Mobile body, control system, and mobile body control method

Abstract

The present invention improves safety and convenience for a worker during cooperative control between the worker and a mobile body. A mobile body according to the present invention performs cargo handling work, said mobile body comprising: a control unit that performs action control for the cargo handling work; and a communication unit that receives a signal based on the operation of a terminal. The control unit executes a first control for performing movement to a work standby position which is away from a work region of the worker and stopping at the work standby position and a second control for, when a condition including reception of a signal based on an operation of the terminal in a stopped state is satisfied, performing entry from the work standby position into the work region.

Description

MOBILE BODY, CONTROL SYSTEM, AND MOBILE BODY CONTROL METHOD

[0001] The present disclosure relates to a mobile object, a control system, and a method for controlling a mobile object.

[0002] For example, there is known a technology that allows a mobile object such as a forklift to automatically perform cargo handling tasks such as loading and unloading cargo onto a truck, etc. Tasks that cannot be performed by the mobile object alone are performed by a worker. For example, Patent Literature 1 describes a technology that controls an unmanned forklift to cooperate with a truck driver who is a worker.

[0003] Japanese Patent Application Laid-Open No. 2021-195195

[0004] It is desirable to improve the safety and convenience of workers in cooperative control between workers and mobile objects.

[0005] The present disclosure aims to solve the above-mentioned problems and to provide a mobile body, a control system, and a method for controlling a mobile body that can improve the safety and convenience of a worker in cooperative control between the worker and the mobile body.

[0006] The mobile body disclosed herein is a mobile body that performs loading and unloading work, and is equipped with a control unit that controls the operation of the loading and unloading work, and a communication unit that receives signals based on operation of a terminal, and the control unit executes a first control to move to a work standby position away from the worker's work area and stop at the work standby position, and a second control to enter the work area from the work standby position when conditions are met, including receiving a signal based on operation of the terminal while stopped.

[0007] The control system according to the present disclosure comprises a mobile body that performs loading and unloading work and a terminal that accepts operation input, and the mobile body executes a first control of moving to a work standby position away from the work area of ​​a worker involved in the loading and unloading work and stopping at the work standby position, and a second control of entering the work area from the work standby position when conditions are met, including receiving a signal based on an operation on the terminal while the mobile body is stopped.

[0008] The method for controlling a moving body disclosed herein is a method for controlling a moving body performing loading and unloading work, and includes the steps of: executing movement to a work standby position away from a work area of ​​a worker involved in the loading and unloading work and stopping at the work standby position; and executing entry from the work standby position into the work area when conditions are met, including receiving a signal based on operation of a terminal while stopped.

[0009] According to the present disclosure, it is possible to improve the safety and convenience of workers in cooperative control between workers and moving bodies.

[0010] FIG. 1 is a schematic diagram of a control system according to a first embodiment. FIG. 2 is a schematic diagram of a configuration of a mobile body. FIG. 3 is a schematic block diagram of an operation terminal according to an embodiment of the present disclosure. FIG. 4 is a diagram illustrating an example of the operation of a mobile body during loading and unloading work. FIG. 5 is a flowchart illustrating an example of a control method for a mobile body according to an embodiment. FIG. 6 is a flowchart for describing pre-entry side shifting processing. FIG. 7 is a schematic diagram illustrating a work flow when a mobile body is stopped. FIG. 8 is a schematic diagram illustrating an example of a method for acquiring position information of an adjacent obstacle. FIG. 9 is a schematic diagram illustrating an example of side shifting operation before entering a work area. FIG. 10 is a schematic diagram illustrating entry operation into the work area. FIG. 11 is a schematic diagram illustrating operation of post-entry side shifting processing. FIG. 12 is a schematic diagram for describing a proximity detection unit in a mobile body according to a second embodiment. FIG. 13 is a diagram illustrating changes in operation amount and input state in an input unit according to the second embodiment. FIG. 14 is a flowchart for describing a process for determining whether a condition for second control is satisfied according to the second embodiment. FIG. 15 is a schematic diagram for describing a work area according to a third embodiment. Fig. 16 is a schematic diagram of a control system according to a fourth embodiment. Fig. 17 is a schematic diagram showing the flow of a cargo handling operation according to the fourth embodiment. Fig. 18 is a flowchart showing an example of a method for controlling a moving body according to a fifth embodiment.

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

[0012] (First embodiment) (Control system) FIG. 1 is a schematic diagram of a control system according to a first embodiment. As shown in FIG. 1, the control system 1 according to the first embodiment includes a mobile object 10, a terminal 11, and an information processing device 12. The control system 1 is a system that controls the movement of the mobile object 10 belonging to a facility. The facility is, for example, a facility that is subject to logistics management, such as a warehouse. The control system 1 may include a plurality of mobile objects 10. In the control system 1, the mobile object 10 performs cargo handling operations (loading and unloading of luggage P) on a cargo vehicle V (see FIG. 4) such as a truck. In this embodiment, the luggage P is a transport target in which items are loaded on a pallet. The luggage P (see FIG. 4) has holes (openings) formed on the front surface (e.g., the front surface of the pallet) through which the forks 24 (described later) of the mobile object 10 are inserted.

[0013] In the embodiment, the mobile body 10 works cooperatively with a worker H who performs loading and unloading work. That is, the mobile body 10 enters at least a portion of a work area AR, which is the area where the worker H performs work, to perform the loading and unloading work. The work area AR is a predetermined area within a facility or a cargo vehicle V, and is set in advance in the control system 1 as an area where loading and unloading work is performed. The mobile body 10 moves autonomously to perform the loading and unloading work. The mobile body 10 starts and stops operation for part of the loading and unloading work in response to a signal from the terminal 11. The information processing device 12 is connected to the mobile body 10 and the terminal 11 via a network. The information processing device 12 transmits an instruction to the mobile body 10 to switch the control mode of the mobile body 10 in response to a signal from the terminal 11. The information processing device 12 also performs processing to manage the mobile body 10. The information processing device 12 collects information about the mobile body 10 and transmits it to the terminal 11.

[0014] Hereinafter, the X direction refers to a direction along the floor surface (i.e., a horizontal plane) of the facility on which the mobile body 10 moves, and the Y direction refers to a direction along the floor surface that is perpendicular to the X direction. In this embodiment, the Y direction is a direction perpendicular to the X direction. Furthermore, the direction perpendicular to the X direction and the Y direction, more specifically, the direction pointing vertically upward, is referred to as the Z direction. Furthermore, in this embodiment, unless otherwise specified, "position" refers to a position (coordinates) in a coordinate system set on a two-dimensional plane (i.e., a horizontal plane) in the area in which the mobile body 10 travels. Furthermore, unless otherwise specified, "attitude" of the mobile body 10 or the like refers to the orientation of the mobile body 10 or the like in the coordinate system, and refers to the yaw angle (rotation angle) of the mobile body 10.

[0015] (Mobile body) Fig. 2 is a schematic diagram of the configuration of a mobile body. The mobile body 10 is a device that can move automatically and transport a load P. Furthermore, in this embodiment, the mobile body 10 is an unmanned forklift, and more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift).

[0016] As shown in FIG. 2 , the mobile body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, forks 24 (holding units), a sensor 26, a TOF camera 27, and a control unit 28. The straddle legs 21 are a pair of shaft-shaped members provided at one end of the vehicle body 20 in the longitudinal direction and protruding from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. That is, a total of three wheels 20A are provided, but the positions and number of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends in an up-down direction (here, the Z direction) perpendicular to the longitudinal direction. The forks 24 are attached to the mast 22 so as to be able to move up and down (movable in the Z direction). The fork 24 is also movable relative to the mast 22 in the lateral direction of the vehicle body 20 (a direction intersecting the up-down direction and the front-rear direction).

[0017] The mobile body 10 is equipped with a fork 24 as a holding portion for holding luggage P. The fork 24 has a pair of claws 24A, 24B. The claws 24A, 24B extend from the mast 22 toward the front of the vehicle body 20. The claws 24A and 24B are arranged laterally (left-right) of the mast 22, spaced apart at a predetermined distance. In the following, in the fore-and-aft direction, the direction on the mobile body 10 where the fork 24 (claws 24A, 24B) is provided is referred to as the front direction, and the direction on the mobile body 10 where the fork 24 is not provided is referred to as the rear direction. Furthermore, the side of the mast 22 in the extension direction of the claws 24A, 24B is referred to as the base end side, and the side opposite the mast 22 is referred to as the tip end side.

[0018] The mobile body 10 is capable of lifting, reaching, tilting, and side-shifting the forks 24. The lifting operation is an operation of moving the forks 24 up and down along the mast 22. The reaching operation is an operation of moving the forks 24 and the mast 22 back and forth along the straddle legs 21. The tilting operation is an operation of tilting the tip end of the forks 24 so that they face diagonally upward or downward relative to the base end. The side-shifting operation is an operation of moving the forks 24 left and right relative to the mast 22. The mobile body 10 holds the cargo P by inserting the forks 24 into holes in the pallet of the cargo P. The mobile body 10 releases its hold on the cargo P by removing the forks 24 from the holes in the pallet of the cargo P.

