Mobile body, control method, and control program

Abstract

The present invention efficiently stacks cargo during cargo handling in which a plurality of cargo items are stacked while sandwiching a cushioning material or similar between the cargo items. This mobile body has: a positioning information acquisition unit that acquires positioning information, which is information about the location in which an adjacent cargo item has been stacked, said adjacent cargo item being adjacent to a planned location where a cargo item is to be stacked; a storage unit that stores a cushioning material width quantity, which is the distance from an end of the adjacent cargo item, said end being on the side of a cushioning material that has been propped against the adjacent cargo item, to an end of the cushioning material, said end being on the opposite side from the adjacent cargo item, and said cushioning material width quantity having had an estimated maximum quantity of deviation due to leaning of the cushioning material incorporated thereinto; an approach location setting unit that sets an approach location, which is the location of a fork when approaching a stacking region, on the basis of the positioning information and the cushioning material width quantity; and a facing location setting unit that sets a facing location, which is a location of a vehicle body, such that the fork is in the approach location during a condition in which the same has moved, relative to the vehicle body, to a location that is most separated from the adjacent cargo item.

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] BACKGROUND ART Mobile vehicles such as forklifts that automatically move to transport objects such as luggage are known. Patent Document 1 discloses a method for fine-tuning the arrangement of multiple loads in one direction, in which the vehicle approaches the load location while separated from the already loaded loads, and then moves the loads toward the already loaded loads using a side shift mechanism that moves the forks laterally.

[0003] Japanese Patent Application Laid-Open No. 2023-145828

[0004] Unlike normal cargo handling, when loading cargo onto a truck or other transportation vehicle, it is necessary to sandwich at least one of cushioning material and separators between the cargo. In such cases, the next cargo is transported and loaded with cushioning material leaning against the already loaded cargo. However, if the cushioning material is leaned at an angle, the cargo held by the forks may come into contact with the cushioning material and be displaced. Conversely, if the cargo is loaded from a position far away from the cushioning material, the side shift stroke may be insufficient, making it impossible to sandwich the cushioning material between the cargo.

[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 efficiently load multiple pieces of luggage while sandwiching cushioning material or the like between the pieces of luggage.

[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 a plurality of pieces of luggage in a predetermined loading area so as to sequentially load the pieces of luggage along one direction while sandwiching buffer material between the pieces of luggage, and loads the pieces of luggage facing the loading area in a cross direction perpendicular to the one direction, the mobile body comprising: a travelable vehicle body; forks that are movable in vertical and horizontal directions relative to the vehicle body and that can hold the pieces of luggage; and a control device, the control device comprising: a position information acquisition unit that acquires position information that is information on positions where adjacent pieces of luggage are loaded adjacent to a position where the pieces of luggage are to be loaded; and a buffer material that is leaned against the adjacent pieces of luggage. a storage unit that stores a buffer width amount, which is the distance from the end of the adjacent cargo on the buffer side to the end of the buffer opposite the adjacent cargo, taking into account an estimated maximum amount of deviation that will occur due to the inclination of the buffer; an approach position setting unit that sets an approach position, which is the position of the fork in the one direction when approaching the stowage area in the intersecting direction, based on the placement information and the buffer width amount; and a facing position setting unit that sets a facing position, which is the position of the vehicle body in the one direction, so that the fork is at the approach position when it has moved in the one direction to a position that is farthest from the adjacent cargo with respect to the vehicle body.

[0007] 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 includes a travelable vehicle body and forks that are movable in vertical and horizontal directions relative to the vehicle body and can hold cargo, and that transports a plurality of cargoes in order to sequentially stack the cargoes along one direction in a predetermined stacking area while sandwiching buffer material between the cargoes, and stacks the cargoes facing each other in an intersecting direction perpendicular to the one direction in the stacking area, the method including: determining a position where the end of the adjacent cargoes on the buffer material side is located, taking into account an estimated maximum amount of deviation that will occur due to the inclination of buffer material leaned against an adjacent cargo that is adjacent to a position where the cargoes are to be stacked; the buffer width amount, which is the distance from the position where the adjacent cargo is loaded to the end of the buffer material opposite the adjacent cargo; acquiring placement information, which is information on the position where the adjacent cargo is loaded; setting an approach position, which is the position of the fork in the one direction when approaching the loading area in the intersecting direction, based on the placement information and the buffer width amount; and setting a facing position, which is the position of the vehicle body in the one direction, so that the fork is at the approach position when moved to a position farthest from the adjacent cargo in the one direction relative to the vehicle body.

