 【0020】 In this embodiment, the left-right direction is parallel to the axis of rotation of the front wheels 5F and rear wheels 5R when the forklift 1 is traveling in a straight line. The up-down direction is perpendicular to the contact surface of the front wheels 5F and rear wheels 5R. The front-rear direction is perpendicular to both the left-right and up-down directions. 【0021】 Fender 8 is positioned to cover at least a portion of the front wheel 5F. At least a portion of fender 8 is positioned above the front wheel 5F. At least a portion of fender 8 is positioned behind the front wheel 5F. Fender 8 is positioned on both the left and right sides of the vehicle body 2. The left fender 8 is positioned to cover at least a portion of the left front wheel 5F. The right fender 8 is positioned to cover at least a portion of the right front wheel 5F. 【0022】 The object sensor 7 detects objects around the forklift 1. The objects detected by the object sensor 7 include targets to be targeted when performing cargo handling operations. In this embodiment, the targets are, for example, transported goods, a loading space on which transported goods can be placed, or the loading platform of a cargo vehicle. Multiple object sensors 7 are provided on the forklift 1. In this embodiment, the object sensor 7 includes a left-side sensor 7A attached to the left side of the vehicle body 2, a right-side sensor 7B (see Figure 3) attached to the right side of the vehicle body 2, a first forward sensor 7C attached to the front of the vehicle body 2, and a second forward sensor 7D attached to at least a part of the work equipment 4. 【0023】 Figure 2 is a schematic diagram showing an object sensor 7 according to an embodiment. The object sensor 7 includes at least a three-dimensional sensor 72. In this embodiment, the object sensor 7 includes a camera 71 and a three-dimensional sensor 72. The camera 71 and the three-dimensional sensor 72 are positioned vertically. The camera 71 and the three-dimensional sensor 72 are fixed. The relative positions of the camera 71 and the three-dimensional sensor 72 do not change. 【0024】 Camera 71 acquires image data of an object. 3D sensor 72 acquires 3D data of an object. The 3D data of an object includes a point cloud consisting of multiple detection points defined on the object's surface. The point cloud indicates the relative distance and relative position between the 3D sensor 72 and each of the multiple detection points defined on the object's surface. An example of the 3D sensor 72 is a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light. However, the 3D sensor 72 may also be an infrared sensor that detects objects by emitting infrared light or a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves. 【0025】 The imaging range 710 of camera 71 and at least a portion of the measurement range 720 of 3D sensor 72 overlap. In the following description, the imaging range 710 and the measurement range 720 will be collectively referred to as the detection range 70 as appropriate. 【0026】 Figure 3 is a view of the forklift 1 according to the embodiment, seen from above. As shown in Figures 1 and 3, the forklift 1 is equipped with a plurality of object sensors 7. The object sensors 7 include a left-side sensor 7A attached to the left side of the vehicle body 2, a right-side sensor 7B attached to the right side of the vehicle body 2, a first forward sensor 7C attached to the front of the vehicle body 2, and a second forward sensor 7D attached to at least a part of the work equipment 4. 【0027】 The detection range 70 of the object sensor 7 includes the detection range 70A of the left-side sensor 7A, the detection range 70B of the right-side sensor 7B, the detection range 70C of the first front sensor 7C, and the detection range 70D of the second front sensor 7D. 【0028】 The detection range 70A of the left-side sensor 7A is defined as the area diagonally to the left front of the vehicle body 2. The detection range 70B of the right-side sensor 7B is defined as the area diagonally to the right front of the vehicle body 2. The detection range 70C of the first-side sensor 7C is defined as the area in front of the vehicle body 2. The detection range 70D of the second-side sensor 7D is defined as the area in front of the vehicle body 2. 【0029】 In the front-rear direction, the left-side sensor 7A and the right-side sensor 7B are positioned behind the work implement 4. The left-side sensor 7A and the right-side sensor 7B are positioned behind the mast 41. 【0030】 In the front-rear direction, the left-side sensor 7A and the right-side sensor 7B are positioned in front of the center of the vehicle body 2. 【0031】 In the vertical direction, the left-side sensor 7A and the right-side sensor 7B are positioned between the center of the front wheel 5F and the upper end of the counterweight 6. 【0032】 In this embodiment, the left-side sensor 7A is mounted on the upper surface of the left fender 8. The right-side sensor 7B is mounted on the upper surface of the right fender 8. 【0033】 In the longitudinal direction, the first forward sensor 7C is positioned behind the work implement 4. The first forward sensor 7C is positioned behind the mast 41. The first forward sensor 7C is mounted on the front of the vehicle body 2 so that it is positioned behind the work implement 4. 【0034】 In this embodiment, the first front sensor 7C is mounted on the upper surface of the left fender 8. Alternatively, the first front sensor 7C may be mounted on the upper surface of the right fender 8. 【0035】 The first forward sensor 7C is capable of detecting objects located close to the ground. In the vertical direction, the detection range 70C of the first forward sensor 7C coincides with the position of at least a portion of the front wheel 5F. In the vertical direction, the detection range 70C of the first forward sensor 7C coincides with the position of the lower end of the movable range of the fork 43 in the vertical direction. 【0036】 The second forward sensor 7D is mounted on at least part of the work machine 4 so as to move vertically with the fork 43. In the left-right direction, the second forward sensor 7D is positioned between the first fork 43A and the second fork 43B. In this embodiment, the second forward sensor 7D is mounted on a bracket 42. In the left-right direction, the second forward sensor 7D is mounted on the bracket 42 so as to be positioned between the first fork 43A and the second fork 43B. 【0037】 [First forward sensor] Figure 4 is a schematic diagram showing the first forward sensor 7C according to the embodiment. As shown in Figure 4, when the forks 43 are supporting the object 50, the second forward sensor 7D may be obstructed by the object 50 and unable to detect the object in front of the forklift 1. In this embodiment, the forklift 1 is equipped with the first forward sensor 7C attached to the front of the vehicle body 2. Therefore, even if the second forward sensor 7D is unable to detect the object in front of the forklift 1, the first forward sensor 7C can still detect the object in front of the forklift 1. 【0038】 As described above, in the vertical direction, at least a portion of the detection range 70C of the first forward sensor 7C coincides with the lower end of the movable range of the fork 43 in the vertical direction. As shown in Figure 3, when the forklift 1 is moving with the fork 43 supporting the object 50, the fork 43 is raised. Therefore, the first forward sensor 7C can detect an object in front of the forklift 1 without being obstructed by the object 50. 【0039】 [Second forward sensor] Figures 5 and 6 are schematic diagrams showing the state in which the second forward sensor 7D according to the embodiment detects the object 50. As shown in Figures 5 and 6, the second forward sensor 7D can detect the object 50 when the work machine 4 and the object 50 are facing each other directly. The second forward sensor 7D can move vertically together with the fork 43. Therefore, in both cases, as shown in Figure 5, when the object 50 supported by the fork 43 is positioned below, and as shown in Figure 6, when the object 50 supported by the fork 43 is positioned above, the second forward sensor 7D can detect the fork insertion hole and the fork 43 provided in the object 50 by moving vertically together with the fork 43. In other words, regardless of the position of the fork insertion hole in the vertical direction, the second forward sensor 7D can detect the fork insertion hole and the fork 43 by moving vertically together with the fork 43. 【0040】 [Control System] Figure 7 is a block diagram showing the configuration of the control system 10 of the cargo handling vehicle 1 according to an embodiment. As shown in Figure 7, the control system 10 comprises a power source 11, a hydraulic pump 12, a work implement drive unit 45, a travel device 14, a control valve unit 13, an operating device 15, an output device 16, and a controller 100. 【0041】 The power source 11 drives the hydraulic pump 12. The power source 11 is, for example, an engine. 