[0019] The pair of claws 24A, 24B are equipped with a hold detection sensor 25A such as a limit switch. The hold detection sensor 25A detects contact when the fork 24 (claws 24A, 24B) is inserted into a hole in the cargo P (pallet). The pair of claws 24A, 24B are equipped with a contact detection sensor 25B such as a pressure sensor. The contact detection sensor 25B is provided on the outer surface of each claw 24A, 24B. The contact detection sensor 25B is activated when the fork 24 (claws 24A, 24B) comes into contact with the cargo P or a cushioning material K described below, and detects this contact.

[0020] The sensors 26 detect at least one of the position and orientation of an object present around the vehicle body 20. It can also be said that the sensors 26 detect at least one of the position of an object relative to the mobile body 10 and the orientation of the object relative to the mobile body 10. In this embodiment, the sensors 26 are provided at the front end of each straddle leg 21 and at the rear side of the vehicle body 20. However, the locations at which the sensors 26 are provided are not limited thereto, and the sensors 26 may be provided at any location, and the number of sensors provided may also be arbitrary.

[0021] The sensor 26 is, for example, a sensor that emits laser light. The sensor 26 emits laser light while scanning in one direction (here, the horizontal direction), and detects the position and orientation of an object from the reflected light of the emitted laser light. In other words, the sensor 26 can also be said to be a so-called two-dimensional (2D) LiDAR (Light Detection and Ranging). However, the sensor 26 is not limited to the above and may be a sensor that detects an object by any method, for example, it may be a so-called three-dimensional (3D) LiDAR that scans in multiple directions, or a so-called one-dimensional (1D) LiDAR that does not scan.

[0022] The TOF camera 27 detects images and position information of objects in front of the fork 24. The TOF camera 27 is equipped with a ToF (Time of Flight) distance image sensor as an image sensor. The ToF method is a distance measurement technique that measures the distance to an object by irradiating the object with light from a light source and utilizing the time difference until the reflected light is detected by the image sensor. The TOF camera 27 generates a depth image that measures depth information for each pixel along with the captured image. This makes it possible to obtain the distance to the object captured in the captured image.

[0023] (Control Device of Mobile Body) The control unit 28 controls the operation of the mobile body 10 during loading and unloading work. As shown in FIG.

[0024] The arithmetic device 30 is a computer and includes an arithmetic circuit 31 such as a CPU (Central Processing Unit), a storage unit 32 including a main storage device such as a RAM and a ROM, and an external storage device such as an HDD, and a communication unit 33 such as an antenna or a Wi-Fi module. The arithmetic device 30 can communicate with the information processing device 12 via the communication unit 33. The communication unit 33 receives, for example, a signal based on an operation of the terminal 11 via the information processing device 12. The storage unit 32 is a memory that stores various information such as the contents of calculations by the arithmetic circuit 31 and programs, and includes, for example, a main storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0025] The arithmetic device 30 includes a status management unit 34A, a travel route generation unit 34B, a self-position estimation unit 34C, and a cargo handling processing unit 34D. The arithmetic circuit 31 reads and executes a program from the storage unit 32 to realize the status management unit 34A, the travel route generation unit 34B, the self-position estimation unit 34C, and the cargo handling processing unit 34D and perform their processing. The status management unit 34A, the travel route generation unit 34B, the self-position estimation unit 34C, and the cargo handling processing unit 34D may each be realized by separate hardware.

[0026] The state management unit 34A controls the travel route generation unit 34B, the self-position estimation unit 34C, and the cargo handling processing unit 34D. The state management unit 34A performs a transition process of the control mode of the mobile body 10 based on a control mode instruction received from the information processing device 12. The control mode includes a plurality of modes. The control mode includes at least a travel mode and a cargo handling mode. In the travel mode, the mobile body 10 moves to a target position. In the cargo handling mode, operations are performed such as holding the luggage P with the forks 24 and releasing the hold of the luggage P to place the luggage P at the target position. The state management unit 34A transmits information such as the travel route, the self-position of the mobile body 10 (i.e., the current position), and the current control mode to the information processing device 12 via the communication unit 33.

[0027] The travel route generation unit 34B generates a route (travel path) along which the mobile object 10 travels. The travel route generation unit 34B generates a travel route for the mobile object 10 between a pick-up position and an unloading position for the luggage P. The travel route generation unit 34B generates a travel route including a time-series position and attitude (orientation) of the mobile object 10 by combining movements that the mobile object 10 can perform, such as forward / backward movement, lateral movement, and pivot turn. The travel route generation unit 34B outputs information about the generated travel route to the controller 40.

[0028] The self-position estimation unit 34C estimates the position and attitude (orientation) of the mobile object 10. The mobile object 10 detects environmental information around the mobile object 10 based on detection results from the sensor 26, the TOF camera 27, and the like. The self-position estimation unit 34C estimates the position and attitude of the mobile object 10 from the environmental information, for example, by SLAM (Simultaneous Localization and Mapping). The estimated position and attitude information of the mobile object 10 is used for processing by the travel path generation unit 34B and the loading / unloading processing unit 34D. Note that detection objects (not shown) may be provided at various locations in the facility, and the self-position estimation unit 34C may acquire information on the position and attitude of the mobile object 10 based on detection of the detection objects by the sensor 26.

[0029] The cargo handling processing unit 34D controls the cargo handling operation. The cargo handling processing unit 34D generates operation instructions for the forks 24 and outputs them to the controller 40. The cargo handling processing unit 34D acquires position information of the luggage P based on the detection results of the position of the luggage P by the TOF camera 27. The cargo handling processing unit 34D calculates the position of the hole in the luggage P, the loading position, the loading position, and the amount of movement of the claws 24A, 24B of the forks 24 relative to the position of an obstacle. The cargo handling processing unit 34D outputs cargo handling operation instructions to the controller 40 based on this information.

[0030] The controller 40 controls the driving of the body 20 (drive section of the wheels 20A) and the forks 24 (drive section of the forks 24 and the mast 22) of the mobile body 10 based on control instructions from the computing device 30. The controller 40 controls the detection of various sensors. The controller 40 includes a travel control section 41, a detection control section 42, and a cargo handling control section 43.

[0031] The travel control unit 41 controls the travel of the mobile body 10 according to the travel route output from the travel route generation unit 34B. The travel control unit 41 controls the drive of the body 20 (drive unit of the wheels 20A) of the mobile body 10 based on the travel route and the self-position of the mobile body 10, thereby moving the mobile body 10 along the travel route.

[0032] The detection control unit 42 controls detection by various sensors including the holding detection sensor 25A, the contact detection sensor 25B, the sensor 26, the TOF camera 27, etc. The detection control unit 42 outputs the detection results of the various sensors to the computing device 30. The detection control unit 42 may execute at least a part of the process of self-position estimation, such as creating an environmental map based on the detection results of the various sensors.

[0033] The cargo handling control unit 43 controls the cargo handling operation of the mobile body 10 in accordance with the cargo handling operation instructions output from the cargo handling processing unit 34D. That is, the cargo handling control unit 43 controls the drive mechanisms of the forks 24 and mast 22, which are holders for the luggage P. Based on the cargo handling operation instructions, the cargo handling control unit 43 controls various operations, such as an operation to adjust the position of the forks 24 in accordance with holes or obstacles in the luggage P, an operation to insert the claws 24A, 24B of the forks 24 into holes in the luggage P, and an operation to lift or set down the luggage P.

[0034] (Information Processing Device) The information processing device 12 is a device provided in a facility and processes information related to the movement of the mobile object 10. The information processing device 12 is, for example, a Fleet Control System (FCS), but is not limited to this and may be any device that processes information related to the movement of the mobile object 10. The information processing device 12 is a computer. The information processing device 12 includes an arithmetic circuit such as a CPU (Central Processing Unit), a storage unit including a RAM, a main storage unit such as a ROM, and an external storage unit such as an HDD, and a communication unit such as an antenna and a Wi-Fi module.

[0035] (Terminal) The terminal 11 is a computer capable of communicating with the information processing device 12. The terminal 11 accepts operational input from workers involved in loading and unloading work or operators who perform monitoring (assistance) work for loading and unloading work. The terminal 11 transmits a signal according to the operational input to the information processing device 12. A signal based on an operation on the terminal 11 is transmitted to the mobile body 10 via the information processing device 12. Note that the terminal 11 may be capable of communicating directly with the mobile body 10 without going through the information processing device 12. The terminal 11 may be capable of communicating with the information processing device 12 via another computer such as a so-called ground system.

