Mobile body, control method, and control program

Abstract

The present invention enables accurate and quick loading and unloading in multi-stage loading. This mobile body comprises: a vehicle body that can travel; a fork that can move in a vertical direction and a horizontal direction with respect to the vehicle body and can hold a pallet; a first sensor that is provided at a position lower than or equal to the height of the pallet and can detect a prescribed two-dimensional range in a horizontal entire circumferential direction of the vehicle body; a first detection information acquisition unit that acquires first detection information including the position and orientation of a first pallet in a first stage disposed in a stacking area, detected by the first sensor when the vehicle body travels toward the stacking area; a loading position setting unit that, on the basis of the first detection information, sets a loading position of a held pallet held by the fork such that the position and orientation of the first pallet coincides with, in plan view, the position and orientation of the held pallet; and an approach route setting unit that sets an approach route in which the vehicle body approaches the stacking area on the basis of the loading position.

Description

MOBILE BODY, CONTROL METHOD, AND CONTROL PROGRAM

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

[0002] Mobile objects such as forklifts that move automatically to transport objects such as luggage are known. Patent Document 1 discloses a method for detecting the front surface of a pallet placed on a floor or the like using a two-dimensional distance measuring device and estimating the position and orientation of the pallet. Patent Document 2 discloses a method for detecting the position of a floor pallet placed on the floor and the position of a fork-mounted pallet held by forks, and guiding the fork-mounted pallet to be positioned directly above the floor pallet.

[0003] JP 2022-040866 A JP 2023-137753 A

[0004] However, the methods of Patent Documents 1 and 2 cannot handle, for example, picking up items from the upper tier of a multi-tiered structure. In addition, because path planning is performed while detecting pallets placed on the floor from a direction almost directly facing the pallets, the approach speed must be significantly reduced, and in a narrow work area, the approach may fail.

[0005] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a mobile body, a control method, and a control program that can approach accurately and quickly when loading or unloading multiple layers of cargo.

[0006] In order to achieve the above-mentioned object, a mobile body according to one aspect of the present disclosure is a mobile body that transports loading objects, including pallets, one by one to a predetermined loading area and stacks them in multiple layers, and is equipped with a drivable vehicle body, forks that are movable up and down and sideways relative to the vehicle body and can hold the pallets, a first sensor that is provided at a position below the height of the pallets and is capable of detecting a predetermined two-dimensional range in the entire horizontal direction around the vehicle body, and a control device, wherein the control device has a first detection information acquisition unit that acquires first detection information including the position and attitude of a first pallet, which is the first tier of pallets to be placed in the loading area, detected by the first sensor when the vehicle body travels towards the loading area, a loading position setting unit that sets the loading position of the holding pallet based on the first detection information so that the position and attitude of the first pallet and the position and attitude of the holding pallet, which is the pallet held by the forks, match in a planar view, and an approach path setting unit that sets an approach path for the vehicle body to approach the loading area based on the loading position.

[0007] Further, a mobile body according to another aspect of the present disclosure is a mobile body that picks up and transports a topmost object among objects to be picked up, including pallets stacked in multiple layers in a predetermined stacking area, and includes a travelable vehicle body, forks that are movable up and down and sideways relative to the vehicle body and are capable of holding the pallet, a first sensor that is provided at a position below the height of the pallet and is capable of detecting a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body, a second sensor that is provided at the base of the fork so as to move integrally with the fork and is capable of detecting a predetermined three-dimensional range on the tip side of the fork, and a control device, and the control device detects the first tier of pallets to be placed in the stacking area, detected by the first sensor when the vehicle body travels toward the stacking area. a loading position setting unit that sets a loading position for holding the second pallet with the forks based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is the pallet of the uppermost loading object, match in a plan view; an approach path setting unit that sets an approach path for the vehicle body to approach the stowage area based on the loading position; a second detection information acquisition unit that acquires second detection information including the position and attitude of the second pallet detected by the second sensor when the vehicle body approaches the stowage area; and a loading position correction unit that corrects the loading position based on the second detection information.

[0008] In order to achieve the above-mentioned object, a control method according to one aspect of the present disclosure is a control method for a mobile body that comprises a drivable vehicle body, forks that can move up and down and sideways relative to the vehicle body and can hold a pallet, and a first sensor that is located at a position below the height of the pallet and can detect a predetermined two-dimensional range in the entire horizontal direction around the vehicle body, and that transports loading objects including the pallets one by one to a predetermined loading area and loads them in multiple tiers, the control method including the steps of: acquiring first detection information that is detected by the first sensor as the vehicle body travels toward the loading area and that includes the position and attitude of a first pallet, which is the first tier of pallets to be placed in the loading area; setting a loading position of the holding pallet based on the first detection information so that the position and attitude of the first pallet and the position and attitude of the holding pallet, which is the pallet held by the forks, match in a planar view; and setting an approach route for the vehicle body to approach the loading area based on the loading position.

[0009] Furthermore, a control method according to another aspect of the present disclosure is a control method for a mobile body that includes a travelable vehicle body, forks that are movable in vertical and horizontal directions relative to the vehicle body and that can hold a pallet, a first sensor that is provided at a position equal to or lower than the height of the pallet and that can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body, and a second sensor that is provided at the base of the fork so as to move integrally with the fork and that can detect a predetermined three-dimensional range on the tip side of the fork, and that picks up and transports a topmost object to be picked up among objects to be picked up, including the pallet, that are stacked in multiple layers in a predetermined stacking area, and the first sensor detects the topmost object to be picked up among objects to be picked up, including the pallet, that are stacked in multiple layers in a predetermined stacking area, and the second sensor detects the topmost object to be picked up among objects to be picked up, including the pallet, that are stacked in the ... The method includes the steps of: acquiring first detection information including the position and attitude of the first pallet, which is the first tier of pallets; setting a loading position for holding the second pallet with the forks based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is the pallet of the top tier of cargo to be loaded, are the same in a planar view; setting an approach route for the vehicle body to approach the loading area based on the loading position; acquiring second detection information including the position and attitude of the second pallet, which is detected by the second sensor when the vehicle body approaches the loading area; and correcting the loading position based on the second detection information.

[0010] In order to achieve the above-mentioned object, a control program according to one aspect of the present disclosure is a control program that causes a computer to execute a control method for a mobile body that comprises a drivable vehicle body, forks that can move up and down and sideways relative to the vehicle body and can hold a pallet, and a first sensor that is located at a position below the height of the pallet and can detect a predetermined two-dimensional range in the entire horizontal direction around the vehicle body, and that transports loading objects including the pallets one by one to a predetermined loading area and loads them in multiple tiers. The control program causes the computer to execute the following steps: acquiring first detection information that is detected by the first sensor as the vehicle body travels toward the loading area and that includes the position and attitude of a first pallet, which is the first tier of pallets to be placed in the loading area; setting a loading position of the holding pallet based on the first detection information so that the position and attitude of the first pallet and the position and attitude of the holding pallet, which is the pallet held by the forks, match in a planar view; and setting an approach route for the vehicle body to approach the loading area based on the loading position.

[0011] Further, a control program according to another aspect of the present disclosure is a control program that causes a computer to execute a control method for a mobile body that includes a travelable vehicle body, forks that are movable in vertical and horizontal directions relative to the vehicle body and that can hold a pallet, a first sensor that is provided at a position equal to or lower than the height of the pallet and that can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body, and a second sensor that is provided at the base of the forks so as to move integrally with the forks and that can detect a predetermined three-dimensional range on the tip side of the forks, and that picks up and transports a topmost object of cargo to be picked up among objects to be picked up, including the pallet, that are stacked in multiple layers in a predetermined loading area, and the control program causes a computer to execute a control method for a mobile body that picks up and transports a topmost object of cargo to be picked up among objects to be picked up, including the pallet, that are stacked in multiple layers in a predetermined loading area, the control program comprising: a first sensor that detects a predetermined two-dimensional range of the topmost object of cargo to be picked up among objects to be picked up, including the pallet, when the vehicle body travels toward the loading area; The computer executes the steps of: acquiring first detection information including the position and attitude of a first pallet, which is the first tier of pallets to be placed in the loading area; setting a loading position for holding the second pallet with the forks based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is the pallet of the topmost object to be loaded, match in a planar view; setting an approach route for the vehicle body to approach the loading area based on the loading position; acquiring second detection information including the position and attitude of the second pallet, which is detected by the second sensor when the vehicle body approaches the loading area; and correcting the loading position based on the second detection information.

[0012] According to the present disclosure, it is possible to obtain the effect of enabling accurate and rapid approach when loading or unloading multiple stacks of cargo.

[0013] FIG. 1 is a schematic diagram of a mobile control system according to this embodiment. FIG. 2 is a schematic diagram of the configuration of a mobile body. FIG. 3 is a schematic block diagram of a management device. FIG. 4 is a schematic block diagram of an information processing device. FIG. 5 is a schematic block diagram of a control device for a mobile body. FIG. 6 is a flowchart showing an example of a loading operation of a mobile body. FIG. 7 is a schematic diagram illustrating the loading operation of a mobile body. FIG. 8 is a schematic diagram illustrating the loading operation of a mobile body. FIG. 9 is a schematic diagram illustrating the loading operation of a mobile body. FIG. 10 is a flowchart showing a modified example of the loading operation of a mobile body. FIG. 11 is a schematic diagram illustrating the loading operation of a mobile body. FIG. 12 is a schematic diagram illustrating the loading operation of a mobile body. FIG. 13 is a schematic diagram illustrating the loading operation of a mobile body. FIG. 14 is a flowchart showing an example of an unloading operation of a mobile body. FIG. 15 is a schematic diagram illustrating the unloading operation of a mobile body. FIG. 16 is a schematic diagram illustrating the unloading operation of a mobile body. FIG. 17 is a schematic diagram illustrating the unloading operation of a mobile body. 18 and 19 are schematic diagrams illustrating the load-receiving operation of a moving object.