[0008] 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 includes a travelable vehicle body and forks that are movable in vertical and horizontal directions relative to the vehicle body and that can hold cargo, and that transports a plurality of cargoes in order to sequentially stack the cargoes along one direction in a predetermined stacking area while sandwiching buffer material between the cargoes, and stacks the cargoes facing each other in a cross direction perpendicular to the one direction in the stacking area, the control program including: a control program that causes a computer to execute a control method for a mobile body that includes a travelable vehicle body and forks that are movable in vertical and horizontal directions relative to the vehicle body and that can hold cargo, and that transports the cargoes in order to stack the cargoes along one direction in a predetermined stacking area while sandwiching buffer material between the cargoes, and stacks the cargoes facing each other in a cross direction perpendicular to the one direction in the stacking area, the control program including: a control program that causes a computer to execute a control method for a mobile body that transports the cargoes along one direction in a predetermined stacking area while sandwiching buffer material between the cargoes, the control program The computer executes the following steps: storing a buffer width amount, which is the distance from the end of the buffer material to the end of the buffer material opposite the adjacent cargo; acquiring placement information, which is information on the position where the adjacent cargo is loaded; setting an approach position, which is the position of the fork in the one direction when approaching the loading area in the intersecting direction, based on the placement information and the buffer width amount; and setting a facing position, which is the position of the vehicle body in the one direction, so that the fork is at the approach position when moved in the one direction to a position farthest from the adjacent cargo with respect to the vehicle body.

[0009] According to the present disclosure, in a cargo handling operation in which multiple cargoes are stacked while sandwiching cushioning material or the like between the cargoes, it is possible to obtain the effect of enabling the cargoes to be stacked efficiently.

[0010] FIG. 1 is a schematic diagram of a movement control system according to this embodiment. FIG. 2 is a schematic diagram of a configuration of a mobile body. FIG. 3 is a schematic diagram illustrating an example of a stowage operation. FIG. 4 is a schematic diagram illustrating a method for setting a facing position of a mobile body relative to a storage room. FIG. 5 is a schematic diagram illustrating a method for setting a facing position of a mobile body relative to a storage room. FIG. 6 is a schematic diagram illustrating a method for setting a facing position of a mobile body relative to a storage room. FIG. 7 is a schematic diagram illustrating a method for setting a facing position of a mobile body relative to a storage room. FIG. 8 is a schematic diagram illustrating a method for resetting a facing position of a mobile body relative to a storage room. FIG. 9 is a schematic diagram illustrating a method for resetting a facing position of a mobile body relative to a storage room. FIG. 10 is a schematic diagram illustrating a method for resetting a facing position of a mobile body relative to a storage room. FIG. 11 is a schematic diagram illustrating a method for resetting a facing position of a mobile body relative to a storage room. FIG. 12 is a schematic block diagram of a management device. FIG. 13 is a schematic block diagram of an information processing device. FIG. 14 is a schematic block diagram of a control device of a mobile body. 15 and 16 are flowcharts showing an example of the operation of a moving body.

[0011] 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.

[0012] [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.

[0013] [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.

[0014] 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°.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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).

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] [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.

[0024] [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).

[0025] 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.

[0026] 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.

[0027] 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 3, 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.

[0028] 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.

[0029] The control device 28 controls the movement of the moving body 10. The control device 28 will be described later.

[0030] [Stacking Operation] The flow of the stacking operation for stacking multiple objects P sequentially along one direction in a predetermined area will be described. FIG. 3 is a schematic diagram illustrating an example of the stacking operation. In this embodiment, multiple objects P are stacked sequentially along the opening of the door Vb in a storage room Va of a transport vehicle V (see FIG. 1) parked in a parking area ARV. The mobile body 10 loads the objects P into the storage room Va while facing the storage room Va from the opening of the door Vb of the transport vehicle V (see FIG. 1) parked in the parking area ARV. In the example shown in FIG. 3, the objects P, each carrying luggage Pb on a pallet Pa, are arranged side by side in the Y direction from the +Y side to the -Y side.

[0031] When multiple objects P are arranged side by side, buffer material C is sandwiched between adjacent objects P. In this embodiment, the buffer material C is in the shape of a plate having a predetermined thickness in the direction in which the objects P are arranged. The buffer material C may be arranged manually by a worker, for example, or may be arranged by equipment separate from the moving body 10 that transports the objects P. In this specification, the "buffer material C" is not limited to only a buffer material for shock absorption, but may also be a separator for separating or maintaining a distance between adjacent objects P, or may include both a buffer material and a separator.

[0032] A buffer material C is leaned diagonally against the side (-Y side) of the adjacent object P1 already placed at a predetermined position in the storage room Va where the next adjacent object P2 to be transferred will be placed (step S10). Note that the adjacent object P1 may be against the wall on the +Y side of the storage room Va.

[0033] Next, the movable body 10, carrying the object P2 to be transported on the forks 24, approaches the storage room Va in the -X direction from a position adjacent to the -Y side of the adjacent object P1, and then moves closer in the -X direction (step S12). At this time, the object P2 to be transported facing the storage room Va is transported by the movable body 10 while being positioned on the -Y side of the -Y end of the buffer material C leaning against the adjacent object P1. The positions of the object P2 to be transported and the movable body 10 in the Y direction when approaching the storage room Va, i.e., the method for setting the position of the movable body 10 directly facing the storage room Va, will be described later.

[0034] Next, the movable body 10 moves the fork 24 forward (towards the -X side) relative to the vehicle body 20, thereby moving the transport object P2 to a position adjacent to the -Y side of the adjacent object P1, with the buffer material C sandwiched between them (step S14).

[0035] Next, the forks 24 are moved (side-shifted) laterally (toward the +Y side) relative to the vehicle body 20, so that the object P2 being transported mounted on the forks 24 presses the buffer material C toward the adjacent object P1 (step S16). As a result, the buffer material C is sandwiched between the adjacent object P1 and the object P2 being transported and becomes self-supporting (step S18). Thereafter, the process returns to step S10 with the object P2 being the adjacent object P1, and steps S10 to S18 are repeated.