[0036] In the first embodiment, the terminal 11 includes an operation terminal 11A operated by a worker H who performs loading and unloading work. The worker H here is a worker who transports the baggage P to be loaded onto the cargo vehicle V, such as a driver of the cargo vehicle V. The operation terminal 11A is a portable terminal that can be carried by the worker H to engage in loading and unloading work. The portable terminal may be a tablet-type information processing terminal, a smartphone, or the like. The portable terminal may be a dedicated terminal used for the control system 1.

[0037] FIG. 3 is a schematic block diagram of an operation terminal 11A according to an embodiment of the present disclosure. As shown in FIG. 3, the operation terminal 11A includes a control unit 50, an input unit 52, a display unit 54, a storage unit 56, and a communication unit 58. The input unit 52 is a device that accepts user operations, such as a touch panel or a key switch (push button). The display unit 54 is a display device that displays images. The storage unit 56 is a memory that stores the calculation contents and program information of the control unit 50, and includes at least one of, for example, a RAM, a main storage device such as a ROM, and an external storage device such as a HDD. The communication unit 58 is a communication module that communicates with an external device, such as an antenna. The operation terminal 11A communicates with the information processing device 12 via wireless communication, but any communication method may be used.

[0038] The control unit 50 includes a calculation device, i.e., a CPU. The control unit 50 includes an information acquisition unit 51A, an enable signal generation unit 51B, and a pause signal generation unit 51C. The control unit 50 realizes the information acquisition unit 51A, the enable signal generation unit 51B, and the pause signal generation unit 51C by reading and executing a program (software) from the storage unit 56. Note that the control unit 50 may realize these processes using hardware.

[0039] The information acquisition unit 51A acquires information transmitted from the information processing device 12 via the communication unit 33. The information acquisition unit 51A causes the display unit 54 to display information on the state of the mobile object 10, for example.

[0040] The permission signal generation unit 51B generates and outputs a signal based on an operation on the operation terminal 11A (input unit 52). Specifically, when the mobile object 10 completes a first control (described later) and transitions to a stopped state, the permission signal generation unit 51B generates a permission signal 60 for executing a second control subsequent to the first control based on the operation on the input unit 52. The permission signal generation unit 51B transmits the generated permission signal 60 to the information processing device 12 via the communication unit 33. The control unit 28 of the mobile object 10 cancels the stopped state and executes the second control when conditions are met, including the reception of a signal (permission signal 60) based on the operation of the terminal 11 while the mobile object 10 is in a stopped state. The conditions will be described later.

[0041] The pause signal generation unit 51C generates and outputs a signal based on an operation on the operation terminal 11A (input unit 52). The pause signal generation unit 51C generates a signal different from the permission signal 60 generated by the permission signal generation unit 51B. Specifically, the pause signal generation unit 51C generates a pause signal for pausing the operation being executed regardless of the status of the mobile object 10 (execution status of the first control and the second control) based on the operation on the input unit 52. The pause signal generation unit 51C transmits the generated pause signal to the information processing device 12 via the communication unit 33. When the control unit 28 of the mobile object 10 receives the pause signal, it executes a third control for pausing the operation being executed regardless of the first control and the second control.

[0042] The pause signal generation unit 51C generates a release signal for releasing the paused state of the mobile body 10 based on an operation on the input unit 52. The pause signal generation unit 51C transmits the generated release signal to the information processing device 12 via the communication unit 33. When the control unit 28 of the mobile body 10 receives the release signal during a pause due to the third control, the control unit 28 releases the pause due to the third control and resumes the operation control that was being executed before the pause.

[0043] (Processing of the Control Unit) Next, a description will be given of the processing of the control unit 28 when the mobile body 10 performs a loading and unloading operation in cooperation with the worker H. Fig. 4 is a diagram showing an example of the operation of the mobile body 10 during loading and unloading operation.

[0044] During loading and unloading work, at least a portion of the mobile body 10 enters a work area AR where a worker H will perform work. The control unit 28 according to the embodiment executes a first control for moving the mobile body 10 to a work standby position 92 away from the work area AR of the worker H and stopping at the work standby position 92, and a second control for entering the work area AR from the work standby position 92 when conditions are met, including receiving a signal based on operation of the terminal 11 (i.e., permission signal 60) while the mobile body 10 is stopped. The first control is a control for moving to a position immediately before entering the work area AR, and the second control is a control for performing an operation involving entering the work area AR.

[0045] The work area AR is an area where the worker H performs loading and unloading work. The work area AR is set in advance. In the example shown in FIG. 4 , the work area AR is an area on the loading platform V1 of the cargo vehicle V on which the cargo P is placed. For example, when loading cargo, the mobile body 10 holds the cargo P from the equipment's loading position 90 and loads the cargo P to a target position 93 on the loading platform V1 of the cargo vehicle V. The worker H performs work such as placing cushioning material around the cargo P on the loading platform V1, which is the work area AR.

[0046] In the embodiment, the first control is a travel mode control for moving the mobile body 10. The second control is a cargo handling mode control for placing or picking up luggage P.

[0047] In the example of Fig. 4, the control unit 28 performs first control in which the mobile body 10 transitions to a traveling mode after picking up the baggage P from the unloading position 90 and moves along the traveling path to a work standby position 92. Because the work standby position 92 is away from the work area AR of the worker H, there is no interference between the mobile body 10 and the worker H who is working. When the mobile body 10 reaches the work standby position 92, the control unit 28 transitions to a load-handling mode and the mobile body 10 enters a stopped state. In other words, when the mobile body 10 is stopped, the processing of the first control, which is the traveling mode, has been completed, and the mobile body 10 is in a state of waiting for the start of operation of the second control, which is the load-handling mode.

[0048] When a condition is satisfied in the stopped state, the control unit 28 initiates second control, which is a loading mode. That is, the control unit 28 controls the mobile body 10 so that the mobile body 10 enters the working area AR, approaches the target position 93, and performs a predetermined loading operation. The predetermined loading operation is a loading operation in which the mobile body 10 places the held cargo P at the target position 93, or a loading operation in which the mobile body 10 holds and picks up the cargo P placed at the target position. In the second control, at least a portion of the mobile body 10 enters the working area AR. "Inside the working area AR" means the inside of the range defined as the working area AR in the XY coordinate system, and in this case, it is inside the outer periphery of the loading platform V1 of the cargo vehicle V. The inside of the working area AR also includes the space above the floor of the loading platform V1.

[0049] If at least a part of the mobile object 10 enters the working area AR, there is a possibility that the mobile object 10 may interfere with (come into contact with) the worker H who is working or an obstacle in the working area AR. Therefore, in the embodiment, the control unit 28 starts the second control, which involves the mobile object 10 entering the working area AR under the second control, only when a condition is satisfied in the stopped state.

[0050] The condition for starting the second control includes at least receiving a signal (permission signal 60) based on the operation of the terminal 11. In the first embodiment, the permission signal 60 is transmitted in response to an operation input to the operation terminal 11A operated by the worker H. In other words, the permission signal 60 is transmitted based on an intentional operation by the worker H performing work within the work area AR. The worker H completes work that needs to be performed in advance in the work area AR, such as installing buffer materials, and then retreats to a position away from the target position 93 (or outside the work area AR) so as not to interfere with the mobile body 10, and then performs the operation input to transmit the permission signal 60. This prevents interference between the mobile body 10 entering the work area AR and the worker H when the mobile body 10 is operating in the second control (load handling mode).

[0051] The conditions for starting the second control may include other conditions in addition to receiving the permission signal 60 .

[0052] Fig. 5 is a flowchart showing an example of a control method for the vehicle 10 according to this embodiment. Fig. 6 is a flowchart for explaining the pre-entry side shift process. The control method for the vehicle 10 is realized by the processing of the control unit 28. For ease of explanation, the flowchart shown in Fig. 5 starts with the vehicle 10 holding a package P at the package receiving position 90.

[0053] First, the travel path generating unit 34B generates a path (travel path) along which the mobile object 10 will travel (step S1). As shown in FIG. 4A, the travel path generating unit 34B generates a path that starts from the object receiving position 90, passes through a lift control position 91, and reaches a work standby position 92. The lift control position 91 is set between the object receiving position 90 and the work standby position 92. The lift control position 91 is a position where control of the up and down positions of the forks 24, which are the holding units, etc., begins. The travel path may be generated before the object P is held.

[0054] After the travel path is generated, the status management unit 34A transitions the control mode to the travel mode (step S2). That is, the control unit 28 starts the first control. The travel path generation unit 34B performs travel control to move from the current position to the work standby position 92 (step S3). As shown in FIGS. 4B, 4C, and 4D, the mobile body 10 moves to the work standby position 92 via the lift control position 91. During the movement from the lift control position 91 to the work standby position 92 shown in FIG. 4C, the cargo handling processing unit 34D controls the adjustment of the height of the forks 24 to match the height of the loading platform V1 where the target position 93 is located. The work standby position 92 is set at a position where the mobile body 10 directly faces the target position 93 in the work area AR. The work standby position 92 is a position where the mobile body 10 starts an approach operation to the target position 93. At the work standby position 92, the mobile body 10 and the load P held by the mobile body 10 are located outside the work area AR.