【0042】 The hydraulic pump 12 is driven by the power source 11 and discharges hydraulic fluid. The hydraulic fluid discharged from the hydraulic pump 12 is supplied to the lift cylinder 451, tilt cylinder 452, side shift cylinder 453, travel motor 141, and steering cylinder 142, respectively, via the control valve unit 13. 【0043】 The work implement drive unit 45 operates the work implement 4. The work implement drive unit 45 includes a lift cylinder 451, a tilt cylinder 452, and a side shift cylinder 453. 【0044】 In this embodiment, the lift cylinder 451, tilt cylinder 452, and side shift cylinder 453 are each hydraulic cylinders. The lift cylinder 451 moves the fork 43 vertically relative to the vehicle body 2. The tilt cylinder 452 tilts the fork 43 in the front-rear direction relative to the vehicle body 2. The side shift cylinder 453 moves the fork 43 horizontally relative to the vehicle body 2. 【0045】 The lift cylinder 451 is positioned between the mast 41 and the bracket 42. The lift cylinder 451 moves the fork 43 vertically by moving the bracket 42 vertically. The bracket 42 and the fork 43 move together vertically. The bracket 42 and the fork 43 move vertically along the mast 41. The tilt cylinder 452 is positioned between the vehicle body 2 and the mast 41. The tilt cylinder 452 tilts the fork 43 in the front-to-back direction by tilting the mast 41 in the front-to-back direction. 【0046】 The travel device 14 moves the forklift 1. The travel device 14 controls the forward movement, braking, and steering of the forklift 1. Forward movement means that the forklift 1 moves forward or backward. Braking means that the forklift 1 slows down or stops. Steering means that the direction of travel of the forklift 1 is changed. The travel device 14 includes a travel motor 141, a brake device (not shown), and a steering cylinder 142. 【0047】 The travel motor 141 generates the driving force to move the forklift 1 forward. The travel motor 141 moves the forklift 1 forward or backward by rotating the front wheels 5F. The travel motor 141 is driven by the hydraulic fluid discharged from the hydraulic pump 12. The front wheels 5F are drive wheels that rotate due to the rotational force generated by the travel motor 141. The brake device brakes the forklift 1. The brake device slows down or stops the forklift 1. 【0048】 The steering cylinder 142 steers the forklift 1. The steering cylinder 142 changes the direction of travel of the forklift 1 by steering the rear wheel 5R. The rear wheel 5R is a steering wheel that is steered by the steering cylinder 142. 【0049】 The control valve unit 13 is positioned between the hydraulic actuators, such as the lift cylinder 451, tilt cylinder 452, side shift cylinder 453, travel motor 141, and steering cylinder 142, and the hydraulic pump 12. The control valve unit 13 includes a travel control valve 131 that controls the flow rate and direction of the hydraulic fluid supplied to the travel motor 141, a steering control valve 132 that controls the flow rate and direction of the hydraulic fluid supplied to the steering cylinder 142, and a work equipment control valve 133 that controls the flow rate and direction of the hydraulic fluid supplied to the lift cylinder 451, tilt cylinder 452, and side shift cylinder 453, respectively. The control valve unit 13 is controlled by a controller 100, which will be described later. 【0050】 The operating device 15 is a device for operating the forklift 1. The operating device 15 is located in the cab 3. The operating device 15 receives operations from the operator to operate the work equipment drive unit 45 and the travel unit 14, and outputs an operation signal corresponding to the operation. The operating device 15 includes, for example, a steering wheel 151, a work equipment lever 152, a forward / reverse lever 153, an accelerator pedal 154, a brake pedal 155, an automatic mode enable switch 156, and an automatic mode start switch 157. 【0051】 In manual mode, the rear wheels 5R are steered by the operator operating the steering wheel 151. In manual mode, the position and posture of the forks 43 are adjusted by the operator operating the work equipment lever 152. The forward / reverse lever 153 is operated by the operator to switch the forklift 1 between forward and reverse. The travel speed of the forklift 1 is adjusted by the operator operating at least one of the accelerator pedal 154 and the brake pedal 155. 【0052】 The automatic mode enable switch 156, when operated by an operator, generates a control command that initiates the process of identifying objects for automatic cargo handling operations. In manual mode, when the automatic mode enable switch 156 is operated, the controller 100 starts the process of identifying objects based on object detection data from the object sensor 7. 【0053】 The automatic mode start switch 157, when operated by the operator, generates a control command to start automatic travel control or automatic work equipment control. After the automatic mode permission switch 156 is operated, the controller 100 transitions the operating mode of the forklift 1 from manual mode to automatic mode when the automatic mode start switch 157 is operated. 【0054】 The output device 16 is located in the cab 3. The output device 16 provides output data to the operator. In this embodiment, the output device 16 includes a display device 161 and an audio output device 162. The display device 161 provides display data to the operator as output data. Examples of the display device 161 include a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). The audio output device 162 provides audio data to the operator as output data. Examples of the audio output device 162 include a buzzer or a speaker. The output device 16 may also include a lamp. 【0055】 The controller 100 controls the forklift 1. The controller 100 controls the movement of the forklift 1 and at least one of the work equipment 4. As described above, the operating modes of the forklift 1 include a manual mode and an automatic mode. In manual mode, the forklift 1 performs cargo handling operations based on the operator's driving operations. In automatic mode, the forklift 1 automatically performs at least a portion of the cargo handling operations based on object detection data from the object sensor 7. 【0056】 In automatic mode, at least one of the traveling device 14 and the work implement drive device 45 is automatically controlled by the controller 100. In automatic mode, the controller 100 controls at least one of the traveling device 14 and the work implement drive device 45 based on object detection data from the object sensor 7. In the following description, the automatic control of the traveling device 14 in automatic mode will be referred to as "travel automatic control" as appropriate, and the automatic control of the work implement drive device 45 in automatic mode will be referred to as "work implement automatic control" as appropriate. 【0057】 In this embodiment, the automatic driving control includes automatic steering control of the forklift 1. In automatic mode, the steering cylinder 142 is automatically controlled by the controller 100. 【0058】 In this embodiment, the automatic control of the work equipment includes automatic control of the position and orientation of the fork 43. In automatic mode, at least one of the lift cylinder 451, tilt cylinder 452, and side shift cylinder 453 is automatically controlled by the controller 100. 【0059】 The control system 10 includes a vehicle speed sensor 143 for detecting the travel speed of the forklift 1, a steering sensor 144 for detecting the steering angle of the rear wheels 5R, a lift sensor 46 for detecting the vertical position of the forks 43 relative to the vehicle body 2, a tilt sensor 47 for detecting the longitudinal inclination of the forks 43 relative to the vehicle body 2, a side shift sensor 48 for detecting the lateral position of the forks 43 relative to the vehicle body 2, and a work equipment load sensor 49 for detecting the load on the work equipment 4. The work equipment load sensor 49 is, for example, a load measuring device such as a strain gauge or load cell placed on at least a part of the work equipment 4. The load data detected by the work equipment load sensor 49 is output to the controller 100. The load on the work equipment 4 may also be detected using, for example, a hydraulic sensor that detects the pressure of the pressurized oil that drives the lift cylinder 451. In this case, the load on the work equipment 4 changes depending on whether the transported object is supported by the forks 43 or not. The work equipment load sensor 49 detects the change in the load on the work equipment 4. 【0060】 [controller] Figure 8 is a block diagram showing a controller 100 according to an embodiment. The controller 100 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 1003, and an interface 1004 including input / output circuits. The functions of the controller 100 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes the above-mentioned processing according to the program. The computer program may be distributed to the computer system 1000 via a network. 