[0014] Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the drawings. However, the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, those that are substantially identical, or those that are equivalent. Furthermore, the components in the following embodiments can be variously omitted, replaced, or modified without departing from the gist of the present disclosure. In the following embodiments, components necessary for illustrating the embodiments will be described, and other components will be omitted. The same components will be assigned the same reference numerals, and different components will be assigned different reference numerals.

[0015] [Mobility Control System] FIG. 1 is a schematic diagram of a mobility control system according to the present embodiment. As shown in FIG. 1, the mobility control system 100 according to the present embodiment includes a mobile object 10, a management device 12, and an information processing device 14. The mobility control system 100 is a system that controls the movement of the mobile object 10 belonging to a facility W. The facility W is, for example, a facility that is managed by logistics, such as a warehouse, but may be any facility that operates the mobile object 10. In the mobility control system 100, the mobile object 10 picks up an object P placed within the facility W, transports it, and drops it at another location. In the present embodiment, the object P transported by the mobile object 10 is a transport object in the form of cargo loaded on a pallet. However, the object P is not limited to cargo loaded on a pallet and may be in any form, for example, it may be cargo only without a pallet. Furthermore, the mobile object 10 is not limited to a device that transports the object P, but may be a device that moves within the facility W for any purpose.

[0016] [Working Area] As shown in Fig. 1, a working area AR is set in the facility W. The working area AR is an area where the mobile body 10 of this embodiment performs predetermined work such as loading and unloading work. The working area AR includes a loading and unloading area (first area) AR1 and a transfer area (second area) AR2. Note that the layout of the working area AR described below is an example and may be set as appropriate.

[0017] The loading and unloading area AR1 is an area where the mobile object 10 is deployed. The mobile object 10 is movable within the loading and unloading area AR1. However, the mobile object 10 is not movable throughout the entire loading and unloading area AR1. For example, the mobile object 10 may be unable to move in areas such as the parking area ARV described below or areas where an object P or a fixed object P0 (e.g., a pillar or wall within the facility W) is located. Hereinafter, one direction along the loading and unloading area AR1 is referred to as the X direction, and the direction along the loading and unloading area AR1 that intersects with the X direction is referred to as the Y direction. In this embodiment, the Y direction is a direction perpendicular to the X direction. The X and Y directions may also be referred to as directions along a horizontal plane. In the X and Y directions, the direction of the arrows is referred to as the + direction (or + side), and the direction opposite to the + direction is referred to as the - direction (or - side). Furthermore, the direction perpendicular to the X and Y directions, more specifically, the direction pointing vertically upward, is referred to as the Z direction. In the present embodiment, unless otherwise specified, the term "position" refers to a position (coordinate) in a coordinate system on a two-dimensional plane on the loading / unloading area AR1 (the coordinate system of the loading / unloading area AR1). Furthermore, unless otherwise specified, the term "attitude (orientation)" of the mobile body 10, etc. refers to the orientation of the mobile body 10, etc. in the coordinate system of the loading / unloading area AR1, and refers to the yaw angle (rotation angle) of the mobile body 10 when viewed from the Z direction and the X direction is 0°.

[0018] The loading and unloading area AR1 is a so-called truck berth and includes a parking area ARV where the transport vehicle V is parked and a movement area ARW where the mobile body 10 can move. The parking area ARV is an area for parking the transport vehicle V, and the movement area ARW is an area of ​​the loading and unloading area AR1 other than the parking area ARV. The transport vehicle V is preferably parked in a predetermined position and attitude relative to the parking area ARV. The transport vehicle V is a mobile body that transports a loaded object P between a section inside and outside the facility W. For example, the transport vehicle V arrives at the facility W with the loaded object P and stops in the parking area ARV, and the loaded object P is carried out by the mobile body 10. In addition, the mobile body 10 may load the object P onto the transport vehicle V stopped in the parking area ARV. In this embodiment, the transport vehicle V is a truck, but is not limited thereto and may be any mobile body that transports the object P, such as a railroad car. The transport vehicle V is provided with a storage room Va in which the object P is placed. In the example of FIG. 1 , doors Vb are provided on both sides (+X side and −X side) of the transport vehicle V. With the door Vb open, the mobile body 10 approaches the storage room Va from the opening (here, the side) of the door Vb of the transport vehicle V, thereby picking up the object P in the storage room Va or dropping the object P into the storage room Va. However, the transport vehicle V is not limited to one in which the door Vb is provided on the side, and the door Vb may be provided at any position (for example, the rear) of the transport vehicle V.

[0019] Preferably, a temporary installation area ARF in which the object P is placed is also set in the loading / unloading area AR1. The temporary installation area ARF is set in a portion of the movement area ARW. In the example of this embodiment, the temporary installation area ARF is at the same height as the movement area ARW, so the mobile body 10 can enter the temporary installation area ARF where the object P is not placed. However, this is not limited to this, and the mobile body 10 may not be able to enter the temporary installation area ARF. In the example of FIG. 1, the temporary installation area ARF is set on the X-direction side and the opposite side of the X-direction of the parking area ARV within the loading / unloading area AR1. However, the position and number of temporary installation areas ARF are arbitrary, and they may be set in any position separate from the parking area ARV. In this embodiment, the temporary installation area ARF is a temporary storage location for the object P. That is, for example, depending on the operating status of the equipment W, the object P loaded on the transport vehicle V or the object P to be loaded on the transport vehicle V may be temporarily stored in the temporary installation area ARF. The object P temporarily placed in the temporary placement area ARF is transported to another location (for example, a transport vehicle V or a transfer area AR2 described below). However, the use of the transfer area AR2 is not limited to being a temporary placement area. The transfer area AR2 may be an area for any purpose in which the object P is placed.

[0020] The temporary installation area ARF includes multiple unit areas A. A unit area A is an area set up for placing an object P, and can also be considered an area where an object P may be installed. The shape and size of the unit area A are set in advance. In the example of FIG. 1, the unit area A is rectangular, but the shape and size may be arbitrary. Furthermore, the unit area A is partitioned for each object P, and one object P is placed in each unit area A. Depending on the status of the equipment W, an object P may or may not be placed in each unit area A. In the example of FIG. 1, the unit areas A are set up in a row in the Y direction in the temporary installation area A, but the arrangement and number of unit areas A within the temporary installation area A may be arbitrary.

[0021] 1, there is one loading / unloading area AR1, but multiple loading / unloading areas AR1 may be provided. That is, for example, multiple loading / unloading areas AR1 including a parking area ARV and a transfer area ARW may be set side by side in the X direction. Furthermore, the loading / unloading area AR1 is not limited to being a truck berth including a parking area ARV and a transfer area ARW, and may be any area in which the mobile object 10 moves (works).

[0022] The transfer area AR2 is provided at a position adjacent to the loading / unloading area AR1 (movement area ARW). In the example of Figure 1, the transfer area AR2 is located on the -Y side of the loading / unloading area AR1 (movement area ARW). The transfer area AR2 has a placement area ART. The placement area ART places the object P. The placement area ART includes a plurality of unit areas A. The placement, shape, etc. of the unit areas A are not limited to the example shown in Figure 1.

[0023] In this embodiment, the moving body 10 in the loading / unloading area AR1 can drop objects P into the transfer area AR2 and pick up objects P placed in the transfer area AR2, but preferably does not move within the transfer area AR2. For example, the transfer area AR2 is located further in the Z direction than the loading / unloading area AR1 (i.e., set at a higher position than the loading / unloading area AR1). The moving body 10 is restricted from entering the loading / unloading area AR1 and the transfer area AR2. That is, the moving body 10 is restricted from entering the transfer area AR2 from the loading / unloading area AR1. The moving body 10 in the loading / unloading area AR1 may be able to enter the transfer area AR2, and the moving body 10 in the transfer area AR2 may be able to enter the loading / unloading area AR1. For example, the loading / unloading area AR1 and the transfer area AR2 may be set at the same height. Hereinafter, when distinguishing between the moving body 10 moving in the loading / unloading area AR1 and the moving body 10 moving in the transfer area AR2, the moving body 10 moving in the loading / unloading area AR1 will be referred to as the first moving body 10A, and the moving body 10 moving in the transfer area AR2 will be referred to as the second moving body 10B.

[0024] A relay area AR3 is provided in a portion of the transfer area AR2. The relay area AR3 is an area for placing the object P. In this embodiment, the relay area AR3 transfers the object P between the loading / unloading area AR1 and the transfer area AR2. The relay area AR3 is accessible by the mobile body 10 from both the loading / unloading area AR1 and the transfer area AR2. The relay area AR3 may be provided between the loading / unloading area AR1 and the transfer area AR2, or may be provided in a portion of the loading / unloading area AR1. For example, the mobile body 10 in the loading / unloading area AR1 transports the object P picked up from the transport vehicle V or the temporary setting area ARF into the relay area AR3. Furthermore, the mobile body 10 in the loading / unloading area AR1 picks up the object P transported into the relay area AR3, transports it out of the relay area AR3, and transports it to the transport vehicle V or the temporary setting area ARF. Furthermore, the mobile body 10 in the transfer area AR2 picks up the object P that has been carried into the relay area AR3, carries it out of the relay area AR3, and transports it to the placement area ART. Furthermore, the mobile body 10 in the transfer area AR2 carries the object P that has been placed in the placement area ART into the relay area AR3. The relay area AR3 is not limited to being used for transferring the object P, and may be used for other purposes.