[0055] When the mobile object 10 reaches the work standby position 92, the status management unit 34A transitions the control mode to the loading / unloading mode and causes the travel path generation unit 34B to stop the mobile object 10 (step S4). As a result, the mobile object 10 comes to a halt at the work standby position 92 shown in FIG. 4(D).

[0056] The state management unit 34A determines whether or not the conditions for starting the second control are satisfied, including the reception of the permission signal 60 (step S5). If the conditions are not satisfied (step S5; NO), the state management unit 34A repeats the determination of step S5 and waits.

[0057] In this state, the worker H performs the work that should be performed before placing the package P. FIG. 7 is a schematic diagram showing the flow of work when the mobile body 10 is stopped. As shown in FIG. 7A, the mobile body 10 is stopped at the work standby position 92. As shown in FIG. 7B, the worker H performs work such as placing cushioning material K around another package XP adjacent to the target position 93 in the work area AR on the loading platform V1. As shown in FIG. 7C, after completing the necessary work, the worker H moves to a retreat position away from the target position 93 and performs an operation input to transmit a permission signal 60 from the input unit 52 of the operation terminal 11A. The permission signal generation unit 51B generates the permission signal 60 based on the operation and transmits the permission signal 60 via the communication unit 33. When the information processing device 12 receives the permission signal 60 transmitted from the operation terminal 11A, it transmits the permission signal 60 to the mobile body 10. The signal transmitted by the information processing device 12 does not have to be the permission signal 60 itself, but may be, for example, an instruction to proceed with the second control (cargo handling mode) processing. The mobile body 10 only needs to be able to receive a signal based on the operation of the terminal 11 (operation terminal 11A).

[0058] When the state management unit 34A of the moving body 10 receives the permission signal 60 and the conditions are satisfied (step S5; YES), the moving body 10 cancels the stopped state and proceeds with the second control. Note that in Fig. 5, the moving body 10 transitions to the cargo handling mode before entering the stopped state, but the moving body 10 may transition to the cargo handling mode (start the second control) after the conditions are satisfied.

[0059] The second control includes entering the work area AR (step S8), loading or unloading within the work area AR (step S10), and leaving the work area AR (step S11). In the first embodiment, the control unit 28 performs the series of operations of the second control without operation by the worker H. That is, after the mobile body 10 receives a signal (permission signal) based on operation of the terminal 11 (operation terminal 11A) and the conditions are satisfied, the mobile body 10 automatically performs the series of operations of entering the work area AR, loading or unloading, and leaving the work area AR without operation of the operation terminal 11A by the worker H. Therefore, the worker H can cause the mobile body 10 to perform the series of operations simply by operating the permission signal 60 to release the stopped state, without any other operation.

[0060] The second control will be described in detail below. First, the cargo handling processing unit 34D acquires position information of an obstacle adjacent to the target position 93 (step S6). FIG. 8 is a schematic diagram showing an example of a method for acquiring position information of an adjacent obstacle. While facing the target position 93, the cargo handling processing unit 34D detects an obstacle adjacent to the left or right of the target position 93 based on the detection results of the TOF camera 27. The obstacle may be another adjacent piece of luggage XP shown in FIG. 8(A) or the wall V2 of the loading platform V1 of the cargo vehicle V shown in FIG. 8(B). In this way, the cargo handling processing unit 34D acquires position information of an obstacle present in the working area AR.

[0061] Next, as shown in Figure 5, the cargo handling processing unit 34D performs a pre-entry side shifting process based on the position information of the adjacent obstacle (step S7). The pre-entry side shifting process is performed in combination with a post-entry side shifting process (see step S9), which will be described later. The side shifting is an operation of displacing the forks 24, which are the holding parts for the cargo P, in the left-right direction.

[0062] FIG. 9 is a schematic diagram showing an example of a side shift operation before entering the work area. FIG. 9 shows an example in which another piece of luggage XP and buffer material K exist as obstacles B adjacent to the target position 93. In the pre-entry side shifting process, the cargo handling processing unit 34D displaces the holding unit (forks 24) in advance in a direction away from the obstacle B before entering the work area AR. In FIG. 9 , the other piece of luggage XP and buffer material K are located to the left of the target position 93, so the direction away from the obstacle B is to the right. The cargo handling processing unit 34D controls the forks 24 to side shift to the right of the target position 93. The pre-entry side shifting process positions the forks 24 and piece of luggage P in advance in a position away from the obstacles B existing around the target position 93, thereby preventing them from coming into contact with other piece of luggage XP or getting the buffer material K caught in them when approaching the target position 93.

[0063] Specifically, as shown in Fig. 6, the cargo handling processing unit 34D determines whether interference with an adjacent obstacle can be avoided simply by side-shifting the forks 24, based on the position information of the adjacent obstacle (step S21). The upper limit of the displacement amount of the side-shift of the forks 24 is known. The cargo handling processing unit 34D determines that interference can be avoided if a gap of at least a threshold can be formed between the obstacle and the forks 24 by side-shifting the forks 24. If the cargo handling processing unit 34D determines that interference can be avoided (step S21; YES), it determines whether there is another load at the target position 93, based on the position information of the adjacent obstacle (step S22).

[0064] If there is another package at the target position 93 (step S22; YES), the package handling processing unit 34D executes error processing (step S23) because it is impossible to load the package P. For example, the control unit 28 transmits error information to the operation terminal 11A via the information processing device 12.

[0065] If there is no other load at the target position 93 (step S22; NO), the cargo handling processing unit 34D displaces the forks 24 relative to the target position 93 in a direction away from the adjacent obstacle (step S24). That is, the cargo handling processing unit 34D side-shifts the forks 24 by an amount sufficient to make the lateral distance between the forks 24 and the obstacle equal to or greater than a threshold. In this manner, the cargo handling processing unit 34D determines the displacement amount of the holding unit (forks 24) by calculating the displacement amount based on the position information of the obstacle. Note that the displacement amount of the forks 24 may be a preset fixed value. That is, the cargo handling processing unit 34D may determine the displacement amount of the holding unit (forks 24) by acquiring a displacement amount preset in the memory unit 32.

[0066] On the other hand, in step S21, the cargo handling processing unit 34D determines that interference cannot be avoided if a gap of at least the threshold cannot be formed between the obstacle and the forks 24 solely by side shifting the forks 24. If the cargo handling processing unit 34D determines that interference cannot be avoided solely by side shifting (step S21; NO), it determines whether or not this is the first time that it has been determined that interference cannot be avoided (impossible determination) (step S25).

[0067] On the other hand, if it is the first time that interference cannot be avoided (step S25; YES), the cargo handling processing unit 34D corrects the amount of lateral displacement by using a shifting technique other than side shifting, such as pivot turning or lateral movement, or both (step S26). In other words, the cargo handling processing unit 34D adjusts the lateral distance from the obstacle by moving the entire mobile body 10 away from the obstacle.

[0068] After step S26, the cargo handling processing unit 34D again performs the determination in step S21. If interference cannot be avoided even after adjusting the position of the movable body 10 in step S26 (step S21; NO), the cargo handling processing unit 34D determines that the impossibility determination in step S25 is not the first time (step S25; NO), and performs error processing (step S27). In this way, the control unit 28 performs side shifting of the forks 24 in advance before the movable body 10 enters the working area AR so as not to interfere with an adjacent obstacle.

[0069] As shown in FIG. 5, after the pre-entry side shift process, the cargo handling processing section 34D causes the forks 24, which are the holding sections, to enter the working area AR (step S8).

[0070] FIG. 10 is a schematic diagram showing the operation of entering the work area AR. As shown in FIG. 10A, the cargo handling processing unit 34D detects the outer periphery of the loading platform V1 based on the detection results of the TOF camera 27. Next, as shown in FIG. 10B, the cargo handling processing unit 34D adjusts the distance as necessary by reaching out the forks 24 and moving the mobile body 10 closer to the loading platform V1 based on the position information of the outer periphery of the loading platform V1. The cargo handling processing unit 34D tilts up the forks 24 to raise their tips, and then enters the forks 24 into the work area AR from the outer periphery of the loading platform V1. As a result, the cargo handling processing unit 34D positions the forks 24 holding the load P above the target position 93 while maintaining the side-shifted state. Therefore, the load P and the forks 24 are positioned within the work area AR.

[0071] 5, the cargo handling processing unit 34D then executes a post-entry side shift process (step S9). The post-entry side shift process is a control process for displacing the holding unit (forks 24) in a direction toward an adjacent obstacle after entering the working area AR.