【0061】 As shown in Figure 7, the controller 100 includes a detection data acquisition unit 101, an identification unit 102, a control command receiving unit 103, a determination unit 104, a distance calculation unit 105, a selection unit 106, a route generation unit 107, a position calculation unit 108, a switching unit 109, a travel control unit 110, a work machine control unit 111, an output control unit 112, and a storage unit 113. 【0062】 The storage unit 113 stores object dictionary data for identifying objects, and route data indicating the driving conditions of the forklift 1 in automatic mode. The storage unit 113 stores route data for driving the forklift 1 so as to face the object directly. The route data is predetermined. In this embodiment, the storage unit 113 stores multiple route data. 【0063】 The detection data acquisition unit 101 acquires detection data from the object sensor 7, vehicle speed sensor 143, steering sensor 144, lift sensor 46, tilt sensor 47, side shift sensor 48, and work equipment load sensor 49. 【0064】 The identification unit 102 identifies the object to be used for cargo handling operations from the object detected by the object sensor 7, based on the object detection data from the object sensor 7. The method for identifying the object will be described later. 【0065】 The control command receiving unit 103 receives a control command generated when the automatic mode enable switch 156 is operated. The control command receiving unit 103 receives a control command from the automatic mode enable switch 156 to start the process of identifying the target. The control command receiving unit 103 receives a control command generated when the automatic mode start switch 157 is operated. The control command receiving unit 103 receives a control command from the automatic mode start switch 157 to start automatic travel control or automatic work equipment control. 【0066】 The determination unit 104 determines the target for automatic cargo handling operations based on the control command from the automatic mode start switch 157. 【0067】 The distance calculation unit 105 calculates the distance between the forklift 1 and the object for which the cargo handling operation will be automatically performed, based on the object detection data from the object sensor 7. 【0068】 The selection unit 106 selects one route data from among multiple route data stored in the storage unit 113 based on the distance calculated by the distance calculation unit 105. 【0069】 The route generation unit 107 generates a route based on the route data selected by the selection unit 106. 【0070】 The position calculation unit 108 calculates the azimuth angle of the target for automatic cargo handling operations, based on the object detection data from the object sensor 7, with the object sensor 7 as the reference point. 【0071】 The switching unit 109 switches the object detection data of the object sensor 7 used for object identification based on the azimuth angle of the object calculated by the position calculation unit 108. 【0072】 The switching unit 109 switches between the object detection data of the first forward sensor 7C and the object detection data of the second forward sensor 7D, which are used for object identification, based on the detection data of the work equipment load sensor 49. Based on the detection data of the work equipment load sensor 49, the switching unit 109 can determine whether or not the forks 43 are supporting a load. When the forks 43 are not supporting a load, the switching unit 109 determines the object detection data of the object sensor 7 used for identifying an object in front of the forklift 1 to be the object detection data of the second forward sensor 7D. When the forks 43 are supporting a load, the switching unit 109 determines the object detection data of the object sensor 7 used for identifying an object in front of the forklift 1 to be the object detection data of the first forward sensor 7C. 【0073】 The travel control unit 110 controls the movement of the forklift 1 based on object detection data and path data from the object sensor 7. 【0074】 The work machine control unit 111 controls the work machine 4 based on the object detection data from the object sensor 7. 【0075】 The output control unit 112 causes output data to be output from the output device 16 when the state of at least one of the traveling device 14 and the work machine 4 changes. 【0076】 [Identifying the target] Figure 9 is a schematic diagram showing an example of a method for identifying an object according to this embodiment. The forklift 1 identifies the object and is controlled to automatically face the object directly. 【0077】 In this embodiment, the identification unit 102 identifies an object from among the objects present around the forklift 1 based on object detection data from the 3D sensor 72. In the example shown in Figure 9, the object 50 is a transported object. The transported object shown in Figure 9 is, for example, a box-shaped pallet. (a1) shows a point cloud of object detection data obtained by irradiating the transported object with laser light from the 3D sensor 72. (a2) shows a shaded plane estimated from the point cloud in (a1). The plane is estimated based on the relative positions of each of the multiple detection points defined by the 3D sensor 72 and the surface of the object, as shown by the point cloud. The estimated plane is the plane that the forklift 1 faces directly when the forklift 1 picks up the transported object. (a3) ​​is a view of (a2) with the viewpoint transformed to an up-and-down view (planar view). In (a3), the plane estimated in (a2) is shown by a dashed line. In (a3), the point cloud appears to the left of the plane estimated in (a2). The point cloud enclosed by the ellipse represents the point cloud that passed through the plane estimated in (a2). In other words, the point cloud enclosed by the ellipse is the point cloud that passed through the fork insertion holes provided in the transported object. (a4) is a figure showing the intersection of the estimated plane and the line connecting the point cloud that passed through the plane and the coordinate system reference of the 3D sensor 72. (a5) is a figure showing the point cloud interpolated at the position of the intersection point found in (a4). (a6) is a figure showing the estimated plane converted into a binary image viewed from the front. The area enclosed by the rectangle represents the point cloud interpolated in (a5). The identification unit 102 refers to the target dictionary data stored in the storage unit 113 to determine whether the interpolated point cloud is a feature part indicating a fork insertion hole, and identifies the transported object. 【0078】 For example, in a facility where transported goods are temporarily stored, the goods are placed adjacent to each other. Therefore, it is difficult to identify each transported item as an independent object from the point cloud data obtained by the 3D sensor 72. However, by identifying the fork insertion holes provided on each transported item, it is possible to identify a single transported item from a group of adjacent items. 【0079】 Next, the identification of the storage space by the identification unit 102 will be described. The identification unit 102 identifies an object and identifies a storage space based on a predetermined size of space surrounding the identified object. 【0080】 Figure 10 is a schematic diagram showing the location of the storage space 55 surrounding the object 53 according to the embodiment. The identification unit 102 identifies the reference object 53 from the object detection data from the 3D sensor 72. In the example shown in Figure 10, the reference object 53 is the transported goods. 【0081】 The identification unit 102 searches for a space of a predetermined size surrounding the reference object 53 from the object detection data. The area surrounding the object refers to the positions adjacent to the object. In the example shown in Figure 10, the area surrounding the object 53 is in front of the object 53, behind the object 53, to the right of the object 53, and above the object 53. The space of a predetermined size is a space on which the transported object picked up by the forklift 1 can be placed. The space of a predetermined size is, for example, a space that is larger than or equal to the dimensions of the transported object. 【0082】 The identification unit 102 identifies a space large enough to place the searched transported item as a loading space 55. 