Technical field
[0001]The present invention, in-vehicle devices, cargo handling machine, the control circuit, a control method, and a program.
BACKGROUND
[0002]Recently, with the development of automatic operation technology and robotics technology improves accuracy of space recognition technique utilizing laser or radar, also progressed cost of spatial recognition sensor. On the other hand, in handling machine such as a forklift, an apparatus for managing the loading operation is used.
　For example, Patent Document 1 detects that the distance between the container has reached a predetermined value, the detected distance is described to notify the operator that has reached a predetermined value.
　For example, Patent Document 2, a camera by calculating the shift amount of the left and right-upper and lower forks and load handling target from the position on the screen of the mark captured, position automatically handling object fork so as to eliminate the deviation amount the automatic fork positioning control for aligning is performed are described.
CITATION
Patent Document
[0003]
Patent Document 1: JP 2000-335896 Patent Publication
Patent Document 2: JP 2003-128395 JP
Summary of the Invention
Problems that the Invention is to Solve
[0004]
　However, the technology described in Patent Document 1, will be the fork itself collides with the container can not be transported without insert the fork into the container, there is a problem in that.
Further, in Patent Document 2 described techniques must subjected marks on handling the object, can not carry the load handling target mark is not attached, there is a problem that.
　As illustrated above, Patent Documents 1 and 2 described technique has the disadvantage transport object may not be properly transported.
[0005]
　Accordingly, one aspect of the present invention is intended to provide vehicle device, handling machine capable of properly carrying haul target, control circuit, a control method, and a program.
Means for Solving the Problems
[0006]
　One aspect of the present invention has been made to solve the problems described above, based on the sensing information acquired from the space recognition apparatus, an analyzing unit for detecting an insertion target plugging the Sakomitsume, on the sensing information based on a vehicle device and a control unit that performs determining deviation determination whether the position relation between the difference Komitsume and the difference write target insertion portion is shifted.
[0007]
　The aspect of the present invention is a cargo handling machine provided with the above-described in-vehicle device.
[0008]
　The aspect of the present invention determines whether the basis of the acquired sensing information from the space recognition apparatus, are out of the positional relationship between the difference Komitsume the insertion portion of the insertion target plugging Sakomitsume it is a control circuit.
[0009]
　The aspect of the present invention, the analysis unit, based on the sensing information acquired from the space recognition apparatus detects the insertion target plugging the Sakomitsume, the control unit, based on the sensing information, the insertion it is a control method of performing determining deviation determination whether the position relation between the difference Komitsume the insertion portion of the object is shifted.
[0010]
　The aspect of the present invention, the computer, on the basis of sensing information acquired from the space recognition apparatus, to detect the insertion target plugging the Sakomitsume, based on the sensing information, the differential write target of the insertion portion is a program for causing the determining deviation determination whether the positional relationship is deviated between the difference Komitsume with.
The invention's effect
[0011]
　According to one aspect of the present invention, the effect is obtained that the transport object can be properly transported.
BRIEF DESCRIPTION OF THE DRAWINGS
[0012]
It is a perspective view showing a carrying works according to the embodiment of FIG. 1 the present invention.
It is a front view showing an example of a fixing position of FIG. 2 service management apparatus according to the present embodiment.
3 is a schematic diagram showing an example of sensing according to the present embodiment.
Is a side view showing an example of sensing according to [4] The present embodiment.
Is a schematic diagram illustrating an example of FIG. 5 the sensing according to the present embodiment results.
6 is a diagram showing an example of a deviation determination according to the present embodiment.
It is a schematic view showing another example of a deviation determination according to FIG. 7 embodiment.
It is a schematic view showing another example of a deviation determination according to FIG. 8 embodiment.
It is a schematic view showing another example of a deviation determination according to FIG. 9 embodiment.
It is a schematic view showing another example of a deviation determination according to [10] the present embodiment.
11 is a flowchart showing an example of the operation of the forklift according to the present embodiment.
It is a block diagram showing a hardware configuration of FIG. 12 service management apparatus according to the present embodiment.
13 is a block diagram showing the logical configuration of a service management apparatus according to the present embodiment.
FIG. 14 is another schematic block diagram showing the logical configuration of a service management apparatus according to the present embodiment.
[Figure 15A] is a schematic diagram showing an example of a positive-to-determination according to a modification of this embodiment, showing a case where the forklift is not directly facing the container.