[0072] FIG. 11 is a schematic diagram illustrating the operation of the post-entry side shifting process. As shown in FIG. 11A , before the start of the post-entry side shifting process, the luggage P and the forks 24 are positioned above the target position 93 within the working area AR, side-shifted away from the target position 93 and away from the adjacent obstacle. In this state, the cargo handling processing unit 34D displaces the forks 24 in the direction opposite to the direction of displacement in the pre-entry side shifting process, i.e., in the direction toward the adjacent obstacle. The cargo handling processing unit 34D displaces the forks 24 until the luggage P being held contacts the buffer material K (or the wall V2 of the loading platform V1). When the luggage P contacts the buffer material K or the like during the side shifting, a reaction force in the lateral direction is transmitted to the forks 24 via the pallet of the luggage P, and this reaction force is detected by the contact detection sensor 25B. Based on the detection result of the contact detection sensor 25B, the cargo handling processing unit 34D stops the side shifting with the luggage P in contact with the buffer material K (or the wall of the loading platform V1). As a result, the buffer material K is sandwiched and fixed between the luggage P held by the forks 24 and the other luggage XP. Alternatively, the luggage P held by the forks 24 is positioned so as to come into contact with the wall portion V2 of the loading platform V1.

[0073] 5, the cargo handling processing unit 34D releases its hold on the cargo P (step S10). That is, the cargo handling processing unit 34D loads the cargo P by placing it on the loading platform V1. The cargo handling processing unit 34D tilts down and lifts down the forks 24. That is, while the inclination angle of the tips of the forks 24 approaches horizontal, the forks 24 are lowered from above the target position 93, and the pallet of the cargo P is placed on the floor surface of the loading platform V1.

[0074] After placing the luggage P, the cargo handling processing unit 34D leaves the working area AR (step S11). The cargo handling processing unit 34D moves the mobile body 10 in a direction away from the loading platform V1 while reaching in the forks 24. The forks 24 are pulled out of the holes in the pallet of the luggage P, thereby releasing the hold on the luggage P. The cargo handling processing unit 34D moves the forks 24 to a position away from the working area AR, thereby causing the entire mobile body 10 to leave the working area AR. This ends the second control. This also completes one loading operation (for one luggage P).

[0075] 5 and 6, the worker H can operate the operation terminal 11A to transmit a pause signal from the operation terminal 11A. For example, if the worker H realizes that he or she has forgotten to install the buffer material K after performing the operation to transmit the permission signal 60, the worker H transmits the pause signal. As described above, when the control unit 28 receives the pause signal, the control unit 28 executes the third control to pause the operation being performed regardless of the first control and the second control. This allows the worker H to perform his or her own work while the operation of the mobile body 10 is paused.

[0076] After the worker H has finished his work and retreated, he can operate the operation terminal 11A to transmit a release signal from the operation terminal 11A. Upon receiving the release signal, the control unit 28 releases the third control and resumes the operation control that was being executed before the temporary suspension.

[0077] As described above, the mobile body 10 according to this embodiment enters the work area AR from the work standby position 92 when certain conditions are met, including the reception of a signal (permission signal 60) based on the operation of the terminal 11 while the mobile body 10 is stopped, so safe cooperative work becomes possible simply by the worker H retreating to a position where he or she will not interfere with the mobile body 10 and then transmitting a signal. Therefore, cooperative control between the worker H and the mobile body 10 can improve the safety and convenience of the worker H.

[0078] In this embodiment, the work area AR is an area on the loading platform V1 on which luggage P is placed in the cargo vehicle V, so that when worker H works on the loading platform V1 while loading and unloading luggage onto the loading platform V1 using the mobile body 10, the safety and convenience of worker H can be improved.

[0079] In this embodiment, the control unit 28 performs a series of second control operations, including entering the work area AR, loading or unloading within the work area AR, and leaving the work area AR, without any operation by the worker H. This eliminates the need for the worker H to remotely control the mobile body 10 in real time while checking the position of the mobile body 10. This reduces the workload of the worker H and improves convenience. Furthermore, since the need for remote control is eliminated, the worker H does not need to be skilled in remotely controlling the mobile body 10, which has the effect of facilitating collaborative work and making it easier to secure workers H.

[0080] In this embodiment, the control unit 28 performs a pre-entry side shift process and a post-entry side shift process in the second control, so that the buffer material K is not moved when loading or unloading the mobile body 10, which would require the worker H to perform a corresponding operation. As a result, the convenience of the mobile body 10 is improved.

[0081] In this embodiment, in the pre-entry side shift processing, the control unit 28 determines the displacement amount of the holding portion (fork 24) by calculating the displacement amount based on the position information of the obstacle or by obtaining a preset displacement amount, thereby further improving convenience for the worker H.

[0082] In this embodiment, when the control unit 28 receives a pause signal, it executes the third control to pause the operation being performed regardless of the first control or the second control, so that the pause signal can pause the operation of the mobile object 10 and allow the worker H to interrupt the work. As a result, cooperative work can be performed efficiently.

[0083] Second Embodiment Next, a second embodiment will be described. In addition to the features of the first embodiment, the second embodiment further includes features that improve the safety of the worker H and the convenience of the moving body 10. In the second embodiment, parts that are common to the first embodiment are assigned the same reference numerals, and descriptions thereof will be omitted.

[0084] FIG. 12 is a schematic diagram illustrating a proximity detector in a mobile object according to the second embodiment. The mobile object 10 according to the second embodiment includes a proximity detector 101 that detects the approach of a worker H. The proximity detector 101 detects the worker H within a predetermined detection range and outputs a detection signal to the control unit 28. The configuration of the proximity detector 101 is not particularly limited. In this embodiment, the proximity detector 101 detects the wireless tag 102 carried by the worker H within the detection range through wireless communication with the wireless tag 102. The proximity detector 101 transmits an identification signal and receives a response signal transmitted from the wireless tag 102 in response to the reception of the identification signal. The proximity detector 101 detects the presence of the wireless tag 102 (the worker H carrying the wireless tag 102) within the detection range based on the reception of the response signal. The detection range is determined by the reachable distance of the identification signal and the response signal. The detection range can be set as short as possible within a range that is considered to prevent contact between the mobile object 10 and the worker H. The approach detection unit 101 may identify the worker H using a distance measurement sensor such as a stereo camera or a time-of-flight camera.

[0085] In the second embodiment, the conditions for starting the second control include receiving a signal (permission signal 60) based on the operation of the terminal 11 in a stopped state, and also including a state in which the approach detection unit 101 is not detecting the worker H. The control unit 28 performs the second control of entering the working area AR on the condition that the permission signal 60 is received in a stopped state and a detection signal is not being output from the approach detection unit 101. Even if the control unit 28 receives the permission signal 60 in a stopped state, the control unit 28 does not start the second control because the conditions for starting the second control are not satisfied while the detection signal is being output from the approach detection unit 101.

[0086] 13 is a diagram illustrating changes in the amount of operation and the input state in the input unit according to the second embodiment. Fig. 13 shows a graph in which the vertical axis represents the input state (ON or OFF state) of the input unit 52, and the horizontal axis represents the amount of operation input to the input unit 52. The input unit 52 according to the second embodiment outputs a signal to the permission signal generation unit 51B when it receives an operation within an operation reception range 110 that is lower than the upper limit value of the amount of operation.

[0087] In one example, the input unit 52 includes a three-position enable switch. The three-position enable switch is turned on when the amount of operation of the switch (e.g., the amount of depression of a push button) is within the range of the lower threshold TL and the upper threshold TH of the operation acceptance range 110. The three-position enable switch is turned off when the amount of operation is less than the lower threshold TL or greater than the upper threshold TH. Therefore, when the operator H presses the switch to its limit, the input unit 52 does not accept the operation input and does not output a signal to the permission signal generation unit 51B. As a result, the permission signal 60 is not transmitted from the operation terminal 11A. To transmit the permission signal 60, the operator H needs to adjust the amount of operation so that it falls within the operation acceptance range 110. This prevents the permission signal 60 from being transmitted if the operator H unintentionally operates the input unit 52.

[0088] The function of accepting operations in the operation acceptance range 110 in the input unit 52 may be realized by a mechanical switch which is a three-position enable switch, or may be realized by a combination of a touch panel (or stylus device) having an input pressure detection function and software processing which determines the input based on the detected pressure.

[0089] FIG. 14 is a flowchart illustrating the process of determining whether the condition for the second control according to the second embodiment is satisfied.

[0090] In the second embodiment, the control unit 28 proceeds with the second control process while the conditions are satisfied, and stops the second control process when at least some of the conditions are no longer satisfied. That is, the control unit 28 proceeds with the second control process only while the conditions are satisfied. In the second embodiment, the conditions for the second control are conditions for starting the second control and conditions for progressing the second control process. Therefore, in order to execute the second control operation with the mobile body 10, the worker H needs to continuously transmit the permission signal 60 from the operation terminal 11A. When the transmission of the permission signal 60 is stopped, the conditions are no longer satisfied, and the second control process is stopped.