【0083】 In this embodiment, the identification unit 102 uses object detection data from the 3D sensor 72 to identify the target, but is not limited to this. For example, in another embodiment, the identification unit 102 may extract features from the image captured by the camera 71 and identify the target from the image based on the extracted features and target dictionary data. The method for identifying the target may be, for example, pattern matching or identification processing based on machine learning. 【0084】 [Control Method] Figure 11 is a schematic diagram showing cargo handling operations according to the embodiment. Figure 12 is a flowchart showing the control method of the forklift 1 according to the embodiment. 【0085】 In the example shown in Figure 11, the object 50 for automating cargo handling operations is the cargo being transported. As shown in Figure 11, multiple objects 50 are placed in predetermined storage locations at the cargo handling site. The multiple objects 50 are arranged in a line at the cargo handling site. The multiple objects 50 are arranged so that their front faces 50F face the travel path 59. The front face 50F of the object 50 is the surface that faces the forklift 1 when the forklift 1 picks up the object 50. A pair of fork insertion holes are provided on the front face 50F of the object 50. In the example shown in Figure 11, the object 50 includes a first object 51 and a second object 52. The first object 51 and the second object 52 are arranged adjacent to each other. The front face 50F of the object 50 includes the front face 51F of object 51 and the front face 52F of object 52. The controller 100 performs automatic travel control and automatic work machine control so that one of the multiple adjacent objects 50 is picked up by the fork 43 of the work machine 4. 【0086】 Forklift 1 moves forward along the travel path 59 located on the front 50F side of the multiple objects 50 in order to pick up one of the multiple objects 50 with its forks 43. Forklift 1 moves straight along the travel path 59 so as to pass the front 50F side of the multiple objects 50 in sequence. 【0087】 The detection range 70A of the left-side sensor 7A is defined as being diagonally in front of the left side of the vehicle body 2. Therefore, when the forklift 1 moves forward in the first direction along the travel path 59, the left-side sensor 7A can detect the object 50 located to the left of the forklift 1. The object detection data from the left-side sensor 7A is transmitted to the controller 100. The detection data acquisition unit 101 acquires the object detection data from the left-side sensor 7A. 【0088】 Until the automatic mode start switch 157 is operated, the forklift 1 moves forward along the travel path 59 in manual mode. The operator operates the steering wheel 151 and accelerator pedal 154 to make the forklift 1 move forward along the travel path 59. To switch the operating mode of the forklift 1 from manual mode to automatic mode, the operator operates the automatic mode permission switch 156 and then the automatic mode start switch 157. 【0089】 When the automatic mode enable switch 156 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode enable switch 156. When the control command receiving unit 103 receives a control command from the automatic mode enable switch 156, the process of searching for the target 50 is started. The identification unit 102 starts searching for the target 50 based on the object detection data from the left-side sensor 7A (step S1). 【0090】 The identification unit 102 identifies each of the objects 50 one by one based on the object detection data from the left-side sensor 7A. The identification unit 102 determines whether or not it has identified one of the multiple objects 50 (step S2). 【0091】 Figure 13 shows an example of display data shown on the display device 161 when the automatic mode enable switch 156 according to the embodiment is operated. The display device 161 displays image data captured by the camera 71. In the example shown in Figure 13, the display device 161 displays image data including a plurality of objects 50. As shown in Figure 13, after the automatic mode enable switch 156 is operated and before the automatic mode start switch 157 is operated, if a first object 51 is identified among the plurality of objects 50, the output control unit 112 causes the display device 161 to display a symbol 36 indicating the identified object 51 along with the image data in which the object 51 was captured. The symbol 36 is displayed superimposed on the position of the object 51 in the image data. In the embodiment, the symbol 36 is a frame image displayed surrounding the object 51. The operator can recognize from the symbol 36 that object 51 has been identified among the plurality of objects 50. Since object 52 is not identified among the plurality of objects 50, the symbol 36 indicating object 52 is not displayed. 【0092】 If it is determined in step S2 that the target 50 has not been identified (step S2: No), the controller 100 returns to the process of step S1. 【0093】 In step S2, if it is determined that one of the multiple targets 50 has been identified (step S2: Yes), the determination unit 104 determines whether the control command receiving unit 103 has received a control command from the automatic mode start switch 157 (step S3). 【0094】 As described above, after the automatic mode permission switch 156 is operated, the automatic mode start switch 157 is operated, causing the operating mode of the forklift 1 to transition from manual mode to automatic mode. When the operator performs the loading operation of the target 51 in automatic mode, the operator operates the automatic mode start switch 157 while the target 51 is identified by the identification unit 102. When the automatic mode start switch 157 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode start switch 157. 【0095】 If, in step S3, it is determined that no control command has been received from the automatic mode start switch 157 (step S3: No), the controller 100 returns to the process of step S1. 【0096】 In step S3, if the identification unit 102 has identified the target 51 and it is determined that a control command from the automatic mode start switch 157 has been received by the control command receiving unit 103 (step S3: Yes), the determination unit 104 determines that the target 50 for which the loading operation will be performed automatically is target 51 (step S4). 【0097】 Upon receiving a control command from the automatic mode start switch 157, the target 51 for which the unloading operation will be performed automatically is determined, and the operating mode of the forklift 1 transitions from manual mode to automatic mode. As the operating mode of the forklift 1 transitions from manual mode to automatic mode, automatic driving control for unloading the target 51 is started. 【0098】 Figure 14 shows an example of display data shown on the display device 161 when the automatic mode start switch 157 according to the embodiment is operated. When the operator performs the loading operation of the target 51 in automatic mode, the operator operates the automatic mode start switch 157 while the symbol 36 indicating the target 51 is displayed. When the automatic mode start switch 157 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode start switch 157. When the control command from the automatic mode start switch 157 is received by the control command receiving unit 103 while the target 51 has been identified by the identification unit 102, the output control unit 112 displays the symbol 37 indicating the target 51 for the loading operation in automatic mode on the display device 161 along with the image data in which the target 51 has been captured. The symbol 37 is displayed so as to be superimposed on the position of the target 51 in the image data. In this embodiment, the symbol 37 is a frame image displayed so as to surround the target 51. The operator can recognize from the symbol 37 that, among a plurality of targets 50, target 51 has been selected as the target for the loading operation in automatic mode. 【0099】 The output control unit 112 causes symbol 36 and symbol 37 to be displayed on the display device 161 in such a way that their display modes differ. The different display modes may be, for example, at least one of the following: color, line type, or line thickness. For example, symbol 36 may be a blue frame image, and symbol 37 may be a red frame image. 【0100】 The output control unit 112 causes the output device 16 to output output data when the control command receiving unit 103 receives a control command from the automatic mode start switch 157. In this embodiment, the output control unit 112 causes the voice output device 162 to output voice data when the control command receiving unit 103 receives a control command from the automatic mode start switch 157. This allows the operator to recognize that the operating mode of the forklift 1 has transitioned from manual mode to automatic mode. The voice data is, for example, a buzzer sound. 【0101】 The output control unit 112 may output output data from the output device 16 when automatic travel control is initiated. This allows the operator to recognize that automatic control of the travel device 14 has started. 