[0036] [Method of Setting the Directly Facing Position] Next, a method of setting the positions of the transport object P2 and the movable body 10 in the Y direction when approaching the storage room Va (see step S12 in FIG. 3) when the movable body 10 performs a stowage operation onto the transport vehicle V as shown in FIG. 3, i.e., a method of setting the directly facing position S1 of the movable body 10 with respect to the storage room Va will be described. FIGS. 4 to 7 are schematic diagrams for explaining a method of setting the directly facing position of the movable body with respect to the storage room Va.

[0037] 4 and 5, it is assumed that there is no overhang in the cargo Pb loaded on the pallet Pa of the adjacent object P1. Since the adjacent object P1 that has already been loaded has also been transported by the mobile body 10, it is assumed that the placement information, which is information on the position where the pallet Pa of the adjacent object P1 is placed, has been fed back.

[0038] First, an approach position S0, which is the position of the fork 24 in the Y direction, is set ( FIG. 4 ). The approach position S0 is the center in the Y direction of the claws 24A and 24B of the fork 24 when the transport object P2 approaches the storage chamber Va while facing it, in other words, before the transport object P2 is pressed against the buffer material C. If the distance from the edge of the -Y side of the pallet Pa of the fed-back adjacent object P1 to the approach position S0 is L0, the amount of placement error of the adjacent object P1 is Lt, the amount of buffer material width is Lc, the amount of self-position error is La, the distance from the edge of the +Y side of the transport object P2 to the center is Lp, and the amount of margin is α, then the distance L0 is expressed by the following equation (1):

[0039]

[0040] Here, the placement error amount Lt is the estimated maximum amount of error between the feedback placement of the adjacent object P1 and its actual placement. This placement error occurs, for example, when the adjacent object P1 is transported and the center of the fork 24 of the transporting body 10 is misaligned with the center of the adjacent object P1. The placement error amount Lt is a preset fixed value.

[0041] Furthermore, the buffer material width amount Lc is the distance from the -Y side edge of the pallet Pa of the adjacent object P1 to the -Y side edge of the buffer material C, taking into account the estimated maximum amount of misalignment that will occur due to the tilt of the buffer material C when it is leaned against it. The buffer material width amount Lc is a preset fixed value. The buffer material width amount Lc is calculated based on, for example, the height of the adjacent object P1 against which the buffer material C is leaned, the estimated tilt of the buffer material C, etc.

[0042] Furthermore, the self-position error amount La is the estimated maximum amount of error between the center of the claws 24A, 24B of the forks 24 of the movable body 10 transporting the transport object P2 and the center of the pallet Pa of the transport object P2 mounted on the forks 24. The self-position error amount La is a preset fixed value. This self-position error occurs, for example, when the center of the forks 24 of the movable body 10 is misaligned with the center of the transport object P2 when transporting the transport object P2.

[0043] Next, a facing position S1, which is the position of the vehicle body 20 of the movable body 10 in the Y direction, is set ( FIG. 5 ). The facing position S1 is the position of the representative point F of the movable body 10 in the Y direction when the transported object P2 approaches the storage room Va, i.e., before the transported object P2 is pressed against the buffer material C. The representative point F of the movable body 10 is located at the lateral center of the vehicle body 20, for example, the center of two wheels 20A provided at the tip of the straddle leg 21. If the distance from the -Y side end of the pallet Pa of the fed-back adjacent object P1 to the facing position S1 is L1 and the maximum side shift amount of the fork 24 is Ls, then the distance L1 is expressed by the following equation (2):

[0044]

[0045] The maximum side shift amount Ls is the maximum distance that the fork 24 can move laterally from the initial position where the fork 24 is positioned at the center of the vehicle body 20. The maximum side shift amount Ls is referenced from the design value of the vehicle 10.

[0046] In this way, the movable body 10 transporting the object P2 approaches the storage room Va with the forks 24 moved as far as possible away from the adjacent object P1. This allows the forks 24 to secure a side shift amount of 2×Ls, so that the object P2 being transported can be stacked in the storage room Va without interfering with the buffer material C, even if the buffer material C is significantly tilted. Furthermore, by using the side shift function of the forks 24 to press the object P2 toward the buffer material C, the buffer material C can be sandwiched between the adjacent object P1 and the object P2.

[0047] 6 and 7 show an example in which a load Pb loaded on a pallet Pa of an adjacent object P1 has an overhang. If the amount of overhang from the -Y side end of the pallet Pa of the adjacent object P1 to the -Y side end of the load Pb is Lo, then the distance L0 is given by the following equation (3), and the distance L1 is given by the following equation (4).

[0048]

[0049]

[0050] In the above explanation, an example was given of a case where only adjacent object P1 has an overhang, but in the case where transport object P2 has an overhang, distances L0 and L1 can be calculated in the same way by taking into account the amount of overhang from the +Y side end of pallet Pa of transport object P2 to the +Y side end of luggage Pb.