Is a schematic diagram showing an example of a determination positive pairs according to a modification of FIG. 15B] This embodiment illustrates a case where the forklift is directly facing the container.
Is a schematic diagram showing an example of FIG. 16A] insertion timing predicted according to a modification of the present embodiment.
It is a schematic diagram showing an example of an insertion timing prediction according to a modification of FIG. 16B] present embodiment, showing when the forklift is approaching the container.
DESCRIPTION OF THE INVENTION
[0013]
　It will be described in detail embodiments of the present invention with reference to the drawings.
[0014]

　Figure 1 is an explanatory view for explaining a transportation task according to the embodiment of the present invention.
　Forklift F1 is an example of a cargo handling machine. The forklift F1, forks F101, F102 are provided. Fork F101, F102 is an example of Sakomitsume.
　Forklift F1 is a fork F101, F102, by inserting the transporting object, such as luggage or pallets, carrying gripping the conveyed object. That is, the handling machine, by inserting the conveying object, insertion pawl is provided to grip the transported object.
[0015]
　Container 20 is an example of a transport object or insertion target. Container 20 is a container for pay the luggage or the like to the inside. The container 20, the opening of the fork pockets 201, 202 (plug portion; may be a concave portion) is provided. Fork pockets 201 and 202, respectively, is a hole or recess inserting the fork F101, F102. Fork pockets 201 and 202, is an example of a plug-in object.
　Insertion or during transportation when the forklift F1 which faces (also referred to as "Sakomimen 211") has a fork pocket 201, 202. Fork pockets 201 and 202, from the front of the conveying object (Sakomimen 211) to the back (the positive direction in FIG. 1, the Y-axis), respectively plugged forks F101, F102, hole to protrude its tip end from the back or it is a recess.
　In Figure 1, the fork pockets 201 and 202, in the lower part of the Sakomimen 211, a straight extending hole in the normal direction of Sakomimen 211.
[0016]
　Fork F101, F102, respectively, when inserted straight into the fork pockets 201 and 202, the forklift F1 is appropriately container 20 (good balance, thereby stabilizing) can be gripped to be transported.
　Note that dimensions of the container 20 and the fork pockets 201 and 202, specified in the standard (e.g., JIS). In addition, transport subject is not limited to the container 20, may be a pallet, it may be both of luggage placed on the pallet and the pallet. Here, the palette refers to a loading and unloading platform for placing the luggage. Pallet, the fork pocket is provided. Also, the fork pockets, three or more (e.g., four) may be.
[0017]
　Service management apparatus 1 is attached to the handling machine, it is fixed. Service management apparatus 1 is provided with a spatial recognition sensors, such as, for example, a laser sensor. In the present embodiment, it will be described space recognition sensor is a laser sensor. That is, the service management apparatus 1 (space recognition sensor) is irradiated with laser light it receives the reflected light to sense the distance R to the object from the own apparatus. Service management apparatus 1, for a range of sensing target, which is repeated. Service management apparatus 1, for example, the distance R to the irradiation direction and the object of the laser beam, which recognizes the space (see FIGS. 3-6).
[0018]
　Service management apparatus 1, based on the sensing information obtained from the space recognition sensor detects the container 20 (or Sakomimen 211). Service management apparatus 1, based on the sensing information, a fork pockets 201 and 202 of the container 20 (or Sakomimen 211), determining deviation determination whether or not shift the positional relationship between the forks F101, F102 do.
　Here, the positional relationship, for example, is a positional relationship in a direction perpendicular to the plane (XZ plane) forklift F1 and container 20 are opposed to each other (projected positional relationship to the surface), the present invention is not limited to this, it may be a positional relation in the XY plane and the YZ plane. Note that the direction in which the forklift F1 and container 20 are opposed to each other, the direction inserting the forks F101, F102, or, is also the traveling direction of the forklift F1 (when traveling straight).
　Work management device 1 outputs the determination result. For example, service management apparatus 1, when it is determined that the deviation, warning (e.g., warning sound, warning light, warning image, guidance and the like) to the.
