Forklift apparatus, forklift control method, and non-transitory computer-readable medium

A forklift control method comprising:

• predicting a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet;
• correcting a travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked;
• and
• performing travel control such that the pallet is conveyed along the corrected travel route.

A non-transitory computer-readable medium that stores a program causing a computer of a forklift apparatus traveling along a travel route to perform:

• predicting a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet;
• correcting the travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked;
• and
• performing travel control such that the pallet is conveyed along the corrected travel route.