[0051] [Method for Resetting the Directly Facing Position] Next, a method for resetting the directly facing position S1 after the movable body 10 approaches the storage room Va so as to directly face the storage room Va will be described based on the actual position of the adjacent object P1 and the actual position and inclination θ of the buffer material C leaned against the adjacent object P1. Figures 8 to 11 are schematic diagrams illustrating a method for resetting the directly facing position of the movable body relative to the storage room.

[0052] The resetting of the facing position S1 is performed by sensing using the sensor 26B (see FIG. 2) of the movable body 10. Specifically, after the movable body 10 conveying the conveyed object P2 approaches the storage room Va so as to face it directly, the actual position of the adjacent object P1 and the actual position and inclination θ of the buffer material C leaned against the adjacent object P1 are detected to acquire detection information.

[0053] Here, let Ld be the distance from the -Y side edge of the pallet Pa of the actual adjacent object P1 to the -Y side edge of the actual buffer material C, and let Le be the distance from the -Y side edge of the pallet Pa of the actual adjacent object P1 to the facing position S1. The distance Ld can be calculated from the detected position of the pallet Pa of the actual adjacent object P1 and the facing position S1 set as described above. The distance Le can also be calculated from the detected position of the pallet Pa of the actual adjacent object P1, the position and height of the package Pb, and the tilt θ of the buffer material C.

[0054] 8 and 9 show the case where the inclination θ of the buffer material C is larger than expected, i.e., Ld>Le. In this case, the movable body 10 and the transported object P2 are too close to the adjacent object P1 (+Y side), so they need to be adjusted in the direction away from each other (-Y side).

[0055] 10 and 11 show a case where the tilt θ of the buffer material C is significantly smaller than expected, i.e., where Ld≦Le and Le−Ld≦2×Ls. In this case, the movable body 10 and the object P2 to be transported are too far away from the adjacent object P1 (+Y side), and even if the side shift function is used to its full potential, the object P2 to be transported cannot completely press the buffer material C toward the adjacent object P1, so adjustment is required to move it closer (toward the +Y side).

[0056] If the distance from the -Y side end of the pallet Pa of the adjacent object P1 to the reset facing position S2 is L2 and the margin is β, then the adjustment amount L2-L1 to the facing position S2 relative to the facing position S1 is expressed by the following equation (5):

[0057]

[0058] In this way, when the movable body 10 and the transport object P2 are too close to or too far from the adjacent object P1 (+Y side), the representative point F of the movable body 10 is brought directly opposite the facing position S2 by moving directly opposite or re-approaching. Note that, as shown in Figures 10 and 11, when the movable body 10 is too far away, the facing position S2 may be shifted to the +Y side within the range of L2 ≤ Ls to reduce the amount of lateral movement of the movable body 10.

[0059] [Management Device] FIG. 12 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. 12, includes a communication unit 30, a memory unit 32, and a control unit 34.

[0060] 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).

[0061] 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.

[0062] [Information Processing Device] FIG. 13 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. 13, 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.

[0063] 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.

[0064] 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.

[0065] [Mobile Body Control Device] Next, the control device 28 of the mobile body 10 will be described. FIG. 14 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. 14, 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 the cushioning material C, and various setting values. The various set values ​​include, for example, a placement error amount Lt, a buffer width amount Lc, a self-position error amount La, a maximum side shift amount Ls, and margins α and β.

[0066] The control unit 54 is a computing device and includes a computing circuit such as a CPU. The control unit 54 includes a location information acquisition unit 60, an approach position setting unit 62, a facing position setting unit 64, a detection information acquisition unit 66, and a facing position resetting unit 68. The control unit 54 reads and executes a program (software) from the storage unit 52 to realize the location information acquisition unit 60, the approach position setting unit 62, the facing position setting unit 64, the detection information acquisition unit 66, and the facing position resetting unit 68 and executes these processes. The control unit 54 may execute these processes using a single CPU, or may include multiple CPUs and execute the processes using the multiple CPUs. Furthermore, at least a portion of the location information acquisition unit 60, the approach position setting unit 62, the facing position setting unit 64, the detection information acquisition unit 66, and the facing position resetting unit 68 may be implemented using hardware circuits. The program for the control unit 54 stored in the storage unit 52 may be stored in a recording medium readable by the control device 28.

[0067] The location information acquisition unit 60 acquires location information, which is information about the location of an adjacent object P1 adjacent to a location where an object P2 being transported is scheduled to be loaded, from the information processing device 14 via the communication unit 50. The approach position setting unit 62 sets an approach position S0 of the fork 24 based on the location information of the adjacent object P1 acquired by the location information acquisition unit 60 and each setting value stored in the memory unit 52. The facing position setting unit 64 sets a facing position S1 of the vehicle body 20 of the mobile body 10 based on the approach position S0 and the maximum side shift amount Ls. The detection information acquisition unit 66 acquires detection information including the position of the adjacent object P1 detected by the sensor 26B and the position and inclination θ of the buffer material C leaned against the adjacent object P1. The facing position resetting unit 68 resets the facing position S2 of the vehicle body 20 of the mobile body 10 based on the detection information acquired by the detection information acquisition unit 66 and each setting value stored in the memory unit 52.

[0068] 15 is a flowchart showing an example of the operation of the moving body, specifically, the processing of the control device 28 until the moving body 10 transporting the transport object P2 sets the directly facing position S1.

