To provide a cargo handling vehicle capable of smoothly going around a curve by an unmanned operation.SOLUTION: A cargo handling vehicle according to the present invention comprises a model generating means 11, the optimum shift amount estimating means 12, and a steering control means 14, where the model generating means performs machine learning and generates an estimation model 17 using a load, the direction of the curve, the degree of curve tightness, and how much the cargo handling vehicle was shifted from the center of the aisle in the width direction in entering a curve when the cargo handling vehicle travels on a curve by a manned operation, as teacher data, the optimum sift amount estimating means estimates if it is good how much the cargo handling vehicle was shifted from the center of the aisle in the width direction when entering a curve by applying a load, the direction of the curve, and the degree of curve tightness to an estimation model 17 when the next curve to travel is decided by an unmanned operation, and the steering control means controls a steering gear 21 so that the shift amount when the cargo handling vehicle enters the curve coincides with the estimated shift amount.SELECTED DRAWING: Figure 2

    【課題】無人運転によりカーブをスムーズに曲がることができる荷役車を提供する。【解決手段】本発明に係る荷役車は、有人運転によりカーブを走行する際に、荷重と、当該カーブの方向と、当該カーブの程度と、当該カーブに進入したときに荷役車が通路の幅方向中心からどの程度シフトしていたのかとを教師データとした機械学習を行って、推定モデル17を生成するモデル生成手段11と、無人運転により次に走行すべきカーブが決定すると、荷重と、当該カーブの方向と、当該カーブの程度とを推定モデル17にあてはめることにより、当該カーブに進入するときに荷役車が通路の幅方向中心からどの程度シフトしているのがよいのかを推定する最適シフト量推定手段12と、荷役車が当該カーブに進入するときのシフト量が推定された量に一致するように操舵装置21を制御する操舵制御手段14とを備えている。【選択図】図2


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    Title :

    CARGO HANDLING VEHICLE CAPABLE OF SWITCHING BETWEEN UNMANNED OPERATION AND MANNED OPERATION


    Additional title:

    無人運転と有人運転とに切り替え可能な荷役車


    Contributors:
    KAI KENSUKE (author)

    Publication date :

    2021-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last




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