【0102】 When the operator performs the loading operation of target 52 in automatic mode, after operating the automatic mode permission switch 156, the operator moves the forklift 1 forward on the travel path 59 in manual mode until target 52 is identified by the identification unit 102. After target 52 is identified and the symbol 36 is displayed superimposed on target 52 in the image data, the operator operates the automatic mode start switch 157. With target 52 identified by the identification unit 102, the automatic mode start switch 157 is operated, and target 52 is determined to be the target 50 for automatic loading operation, and the symbol 37 is displayed superimposed on target 52 in the image data. With target 52 determined for loading operation in automatic mode, the loading operation of target 52 is started based on the automatic mode. 【0103】 After the object 51 to be unloaded is determined, the distance calculation unit 105 calculates the distance D between the forklift 1 and the object 51 based on the object detection data from the left-side sensor 7A (step S5). 【0104】 The distance calculation unit 105 calculates the distance D from the origin of the forklift 1's body coordinate system to the plane of the object 51 estimated by the identification unit 102. More specifically, the distance calculation unit 105 calculates the distance D from the origin of the forklift 1's body coordinate system to the plane of the front 51F of the object 51 in a direction perpendicular to the plane of the front 51F of the object 51 estimated by the identification unit 102. The origin of the forklift 1's body coordinate system is, for example, the intersection of the rotation axis of the front wheel 5F and the axis passing through the widthwise center of the vehicle body 2. In the example shown in Figure 11, the direction parallel to the plane of the front 51F of the object 51 estimated by the identification unit 102 is called the first direction, and the direction perpendicular to the plane of the front 51F of the object 51 estimated by the identification unit 102 is called the second direction. That is, the second direction indicates the direction in which the forklift 1 faces the front of the object 51 in order to pick up the object 51. 【0105】 The selection unit 106 selects one route data from among multiple route data stored in the storage unit 113 based on the distance D calculated by the distance calculation unit 105 in step S5 (step S6). 【0106】 Figure 15 is a schematic diagram showing the relationship between distance D and route data according to the embodiment. The storage unit 113 stores a plurality of route data. Each of the route data includes a target route 60 for the forklift 1 in automatic travel control. The route data defines the travel conditions for driving the forklift 1 toward a second direction. The route data defines the travel conditions for driving the forklift 1 toward a direction perpendicular to the front of the object 51. In the example shown in Figure 15, the target route 60 stored in the storage unit 113 includes a first target route 61 and a second target route 62. 【0107】 The target path 60 is a collection of target positions for the forklift 1 in automatic mode. The target path 60, which includes the target positions of the forklift 1, is defined, for example, in the vehicle coordinate system. 【0108】 The target path 60 includes a starting point 60S where the target path 60 begins, an ending point 60E where the target path 60 ends, a first travel path 60A extending from the starting point 60S, a second travel path 60B extending to the ending point 60E so as to move the forklift 1 in the second direction, and a curved path 60C connecting the first travel path 60A and the second travel path 60B. The first travel path 60A is a path along a clothoid curve whose curvature increases in proportion to the length of the curve from the starting point 60S. The second travel path 60B is a path along a clothoid curve whose curvature increases in proportion to the length of the curve from the ending point 60E. The curved path 60C is an arc-shaped path connecting the end of the first travel path 60A and the front end of the second travel path 60B. The curvature of the first travel path 60A increases from the starting point 60S towards the end of the first travel path 60A. The curvature of the second travel path 60B increases from the end point 60E towards the beginning of the second travel path 60B. The end of the first travel path 60A is connected to the beginning of the curved path 60C. The end of the curved path 60C is connected to the beginning of the second travel path 60B. The curvature of the curved path 60C, the curvature at the end of the first travel path 60A, and the curvature at the beginning of the second travel path 60B are equal. The curvature of the target path 60 changes continuously from the starting point 60S through the end of the first travel path 61A, the curved path 60C, and the beginning of the second travel path 61B to the end point 60E. The target path 60 forms a smoothly curving path. 【0109】 In each of the multiple target paths 60, the distance between the forklift 1 and the target 51 in the second direction is different. In each of the multiple target paths 60, the curvature of the curved path 60C is different. In the example shown in Figure 15, the distance D1 between the forklift 1 and the target 51 in the first target path 61 in the second direction is shorter than the distance D2 between the forklift 1 and the target 51 in the second target path 62 in the second direction. The curvature of the curved path 60C in the first target path 61 is 1 / r 61 This is the curvature of the curved path 60C of the second target path 62, which is 1 / r. 62 It is larger than that. 【0110】 In step S5, the selection unit 106 selects one route data from a plurality of route data stored in the storage unit 113 based on the distance D calculated by the distance calculation unit 105. If the distance D calculated by the distance calculation unit 105 is the same as or approximates the distance D1 between the starting point 60S of the first target route 61 and the target 51, the selection unit 106 selects a first route data that defines the first target route 61 from the plurality of route data stored in the storage unit 113. If the distance D calculated by the distance calculation unit 105 is the same as or approximates the distance D2 between the starting point 60S of the second target route 62 and the target 51, the selection unit 106 selects a second route data that defines the second target route 62 from the plurality of route data stored in the storage unit 113. 【0111】 In the example shown in Figure 15, there are two types of route data, but there may be three types of route data, or any number of types, four or more. 【0112】 The route generation unit 107 generates a route based on the route data selected by the selection unit 106 in step S6 (step S7). 【0113】 The path generation unit 107 determines the position of the reference point 51R of the target 51 in the coordinate system of the forklift 1. The path generation unit 107 positions the target path 60 such that the position of the end point 60E of the target path 60 selected by the selection unit 106 coincides with the position of the reference point 51R of the target 51 in a first direction, and the position of the start point 60S of the target path 60 selected by the selection unit 106 coincides with the position of the origin 1G of the coordinate system of the forklift 1 in a second direction. The path generation unit 107 generates a straight line path 63 connecting the end point 60E of the target path 60 and the reference point 51R of the target 51. In this embodiment, the reference point 51R of the target 51 is the center of the line segment connecting each of the pair of fork insertion holes 54 on the front surface 51F of the target 51. The reference point 51R of the target 51 is determined by the identification unit 102 based on the object detection data of the object sensor 7 when the identification unit 102 identifies the fork insertion hole 54. 【0114】 The travel control unit 110 controls the travel device 14 based on the path generated by the path generation unit 107 in step S7 (step S8). 【0115】 Figure 16 schematically shows a forklift 1 traveling to approach the target 51 based on a generated path 65 according to the embodiment. As shown in Figure 16, the travel control unit 110 controls the travel device 14 to approach the target 51 facing directly, based on the path 65 generated in step S7. The travel control unit 110 controls the travel device 14 so that the forklift 1, which is moving in the first direction, turns and moves in the second direction while approaching the target 51. 