[0025] The relay area AR3 includes a plurality of unit areas A. In the example of FIG. 1 , the unit areas A are arranged in the X direction in the relay area AR3, but the arrangement and number of unit areas A within the relay area AR3 may be arbitrary. The relay area AR3 may be provided at a plurality of locations in the work area AR. For example, if a plurality of loading and unloading areas AR1 are arranged in the X direction, a relay area AR3 may be provided for each of the loading and unloading areas AR1.

[0026] [Waypoints] Waypoints WP are set for each position (coordinate) in the working area AR. The movement route of the mobile body 10 is set to connect the waypoints WP. In other words, the route connecting the waypoints WP that the mobile body 10 is scheduled to pass through becomes the movement route of the mobile body 10. The waypoints WP are set according to the layout of the working area AR. For example, the waypoints WP may be set in a matrix pattern in the area in the working area AR where the mobile body 10 can move. Furthermore, the waypoints WP are set in advance according to the position where the object P will be placed within the parking area ARV. Furthermore, the waypoints WP can be set to correspond to the unit areas A in the working area AR where the object P will be placed. For example, the waypoints WP can be set at positions (coordinates) corresponding to each unit area A.

[0027] [Mobile Body] FIG. 2 is a schematic diagram of the configuration of a mobile body. The mobile body 10 is a device capable of moving automatically. In this embodiment, the mobile body 10 is a non-holonomic system that cannot move sideways. The mobile body 10 may be configured with three-wheel drive and three-wheel steering. The mobile body 10 may also be configured to be able to move sideways or to be able to make pivot turns. In this embodiment, the mobile body 10 is a device capable of transporting a target object. Furthermore, in this embodiment, the mobile body 10 is a forklift, and more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift).

[0028] As shown in FIG. 2 , the mobile body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, sensors 26A and 26B, and a control device 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 fork 24 is attached to the mast 22 movably in the Z direction. The fork 24 can also move (side shift) in the lateral direction of the vehicle body 20 (a direction intersecting the up-down and front-rear directions) relative to the mast 22. 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 apart from each other in the lateral direction of the mast 22. In the following, within the front-rear direction, the direction toward the side of the vehicle 10 where the fork 24 is provided is referred to as the forward direction, and the direction toward the side where the fork 24 is not provided is referred to as the rearward direction.

[0029] The sensors 26A, 26B detect at least one of the position and posture of an object present around the vehicle body 20. It can be said that the sensors 26A, 26B detect at least one of the position of an object relative to the vehicle body 10 and the posture of the object relative to the vehicle body 10. In this embodiment, the sensor 26A is provided at the front tip of each straddle leg 21 and on the rear side of the vehicle body 20. Also, in this embodiment, the sensor 26B is provided at the base of the claws 24A, 24B on the rear side of the fork 24 so as to move vertically and horizontally integrally with the fork 24. However, the positions at which the sensors 26A, 26B are provided are not limited thereto, and the sensors 26A, 26B may be provided at any positions, and the number of sensors provided may also be arbitrary.

[0030] The sensor 26A is, for example, a sensor that emits laser light. The sensor 26A 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 26A can also be called a two-dimensional (2D) LiDAR (Light Detection and Ranging). However, the sensor 26A is not limited to the above and may be a sensor that detects an object by any method. For example, the sensor 26A may be a so-called three-dimensional (3D) LiDAR that scans in multiple directions, a so-called one-dimensional (1D) LiDAR that does not scan, or a camera. Typically, the AGF is equipped with a safety 2D LiDAR that has the function of detecting obstacles in accordance with safety standards. In this embodiment, the sensor 26A may be such a safety 2D LiDAR. The sensor 26A, which serves as a 2D safety LiDAR, is provided at a position below the height of the pallet Pa (see Figure 7, etc., described below), and is attached at each position around the mobile body 10 at that height so as to detect a two-dimensional range in the entire horizontal direction (360°) around the vehicle body 20.

[0031] The sensor 26B is, for example, a sensor that emits laser light. The sensor 26B emits light in a three-dimensional manner and detects the position and orientation of an object from the reflected light of the emitted laser light. In other words, the sensor 26A can also be said to be a so-called three-dimensional (3D) LiDAR. However, the sensor 26B is not limited to the above and may be a sensor that detects an object by any method, for example, a camera such as a three-dimensional (3D) TOF (Time Of Flight) camera. In this embodiment, the sensor is a three-dimensional LiDAR that detects a predetermined three-dimensional range from the base of the claws 24A and 24B to the forward direction.

[0032] The control device 28 controls the movement of the moving body 10. The control device 28 will be described later.

[0033] [Management Device] FIG. 3 is a schematic block diagram of the management device. The management device 12 is a system that manages logistics in the facility W. In this embodiment, the management device 12 is a WCS (Warehouse Control System) or a WMS (Warehouse Management System). However, the management device 12 is not limited to a WCS or a WMS and may be any system, such as a back-end system such as another production management system. The management device 12 may be installed at any location, and may be installed within the facility W or at a location remote from the facility W to manage the facility W from that location. The management device 12 is a computer, and as shown in FIG. 3, includes a communication unit 30, a memory unit 32, and a control unit 34.

[0034] The communication unit 30 is a module used by the control unit 34 to communicate with an external device such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 30 is wireless communication, but any communication method may be used. The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and may include, for example, at least one of a main storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive).

[0035] The control unit 34 is a computing device and includes a computing circuit such as a CPU (Central Processing Unit). The control unit 34 reads programs (software) from the storage unit 32 and executes various processes. The control unit 34 may execute processes using a single CPU, or may be equipped with multiple CPUs and execute processes using the multiple CPUs. At least a portion of the control unit 34 may be implemented using a hardware circuit. The program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium readable by the management device 12.

[0036] [Information Processing Device] FIG. 4 is a schematic block diagram of an information processing device. The information processing device 14 is a device that processes information related to the movement of the mobile object 10. The information processing device 14 is, for example, a Fleet Control System (FCS), but is not limited thereto and may be any device that processes information related to the movement of the mobile object 10. The information processing device 14 is a computer and, as shown in FIG. 4, includes a communication unit 40, a storage unit 42, and a control unit 44. The communication unit 40 is a module used by the control unit 44 to communicate with external devices such as the management device 12 and the mobile object 10, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 40 is wireless communication, but any communication method may be used. The storage unit 42 is a memory that stores various information such as the calculation contents and programs of the control unit 44, and may include, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD.

[0037] The control unit 44 is a calculation device and includes a calculation circuit such as a CPU. The control unit 44 reads programs (software) from the storage unit 42 and executes various processes. The control unit 44 may execute these processes using a single CPU, or may be provided with multiple CPUs and execute processes using the multiple CPUs. At least a part of the control unit 44 may be implemented using a hardware circuit. The program for the control unit 44 stored in the storage unit 42 may be stored in a recording medium readable by the information processing device 14.

[0038] In the present embodiment, the management device 12 and the information processing device 14 are separate devices, but they may be integrated devices. That is, the management device 12 may have at least some of the functions of the information processing device 14, and the information processing device 14 may have at least some of the functions of the management device 12.

[0039] [Mobile Body Control Device] Next, the control device 28 of the mobile body 10 will be described. FIG. 5 is a schematic block diagram of the mobile body control device. The control device 28 is a device that controls the mobile body 10. The control device 28 is a computer, and as shown in FIG. 5, includes a communication unit 50, a memory unit 52, and a control unit 54. The communication unit 50 is a module used by the control unit 54 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 50 is wireless communication, but any communication method may be used. The memory unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes, for example, at least one of a RAM, a main memory unit such as a ROM, and an external memory unit such as an HDD. The memory unit 52 stores information such as the dimensions of the object P and various thresholds. The dimensional information of the object P includes dimensional information of the pallet Pa indicating the external dimensions of the pallet Pa (see FIG. 7, etc.) and the positions of holes (fork pockets), and dimensional information of the cargo Pb indicating the external dimensions of the cargo Pb (see FIG. 7, etc.) placed on the pallet Pa. The threshold values ​​include threshold values ​​for the amounts of deviation Dα and Lα (see FIG. 13) of the cargo Pb relative to the pallet Pa.

[0040] The control unit 54 is a computing device and includes a computing circuit such as a CPU. The control unit 54 includes a first detection information acquisition unit 60, a loaded object receiving position setting unit 62, an approach path setting unit 64, a second detection information acquisition unit 66, and a loaded object receiving position correction unit 68. The control unit 54 reads and executes a program (software) from the storage unit 52 to implement the first detection information acquisition unit 60, the loaded object receiving position setting unit 62, the approach path setting unit 64, the second detection information acquisition unit 66, and the loaded object receiving position correction unit 68 and execute these processes. The control unit 54 may execute these processes using a single CPU, or may be equipped with multiple CPUs and execute the processes using the multiple CPUs. Furthermore, at least a portion of the first detection information acquisition unit 60, the loaded object receiving position setting unit 62, the approach path setting unit 64, the second detection information acquisition unit 66, and the loaded object receiving position correction unit 68 may be implemented using hardware circuits. Furthermore, the program for the control unit 54 stored in the storage unit 52 may be stored in a recording medium that can be read by the control device 28 .