[0091] Specifically, the state management unit 34A of the control unit 28 determines whether the conditions for the second control are satisfied (step S31). In this case, the state management unit 34A determines that the conditions for the second control are satisfied if all of the condition elements constituting the conditions for the second control are simultaneously satisfied. The state management unit 34A determines that the conditions for the second control are not satisfied if one or more of the condition elements constituting the conditions for the second control are not satisfied. For example, assume that the conditions for the second control include two condition elements: that the permission signal 60 is received and that a detection signal is not output from the approach detection unit 101. The state management unit 34A determines that the conditions for the second control are satisfied if the two condition elements are simultaneously satisfied at the time of determination, and determines that the conditions for the second control are not satisfied if either of the two condition elements is not satisfied.

[0092] If the state management unit 34A determines that the conditions for the second control are satisfied (step S31; YES), it proceeds with the second control process (step S32).If the state management unit 34A determines that the conditions for the second control are not satisfied (step S31; NO), it stops the second control process (step S33).

[0093] After step S32 or step S33, the state management unit 34A returns the process to step S31 and loops it. Therefore, the state management unit 34A constantly determines whether the conditions for the second control are satisfied, and proceeds with the second control process only when it determines that the conditions for the second control are satisfied.

[0094] This allows the worker H to stop the operation of the moving body 10 within the working area AR (the second control processing) simply by stopping the operation to send the permission signal 60 from the operating terminal 11A.

[0095] As described above, in the mobile body 10 according to this embodiment, the control unit 28 allows the second control process to proceed while the conditions are satisfied, and stops the second control process when at least some of the conditions are no longer satisfied, so that the work of the mobile body 10 proceeds only while the worker H is intentionally transmitting a signal. As a result, the safety of the worker H can be further improved.

[0096] In the mobile body 10 according to this embodiment, the condition for the second control includes a state in which the approach detection unit 101 has not detected the worker H, and therefore, the second control process is not performed while the approach detection unit 101 detects the approach of the worker H. This further improves the safety of the worker H.

[0097] Third Embodiment Next, a third embodiment will be described. In the third embodiment, an example will be described in which the work area AR of the worker H is other than the loading platform V1 of the cargo vehicle V. In the third embodiment, parts that are common to the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0098] 15 is a schematic diagram for explaining a work area according to the third embodiment. In the third embodiment, the work area AR is a bed-adjacent area below the bed V1 on which cargo P is placed in a cargo vehicle V. The bed-adjacent area is an area adjacent to the bed V1 and extends along the outer periphery of the bed V1. A worker H performs work such as installing buffer material K on the bed V1 from the bed-adjacent area below the bed V1. Therefore, in the third embodiment, the bed-adjacent area adjacent to the bed V1 is preset as the work area AR.

[0099] In this example, the work standby position 92 is the same position as the lift control position 91 shown in Fig. 4. The work standby position 92 is outside the area adjacent to the loading platform, which is the work area AR.

[0100] As shown in FIG. 15A, the mobile body 10 holds a load P at a loading position 90. As shown in FIG. 15B, the mobile body 10 moves to a work standby position 92 in a travel mode, which is the first control, and enters a stopped state. As shown in FIG. 15C, the worker H completes work in the work area AR, moves to a retreat position away from the target position 93, and then performs an operation input to send a permission signal 60 from the input unit 52 of the operation terminal 11A. When the permission signal 60 is received and the conditions are met, the status management unit 34A of the mobile body 10 cancels the stopped state and proceeds with the second control. The mobile body 10 moves from the work standby position 92 to an approach position 95 directly opposite the target position 93. This allows the mobile body 10 to enter the work area AR. Then, as shown in FIG. 15D, the mobile body 10 moves the forks 24 from the approach position 95 to the target position 93 to load the load.

[0101] As described above, in this embodiment, the work area AR is the area adjacent to the loading platform V1 below the loading platform V1 on which the luggage P is placed in the cargo vehicle V, so that when the worker H works under the loading platform V1 while using the mobile body 10 to load or unload luggage P onto or from the loading platform V1, the safety and convenience of the worker H can be improved.

[0102] (Fourth embodiment) Next, a fourth embodiment will be described. In the fourth embodiment, an example will be described in which the terminal 11 includes a work monitoring terminal 11B operated by an operator. In the fourth embodiment, parts having the same configuration as the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0103] 16 is a schematic diagram of a control system 1 according to a fourth embodiment. The control system 1 includes a mobile object 10, a terminal 11, and an information processing device 12. In the fourth embodiment, the terminal 11 includes an operation terminal 11A operated by a worker H and a work monitoring terminal 11B operated by an operator OP.

[0104] The operator OP is engaged in the task of monitoring work at the logistics center. The operator OP operates the work monitoring terminal 11B to monitor the inside of the facility. The work monitoring terminal 11B is a computer such as a personal computer. The work monitoring terminal 11B includes a control unit that performs calculation processing, a storage unit that records information, a display unit that displays information, an input unit that accepts operations, and a communication unit that communicates with other devices. The control unit includes a processor such as a CPU. The storage unit is a memory that stores the calculation contents of the control unit and program information, and includes at least one of, for example, a RAM, a main storage unit such as a ROM, and an external storage unit such as an HDD. The input unit is a device that accepts user operations, such as a mouse and keyboard, or a touch panel. The display unit is a display device that displays images. The communication unit is a communication module that communicates with external devices, such as an antenna.

[0105] The work monitoring terminal 11B acquires monitoring data of the equipment through communication with the information processing device 12. The monitoring data may include, for example, video data captured by a camera 111 installed at a predetermined position on the equipment, video data captured by a camera or the like installed on the mobile body 10, detection result data from a sensor, video data captured by a camera or the like installed on the operation terminal 11A, etc. The operator displays the monitoring data on the display unit of the work monitoring terminal 11B and monitors the work status.

[0106] As described above, when conditions are satisfied, including the receipt of a signal based on the operation of the terminal 11 while the moving body 10 is stopped, the control unit 28 of the moving body 10 performs the second control of entering the work area AR from the work standby position 92. In the fourth embodiment, the signal based on the operation of the terminal 11 includes a signal transmitted in response to an operation input to the work monitoring terminal 11B operated by the operator.

[0107] For this reason, in the fourth embodiment, the condition for the second control includes receiving a signal transmitted in response to an operation input to the work monitoring terminal 11B while the mobile body 10 is stopped. The work monitoring terminal 11B generates a permission signal 60 in response to the operation input by the operator OP and transmits it to the information processing device 12. Upon receiving the permission signal 60 transmitted from the work monitoring terminal 11B, the information processing device 12 transmits the permission signal 60 to the mobile body 10. The signal transmitted by the information processing device 12 does not have to be the permission signal 60 itself, and may be, for example, an instruction to proceed with the processing of the loading / unloading mode. It is sufficient for the mobile body 10 to be able to receive a signal based on the operation of the terminal 11 (work monitoring terminal 11B).

[0108] FIG. 17 is a schematic diagram showing the flow of cargo handling operations according to the fourth embodiment.

[0109] 17A, the moving body 10 holding the baggage P moves to the work standby position 92 by the first control (traveling mode). The control unit 28 of the moving body 10 is brought to a stopped state at the work standby position 92.

[0110] As shown in Fig. 17(B), while the moving body 10 is stopped, the worker H performs work such as placing cushioning material K in the work area AR. As shown in Fig. 17(C), the worker H completes the work that should be performed before placing the luggage P, and then moves to a retreat position away from the target position 93. Then, at the retreat position, the worker H operates, for example, the operation terminal 11A to request the operator OP to send a permission signal 60. The request sent from the operation terminal 11A is sent to the work monitoring terminal 11B via, for example, the information processing device 12, and the request to send the permission signal 60 is made known to the operator OP.

[0111] As shown in FIG. 17(D), upon receiving a request to transmit the permission signal 60, the operator OP operates the work monitoring terminal 11B to acquire monitoring data from the information processing device 12 and confirm the status of the worker H in the work area AR. In response to the operator OP's operation, the work monitoring terminal 11B acquires the monitoring data from the information processing device 12 and displays it on a display unit. The operator OP confirms, for example, from an image captured by the facility camera 111, that the worker H is sufficiently far from the target position 93, which is the position where the package P will be placed by the mobile object 10. For example, the operator OP may instruct the worker H to photograph the work area AR using the operation terminal 11A, and confirm, from the monitoring data obtained by the operation terminal 11A, that the worker H is sufficiently far from the target position 93. As shown in FIG. 17(E), upon confirming that the worker H is far from the target position 93, the operator OP inputs an operation to the work monitoring terminal 11B to transmit the permission signal 60 for the second control. In response to an operation by the operator OP, the work monitoring terminal 11B transmits a permission signal 60 for the second control to the information processing device 12 via its communication unit. When the information processing device 12 receives the permission signal 60 for the second control from the work monitoring terminal 11B, it transmits the permission signal 60 to the mobile body 10. As a result, the control unit 28 of the mobile body 10 receives the permission signal 60 transmitted in response to an operation input to the work monitoring terminal 11B operated by the operator.