【0116】 In automatic mode, the steering of the forklift 1 is automatically controlled. The travel control unit 110 controls the steering cylinder 142 so that the forklift 1 travels according to the target path 60 defined by the path data and the straight path 63 generated by the path generation unit 107, based on the detection data of the steering sensor 144. In automatic mode, the forward movement and braking of the forklift 1 are performed by the operator operating the accelerator pedal 154 and brake pedal 155. That is, in automatic travel control, the steering of the forklift 1 is performed automatically based on the target path 60, and the forward movement and braking of the forklift 1 are performed manually based on the operator's driving operations. Note that in automatic mode, the forward movement and braking of the forklift 1 may also be performed automatically. 【0117】 The route data includes the speed limits for the forklift 1 when traveling along the first travel route 60A, the curved route 60C, and the second travel route 60B. The speed limits are predetermined so that the forklift 1 traveling along the target route 60 does not deviate from the target route 60. For example, even if the operator presses the accelerator pedal 154 hard, the travel control unit 110 controls the travel device 14 based on the detection data of the vehicle speed sensor 143 so that the travel speed of the forklift 1 does not exceed the speed limit. 【0118】 The speed limit on curved path 60C is lower than the speed limit on first travel path 60A. The speed limit on second travel path 60B is lower than the speed limit on curved path 60C. In other words, the speed limit decreases as forklift 1 approaches object 51. 【0119】 In this embodiment, the greater the curvature of the curved path 60C, the lower the speed limit. In the example shown in Figure 15, the speed limit for the forklift 1 when traveling along the curved path 60C of the first target path 61 is lower than the speed limit for the forklift 1 when traveling along the curved path 60C of the second target path 62. In other words, the speed limit is set so that the travel speed of the forklift 1 does not increase as the curvature of the curved path 60C increases. 【0120】 When the forklift 1 travels along the target path 60, the position calculation unit 108 calculates the azimuth angle of the target 51 relative to the left-side sensor 7A and the azimuth angle of the target 51 relative to the second-front sensor 7D, based on the object detection data from the left-side sensor 7A and the object detection data from the second-front sensor 7D. (Step S9). 【0121】 Figures 17, 18, and 19 are schematic diagrams showing the state in which the forklift 1 according to the embodiment is approaching the object 51. Figure 17 shows the state in which the forklift 1 is traveling in the first direction. Figure 18 shows the state in which the forklift 1 is turning from the first direction to the second direction. Figure 19 shows the state in which the forklift 1 is traveling in the second direction. 【0122】 As shown in Figures 17, 18, and 19, the position calculation unit 108 calculates a first angle θa as the azimuth angle of the target 51 with respect to the left-side sensor 7A, which is formed by a first direction line LA1 indicating the direction of the left-side sensor 7A and a second direction line LA2 connecting the left-side sensor 7A and the reference point 51R of the target 51. The position calculation unit 108 also calculates a second angle θc as the azimuth angle of the target 51 with respect to the second-front sensor 7D, which is formed by a third direction line LC1 indicating the direction of the second-front sensor 7D and a fourth direction line LC2 connecting the second-front sensor 7D and the reference point 51R of the target 51. 【0123】 The position calculation unit 108 compares the calculated first angle θa with the second angle θc to determine whether the second angle θc is less than or equal to the first angle θa (step S10). 【0124】 In step S10, if it is determined that the second angle θc is greater than the first angle θa (step S10: No), the controller 100 returns to the process in step S9. The identification unit 102 can continue to identify the target 51 based on the object detection data from the left-side sensor 7A. 【0125】 In step S10, if it is determined that the second angle θc is less than or equal to the first angle θa (step S10: Yes), the switching unit 109 switches the object detection data of the object sensor 7 used for identifying the target 51 from the object detection data of the left-side sensor 7A to the object detection data of the second-front sensor 7D (step S11). 【0126】 In this embodiment, when the forklift 1 is traveling along the travel path 59 in the first direction, the relative angle α between the forklift 1 and the object 51 is substantially 90 degrees. As the forklift 1 travels from the first direction to the second direction, the relative angle α between the forklift 1 and the object 51 gradually decreases from 90 degrees. When the forklift 1 is directly facing the front of the object 51, the relative angle α between the forklift 1 and the object 51 is substantially 0 degrees. 【0127】 As shown in Figure 17, when the forklift 1 is traveling in the first direction, the left-side sensor 7A can detect the object 51. That is, when the relative angle α between the forklift 1 and the object 51 is large, the object 51 is within the detection range 70A of the left-side sensor 7A, and therefore the left-side sensor 7A can detect the object 51. 【0128】 As shown in Figure 18, when the forklift 1 turns from the first direction to the second direction, both the left-side sensor 7A and the second-front sensor 7D can detect the object 51. That is, as the relative angle α between the forklift 1 and the object 51 gradually decreases from 90 degrees, the object 51 is within the detection range 70A of the left-side sensor 7A and within the detection range 70D of the second-front sensor 7D, so both the left-side sensor 7A and the second-front sensor 7D can detect the object 51. 【0129】 As shown in Figure 19, when the forklift 1 is traveling in the second direction, the left-side sensor 7A may not be able to detect the object 51. That is, when the relative angle α between the forklift 1 and the object 51 approaches 0 degrees, the object 51 is outside the detection range 70A of the left-side sensor 7A, and therefore the left-side sensor 7A cannot detect the object 51. On the other hand, when the relative angle α between the forklift 1 and the object 51 approaches 0 degrees, the object 51 is within the detection range 70D of the second-front sensor 7D, and therefore the second-front sensor 7D can detect the object 51. 【0130】 Thus, because the object sensor 7 capable of detecting the object 51 changes depending on the relative angle α between the forklift 1 and the object 51, the switching unit 109 switches the object detection data of the object sensor 7 used to identify the object 51 from the object detection data of the left-side sensor 7A to the object detection data of the second-front sensor 7D, based on the determination of the position calculation unit 108. 【0131】 The identification unit 102 identifies the target 51 based on the object detection data from the left-side sensor 7A when the second angle θc is greater than the first angle θa. The identification unit 102 identifies the target 51 based on the object detection data from the second-front sensor 7D when the second angle θc is less than or equal to the first angle θa. As a result, even when the forklift 1 turns, the identification unit 102 can continue to identify the target 51 based on either the detection data from the left-side sensor 7A or the object detection data from the second-front sensor 7D. 【0132】 The identification unit 102 determines whether the forklift 1 is positioned in front of the target 51 based on the object detection data from the second forward sensor 7D. That is, the identification unit 102 determines whether the forklift 1 is facing directly in front of the target 51F based on the object detection data from the second forward sensor 7D (step S12). 【0133】 If, in step S12, it is determined that forklift 1 is not positioned in front of target 51F (step S12: No), the controller 100 returns to the process in step S8. 【0134】 In step S12, if it is determined that forklift 1 is positioned in front of the target 51F (step S12: Yes), the automatic driving control is canceled (step S13). 【0135】 The output control unit 112 outputs output data from the output device 16 when the forklift 1 is positioned in front of the target 51F. In this embodiment, when the output control unit 112 determines, based on the object detection data from the second forward sensor 7D, that the forklift 1 is positioned in front of the target 51F, it outputs a buzzer sound as audio data from the audio output device 162. This allows the operator to recognize that the forklift 1 is facing directly in front of the target 51F. 