[0041] The first detection information acquisition unit 60 acquires first detection information including the position and posture of an obstacle such as an object P detected by the sensor 26A. The loading and receiving position setting unit 62 sets, based on the first detection information detected by the sensor 26A, the loading position of the object P to be loaded on the upper level when stacking objects P in multiple layers, and the facing direction of the mobile body 10 transporting the object P. The loading and receiving position setting unit 62 also sets, based on the first detection information detected by the sensor 26A, the loading and receiving position setting unit 62 sets the receiving position for receiving the object P on the top level of the stacked objects P, and the facing direction of the mobile body 10 that will receive the object P. The approach path setting unit 64 sets, based on the loading position or receiving position set by the loading and receiving position setting unit 62, an approach path for the mobile body 10 to a loading position directly facing the loading position or receiving position. The second detection information acquisition unit 66 acquires second detection information including the position and posture of the object P in front of the forks 24 detected by the sensor 26B. The loading and unloading position correction unit 68 corrects the loading position or unloading position based on the second detection information detected by the sensor 26B. Specific processing details of these will be described later.

[0042] [Loading Operation] The loading operation of the mobile body 10 will be described. Fig. 6 is a flowchart showing an example of the loading operation of the mobile body. Figs. 7 to 9 are schematic diagrams illustrating the loading operation of the mobile body.

[0043] In this embodiment, it is assumed that an unmanned mobile body 10 such as an AGF and a manned mobile body 90 operated by a pilot are mixed together, and that objects P, each having cargo Pb mounted on a pallet Pa, are stacked in multiple layers in a predetermined stacking area AP (unit area A) within a working area AR. In the following description, of the objects P stacked in multiple layers, the object P placed directly on the first layer will be referred to as a first object P1, and the objects P stacked on layers above that will be referred to as a second object P2.

[0044] 7, when a first object P1, which is the first layer, is placed directly on the floor by a manned vehicle 90, the orientation of the first object P1 may be shifted relative to the loading area AP. In this example, a loading operation in which a second object P2 is loaded onto such a first layer of first object P1 by an unmanned vehicle 10 will be described.

[0045] 8, the stowage areas AP are set, for example, lined up in one direction. The travel path of the mobile object 10 includes a main path Wm parallel to the lined-up stowage areas AP and a secondary path Ws connecting the main path Wm and the stowage areas AP. The mobile object 10 travels along the main path Wm with the vehicle body 20 side facing forward relative to the forks 24.

[0046] The mobile body 10 detects the position and orientation of surrounding obstacles using the sensor 26A, a 2D-LiDAR for safety confirmation. When the mobile body 10 transporting the second object P2 travels along the main path Wm and passes by the side of the first object P1, the sensor 26A detects the position and orientation of the pallet Pa of the first object P1 (step S10). The sensor 26A acquires, for example, the position of the front facing Paf of the pallet Pa of the first object P1, which faces the secondary path Ws (the side of the mobile body 10 that is passing by), as point cloud data. The first detection information acquisition unit 60 of the mobile body 10 acquires first detection information including the position and orientation of the pallet Pa of the first object P1 detected by the sensor 26A. After passing by the side of the first object P1, the mobile body 10 stops at a predetermined turning point.

[0047] Next, the loading and receiving position setting unit 62 of the mobile object 10 sets a loading position where the second object P2 is to be loaded on top of the first object P1 and a facing direction in which the forks 24 of the mobile object 10 will face the first object P1 when loading, based on the first detection information acquired by the first detection information acquisition unit 60 (step S12). Specifically, first, the loading and receiving position setting unit 62 calculates, based on the first detection information, the position and attitude of the front-facing Paf of the pallet Pa of the first object P1, which faces the secondary path Ws side (the crossing mobile object 10 side).

[0048] Next, the loading and unloading position setting unit 62 estimates the outline of the pallet Pa of the first object P1 in a planar view and the position of the center Pac based on the position and orientation of the front facing Paf and known dimensional information of the pallet Pa. The dimensional information of the pallet Pa is stored in advance, for example, in the memory unit 52. Based on the position of the center Pac and the position and orientation of the front facing Paf, the loading and unloading position setting unit 62 sets the loading position of the second object P2 so that the position and orientation of the pallet Pa of the second object P2 coincides with the position and orientation of the pallet Pa of the first object P1 in a planar view. The loading and unloading position setting unit 62 also sets the direction perpendicular to the front facing Paf as the facing direction.

[0049] Next, the approach path setting unit 64 of the mobile body 10 sets an approach path for approaching the first object P1 in the stowage area AP (step S14). More specifically, the approach path setting unit 64 sets an approach path until the forks 24 and the second object P2 held by the forks 24 are directly facing the front face Paf of the first object P1 in a plan view, and the lateral center of the vehicle body 20 is directly facing the center Pac of the pallet Pa of the first object P1.

[0050] After the processing of the flowchart shown in FIG. 6 is completed, the control unit 54 controls the moving body 10 to load the second object P2 at the set loading position.

[0051] 9, the mobile body 10 travels along a set approach path from the main path Wm to the secondary path Ws with the forks 24 facing forward, to a predetermined loading position, and stops there. By approaching along the set approach path, the mobile body 10 faces the center Pac of the pallet Pa of the first object P1 on the first tier directly opposite the lateral center of the vehicle body 20. When the forks 24 are positioned at the lateral center of the vehicle body 20, the center Pac of the pallet Pa of the first object P1 on the first tier directly opposite the lateral center of the forks 24.

[0052] Next, the control unit 54 of the mobile object 10 raises the forks 24 to a predetermined position so that the underside of the pallet Pa holding the second object P2 is positioned above the top surface of the object P (in this example, the first object P1) of the objects P stacked in the stacking area AP. Errors in the relative position and orientation between the first object P1 and the forks 24 may be taken into consideration. In this case, the sensor 26B, which is a three-dimensional sensor, again detects the position and orientation of the pallet Pa holding the first object P1 and detects the height of the cargo Pb above the top object P (in this example, the first object P1). Based on the detection results, the forks 24 are side-shifted to correct the error, and the second object P2 is stacked.

[0053] Note that the sensor 26A of the mobile body 10 is not limited to detecting the position and posture of the pallet Pa of the first object P1 only when the mobile body 10 crosses the side of the first object P1, but may also detect the position and posture of the pallet Pa of the first object P1 while entering the secondary path Ws, while approaching the stowage area AP, or while traveling toward the stowage area. Furthermore, the mobile body 10 does not necessarily have to cross the side of the first object P1 at the time of detection in step S10. That is, for example, the mobile body 10 may travel on the main path Wm with the forks 24 facing forward relative to the vehicle body 20, and then enter the secondary path Ws without turning around. In this case, the mobile body 10 detects the position and posture of the pallet Pa of the first object P1 using the sensor 26A while traveling on the main path Wm, and then performs steps S12 and S14.

[0054] Next, a description will be given of a modified example of the loading operation of the mobile body 10. Fig. 10 is a flowchart showing a modified example of the loading operation of the mobile body. Figs. 11 to 13 are schematic diagrams illustrating the loading operation of the mobile body.

[0055] 11 , the object P loaded in the loading area AP may have a misaligned position and posture with respect to the pallet Pa. In this modified example, a loading operation in which a second object P2 is loaded onto such a first object P1 by an unmanned mobile object 10 will be described.

[0056] Steps S30, S32, and S34 shown in Figure 10 are similar to steps S10, S12, and S14 shown in Figure 6, and therefore will not be described here. Specifically, the mobile body 10 detects the position and orientation of the pallet Pa of the first object P1 (step S30, see Figure 8). Next, the mobile body 10 sets a loading position for loading the second object P2 on the upper level of the first object P1 and a facing direction in which the forks 24 of the mobile body 10 will face the first object P1 during loading (step S32). Next, the mobile body 10 sets an approach path for approaching the first object P1 in the loading area AP (step S34). Then, at the predetermined loading position, the mobile body 10 raises the forks 24 to a predetermined position, and positions the lower surface of the pallet Pa holding the second object P2 above the upper surface of the topmost object P (in this modified example, the first object P1) among the objects P loaded in the loading area AP.

[0057] 12, the mobile body 10 uses the sensor 26B, which is a three-dimensional sensor, to detect the position and orientation of the luggage Pb on the pallet Pa of the first object P1 on the first level among the objects P loaded in the loading area AP (step S36). The second detection information acquisition unit 66 of the mobile body 10 acquires second detection information including the position and orientation of the luggage Pb of the first object P1 detected by the sensor 26B.

[0058] Next, the loading and receiving position correction unit 68 of the mobile body 10 calculates the position and orientation of the front facing surface Pbf of the luggage Pb of the first object P1 facing the mobile body 10, based on the second detection information acquired by the second detection information acquisition unit 66. Next, the loading and receiving position correction unit 68 estimates the outline and the position of the center Pbc of the luggage Pb of the first object P1 in a planar view, based on the position and orientation of the front facing surface Pbf and known dimensional information of the luggage Pb. Note that the dimensional information of the luggage Pb is stored in advance in, for example, the memory unit 52.

[0059] Next, the load-receiving position correcting unit 68 calculates the deviations Dα and Lα (see FIG. 13) of the center Pbc of the package Pb relative to the center Pac of the pallet Pa of the first object P1. The deviation Dα is the deviation in the depth direction when viewed from the front facing Paf side of the pallet Pa, and the deviation Lα is the deviation in the lateral direction. The load-receiving position correcting unit 68 determines whether the deviations Dα and Lα are equal to or greater than preset thresholds (step S38). The thresholds are stored in advance in the memory unit 52, for example.

[0060] If the loading and unloading position correction unit 68 determines that both the deviation amounts Dα and Lα are less than the threshold value (step S38; No), it does not correct the loading position set in step S32 and terminates the processing of the flowchart shown in Figure 10.