[0112] 17(F), the control unit 28 of the mobile object 10 determines whether the conditions for the second control are satisfied while the mobile object 10 is stopped. When the conditions, including the reception of the permission signal 60, are satisfied, the control unit 28 releases the stopped state and executes entry into the work area AR from the work standby position 92. As a result, the mobile object 10 automatically performs a series of operations, including entering the work area AR, placing the package P at the target position 93, and retreating from the work area AR.

[0113] As described above, in this embodiment, the signal based on the operation of the terminal 11 includes a signal transmitted in response to an operation input to the work monitoring terminal 11B operated by the operator, so that the operator performing remote monitoring can operate the work monitoring terminal 11B to instruct the mobile body 10 to start the second control. Therefore, the safety of the worker H can be increased while the convenience of the mobile body 10 can be improved.

[0114] Furthermore, in the fourth embodiment, the operator OP does not need to constantly monitor the status of the cargo handling work, but only needs to check the monitoring data and operate to send the permission signal 60 when requested by the worker H. Therefore, the operator OP can be in charge of multiple cargo handling works in parallel, which is efficient.

[0115] In the present disclosure, the signal based on the operation of the terminal 11 may include a signal transmitted in response to both an operation input to the operation terminal 11A operated by the worker H and an operation input to the work monitoring terminal 11B operated by the operator. That is, while the worker H has moved to the evacuation position, the worker H operates the operation terminal 11A to cause the operation terminal 11A to transmit a permission signal 60. The permission signal 60 is transmitted to the mobile body 10 and the work monitoring terminal 11B via the information processing device 12. When the work monitoring terminal 11B receives the permission signal 60 from the operation terminal 11A, the operator OP displays monitoring data on the work monitoring terminal 11B to check the status of the worker H and causes the work monitoring terminal 11B to transmit the permission signal 60. The control unit 28 of the mobile body 10 starts a second control for entering the work area AR when a condition is satisfied, including both the reception of the permission signal 60 from the operation terminal 11A and the reception of the permission signal 60 from the work monitoring terminal 11B. In this case, both the worker H and the operator OP can doubly confirm that there is no possibility that the moving body 10 will interfere with the worker H, thereby further improving the safety of the worker H.

[0116] Fifth Embodiment Next, a fifth embodiment will be described. In the fifth embodiment, a case where unloading of cargo from a freight vehicle V is described. In the fifth embodiment, parts having the same configuration as the first embodiment are assigned the same reference numerals, and description thereof will be omitted.

[0117] Fig. 18 is a flowchart showing an example of a control method for the mobile body 10 according to the fifth embodiment. The control method for the mobile body 10 is realized by processing by the control unit 28. In Fig. 18, the mobile body 10 moves to the work standby position 92 without holding any load P on the forks 24 serving as holding units, and when the second control is initiated, it performs an operation of holding the load P located at the target position 93 on the loading platform V1 of the freight vehicle V and carrying it out of the loading platform V1.

[0118] The control unit 28 generates a travel path (step S1) and transitions the control mode to a travel mode (step S2). The control unit 28 performs travel control to move from the current position to the work standby position 92 (step S3). The control unit 28 also performs control to adjust the height of the forks 24 to match the height of the loading platform V1, which is the target position 93. When the mobile unit 10 reaches the work standby position 92, the control unit 28 transitions the control mode to a loading mode and stops the mobile unit 10 (step S4). This brings the mobile unit 10 to a stopped state.

[0119] While the moving body 10 is stopped, the worker H performs work such as removing in advance buffer material K around the target position that would interfere with the work of the moving body 10. When the necessary work is completed, the worker H operates the operation terminal 11A. The operation terminal 11A transmits a permission signal 60 to the information processing device 12 in response to the operation input of the worker H. Upon receiving the permission signal 60, the information processing device 12 transmits the permission signal 60 to the moving body 10.

[0120] The control unit 28 determines whether or not the conditions for starting the second control are satisfied, including the reception of the permission signal 60 (step S5). If the conditions are not satisfied (step S5; NO), the control unit 28 repeats the determination of step S5 and waits.

[0121] When the control unit 28 receives the permission signal 60 and the conditions are satisfied (step S5; YES), the control unit 28 cancels the stopped state and proceeds with the second control.

[0122] The control unit 28 acquires the position information of the luggage P at the target position 93 (step S41). The cargo handling processing unit 34D acquires the position information of the luggage P at the target position 93 based on the detection result of the TOF camera 27 while facing the target position 93.

[0123] Based on the acquired position information of the luggage P, the cargo handling processing unit 34D causes the forks 24, which are the holding units, to enter the work area AR (step S42). The cargo handling processing unit 34D inserts the tips of the forks 24 into the holes in the pallet and confirms that the forks 24 have been properly inserted into the holes in the pallet based on the detection results of the holding detection sensor 25A and the contact detection sensor 25B. The cargo handling processing unit 34D lifts up the forks 24 to raise the luggage P and hold the luggage P on the forks 24 (step S43). While keeping the luggage P elevated above the floor of the loading platform V1, which is the work area AR, the cargo handling processing unit 34D reaches in the forks 24 and moves the mobile body 10 away from the loading platform V1. The cargo handling processing unit 34D moves the forks 24 to a position away from the work area AR, thereby causing the entire mobile body 10 to leave the work area AR (step S44). This ends the second control.

[0124] Thereafter, the control unit 28 performs a process of placing the luggage P (step S45). Although details are omitted, the control unit 28 transitions to a traveling mode, moves to an unloading position within the facility, and operates the forks 24 to place the luggage P that it is holding. This completes one unloading operation (for one luggage P).

[0125] In this way, in the present disclosure, not only can cargo P be loaded onto cargo vehicles V, but cargo P can also be unloaded from cargo vehicles V.

[0126] (Effect) The mobile body 10 according to the first aspect of the present disclosure is a mobile body 10 that performs loading and unloading work, and includes a control unit 28 that controls a preset loading and unloading operation, and a communication unit 33 that receives a signal based on the operation of the terminal 11, and the control unit 28 executes a first control of moving the mobile body 10 to a work standby position 92 away from the work area AR of the worker H and stopping at the work standby position 92, and a second control of entering the work area AR from the work standby position 92 when conditions are met, including receiving a signal based on the operation of the terminal 11 while the mobile body 10 is stopped. According to the present disclosure, when the mobile body 10 is stopped at the work standby position 92 away from the work area AR of the worker H and enters the work area AR, it is at least necessary to input an operation to the terminal 11 and send a signal. This allows worker H to retreat to a position where he does not interfere with the mobile body 10 performing loading and unloading work, and then simply transmit a signal, enabling safe cooperative work, thereby improving the safety of worker H and the convenience of the mobile body 10 in cooperative control between worker H and the mobile body 10.

[0127] A mobile body 10 according to a second aspect of the present disclosure is the mobile body 10 according to the first aspect, and the work area AR is an area on a loading platform V1 on which luggage P is placed in a freight vehicle V. According to the present disclosure, when a worker H works on the loading platform V1 and the mobile body 10 is used to load and unload luggage P onto the loading platform V1, the safety of the worker H and the convenience of the mobile body 10 can be improved.

[0128] A mobile body 10 according to a third aspect of the present disclosure is the mobile body 10 according to the first or second aspect, in which the work area AR is an area adjacent to the loading platform below the loading platform V1 on which the luggage P is placed in the cargo vehicle V. According to the present disclosure, when a worker H performs work under the loading platform V1 while using the mobile body 10 to load or unload luggage P onto or from the loading platform V1, the safety of the worker H and the convenience of the mobile body 10 can be improved.

[0129] A mobile body 10 according to a fourth aspect of the present disclosure is the mobile body 10 according to any one of the first to third aspects, wherein the second control includes entering the work area AR, loading or unloading within the work area AR, and leaving the work area AR, and the control unit 28 performs the series of operations of the second control without operation by the worker H. According to the present disclosure, by simply transmitting a signal based on an operation to the terminal 11, the mobile body 10 can be caused to execute the series of operations of entering the work area AR, loading or unloading, and leaving the work area AR. For example, when loading or unloading, the worker H does not need to remotely control the mobile body 10 in real time while checking the position of the mobile body 10. This reduces the workload of the worker H and improves the convenience of the mobile body 10. Furthermore, since remote control is not required, the worker H does not need to be skilled in remotely controlling the mobile body 10, which results in effects such as facilitating collaborative work and facilitating work.

