Unloading control device

An unloading control device for loading a pallet held by forks of a forklift onto a loading portion to remove the forks from the pallet, the unloading control device comprising:

• a pallet detection unit configured to detect the pallet held by the forks and acquire detection data of the pallet;
• a tilt angle detector configured to detect a tilt angle of the forks;
• a lowering control unit configured to control a lift cylinder of the forklift so as to lower the forks holding the pallet toward the loading portion;
• a change amount estimation unit configured to estimate a change amount of a posture of the pallet with respect to the forks based on the detection data of the pallet acquired by the pallet detection unit and the tilt angle of the forks detected by the tilt angle detector when the forks holding the pallet are lowered;
• a determination unit configured to determine whether or not the pallet held by the forks abuts on an upper surface of the loading portion based on the change amount of the posture of the pallet with respect to the forks estimated by the change amount estimation unit;
• a tilting control unit configured to control a tilt cylinder of the forklift so that the forks tilt in a direction approaching parallel to a main surface of the pallet when the determination unit determines that the pallet held by the forks abuts on an upper surface of the loading portion;
• and
• a withdrawing control unit configured to control the forklift so as to remove the forks from the pallet according to the tilt angle of the forks detected by the tilt angle detector after the forks approach parallel to the main surface of the pallet.