[0061] If the loading position correction unit 68 determines that at least one of the deviations Dα and Lα is equal to or greater than a threshold (step S38; Yes), it corrects the loading position set in step S32 (step S40). For example, if the loading position correction unit 68 determines that the deviation Dα in the depth direction is equal to or greater than a threshold, it corrects the forward / backward movement distance of the forks 24 when moving the second object P2 to directly above the first object P1 so that the deviation Dα becomes zero. If the forks 24 are not moved out of reach, the moving body 10 moves forward toward the forks 24 to adjust the distance. Furthermore, if the loading position correction unit 68 determines that the deviation Lα in the lateral direction is equal to or greater than a threshold, it adjusts the distance by side-shifting the forks 24 in the lateral direction so that the deviation Lα becomes zero. If the maximum side-shift amount is insufficient, it adjusts the distance by moving the moving body 10 sideways or by re-approaching.

[0062] After completing the processing of the flowchart shown in FIG. 10, the control unit 54 controls the moving body 10 to load the second object P2 at the set or corrected loading position.

[0063] In the above description of the loading operation, it is assumed that the second object P2 held by the forks 24 of the mobile object 10 is held at the center of the forks 24. However, for example, when the mobile object 10 acquires the second object P2, the sensor 26B may detect the relative lateral deviation between the pallet Pa and the vehicle body 20, and this deviation may be reflected in the loading position. In this case, for example, the control unit 54 acquires third detection information including the relative position and orientation of the pallet Pa held by the forks 24 with respect to the vehicle body 20 detected by the sensor 26B, and calculates the relative deviation between the pallet Pa and the vehicle body 20 based on the third detection information. The loading position setting unit 62 and the loading position correction unit 68 correct the loading position based on the relative deviation between the pallet Pa and the vehicle body 20.

[0064] [Load Pickup Operation] The load pick-up operation by the mobile body 10 will now be described. Fig. 14 is a flowchart showing an example of the load pick-up operation of the mobile body. Figs. 15 to 19 are schematic diagrams illustrating the load pick-up operation of the mobile body.

[0065] 15 , when a second object P2 is stacked by a manned vehicle 90 on top of a first object P1 in the first tier placed directly on the floor, the posture of the second object P2 may become misaligned with respect to the first object P1. In this example, a loading operation will be described in which an unmanned vehicle 10 loads the second object P2 on the top tier of objects P stacked in multiple tiers like this.

[0066] As shown in FIG. 16 , the loading areas AP are set, for example, in a line, similar to the example shown in FIG. 8 . When the mobile object 10 going to pick up the second object P2 travels along the main route Wm and passes by the side of the first object P1, the sensor 26A detects the position and orientation of the pallet Pa of the first object P1 (step S50). The sensor 26A acquires, for example, the position of the front facing Paf1 of the pallet Pa of the first object P1, which faces the secondary route Ws (the side of the mobile object 10 that is passing) as point cloud data. The first detection information acquisition unit 60 of the mobile object 10 acquires first detection information including the position and orientation of the pallet Pa of the first object P1 detected by the sensor 26A. After passing by the side of the first object P1, the mobile object 10 stops at a predetermined turning point.

[0067] Next, the loading / receiving position setting unit 62 of the mobile body 10 sets a loading position where the second object P2 is to be loaded from the upper level of the first object P1 and a facing direction in which the forks 24 of the mobile body 10 will face the first object P1 when loading, based on the first detection information acquired by the first detection information acquisition unit 60 (step S52). Specifically, first, the loading / receiving position setting unit 62 calculates the position and attitude of the front-facing side Paf1 of the first object P1, which faces the secondary path Ws of the pallet Pa, based on the first detection information.

[0068] Next, the loading and receiving position setting unit 62 estimates the outline of the pallet Pa of the first object P1 in a planar view and the position of the center Pac1 based on the position and orientation of the front facing Paf and known dimensional information of the pallet Pa. Based on the position of the center Pac1 and the position and orientation of the front facing Paf1, the loading and receiving position setting unit 62 sets a receiving position for holding the pallet Pa of the second object P2 with the forks 24, assuming that the position and orientation of the pallet Pa of the second object P2 in a planar view coincide with the position and orientation of the pallet Pa of the first object P1. The loading and receiving position setting unit 62 also sets the direction perpendicular to the front facing Paf1 as the facing direction.

[0069] Next, the approach path setting unit 64 of the mobile body 10 sets an approach path for approaching the first object P1 and the second object P2 in the stowage area AP (step S54). More specifically, the approach path setting unit 64 sets an approach path until the forks 24 are directly facing the front face Paf1 of the first object P1 in a plan view and the lateral center of the vehicle body 20 is directly facing the center Pac1 of the pallet Pa of the first object P1.

[0070] As shown in Figure 17, the mobile body 10 travels along a set approach path from the main path Wm to the secondary path Ws with the forks 24 facing forward, to a predetermined loading position, and stops there. By approaching along the set approach path, the mobile body 10 faces the center Pac1 of the pallet Pa of the first object P1 on the first tier directly opposite the lateral center of the vehicle body 20. When the forks 24 are positioned at the lateral center of the vehicle body 20, the center Pac1 of the pallet Pa of the first object P1 on the first tier faces the lateral center 24c of the forks 24 (see Figure 19). Next, the control unit 54 of the mobile body 10 raises the forks 24 to a predetermined position and positions the claws 24A and 24B at the height of the holes (fork pockets) in the pallet Pa of the second object P2.

[0071] 18, the mobile body 10 uses the sensor 26B, which is a three-dimensional sensor, to detect the position and orientation of the pallet Pa of the second object P2, which is the topmost tier (the second tier in this example), of the objects P stacked in the stowage area AP (step S56). The second detection information acquisition unit 66 of the mobile body 10 acquires second detection information including the position and orientation of the pallet Pa of the second object P2 detected by the sensor 26B.

[0072] Next, the loading / unloading position correction unit 68 of the mobile body 10 calculates the position and orientation of the front facing surface Paf2 of the pallet Pa of the second object P2 facing the mobile body 10, based on the second detection information acquired by the second detection information acquisition unit 66. Next, the loading / unloading position correction unit 68 estimates the outline and the position of the center Pac2 of the pallet Pa of the second object P2 in a planar view, based on the position and orientation of the front facing surface Paf2 of the second object P2 and known dimensional information of the pallet Pa.

[0073] Next, the load pick-up position correction unit 68 calculates the amount of deviation Lβ (see FIG. 19 ) of the center Pac2 of the pallet Pa of the second object P2 relative to the center 24c of the forks 24. The amount of deviation Lβ is the amount of deviation in the lateral direction. That is, the amount of deviation Lβ of the center Pac2 of the pallet Pa of the uppermost second object P2 relative to the center 24c of the forks 24 aligned with the center Pac1 of the pallet Pa of the first object P1 on the first level is calculated.

[0074] Next, the loading / unloading position correcting unit 68 corrects the unloading position set in step S52 based on the calculated deviation amount Lβ (step S58). The loading / unloading position correcting unit 68 performs adjustment by, for example, side-shifting the forks 24 in the lateral direction so that the lateral deviation amount Lβ becomes zero. Note that if the deviation amount of the position or posture of the pallet Pa of the second object P2 relative to the forks 24 is greater than a predetermined threshold value and the maximum side-shift amount is insufficient, adjustment is performed by moving the mobile body 10 directly sideways or by re-approaching.

[0075] After completing the processing of the flowchart shown in FIG. 14, the control unit 54 controls the mobile body 10 to pick up the second object P2 at the set or corrected pickup position.

[0076] Note that the sensor 26A of the mobile body 10 is not limited to detecting the position and posture of the pallet Pa of the first object P1 only when the mobile body 10 crosses the side of the first object P1, but may also detect the position and posture of the pallet Pa of the first object P1 while entering the secondary path Ws, while approaching the stowage area AP, or while traveling toward the stowage area. Furthermore, the mobile body 10 does not necessarily have to cross the side of the first object P1 at the time of detection in step S50. That is, for example, the mobile body 10 may travel on the main path Wm with the forks 24 facing forward relative to the vehicle body 20, and then enter the secondary path Ws without turning around. In this case, the mobile body 10 uses the sensor 26A to detect the position and posture of the pallet Pa of the first object P1 while traveling on the main path Wm, and then performs steps S52 and S54.

[0077] Furthermore, in steps S56 and S58, the amount of deviation Dβ (see FIG. 19 ) of the center Pac2 of the pallet Pa of the second object P2 relative to the center 24c of the forks 24 at the planned pickup position may be calculated, and the depth direction position of the pickup position may be corrected based on the calculated amount of deviation Dβ. The amount of deviation Dβ is the amount of deviation in the depth direction as viewed from the front facing Paf1 side of the first object P1. That is, in step S58, the load pickup position correction unit 68 may correct the front-to-rear direction positions of the forks 24 when picking up the second object P2, for example, so that the amount of deviation Dβ in the depth direction becomes zero.

[0078] [Operation and Effect of the Embodiment] The moving body, the control method, and the control program described in the embodiment can be understood, for example, as follows.