[0069] The placement information acquisition unit 60 of the mobile body 10 acquires placement information, which is information about the location of an adjacent object P1 adjacent to the location where the transport object P2 being transported is planned to be loaded, from the information processing device 14 via the communication unit 50 (step S20).

[0070] Next, the approach position setting unit 62 of the mobile object 10 sets an approach position S0 for the fork 24 based on the location information acquired by the location information acquisition unit 60 and various setting values ​​stored in the storage unit 52 (step S22). More specifically, the approach position setting unit 62 calculates the distance L0 from the -Y side end of the pallet Pa of the adjacent object P1 based on the location information to the approach position S0. In this case, if the cargo Pb loaded on the pallet Pa of the adjacent object P1 does not have an overhang, the above-mentioned formula (1) is used, and if there is an overhang, the above-mentioned formula (3) is used. The approach position setting unit 62 calculates the coordinates of the approach position S0 based on the coordinates of the -Y side end of the pallet Pa of the adjacent object P1 based on the location information and the distance L0.

[0071] Next, the facing position setting unit 64 of the mobile object 10 sets the facing position S1 of the vehicle body 20 of the mobile object 10 based on the distance L0 and the maximum side shift amount Ls (step S24). More specifically, the facing position setting unit 64 calculates the distance L1 from the -Y side end of the pallet Pa of the adjacent object P1 based on the location information to the facing position S1. At this time, if the cargo Pb loaded on the pallet Pa of the adjacent object P1 does not have an overhang, the above-mentioned formula (2) is used, and if there is an overhang, the above-mentioned formula (4) is used. The facing position setting unit 64 calculates the coordinates of the facing position S1 based on the coordinates of the -Y side end of the pallet Pa of the adjacent object P1 based on the location information and the distance L1.

[0072] After setting the approach position S0 and the facing position S1 by processing the flowchart shown in Figure 15, the control unit 54 controls the mobile body 10 to side-shift the fork 24 relative to the vehicle body 20 in the direction opposite to the adjacent object P1 and to approach the facing position S1 in the -X direction.

[0073] 16 is a flowchart showing an example of the operation of the mobile body, specifically, the process of the control device 28 from when the mobile body 10 transporting the transport object P2 has completed its approach so as to face the facing position S1 to when the facing position S2 is reset.

[0074] The detection information acquisition unit 66 of the moving body 10 acquires the detection information detected by the sensor 26B (step S30). The detection information includes at least information on the actual position of the adjacent object P1 adjacent to the position where the transport object P2 being transported is scheduled to be stacked, and the position and inclination θ of the buffer material C leaned against the adjacent object P1.

[0075] Next, based on the detection information, the control unit 54 of the mobile unit 10 acquires the distance Ld from the -Y side edge of the pallet Pa of the actual adjacent object P1 to the -Y side edge of the actual buffer material C, and the distance Le from the -Y side edge of the pallet Pa of the actual adjacent object P1 to the directly facing position S1. The control unit 54 determines whether the distance Ld is equal to or less than the distance Le (step S32).

[0076] If the control unit 54 determines that the distance Ld is less than or equal to the distance Le (step S32; Yes), it determines whether the relationship between the distance Le, the distance Ld, and the maximum side shift amount Ls satisfies the formula Le-Ld≦2×Ls (step S34).

[0077] When the control unit 54 determines that Le-Ld≦2×Ls (step S34; Yes), the control unit 54 ends the processing of the flowchart shown in FIG. 16 while maintaining the directly facing position S1.

[0078] If the control device 28 determines that the distance Ld is greater than the distance Le (step S32; No), or if it determines that Le - Ld > 2 × Ls (step S34; No), the facing position resetter 68 resets the facing position S2 (step S36). More specifically, the control device 28 calculates the distance L2 from the -Y side end of the pallet Pa of the adjacent object P1 based on the arrangement information from the detection information to the reset facing position S2. At this time, the adjustment amount L2 - L1 for the facing position S2 relative to the facing position S1 is calculated using the above-mentioned equation (5). The facing position resetter 68 calculates the coordinates of the facing position S2 based on the adjustment amount L2 - L1.

[0079] After resetting the facing position S2 by processing the flowchart shown in Figure 16, the control unit 54 controls the mobile body 10 to side-shift the fork 24 relative to the vehicle body 20 in the direction opposite to the adjacent object P1, and to move directly sideways or re-approach the mobile body 10 so as to face the facing position S2 in the -X direction.

[0080] [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.

[0081] The mobile body 10 according to the first aspect transports a plurality of objects P (baggage) in one direction (Y direction in the embodiment) of a predetermined loading area (for example, a storage room Va of a transport vehicle V) while sandwiching buffer materials C between the objects P (baggage), and loads the objects P facing each other in a cross direction (X direction in the embodiment) perpendicular to the one direction relative to the loading area. The mobile body 10 includes a travellable vehicle body 20, forks 24 that are movable in the vertical direction (Z direction) and horizontal direction relative to the vehicle body 20 and can hold the objects P, and a control device 28. The control device 28 acquires placement information that is information on the position where an adjacent object P1 (adjacent baggage) adjacent to the position where the transported object P2 is to be loaded is loaded. a memory unit 52 that stores a buffer width amount Lc, which is the distance from the end of the adjacent object P1 on the buffer C side to the end of the buffer C opposite the adjacent object P1, taking into account the estimated maximum amount of deviation that will occur due to the tilt of the buffer C leaned against the adjacent object P1; an approach position setting unit 62 that sets an approach position S0, which is the position of the fork 24 in one direction when approaching the stowage area in the intersecting direction, based on the arrangement information and the buffer width amount Lc; and a facing position setting unit 64 that sets a facing position S1, which is the position of the vehicle body 20 in one direction, so that the fork 24 is at the approach position S0 when moved in one direction relative to the vehicle body 20 to a position that is farthest from the adjacent object P1.