【0136】 After the automatic travel control is deactivated, the operator operates the automatic mode start switch 157 to start the automatic control of the work implement. The control command receiving unit 103 receives the control command from the automatic mode start switch 157 (step S14). 【0137】 When the control command receiving unit 103 receives a control command from the automatic mode start switch 157, automatic control of the work machine is started. 【0138】 The output control unit 112 causes the output device 16 to output output data when the control command receiving unit 103 receives a control command from the automatic mode start switch 157. In this embodiment, the output control unit 112 causes the audio output device 162 to output a buzzer sound as audio data when the control command receiving unit 103 receives a control command from the automatic mode start switch 157. This allows the operator to recognize that automatic control of the work machine has started. 【0139】 The work implement control unit 111 controls the work implement 4 based on object detection data from the second forward sensor 7D so that the position of the tip of the fork 43 coincides with the position of the pair of fork insertion holes 54. That is, the work implement control unit 111 controls the position and orientation of the fork 43 based on object detection data from the second forward sensor 7D so that the distance between the fork 43 and the pair of fork insertion holes 54 of the target 51 is less than or equal to a predetermined value. The work implement control unit 111 controls at least one of the lift cylinder 451, tilt cylinder 452, and side shift cylinder 453 so that the position of the tip of the fork 43 coincides with the position of the pair of fork insertion holes 54 (step S15). 【0140】 The output control unit 112 outputs output data from the output device 16 when it determines, based on object detection data from the second forward sensor 7D, that the position of the tip of the fork 43 and the positions of the pair of fork insertion holes 54 coincide. In this embodiment, when the distance between the fork 43 and the pair of fork insertion holes 54, which are predetermined parts of the object 51, falls below a predetermined value, the audio output device 162 outputs a buzzer sound as audio data. This allows the operator to recognize that the position of the tip of the fork 43 and the positions of the pair of fork insertion holes 54 coincide. 【0141】 [effect] As described above, the forklift 1 includes an object sensor 7 attached to the forklift 1 for detecting objects, and a controller 100 for controlling the forklift 1. The controller 100 includes an identification unit 102 that identifies an object from the detected objects based on the object detection data from the object sensor 7, a distance calculation unit 105 that calculates the distance D between the forklift 1 and the object 51 based on the object detection data from the object sensor 7, a storage unit 113 that stores multiple path data for driving the forklift 1 so that it faces the object 51 directly, a selection unit 106 that selects one path data from the multiple path data based on the distance D, and a driving control unit 110 that controls the driving of the forklift 1 based on the selected path data. 【0142】 In the above configuration, the forklift 1 can smoothly approach the object 51 for cargo handling based on the route data. Multiple route data are predetermined to correspond to the distance between the forklift 1 and the object 51 in the second direction, so the forklift 1 can smoothly approach the object 51 for cargo handling based on the distance to the object 51 when traveling in the first direction. Multiple route data are stored in the storage unit 113 in advance. By selecting one route data from the multiple route data based on the distance D, the computational load for generating the route data is reduced. The travel control unit 110 can control the travel device 14 with the computational load reduced. 【0143】 The route data includes the target route 60 of forklift 1. The target route 60 includes a starting point 60S where the target route 60 begins, an ending point 60E where the target route 60 ends, a first travel route 60A which follows a clothoid curve whose curvature increases proportionally to the curve length from the starting point 60S, a second travel route 60B which follows a clothoid curve whose curvature increases proportionally to the curve length from the ending point 60E, and a curved route 60C connecting the first travel route 60A and the second travel route 60B. The curvature of the curved route 60C is different for each of the multiple target routes 60. This allows forklift 1 to smoothly approach the object 51 for cargo handling based on its distance from the object 51. 【0144】 The route data includes the speed limits for the forklift 1 when traveling along the first travel route 60A, the curved route 60C, and the second travel route 60B. By controlling the forklift 1 to travel below the speed limit, deviations from the target route 60 are suppressed when the forklift 1 is traveling along the target route 60. 【0145】 The greater the curvature of the curved path 60C, the lower the speed limit. This prevents the forklift 1 traveling along the curved path 60C from deviating from it. On the other hand, the smaller the curvature of the curved path 60C, the higher the speed limit. This allows the forklift 1 traveling along the curved path 60C to travel along it quickly. In other words, it prevents the increase in travel time caused by excessively restricting the vehicle speed. 【0146】 The controller 100 has a work machine control unit 111 that controls the work machine 4 based on object detection data from the object sensor 7. This allows the work machine 4 to be automatically controlled. 【0147】 The forklift 1 includes an automatic mode start switch 157, which is an operating device that generates a control command to start automatic control of the travel device 14 and the work equipment 4, and an output device 16. The controller 100 includes a control command receiving unit 103 that receives control commands, and an output control unit 112 that causes the output device 16 to output output data when the state of at least one of the travel device 14 and the work equipment 4 changes. By outputting output data from the output device 16, the operator can recognize that the state of at least one of the travel device 14 and the work equipment 4 has changed. In this embodiment, when the state of at least one of the travel device 14 and the work equipment 4 changes, a buzzer sound is output as audio data from the audio output device 162. When the forklift 1 is in operation, it may be difficult for the operator to see the display device 161. By outputting a buzzer sound from the audio output device 162, the operator can recognize that the state of at least one of the travel device 14 and the work equipment 4 has changed through hearing. 【0148】 The output control unit 112 outputs output data from the output device 16 at at least one of the following times: when it receives a control command from the automatic mode start switch 157, when automatic control of the travel device 14 is started, when the forklift 1 is started by automatic control, when the forklift 1 is facing the object 51 directly, when the forklift 1 approaches the object 51 to a predetermined distance or less, and when automatic control of the travel device 14 is terminated. This allows the operator to recognize that the state of at least one of the travel device 14 and the work equipment 4 has changed. 【0149】 [Other embodiments] In the above embodiment, an object for automatic cargo handling is positioned to the left of the forklift 1 traveling along the travel path 59 in the first direction, and the left-side sensor 7A detects the object. When the object for automatic cargo handling is positioned to the right of the forklift 1 traveling along the travel path 59 in the first direction, the object is detected by the right-side sensor 7B. The identification unit 102 identifies the object based on the object detection data from the right-side sensor 7B. 【0150】 In the above-described embodiment, the power source 11 of the forklift 1 is an engine, but it is not limited to this. For example, the power source 11 of the forklift 1 may be a battery that supplies electricity. In this case, the travel motor 141 may be an electric motor. Also, the hydraulic pump 12 may be driven by an electric motor. 【0151】 In the above-described embodiment, the automatic mode permission switch 156 and the automatic mode start switch 157 are separate switches, but this is not limited to this. For example, the automatic mode permission switch 156 and the automatic mode start switch 157 may be the same switch. By operating one switch, a control command may be generated to start the process of identifying an object for which cargo handling operations will be performed automatically, and by operating it again, a control command may be generated to start automatic travel control or automatic work equipment control. 