[0079] The mobile body 10 according to the first aspect is a mobile body 10 that transports loading objects (objects P) including pallets Pa one by one to a predetermined loading area AP and stacks them in multiple stages, and is equipped with a travellable vehicle body 20, forks 24 that are movable in vertical and horizontal directions relative to the vehicle body 20 and can hold the pallets Pa, a first sensor (sensor 26A) that is provided at a position equal to or lower than the height of the pallets Pa and can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body 20, and a control device 28, and the control device 28 controls the loading objects (objects P) detected by the sensor 26A when the vehicle body 20 travels toward the loading area AP. The loading area AP includes a first detection information acquisition unit 60 that acquires first detection information including the position and posture of the first pallet, which is the pallet Pa of the first tier (first object P1) placed in the area AP; a loading position setting unit (loading and unloading position setting unit 62) that sets the loading position of the holding pallet based on the first detection information so that the position and posture of the first pallet and the position and posture of the holding pallet, which is the pallet Pa (second object P2) held by the forks 24, match in a planar view; and an approach path setting unit 64 that sets an approach path for the vehicle body 20 to approach the loading area AP based on the loading position.

[0080] For safety reasons, a mobile body 10 such as an AGF typically travels with the vehicle body 20 facing forward relative to the forks 24, crosses the side of the loading area AP, then turns around and approaches the loading area AP with the forks 24 facing forward. The mobile body 10 according to the first aspect detects the position and orientation of the first pallet, which is the pallet Pa of the first-tier loading object (first object P1), and performs path planning to place the loading object (second object P2) held by the forks 24 directly above the first pallet. As a result, even if the orientation of the first-tier loading object (first object P1) is significantly off when placed by a manned mobile body 90 operated by a driver, the second and subsequent tiers can be adjusted to match the position and orientation of the first-tier pallet Pa, allowing for balanced loading. Furthermore, because the position and posture of the first pallet Pa is detected before approaching the loading area AP and while traveling toward the loading area AP, path planning only needs to be performed once, for example, when turning around, and approach speed can be increased compared to conventional methods in which path planning is performed while detecting from a facing direction. Therefore, accurate and rapid approach is possible when loading multiple layers of cargo.

[0081] The mobile body 10 of the second aspect is the mobile body 10 of the first aspect, in which the loading and unloading position setting unit 62 estimates a first center position, which is the center Pac of the first pallet in a planar view, and the position and posture of the first front face (front face Paf), which is the surface facing the vehicle body 20, based on the first detection information and pre-stored dimensional information of the first pallet, and sets the loading position based on the first center position and the position and posture of the first front face.

[0082] That is, the mobile body 10 according to the second aspect sets the position and posture for loading the holding pallet so that the center Pac and the opposite side Paf of the first pallet in a plan view coincide with the center of the holding pallet and the surface facing the vehicle body 20. By aligning the center positions, loading can be more reliably balanced.

[0083] The mobile body 10 according to the third aspect is the mobile body 10 according to the second aspect, and the approach path setting unit 64 sets an approach path so that when approaching the loading area AP, the forks 24 face the first front facing surface (front facing surface Paf) and the lateral center of the vehicle body 20 faces the first center position (center Pac).

[0084] In the third aspect of the mobile body 10, the holding pallet held by the fork 24 can be positioned approximately directly facing the facing Paf, so that by moving the fork 24 forward and backward, the holding pallet can be adjusted to the loading position so that it is positioned directly above the first pallet.

[0085] The mobile body 10 of the fourth aspect is the mobile body 10 of the third aspect, and further includes a second sensor (sensor 26B) that is provided at the base of the fork 24 so as to move integrally with the fork 24 and is capable of detecting a predetermined three-dimensional range on the tip side of the fork 24, and the control device 28 further includes a second detection information acquisition unit 66 that acquires second detection information including the position and posture of the cargo Pb on the first pallet (pallet Pa of the first object P1) detected by the sensor 26B when the vehicle body 20 approaches the loading area AP, and a loading position correction unit (loading and receiving position correction unit 68) that estimates a second center position, which is the center Pbc in a planar view of the loading object, based on the second detection information and pre-stored dimensional information of the loading object, and corrects the loading position based on the deviation amounts Dα and Lα between the first center position (center Pac) and the second center position.

[0086] The mobile body 10 according to the fourth aspect detects the position and orientation of the cargo Pb on the first pallet (pallet Pa of the first object P1) and acquires the deviations Dα and Lα of the center position relative to the first pallet. Here, the loading position has already been set relative to the position and orientation of the first pallet, and it is unlikely that the cargo Pb on the first pallet is significantly eccentric relative to the first pallet. Therefore, even when correcting the loading position so that the cargo (second object P2) held by the forks 24 is placed directly above the cargo Pb on the first pallet, it is assumed that the forks 24 can move forward and backward and shift sideways within a range that allows for adjustments to achieve a more balanced loading.

[0087] The mobile body 10 of the fifth aspect is the mobile body 10 of the fourth aspect, wherein the sensor 26B is capable of detecting the position and attitude of the holding pallet relative to the vehicle body 20, the control device 28 acquires third detection information including the position and attitude of the holding pallet detected by the sensor 26B, calculates the relative lateral deviation between the holding pallet and the vehicle body 20 based on the third detection information, and the loading position setting unit (loading and unloading position setting unit 62) and the loading position setting unit (loading and unloading position correction unit 68) correct the loading position based on the deviation.

[0088] The movable body 10 according to the fifth aspect corrects the loading position based on the positional deviation between the forks 24 and the pallet held by the forks 24, thereby enabling more balanced loading.

[0089] The mobile body 10 according to the sixth aspect is a mobile body 10 that picks up and transports a top-tier object to be picked up (second object P2) among objects to be picked up (objects P) including a pallet Pa stacked in multiple tiers in a predetermined loading area AP, and is equipped with a travelable vehicle body 20, forks 24 that are movable in vertical and horizontal directions relative to the vehicle body 20 and can hold the pallet Pa, a first sensor (sensor 26A) that is provided at a position equal to or lower than the height of the pallet Pa and can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body 20, a second sensor (sensor 26B) that is provided at the base of the fork 24 so as to move integrally with the fork 24 and can detect a predetermined three-dimensional range on the tip side of the fork 24, and a control device 28, and the control device 28 detects the first tier (first pair of objects P2) of the first tier (first pair of objects P2) that is arranged in the loading area AP and that is arranged at a position equal to or lower than the height of the pallet Pa, and a second sensor (sensor 26B) that is provided at the base of the fork 24 so as to move integrally with the fork 24 and can detect a predetermined three-dimensional range on the tip side of the fork 24, when the vehicle body 20 travels toward the loading area AP. a loading position setting unit (loading loading position setting unit 62) that sets a loading position for holding the second pallet with the forks 24, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is the pallet Pa of the topmost loading object (second object P2), match in a planar view based on the first detection information; an approach path setting unit 64 that sets an approach path for the vehicle body 20 to approach the loading area AP based on the loading position; a second detection information acquisition unit 66 that acquires second detection information including the position and attitude of the second pallet detected by the sensor 26B when the vehicle body 20 approaches the loading area AP; and a loading position correction unit (loading loading position correction unit 68) that corrects the loading position based on the second detection information.

[0090] The mobile vehicle 10 according to the sixth aspect detects the position and orientation of the first pallet Pa, which is the first loading object (first object P1), and performs path planning to face the first pallet, assuming that the second pallet Pa, which is the topmost loading object (second object P2), is located directly above the first pallet. Because the position and orientation of the first pallet Pa is detected before approaching the loading area AP while traveling toward the loading area AP, path planning only needs to be performed once, for example, when turning. This allows for increased approach speed compared to conventional path planning methods that involve detecting from a direct facing direction. Furthermore, even if the orientation of the first loading object (first object P1) is significantly misaligned when placed by the manned mobile vehicle 90 operated by a driver, the second and subsequent loading objects are loaded in a balanced manner, so the positions and orientations of the second and subsequent loading objects are unlikely to be significantly eccentric relative to the first pallet. Therefore, when correcting the pickup position set based on the first pallet to the pickup position corresponding to the second pallet, it is assumed that the forks 24 can move forward and backward and side-shift within a range that allows them to do so. In this way, the pickup position is first approached based on the first pallet, and then adjustments are made to the second pallet. This allows for accurate and quick approach when picking up multiple stacks of goods.

[0091] The mobile body 10 of the seventh aspect is the mobile body 10 of the sixth aspect, in which the loaded cargo pick-up position setting unit 62 estimates a first center position, which is the center Pac1 of the first pallet in a planar view, and the position and posture of the first front face (front face Paf1), which is the surface facing the vehicle body 20, based on the first detection information and pre-stored dimensional information of the first pallet, and sets the cargo pick-up position based on the first center position and the position and posture of the first front face.

[0092] That is, the mobile unit 10 according to the seventh aspect sets the position and orientation for picking up the second pallet, assuming that the center Pac1 and the front-facing face Paf1 of the first pallet in a plan view coincide with the center Pac2 and the front-facing face Paf2 of the second pallet. Because the second and subsequent tiers are stacked in a balanced manner, the position and orientation of the second pallet are unlikely to be significantly eccentric relative to the first pallet. Therefore, by aligning the center position, it is possible to prevent a large correction when correcting the pick-up position for the second pallet.

[0093] The mobile body 10 according to the eighth aspect is the mobile body 10 according to the seventh aspect, and the approach path setting unit 64 sets an approach path so that when approaching the loading area AP, the forks 24 face the first front facing surface (front facing surface Paf1) and the lateral center of the vehicle body 20 faces the first center position (center Pac1).

[0094] Because the second and subsequent tiers are stacked in a balanced manner, the position and posture of the second pallet are unlikely to be significantly eccentric with respect to the first pallet. Therefore, in the movable body 10 according to the eighth aspect, the forks 24 can be generally directly facing the facing surface Paf2 of the second pallet, and therefore, when correcting the pickup position in accordance with the second pallet, the amount of correction can be prevented from becoming too large.