[0019]
　Thus, the service management apparatus 1, for example, the operator or the like, a fork pockets 201 and 202, the fork F101, F102 is (also referred to simply as "fork is shifted") deviated and whether that the informing it can. That is, the worker or the like can change the position of the position and the fork F101, F102 forklift F1 (e.g. height) in accordance with the alerts. As a result, the operator or the like, the fork F101, F102 fork pockets 201 and 202, can be plugged into the correct.
[0020]
　Bed L1 is an example of the carry-out destination. Bed L1 is truck bed or trailer, a wagon or the like of the freight train. The bed L1, twistlock L11 ~ L14 are provided. Twistlock is an instrument used for or fixed Dari connecting container 20.
　Container 20 is transported is gripped forklift F1, placed on the loading platform L1, it is secured in the carrier L1 with twistlock L11 ~ L14.
　Incidentally, coordinate axes X, Y, Z shown in FIG. 1, in the figures of the present embodiment and its modified example, a common axis.
[0021]

　FIG. 2 is a schematic diagram showing an example of a fixing position of the work management apparatus 1 according to this embodiment.
　Figure 2 is a front view of the forklift F1.
[0022]
　Fork rail F11, F12 (finger bar) is a rail for attaching the fork F101, F102. Incidentally, fork F101 or fork F102 is by sliding along the fork rail F11, F12, can adjust the spacing of the forks F101 and fork F102.
　Backrest F13 is attached to the fork rail F11, F12. Backrest F13 is broken is gripped container 20, or a mechanism to prevent the falling into the forklift F1 side.
　Mast F14 is a rail for raising and lowering the fork F101, F102. Fork rail F11, F12 is, that is moved up and down along the mast F14, fork F101, F102 is moved up and down.
[0023]
　Service management apparatus 1 is an (X-axis direction) central portion of the fork rail F11, is fixed to the lower surface of the fork rail F11 (bottom). However, service management apparatus 1 may be mounted on the upper surface side of such fork rail F11 (upper side). Also, work management apparatus 1, the fork rail F12, backrest F13, mast F14, or may be attached to the body of the forklift F1. Further, the service management apparatus 1 or spatial recognition sensor has a plurality, it may be attached.
　Incidentally, if the service management apparatus 1 is fixed to the fork rail F11, fork rail F12, backrest F13, without being blocked laser beam spatial recognition device is irradiated can be irradiated on the container 20. In this case, fork rail F11, fork rail F12, backrest F13 Since the up and down together with the fork F101, F102 and containers 20, can be fixed relative positional relation between these and the service management apparatus 1.
[0024]

　The following describes sensing by the service management apparatus 1 (space recognition sensor).
　In the present embodiment, the irradiation method of a laser beam, a description is given of a case where the service management apparatus 1 performs raster scan, the present invention is not limited to this, and any other illumination system (e.g., Lissajous scan) it may be.
[0025]
　Figure 3 is a schematic diagram showing an example of sensing according to the present embodiment.
　This figure sequentially a laser beam irradiated is a diagram when viewed from the top side of the forklift F1. In FIG. 3, the projection direction of the laser beam, the angle (polar angle of deviation) when projected onto the XY plane and theta. A axis parallel to the Y axis, the axis passing through the service management apparatus 1 (irradiation port) (initial optical axis to be described later), and theta = 0.
[0026]
　Work management device 1 (as in certain other deflection angle phi) horizontally sequentially, by irradiating the laser beam, performs horizontal scanning.
　More specifically, the working management device 1 towards the positive direction of the deflection angle theta, sequentially (e.g., every equal angle [Delta] [theta]), is irradiated with laser light. Work management device 1, after being irradiated with laser light in a specific range (the range of deflection angle is -θmax ≦ θ ≦ θmax obtained by projecting the XY plane) in the horizontal direction (referred to as "horizontal scanning"), laser light in the vertical direction shifting the irradiation direction, toward the negative direction of the deflection angle theta, it is irradiated with laser light.
　If the negative direction of the horizontal scanning of the deflection angle θ is completed, the service management apparatus 1, the irradiation direction of the laser beam in the vertical direction and shifting, again, performs horizontal scanning in the positive direction of the X axis.
[0027]
　Figure 4 is another schematic diagram showing an example of sensing according to the present embodiment.
　This figure is a diagram of a case where the irradiation of the laser beam, as viewed from the side of the forklift F1.
Incidentally, the horizontal scanning in FIG. 3, corresponds to one arrow in FIG.