[0082] The mobile body 10 according to the first aspect presets a fixed value for the estimated maximum amount of displacement of the base of the buffer material C caused by the tilt of the buffer material C leaned against the adjacent object P1, and sets the approach position S0 at which the forks 24 enter the loading area taking this into consideration. This prevents the object P2 held by the forks 24 from colliding with the buffer material C leaned against the adjacent object P1 and causing the buffer material C to shift or fall over when entering the loading area. Furthermore, the mobile body 10 sets the facing position S1 so that the vehicle body 20 of the mobile body 10 is directly facing the loading area with the forks 24 side-shifted to the maximum extent away from the adjacent object P1. This ensures that the distance by which the forks 24 can side-shift to press the object P2 held by the forks toward the adjacent object P1 is twice the maximum side-shift amount Ls. Therefore, in the cargo handling operation in which a plurality of objects P (baggage) are stacked while sandwiching buffer materials C between the objects P, the objects P can be stacked efficiently.

[0083] The mobile body 10 according to the second aspect is a mobile body according to the first aspect, in which the memory unit 52 further stores a placement error amount Lt, which is the estimated maximum amount of error between the position of the adjacent object P1 (adjacent luggage) in the acquired placement information and its actual position, and the approach position setting unit 62 sets the approach position S0 based on the placement information, the buffer material width amount Lc, and the placement error amount Lt.

[0084] The mobile body 10 according to the second aspect sets the approach position S0 assuming that there will be a discrepancy between the position of the adjacent object P1 acquired from the placement information and its actual position, for example, when the center of the forks 24 of the mobile body 10 that transported the adjacent object P1 is misaligned from the center of the adjacent object P1. This makes it possible to further prevent the object P2 being transported, held by the forks 24, from colliding with the buffer material C leaning against the adjacent object P1 and causing the buffer material C to shift or fall over when the object P2 enters the loading area.

[0085] The mobile body 10 according to the third aspect is a mobile body according to the first or second aspect, in which the memory unit 52 further stores a self-position error amount La, which is the estimated maximum amount of error between the center of the fork 24 and the center of the transport object P2 (luggage) held by the fork 24, and the approach position setting unit 62 sets the approach position S0 based on the placement information, the buffer material width amount Lc, and the self-position error amount La.

[0086] The movable body 10 according to the third aspect sets the approach position S0 assuming that there is a misalignment between the center of the forks 24 of the movable body 10 and the center of the object P2, for example, when transporting the object P2. This makes it possible to further prevent the object P2 held by the forks 24 from colliding with the buffer material C leaning against the adjacent object P1 and causing the buffer material C to shift or fall over when the object P2 enters the stacking area.

[0087] The mobile body 10 of the fourth aspect is a mobile body of any one of the first to third aspects, and further includes a sensor 26B that detects the actual inclination θ of the buffer material C, and the control device 28 further includes a detection information acquisition unit 66 that acquires the detection information detected by the sensor 26B, and a facing position resetting unit 68 that calculates a distance Ld from the end of the adjacent object P1 (adjacent luggage) on the buffer material C side to the end of the buffer material C opposite the adjacent object P1 based on the detection information, and resets the facing position S2 based on the distance Ld.

[0088] The mobile body 10 according to the fourth aspect resets the facing position S2 by sensing the inclination of the actual buffer material C after completing its approach so as to face the facing position S1 of the stacking area. This resets the facing position S2. If the mobile body 10 is too close to the actual buffer material C, it moves sideways or re-approaches to face the facing position S2 away from the buffer material C, further preventing the object P2 held by the forks 24 from colliding with the buffer material C leaning against the adjacent object P1 and shifting or knocking over the buffer material C when the object P2 enters the stacking area. If the mobile body 10 is too far from the actual buffer material C, it moves sideways or re-approaches to face the facing position S2 closer to the buffer material C. After the object P2 held by the forks 24 enters the stacking area, it can push the buffer material C toward the adjacent object P1 using only the side shift function, thereby sandwiching the buffer material C between the adjacent object P1 and the object P2.