[0130] A mobile body 10 according to a fifth aspect of the present disclosure is the mobile body 10 according to any one of the first to fourth aspects, further including a holding unit (in the embodiment, forks 24) for holding luggage P. In the second control, the control unit 28 acquires position information of an obstacle present in the working area AR, displaces the forks 24 away from the obstacle, enters the working area AR, and, after entering the working area AR, controls the forks 24 to displace toward the obstacle. According to the present disclosure, the possibility of contact with obstacles (other luggage XP or cushioning material K) when loading or unloading luggage using the mobile body 10 can be effectively reduced. As a result, the cushioning material K is not displaced when loading or unloading luggage using the mobile body 10, which would require the worker H to perform a corresponding operation, thereby improving the convenience of the mobile body 10.

[0131] A mobile body 10 according to a sixth aspect of the present disclosure is the mobile body 10 according to the fifth aspect, wherein the control unit 28 calculates the amount of displacement based on position information of an obstacle or acquires a preset amount of displacement to determine the amount of displacement of the forks 24. According to the present disclosure, the amount of displacement of the forks 24 is determined automatically without the operator H having to input the amount of displacement, further improving convenience for the operator H.

[0132] A mobile body 10 according to a seventh aspect of the present disclosure is the mobile body 10 according to any one of the first to sixth aspects, wherein the control unit 28, upon receiving a pause signal, executes a third control that pauses the ongoing operation regardless of the first control and the second control. According to the present disclosure, for example, if the worker H recognizes the need for some work after the mobile body 10 has started to enter the work area AR, the pause signal can be used to pause the operation of the mobile body 10, allowing the worker H to interrupt the work. This allows for efficient collaborative work.

[0133] A mobile body 10 according to an eighth aspect of the present disclosure is the mobile body 10 according to any one of the first to seventh aspects, wherein the control unit 28 proceeds with the second control process while a condition is satisfied, and stops the second control process when at least some of the conditions are no longer satisfied. According to the present disclosure, when a signal based on the operation of the terminal 11 is no longer received, the condition is no longer satisfied and the second control process is stopped. Since the work of the mobile body 10 proceeds only while the worker H is intentionally transmitting a signal, the safety of the worker H can be further improved.

[0134] A mobile body 10 according to a ninth aspect of the present disclosure is the mobile body 10 according to any one of the first to eighth aspects, further including a proximity detection unit 101 that detects the approach of a worker H, and the condition further includes a state in which the proximity detection unit 101 is not detecting the worker H. According to the present disclosure, while the approach of the worker H is detected by the proximity detection unit 101, the condition is not satisfied and the second control process is not performed. Therefore, the safety of the worker H can be further improved.

[0135] A mobile body 10 according to a tenth aspect of the present disclosure is the mobile body 10 according to any one of the first to ninth aspects, wherein the signal based on the operation of the terminal 11 includes a signal transmitted in response to at least one of an operation input to the operation terminal 11A operated by the worker H and an operation input to the work monitoring terminal 11B operated by the operator OP. According to the present disclosure, the start of the second control of the mobile body 10 can be instructed by the worker H operating the operation terminal 11A or by the operator OP performing remote monitoring operating the work monitoring terminal 11B. This can improve the safety of the worker H while improving the convenience of the mobile body 10. If the start of the second control is conditional on the receipt of both the permission signal 60 in response to the operation of the worker H and the permission signal 60 in response to the operation of the operator OP, the safety of the worker H can be further improved.

[0136] A control system according to an eleventh aspect of the present disclosure includes a mobile body 10 performing loading and unloading work and a terminal 11 that accepts operation inputs. The mobile body 10 executes a first control to move to a work standby position 92 away from a work area AR of a worker H involved in the loading and unloading work and stop at the work standby position 92, and a second control to enter the work area AR from the work standby position 92 when conditions are met, including receiving a signal based on an operation on the terminal 11 while the mobile body 10 is stopped. According to the present disclosure, when the mobile body 10 is stopped at the work standby position 92 away from the work area AR of the worker H and enters the work area AR, it is at least necessary to input an operation to the terminal 11 and send a signal. This allows the worker H to retreat to a position where he or she does not interfere with the mobile body 10 performing the loading and unloading work, and then send a signal, enabling safe cooperative work. This improves the safety of the worker H and the convenience of the mobile body 10 in cooperative control between the worker H and the mobile body 10.

[0137] A control method for a mobile body 10 according to a twelfth aspect of the present disclosure is a control method for a mobile body 10 performing loading and unloading work, the control method including the steps of executing movement of the mobile body 10 to a work standby position 92 away from a work area AR of a worker H involved in the loading and unloading work and stopping at the work standby position 92, and executing entry into the work area AR from the work standby position 92 when conditions are satisfied, including receiving a signal based on operation of a terminal 11 while the mobile body 10 is stopped. According to the present disclosure, when the mobile body 10 is stopped at the work standby position 92 away from the work area AR of the worker H and the mobile body 10 enters the work area AR, it is at least necessary to input an operation to the terminal 11 and send a signal. This allows the worker H to perform safe cooperative work simply by retreating to a position where he or she does not interfere with the mobile body 10 performing the loading and unloading work and then sending a signal, thereby improving the safety of the worker H and the convenience of the mobile body 10 in cooperative control between the worker H and the mobile body 10.

[0138] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments.

[0139] For example, in the embodiment, the forks 24 are shown as an example of a holding unit, and the mobile body 10 is a forklift truck, but this is not a limitation. The mobile body is not particularly limited as long as it can perform loading and unloading work. The mobile body may be equipped with, for example, an arm (manipulator) that holds the load P as a holding unit. Therefore, the mobile body is not limited to a forklift truck, and is not particularly limited as long as it can perform loading and unloading work by holding and releasing the load P with the holding unit.

[0140] REFERENCE SIGNS LIST 1 Control system 10 Mobile body 11 Terminal 11A Operation terminal 11B Work monitoring terminal 24 Fork (holding unit) 28 Control unit 33 Communication unit 60 Permission signal (signal based on terminal operation) 92 Work standby position 101 Approach detection unit H Worker P Baggage V Cargo vehicle V1 Loading platform

Claims

1. A mobile body for performing loading and unloading work, comprising: a control unit for controlling the operation of the loading and unloading work; and a communication unit for receiving signals based on the operation of a terminal, wherein the control unit executes a first control for moving to a work standby position away from the worker's work area and stopping at the work standby position; and a second control for entering the work area from the work standby position when conditions are met, including the receipt of a signal based on the operation of the terminal while stopped.

2. The mobile body according to claim 1, wherein the working area is an area on a loading platform of a freight vehicle where luggage is placed.

3. The mobile body according to claim 1, wherein the working area is an area adjacent to a loading platform under a loading platform of a freight vehicle on which cargo is placed.

4. The mobile body described in claim 1, wherein the second control includes entering the work area, loading or unloading operations within the work area, and leaving the work area, and the control unit performs a series of operational controls of the second control without operation by the worker.

5. A mobile body as described in claim 1, further comprising a holding unit for holding luggage, wherein the control unit, in the second control, acquires position information of an obstacle present in the work area, and enters the work area while displacing the holding unit in a direction away from the obstacle, and after entering the work area, controls the holding unit to be displaced in a direction approaching the obstacle.

6. The moving body according to claim 5, wherein the control unit determines the amount of displacement of the holding unit by calculating the amount of displacement based on position information of the obstacle or by acquiring a preset amount of displacement.

7. The moving body according to claim 1, wherein, when the control unit receives a pause signal, it executes a third control that pauses the operation being executed regardless of the first control and the second control.

8. The moving body according to claim 1, wherein the control unit continues the second control process while the condition is satisfied, and stops the second control process when at least a part of the condition is no longer satisfied.

9. The mobile body according to claim 1, further comprising an approach detection unit that detects the approach of a worker, wherein the condition further includes a state in which the approach detection unit is not detecting the worker.

10. The mobile body according to claim 1, wherein the signal based on the operation of the terminal includes a signal transmitted in response to at least one of an operation input to an operation terminal operated by the worker and an operation input to a work monitoring terminal operated by an operator.

11. A control system comprising: a mobile body that performs loading and unloading work; and a terminal that accepts operation input, wherein the mobile body executes a first control of moving to a work standby position away from a work area of ​​a worker involved in the loading and unloading work and stopping at the work standby position; and a second control of entering the work area from the work standby position when conditions are met, including receiving a signal based on an operation to the terminal while the mobile body is stopped.

12. A method for controlling a mobile body that performs loading and unloading work, comprising the steps of: executing movement to a work standby position away from a work area of ​​a worker involved in the loading and unloading work and stopping at the work standby position; and executing entry from the work standby position into the work area when conditions are met, including receiving a signal based on operation of a terminal while stopped.

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