[0095] The mobile body 10 of the ninth aspect is the mobile body 10 of the eighth aspect, in which the loaded load pick-up position correction unit 68 estimates a second center position, which is the center (center Pac2) of the second pallet in a planar view, based on the second detection information and pre-stored dimensional information of the second pallet, and corrects the load pick-up position based on the deviation amounts Dβ and Lβ between the first center position and the above center position.

[0096] The position and orientation of the second pallet are unlikely to be significantly eccentric with respect to the first pallet. Therefore, the movable body 10 according to the ninth aspect can hold the second pallet with the forks 24 simply by correcting the center position, in other words, without correcting the orientation in the turning direction.

[0097] A control method according to a tenth aspect is a control method for a mobile body (10) that includes a travellable vehicle body (20), forks (24) that are movable in vertical and horizontal directions relative to the vehicle body (20) and that can hold a pallet (Pa), and a first sensor (sensor (26A)) that is provided at a position equal to or lower than the height of the pallet (Pa) and that can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body (20), and that transports loading objects (objects P) including the pallet (Pa) one by one to a predetermined loading area (AP) and loads them in multiple stages, and the control method is performed by detecting the first sensor (sensor (26A)) when the vehicle body (20) travels toward the loading area (AP). The method includes a step of acquiring first detection information including the position and posture of the first pallet, which is the pallet Pa of the first tier (first object P1) placed in the loading area AP, detected by A; a step of setting the loading position of the holding pallet based on the first detection information so that the position and posture of the first pallet and the position and posture of the holding pallet, which is the pallet Pa (second object P2) held by the forks 24, match in a planar view; and a step of setting an approach route for the vehicle body 20 to approach the loading area AP based on the loading position.

[0098] For safety reasons, a mobile body 10 such as an AGF typically travels with the vehicle body 20 facing forward relative to the forks 24, crosses the side of the loading area AP, then turns around and approaches the loading area AP with the forks 24 facing forward. The control method according to the tenth aspect detects the position and posture of a first pallet, which is a pallet Pa for the first-tier loading object (first object P1), and performs path planning to place a loading object (second object P2) held by the forks 24 directly above the first pallet. This allows for balanced loading by adjusting the position and posture of the second and subsequent tiers to the position and posture of the first-tier pallet Pa, even if the posture of the first-tier loading object (first object P1) is significantly misaligned when placed by a manned mobile body 90 operated by a driver. Furthermore, because the position and posture of the first pallet Pa is detected before approaching the loading area AP and while traveling toward the loading area AP, path planning only needs to be performed once, for example, when turning around, and approach speed can be increased compared to conventional methods in which path planning is performed while detecting from a facing direction. Therefore, accurate and rapid approach is possible when loading multiple layers of cargo.

[0099] The control method according to the eleventh aspect is a control method for a mobile body (10) that includes forks (24) that are movable in vertical and horizontal directions relative to the vehicle body (20) and that can hold a pallet (Pa), and a first sensor (sensor (26A) that is provided at a position equal to or lower than the height of the pallet (Pa) and that can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body (20), and that picks up and transports a top-level pick-up object (second object (P2)) of pick-up objects (objects P) that include pallets (Pa) stacked in multiple layers in a predetermined loading area (AP), and in which the first pallet (P2) is the pallet (Pa) of the first layer (first object (P1)) that is placed in the loading area (AP) and that is detected by the sensor (26A) when the vehicle body (20) travels toward the loading area (AP). the step of acquiring first detection information including the position and attitude of the first pallet; the step of setting a loading position for holding the second pallet with the forks 24, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is the pallet Pa of the topmost loading object (second object P2), match in a planar view based on the first detection information; the step of setting an approach route for the vehicle body 20 to approach the loading area AP based on the loading position; the step of acquiring second detection information including the position and attitude of the second pallet, detected by the sensor 26B when the vehicle body 20 approaches the loading area AP; and the step of correcting the loading position based on the second detection information.

[0100] The control method according to the eleventh aspect detects the position and orientation of a first pallet (Pa) containing the first loading object (first object P1), and performs path planning to face the first pallet, assuming that a second pallet (Pa) containing the topmost loading object (second object P2) is located directly above the first pallet. Because the position and orientation of the first pallet (Pa) is detected before approaching the loading area AP and while traveling toward the loading area AP, path planning only needs to be performed once, for example, when turning. This allows for increased approach speed compared to conventional methods that involve path planning while detecting from a facing direction. Furthermore, even if the orientation of the first loading object (first object P1) is significantly misaligned when placed by a manned vehicle 90 operated by a driver, the second and subsequent loading objects are loaded in a balanced manner, so the positions and orientations of the second and subsequent loading objects are unlikely to be significantly eccentric relative to the first pallet. Therefore, when correcting the pickup position set based on the first pallet to the pickup position corresponding to the second pallet, it is assumed that the forks 24 can move forward and backward and side-shift within a range that allows them to do so. In this way, the pickup position is first approached based on the first pallet, and then adjustments are made to the second pallet. This allows for accurate and quick approach when picking up multiple stacks of goods.

[0101] The control program according to a twelfth aspect is a control program that causes a computer to execute a control method for a mobile body (10) that includes a travellable vehicle body (20), forks (24) that are movable up and down and laterally relative to the vehicle body (20) and that can hold a pallet (Pa), and a first sensor (sensor (26A)) that is provided at a position equal to or lower than the height of the pallet (Pa) and that can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body (20), and that transports loading objects (objects P) including the pallet (Pa) one by one to a predetermined loading area (AP) and loads them in multiple stages, and when the vehicle body (20) travels toward the loading area (AP), The computer executes the following steps: acquiring first detection information including the position and posture of the first pallet, which is the pallet Pa of the first tier (first object P1) placed in the loading area AP, detected by the sensor 26A; setting a loading position of the holding pallet based on the first detection information so that the position and posture of the first pallet and the position and posture of the holding pallet, which is the pallet Pa (second object P2) held by the forks 24, match in a plan view; and setting an approach route for the vehicle body 20 to approach the loading area AP based on the loading position.

[0102] For safety reasons, a mobile body 10 such as an AGF typically travels with the vehicle body 20 facing forward relative to the forks 24, crosses the side of the loading area AP, then turns around and approaches the loading area AP with the forks 24 facing forward. The control program according to the twelfth aspect detects the position and orientation of the first pallet, which is the pallet Pa of the first-tier loading object (first object P1), and performs path planning to place the loading object (second object P2) held by the forks 24 directly above the first pallet. As a result, even if the orientation of the first-tier loading object (first object P1) is significantly off when placed by a manned mobile body 90 operated by a driver, the second and subsequent tiers can be adjusted to match the position and orientation of the first-tier pallet Pa, allowing for balanced loading. Furthermore, because the position and posture of the first pallet Pa is detected before approaching the loading area AP and while traveling toward the loading area AP, path planning only needs to be performed once, for example, when turning around, and approach speed can be increased compared to conventional methods in which path planning is performed while detecting from a facing direction. Therefore, accurate and rapid approach is possible when loading multiple layers of cargo.

[0103] The control program according to the thirteenth aspect is a control program that causes a computer to execute a control method for a mobile body (10) that includes forks (24) that are movable in vertical and horizontal directions relative to the vehicle body (20) and that can hold a pallet (Pa), and a first sensor (sensor (26A) that is provided at a position equal to or lower than the height of the pallet (Pa) and that can detect a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body (20), and that picks up and transports a topmost object (second object (P2)) of objects (objects P) that include pallets (Pa) stacked in multiple layers in a predetermined loading area (AP), and the control program detects the pallet (Pa) of the first layer (first object (P1)) that is placed in the loading area (AP) as the vehicle body (20) travels toward the loading area (AP). The computer executes the following steps: acquiring first detection information including the position and attitude of the first pallet; setting a loading position for holding the second pallet with forks 24 based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is pallet Pa, the topmost loading object (second object P2), match in a planar view; setting an approach route for the vehicle body 20 to approach the loading area AP based on the loading position; acquiring second detection information including the position and attitude of the second pallet detected by sensor 26B when the vehicle body 20 approaches the loading area AP; and correcting the loading position based on the second detection information.

[0104] The control program according to the thirteenth aspect detects the position and orientation of the first pallet Pa, which is the pallet Pa containing the first loading object (first object P1), and performs path planning to face the first pallet, assuming that the second pallet Pa containing the topmost loading object (second object P2) is located directly above the first pallet. Because the position and orientation of the first pallet Pa are detected before approaching the loading area AP and while traveling toward the loading area AP, path planning only needs to be performed once, for example, when turning. This allows for increased approach speed compared to conventional path planning methods that involve detecting the first pallet P1 from a facing direction. Furthermore, even if the orientation of the first loading object (first object P1) is significantly misaligned when placed by the manned vehicle 90 operated by the operator, the second and subsequent loading objects are loaded in a balanced manner, so the positions and orientations of the second and subsequent loading objects are unlikely to be significantly eccentric relative to the first pallet. Therefore, when correcting the pickup position set based on the first pallet to the pickup position corresponding to the second pallet, it is assumed that the forks 24 can move forward and backward and side-shift within a range that allows them to do so. In this way, the pickup position is first approached based on the first pallet, and then adjustments are made to the second pallet. This allows for accurate and quick approach when picking up multiple stacks of goods.

[0105] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of the description of these embodiments.