[0089] The control method according to the fifth aspect is a control method for a mobile body 10 that includes a travellable vehicle body 20 and forks 24 that are movable in the vertical direction (Z direction) and horizontal direction relative to the vehicle body 20 and can hold objects P (luggage), and that transports a plurality of objects P in order to sequentially stack them in one direction (Y direction in the embodiment) of a predetermined stacking area (for example, a storage room Va of a transport vehicle V) while sandwiching buffer material C between the objects P, and stacks the objects P facing each other in a cross direction (X direction in the embodiment) perpendicular to the one direction relative to the stacking area, and that controls the control method to control the mobile body 10 to transport a plurality of objects P in one direction (Y direction in the embodiment) of a predetermined stacking area (for example, a storage room Va of a transport vehicle V), and stacks the objects P facing each other in a cross direction (X direction in the embodiment) perpendicular to the one direction of the stacking area, and that controls the control method to control the mobile body 10 to stack the objects P in one direction (Y direction) of the predetermined stacking area (for example, a storage room Va of a transport vehicle V) while sandwiching buffer material C between the objects P. The method includes the steps of: storing a buffer width amount Lc, which is the distance from the end of the adjacent object P1 on the buffer C side to the end of the buffer C opposite the adjacent object P1, taking into account the estimated maximum amount of deviation that will occur; acquiring placement information, which is information on the position where the adjacent object P1 is stacked; setting an approach position S0, which is the position of the fork 24 in one direction when approaching the stacking area in a direction intersecting the buffer width amount Lc, based on the placement information and the buffer width amount Lc; and setting a direct facing position S1, which is the position of the vehicle body 20 in one direction, so that the fork 24 is at the approach position S0 when moved to a position farthest from the adjacent object P1 in one direction relative to the vehicle body 20.

[0090] The control method according to the fifth aspect preliminarily sets a fixed value for the estimated maximum amount of displacement of the base of the buffer material C caused by the tilt of the buffer material C leaned against the adjacent object P1, and sets the approach position S0 at which the forks 24 enter the loading area taking this into consideration. This prevents the object P2 held by the forks 24 from colliding with the buffer material C leaned against the adjacent object P1 and causing the buffer material C to shift or fall over when entering the loading area. Furthermore, the control method sets the facing position S1 so that the vehicle body 20 of the mobile body 10 is directly facing the loading area with the forks 24 side-shifted to the maximum extent away from the adjacent object P1. This ensures that the distance by which the forks 24 can side-shift to press the object P2 held by the forks 24 toward the adjacent object P1 is twice the maximum side-shift amount Ls. This allows for efficient loading of multiple objects P (cargo) while sandwiching buffer material C between them.

[0091] The control program according to the sixth 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 and forks 24 that are movable in the vertical direction (Z direction) and horizontal direction relative to the vehicle body 20 and can hold objects P (luggage), and that transports a plurality of objects P in one direction (in the embodiment, the Y direction) of a predetermined loading area (for example, a storage room Va of a transport vehicle V) while sandwiching buffer material C between the objects P, and loads the objects P facing each other in a cross direction (in the embodiment, the X direction) perpendicular to the one direction relative to the loading area, and that includes a control program for causing a computer to execute a control method for a mobile body 10 that includes a travellable vehicle body 20 and forks 24 that are movable in the vertical direction (Z direction) and horizontal direction relative to the vehicle body 20 and can hold objects P (luggage), and that transports the objects P in one direction (in the embodiment, the Y direction) of a predetermined loading area (for example, a storage room Va of a transport vehicle V) while sandwiching buffer material C between the objects P, and loads the objects P facing each other in a cross direction (in the embodiment, the X direction) perpendicular to the one direction of the loading area, and The computer executes the following steps: storing a buffer width amount Lc, which is the distance from the edge of the adjacent object P1 on the buffer C side to the edge of the buffer C opposite the adjacent object P1, taking into account the estimated maximum amount of deviation caused by tilt; acquiring placement information, which is information on the position where the adjacent object P1 is stacked; setting an approach position S0, which is the position of the fork 24 in one direction when approaching the stacking area in a direction intersecting the placement information and the buffer width amount Lc; and setting a direct facing position S1, which is the position of the vehicle body 20 in one direction, so that the fork 24 is at the approach position S0 when moved in one direction to a position farthest from the adjacent object P1 relative to the vehicle body 20.

[0092] The control program according to the sixth aspect presets a fixed value for the estimated maximum amount of displacement of the base of the buffer material C caused by the tilt of the buffer material C leaned against the adjacent object P1, and sets the approach position S0 at which the forks 24 enter the loading area taking this into consideration. This prevents the object P2 held by the forks 24 from colliding with the buffer material C leaned against the adjacent object P1 and causing the buffer material C to shift or fall over when entering the loading area. The control program also sets the facing position S1 so that the vehicle body 20 of the mobile unit 10 is directly facing the loading area with the forks 24 side-shifted to the maximum extent away from the adjacent object P1. This ensures that the distance by which the forks 24 can side-shift to press the object P2 held by the forks 24 toward the adjacent object P1 is twice the maximum side-shift amount Ls. This allows for efficient loading of multiple objects P (cargo) while sandwiching buffer material C between them.

[0093] 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.

[0094] For example, when resetting the facing position S2, if the buffer material width amount Lc calculated from the tilt θ of the buffer material C detected by the sensor 26B is larger than the value of the buffer material width amount Lc stored in the memory unit 52, information on the tilt θ of the buffer material C may be fed back to the management device 12 and used for subsequent loading and unloading. That is, the estimated maximum tilt θ of the buffer material C and the buffer material width amount Lc stored in each mobile body 10 may be updated based on the fed back information.