【0152】 In the above-described embodiment, the operator riding in the cab 3 is able to operate the forklift 1, but this is not limited to this. For example, the operating device for operating the forklift 1 may be located remotely from the forklift 1, and the forklift 1 may be operated remotely. 【0153】 In the above-described embodiment, the forklift 1 moves forward in manual mode until the automatic mode start switch 157 is operated, but this is not limited to this. For example, the forklift 1 may be equipped with a positioning system for detecting its own position, such as GNSS (Global Navigation Satellite System), and may automatically travel to the target object by referring to map data containing the target's location information and its own position. Also, if the determination unit 104 determines that the target object has been identified by the identification unit 102, it may determine the object for which to perform cargo handling operations automatically. 【0154】 In the above-described embodiment, the forward movement and braking of the forklift 1 during automatic travel control were assumed to be performed manually based on the operator's driving operations, but this is not limited to this. The travel control unit 110 may control the forward movement and braking of the forklift 1. The travel control unit 110 may also control the forward movement and braking of the forklift 1 based on the speed limit of the forklift 1 included in the route data. [Explanation of symbols] 【0155】 1...Forklift (material handling vehicle), 1G...Origin, 2...Body, 3...Cab, 4...Work equipment, 5...Wheels, 5F...Front wheels, 5R...Rear wheels, 6...Counterweight, 7...Object sensor, 7A...Left side sensor, 7B...Right side sensor, 7C...First forward sensor, 7D...Second forward sensor, 8...Fender, 10...Control system, 11...Power source, 12...Hydraulic pump, 13...Control valve unit, 14...Running gear, 15...Operating device, 16...Output device, 36...Symbol, 37...Symbol, 41...Mast, 42...Bracket, 43...Fork, 43A...First fork, 43B...Second fork 45...Work implement drive unit, 46...Lift sensor, 47...Tilt sensor, 48...Side shift sensor, 49...Work implement load sensor, 50...Target, 50F...Front, 51...Target, 51F...Front, 51R...Reference point, 52...Target, 52F...Front, 53...Target, 54...Fork insertion hole, 55...Loading space, 59...Travel path, 60...Target route, 60A...First travel route, 60B...Second travel route, 60C...Curved route, 60E...End point, 60S...Start point, 61...First target route, 62...Second target route, 63...Straight route, 65...Route, 70...Detection range, 70A...Detection range, 70B ...Detection range, 70C...Detection range, 70D...Detection range, 71...Camera, 72...3D sensor, 100...Controller, 101...Detection data acquisition unit, 102...Identification unit, 103...Control command reception unit, 104...Decision unit, 105...Distance calculation unit, 106...Selection unit, 107...Path generation unit, 108...Position calculation unit, 109...Switching unit, 110...Travel control unit, 111...Work equipment control unit, 112...Output control unit, 113...Storage unit, 710...Imaging range, 720...Measurement range, 131...Travel control valve, 132...Steering control valve, 133...Work equipment control valve, 141...Travel motor, 142...Steering 143... Steering cylinder, 144... Vehicle speed sensor, 151... Steering wheel, 152... Work equipment lever, 153... Forward / reverse lever, 154... Accelerator pedal, 155... Brake pedal, 156... Automatic mode enable switch, 157... Automatic mode start switch, 161... Display device, 162... Voice output device, 451... Lift cylinder, 452... Tilt cylinder, 453... Side shift cylinder, 1000... Computer system, 1001... Processor, 1002... Main memory, 1003... Storage, 1004... Interface,LA1…first direction line, LA2…second direction line, LC1…third direction line, LC2…fourth direction line, α…relative angle, θa…first angle, θc…second angle.

Claims

[Claim 1] A system for controlling cargo handling vehicles, An object sensor, which is attached to the aforementioned cargo handling vehicle and detects objects, The system includes a controller for controlling the aforementioned cargo handling vehicle, The aforementioned controller, An identification unit that identifies an object from the object based on the object detection data from the object sensor, A distance calculation unit calculates the distance between the cargo handling vehicle and the object based on the object detection data from the object sensor, A storage unit that stores multiple route data for driving the cargo handling vehicle so that it faces the target directly, A selection unit that selects one route data from the plurality of route data based on the distance, A driving control unit that controls the movement of the cargo handling vehicle based on selected route data, system. [Claim 2] The identification unit estimates the plane of the target, The distance calculation unit calculates the distance between the origin of the vehicle body coordinate system of the cargo handling vehicle and the plane of the target in a direction orthogonal to the plane of the target that has been estimated. The system according to claim 1. [Claim 3] Each of the plurality of route data stored in the storage unit includes a target route, The target path is defined so that the cargo handling vehicle travels in a direction perpendicular to the front of the target. The system according to claim 1. [Claim 4] The target path includes a starting point where the target path begins, an ending point where the target path ends, a first travel path which follows a clothoid curve whose curvature increases in proportion to the length of the curve from the starting point, a second travel path which follows a clothoid curve whose curvature increases in proportion to the length of the curve from the ending point, and a curved path connecting the first travel path and the second travel path. In each of the multiple target paths, the curvature of the curved path is different. The system according to claim 3. [Claim 5] The aforementioned controller, It includes a path generation unit that generates paths, The aforementioned identification unit is Based on the object detection data from the object sensor, the reference point of the target is determined. The aforementioned path generation unit, Determine the position of the reference point of the object in the vehicle body coordinate system of the aforementioned cargo handling vehicle. The target path is arranged such that the end point of the target path coincides with the reference point of the target in a first direction, and the starting point of the target path coincides with the origin of the cargo handling vehicle in a second direction. A straight line path is generated connecting the endpoint of the target path and the reference point of the target. The system according to claim 4. [Claim 6] The route data includes the speed limits for the cargo handling vehicle when traveling along the first route, the second route, and the curved route, The system according to claim 4. [Claim 7] The greater the curvature of the curved path, the lower the speed limit. The system according to claim 6. [Claim 8] An operating device that generates a control command to initiate control of the cargo handling vehicle, It includes an output device, The aforementioned controller, A control command receiving unit that receives the aforementioned control command, The output control unit has an output device that outputs output data when the state of at least one of the running gear and work equipment of the cargo handling vehicle changes. The system according to claim 1. [Claim 9] The output control unit causes the output device to output output data at at least one of the following times: when the control command is received; when the automatic control of the travel device is started; when the cargo handling vehicle starts moving; when the cargo handling vehicle faces the target directly; when the cargo handling vehicle approaches the target to a predetermined distance or less; when the automatic control of the travel device is terminated; when the distance between the forks of the work machine and a predetermined part of the target becomes less than or equal to a predetermined value; and when the automatic control of the work machine is terminated. The system according to claim 8. [Claim 10] A method for controlling a cargo handling vehicle, Multiple route data are stored to drive the cargo handling vehicle so that it faces the target directly. Based on object detection data from object sensors that detect objects, the target is identified from the objects. Based on the object detection data from the object sensor, the distance between the cargo handling vehicle and the object is calculated. Based on the calculated distance, select one route data from the multiple route data, Based on the selected route data, the movement of the cargo handling vehicle is controlled. method.

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