[0106] DESCRIPTION OF SYMBOLS 10 Mobile body 10A First mobile body 10B Second mobile body 12 Management device 14 Information processing device 20 Vehicle body 20A Wheel 21 Straddle leg 22 Mast 24 Fork 24A, 24B Claw 24c Center 26A, 26B Sensor 28 Control device 30, 40, 50 Communication unit 32, 42, 52 Memory unit 34, 44, 54 Control unit 60 First detection information acquisition unit 62 Loading and receiving position setting unit 64 Approach route setting unit 66 Second detection information acquisition unit 68 Loading and receiving position correction unit 90 Manned mobile body 100 Movement control system A Unit area AP Stowage area AR Work area AR1 Loading and unloading area AR2 Transfer area AR3 Relay area ARF Temporary installation area ART Placement area ARV Parking area ARW Movement area Dα, Dβ, Lα, Lβ Deviation amount P Object P1 First object P2 Second object P0 Fixed object Pa Pallet Pb Baggage Pac, Pac1, Pac2, Pbc Center Paf, Paf1, Paf2, Pbf Front facing V Transport vehicle Va Storage room Vb Door W Equipment WP Waypoint Wm Main route Ws Secondary route

Claims

1. A mobile body that transports loading objects, including pallets, one by one to a specified loading area and stacks them in multiple layers, comprising: a drivable vehicle body; forks that are movable up and down and sideways relative to the vehicle body and can hold the pallets; a first sensor that is located at a position below the height of the pallets and is capable of detecting a specified two-dimensional range in the entire horizontal direction around the vehicle body; and a control device, wherein the control device has: a first detection information acquisition unit that acquires first detection information including the position and attitude of a first pallet, which is the first tier of pallets to be placed in the loading area, detected by the first sensor as the vehicle body travels towards the loading area; a loading position setting unit that sets the loading position of the holding pallet based on the first detection information so that the position and attitude of the first pallet and the position and attitude of the holding pallet, which is the pallet held by the forks, match in a planar view; and an approach path setting unit that sets an approach path for the vehicle body to approach the loading area based on the loading position.

2. The mobile body described in claim 1, wherein the loading position setting unit estimates a first center position, which is the center of the first pallet in a planar view, and the position and orientation of a first front face, which is the surface facing the vehicle body, based on the first detection information and pre-stored dimensional information of the first pallet, and sets the loading position based on the first center position and the position and orientation of the first front face.

3. The mobile body according to claim 2, wherein the approach path setting unit sets the approach path so that, when approaching the loading area, the forks face the first facing direction and the lateral center of the vehicle body faces the first center position.

4. A mobile body as described in claim 3, further comprising a second sensor provided at the base of the fork so as to move integrally with the fork and capable of detecting a predetermined three-dimensional range on the tip side of the fork, wherein the control device further comprises: a second detection information acquisition unit that acquires second detection information including the position and posture of the cargo on the first pallet detected by the second sensor when the vehicle body approaches the loading area; and a loading position correction unit that estimates a second center position that is the center of the cargo object in a planar view based on the second detection information and pre-stored dimensional information of the cargo object, and corrects the loading position based on the amount of deviation between the first center position and the second center position.

5. A mobile body as described in claim 4, wherein the second sensor is capable of detecting the position and attitude of the holding pallet relative to the vehicle body, the control device acquires third detection information including the position and attitude of the holding pallet detected by the second sensor, and calculates the amount of relative lateral deviation between the holding pallet and the vehicle body based on the third detection information, and the loading position setting unit and the loading position setting unit correct the loading position based on the amount of deviation.

6. A mobile body for picking up and transporting the topmost object to be picked up among objects to be picked up, including pallets stacked in multiple layers in a specified loading area, comprising: a travelable vehicle body; forks that are movable up and down and sideways relative to the vehicle body and are capable of holding the pallet; a first sensor that is located at a position below the height of the pallet and is capable of detecting a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body; a second sensor that is located at the base of the forks so as to move integrally with the forks and is capable of detecting a predetermined three-dimensional range on the tip side of the forks; and a control device, wherein the control device comprises: a first detection information acquisition unit that acquires first detection information including the position and attitude of a first pallet, which is the first tier of pallets to be placed in the loading area, detected by the first sensor when the vehicle body travels towards the loading area; and a pickup position setting unit that sets a pickup position for holding the second pallet with the forks based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet, which is the pallet of the topmost object to be picked up, are the same in a planar view. a second detection information acquisition unit that acquires second detection information including the position and attitude of the second pallet detected by the second sensor when the vehicle body approaches the stowage area; and a cargo pickup position correction unit that corrects the cargo pickup position based on the second detection information.

7. The mobile body described in claim 6, wherein the cargo pickup position setting unit estimates a first center position, which is the center of the first pallet in a planar view, and the position and orientation of a first front face, which is the surface facing the vehicle body, based on the first detection information and pre-stored dimensional information of the first pallet, and sets the cargo pickup position based on the first center position and the position and orientation of the first front face.

8. The mobile body according to claim 7, wherein the approach path setting unit sets the approach path so that, when approaching the loading area, the forks face the first facing direction and the lateral center of the vehicle body faces the first center position.

9. The mobile body described in claim 8, further comprising: a cargo pickup position correction unit that estimates a second center position, which is the center of the second pallet in a planar view, based on the second detection information and pre-stored dimensional information of the second pallet, and corrects the cargo pickup position based on the amount of deviation between the first center position and the second center position; and a cargo pickup position correction unit that estimates a second center position, which is the center of the second pallet in a planar view, based on the second detection information and pre-stored dimensional information of the second pallet, and corrects the cargo pickup position based on the amount of deviation between the first center position and the second center position.

10. A control method for a mobile body comprising a drivable vehicle body, forks movable up and down and sideways relative to the vehicle body and capable of holding a pallet, and a first sensor located at a position below the height of the pallet and capable of detecting a predetermined two-dimensional range in the entire horizontal direction around the vehicle body, which transports loading objects including the pallet one by one to a predetermined loading area and loads them in multiple layers, the control method comprising the steps of: acquiring first detection information including the position and attitude of a first pallet, which is the first layer of pallet to be placed in the loading area, detected by the first sensor as the vehicle body travels towards the loading area; setting a loading position of the holding pallet based on the first detection information so that the position and attitude of the first pallet and the position and attitude of the holding pallet, which is the pallet held by the forks, match in a planar view; and setting an approach route for the vehicle body to approach the loading area based on the loading position.

11. A method for controlling a mobile body that picks up and transports a topmost object to be picked up among objects to be picked up, including pallets, stacked in multiple layers in a predetermined stacking area, the method comprising: a travelable vehicle body; forks that are movable up and down and sideways relative to the vehicle body and can hold a pallet; a first sensor that is located at a position below the height of the pallet and is capable of detecting a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body; and a second sensor that is located at the base of the forks so as to move integrally with the forks and is capable of detecting a predetermined three-dimensional range on the tip side of the forks; the method comprising the steps of: acquiring first detection information that is detected by the first sensor as the vehicle body travels toward the stacking area and that includes the position and attitude of a first pallet that is the first tier of pallets to be placed in the stacking area; and setting a picking position for holding the second pallet with the forks based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet that is the topmost object to be picked up are the same in a planar view. A control method comprising: a step of setting an approach route for the vehicle body to approach the stowage area based on the cargo pickup position; a step of acquiring second detection information including the position and attitude of the second pallet detected by the second sensor when the vehicle body approaches the stowage area; and a step of correcting the cargo pickup position based on the second detection information.

12. A control program that causes a computer to execute a control method for a mobile body that comprises a drivable vehicle body, forks that can move up and down and sideways relative to the vehicle body and can hold a pallet, and a first sensor that is located at a position below the height of the pallet and can detect a predetermined two-dimensional range in the entire horizontal direction around the vehicle body, and that transports loading objects including the pallet one by one to a predetermined loading area and loads them in multiple layers, the control program causing a computer to execute the following steps: acquiring first detection information including the position and attitude of a first pallet that is the first layer of pallet to be placed in the loading area, detected by the first sensor as the vehicle body travels toward the loading area; setting a loading position for the holding pallet based on the first detection information so that the position and attitude of the first pallet and the position and attitude of the holding pallet that is the pallet held by the forks match in a planar view; and setting an approach route for the vehicle body to approach the loading area based on the loading position.

13. A control program that causes a computer to execute a control method for a mobile body that comprises a travelable vehicle body, forks that are movable up and down and sideways relative to the vehicle body and can hold a pallet, a first sensor that is located at a position below the height of the pallet and is capable of detecting a predetermined two-dimensional range in the entire horizontal periphery of the vehicle body, and a second sensor that is located at the base of the fork so as to move integrally with the fork and is capable of detecting a predetermined three-dimensional range on the tip side of the fork, and that is located at the base of the fork so as to move integrally with the fork and is capable of detecting a predetermined three-dimensional range on the tip side of the fork, and that controls the mobile body to pick up and transport a topmost object to be picked up among objects to be picked up, including the pallet, stacked in multiple layers in a predetermined stacking area, the control program comprising the steps of: acquiring first detection information that is detected by the first sensor as the vehicle body travels toward the stacking area and that includes the position and attitude of a first pallet that is the first layer of pallets to be placed in the stacking area; and setting a picking position for holding the second pallet with the fork based on the first detection information, assuming that the position and attitude of the first pallet and the position and attitude of the second pallet that is the topmost object to be picked up are the same in a planar view. A control program that causes a computer to execute the steps of: setting an approach route for the vehicle body to approach the stowage area based on the cargo pickup position; acquiring second detection information including the position and attitude of the second pallet detected by the second sensor when the vehicle body approaches the stowage area; and correcting the cargo pickup position based on the second detection information.

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