[0095] 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 26A, 26B Sensor 28 Control device 30, 40, 50 Communication unit 32, 42, 52 Memory unit 34, 44, 54 Control unit 60 Placement information acquisition unit 62 Approach position setting unit 64 Facing position setting unit 66 Detection information acquisition unit 68 Facing position resetting unit 100 Movement control system A Unit area AR Work area AR1 Loading / unloading area AR2 Transfer area AR3 Relay area ARF Temporary installation area ART Placement area ARV Parking area ARW Movement area C Buffer material F Representative point La Self-position error amount Lc Width of buffer material Lo Overhang amount Ls Maximum side shift amount Lt Placement error amount P Object P1 Adjacent object P2 Transport object P0 Fixed object Pa Pallet Pb Baggage S0 Approach position S1, S2 Directly facing position V Transport vehicle Va Storage room Vb Door W Equipment WP Waypoint

Claims

1. A mobile body that transports multiple pieces of luggage in a predetermined loading area in order to sequentially load the pieces of luggage along one direction while sandwiching buffer material between the pieces of luggage, and loads the pieces of luggage facing the loading area in an intersecting direction perpendicular to the one direction, comprising: a travellable vehicle body; forks that are movable up and down and sideways relative to the vehicle body and can hold luggage; and a control device, wherein the control device has: a placement information acquisition unit that acquires placement information, which is information about the position at which adjacent pieces of luggage are loaded adjacent to the position at which the pieces of luggage are planned to be loaded; a memory unit that stores a buffer material width amount, which is the distance from the edge of the adjacent piece of luggage on the buffer material side to the edge of the buffer material opposite the adjacent piece of luggage, taking into account an estimated maximum amount of deviation that may occur due to the inclination of the buffer material leaned against the adjacent piece of luggage; and an approach position setting unit that sets an approach position, which is the position of the fork in the one direction when approaching the loading area in the intersecting direction, based on the placement information and the buffer material width amount. a facing position setting unit that sets a facing position, which is a position of the vehicle body in the one direction, so that the fork is at the approach position when moved to a position farthest from the adjacent luggage in the one direction relative to the vehicle body.

2. The mobile body described in claim 1, wherein the memory unit further stores a placement error amount, which is the estimated maximum amount of error between the position of the adjacent luggage in the acquired placement information and its actual position, and the approach position setting unit sets the approach position based on the placement information, the buffer width amount, and the placement error amount.

3. The mobile body described in claim 1, wherein the memory unit further stores a self-position error amount, which is the estimated maximum amount of error between the center of the fork and the center of the luggage held by the fork, and the approach position setting unit sets the approach position based on the placement information, the buffer width amount, and the self-position error amount.

4. A mobile body as described in claim 1, further comprising a sensor that detects the actual inclination of the buffer material, wherein the control device further comprises: a detection information acquisition unit that acquires detection information detected by the sensor; and a facing position resetting unit that calculates the distance from the edge of the adjacent baggage on the buffer material side to the edge of the buffer material opposite the adjacent baggage based on the detection information, and resets the facing position based on that distance.

5. A control method for a mobile body comprising a travellable vehicle body and forks movable in vertical and horizontal directions relative to the vehicle body and capable of holding cargo, which transports a plurality of cargo pieces in order to stack them sequentially along one direction in a predetermined stacking area while sandwiching buffer material between the pieces of cargo, and stacks the pieces of cargo facing each other in an intersecting direction perpendicular to the one direction in the stacking area, the control method comprising the steps of: storing a buffer width amount, which is the distance from the end of the adjacent cargo piece on the buffer material side to the end of the buffer material opposite the adjacent cargo piece, taking into account an estimated maximum amount of deviation that will occur due to the inclination of the buffer material leaned against the adjacent cargo piece adjacent to the position where the cargo is to be stacked; acquiring placement information, which is information on the position where the adjacent cargo piece is stacked; setting an approach position, which is the position of the forks in the one direction when approaching the stacking area in the intersecting direction, based on the placement information and the buffer width amount; and setting a facing position, which is the position of the vehicle body in the one direction, so that the forks are at the approach position when moved in the one direction relative to the vehicle body to a position farthest from the adjacent cargo piece. Control method.

6. A control program that causes a computer to execute a control method for a mobile body that includes a drivable vehicle body and forks that are movable up and down and sideways relative to the vehicle body and can hold cargo, and that transports multiple cargo pieces to sequentially load them along one direction in a predetermined loading area while sandwiching buffer material between the pieces of cargo, and loads them directly facing the loading area in an intersecting direction perpendicular to the one direction, the control program comprising the steps of: storing a buffer width amount that is the distance from the edge of the adjacent cargo piece that is on the buffer material side to the edge of the buffer material opposite the adjacent cargo piece, taking into account an estimated maximum amount of deviation that will occur due to the inclination of the buffer material leaned against the adjacent cargo piece adjacent to the position where the cargo is to be loaded; acquiring location information that is information on the position where the adjacent cargo piece is loaded; and setting an approach position that is the position of the fork in the one direction when approaching the loading area in the intersecting direction based on the location information and the buffer width amount. and setting a facing position, which is the position of the vehicle body in the one direction, so that the fork is at the approach position when moved to a position farthest from the adjacent load relative to the vehicle body in the one direction.

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