　4, the projection direction of the laser beam, the angle (polar angle of deviation) when projected onto the YZ plane and phi. A axis parallel to the Y axis, the axis passing through the service management apparatus 1 (irradiation port) (initial optical axis), and phi = 0.
[0028]
　Service management apparatus 1, for each one horizontal scan, only equal angles Δφ in the direction of the deflection angle phi, shifting the laser beam. More specifically, the service management apparatus 1, after the positive direction of the horizontal scanning of the deflection angle theta, only equiangular Δφ in the positive direction of the deflection angle phi, shifting the irradiation direction of the laser beam. Thereafter, the service management apparatus 1, after the negative direction of the horizontal scanning of the deflection angle theta, only equiangular Δφ in the positive direction of the deflection angle phi, further shifting the irradiation direction of the laser beam.
　Work management device 1 repeats this operation, in the positive direction of the deflection angle phi, irradiating the specified range (-φmax (e.g., a range of φmax = 90 °) ≦ φ ≦ 0). Incidentally, the service management apparatus 1, after shifting the irradiation only certain ranges (phi = 0), may be reversed in the negative direction of the deflection angle phi.
　Incidentally, the service management apparatus 1, in a different order and another coordinate system, may be irradiated with laser light.
[0029]
　Figure 5 is a schematic diagram showing an example of a sensing result according to the present embodiment.
　5, FIG. 3, an example of sensing of FIG. 4, represents the sensing information indicating the sensing result. Sensing information is, for example, space coordinates. Service management apparatus 1, the spatial coordinates are calculated based on the distance R of the irradiation direction of the laser beam (deflection angle θ and the deflection angle phi) and the reflection source (object). The spatial coordinates in the sensing range, the coordinates representing the reflection original position. Figure 5 is a diagram representing the spatial coordinates schematically.
[0030]
　5, the service management apparatus 1, the container 20, the fork pockets 201, 202 and, detects the fork F101, F102. The surface denoted by reference numeral G is the road surface G.
　Service management apparatus 1, the first detection process, the container 20 and (at least part of the plug surface 211), to detect the fork pockets 201, 202. In one example of the first detection process, for example, service management apparatus 1 is flat or substantially flat surface (including a surface having irregularities) as the plane, perpendicular to the ground or floor surface (vertical direction) or substantially vertically to detect the standing plane. Service management apparatus 1 determines that in this plane, when detecting the fork pockets 201 and 202, an insertion face 211 of the flat container 20.
　Here, the service management apparatus 1, for example, detected at the bottom of the detected plane or planes, part does not detect the reflected light of the laser beam, the reception level is low portion of the reflected light of the laser beam, as the fork pockets 201 and 202 to.
[0031]
　Incidentally, the service management apparatus 1, in the lower part of the detected plane or planes, is changed (in the distance) distance greater than a predetermined value with respect to the distance to the plane portion, may be detected as the fork pockets 201 and 202 .
　Also, work management device 1 uses the sensing information and pocket location information, from the detected plane, may be detected fork pockets 201, 202. Here, the pocket position information, information indicating the size of the container 20, the combination of the position or size of the fork pockets 201 and 202 in the container 20 (shape), or is information indicating a pattern of the combination. In other words, work management apparatus 1, in a position the fork pockets 201 and 202 are present on the basis of the pocket position information, for example, when the reception level is low portion of the reflected light of the laser beam occurs more than a predetermined ratio, pocket position it may be determined that fork pockets 201 and 202 based on the information exists.
[0032]
　Service management apparatus 1, the second detection processing to detect the fork F101, F102.
In one example of the second detection processing, for example, the work management unit 1, of the surfaces of the parallel or substantially parallel to the XY plane, Y-axis direction to a specific length or more, extending a plan, specific to the X-axis direction a small portion than the width, is detected as a fork F101, F102. Incidentally, the service management apparatus 1 may be stored in advance the position and shape of the fork F101, F102.
[0033]

　Fig. 6 is a schematic diagram showing an example of a deviation determination according to the present embodiment.
　Figure 6 is a diagram showing a case where the deviation determination, it is determined that the fork is not displaced. Figure 6 is a diagram of the sensing information, is projected to the XZ plane in FIG. In Figure 6, it represents an object (reflection source) by a solid line service management apparatus 1 has detected.
[0034]
　Incidentally, the service management apparatus 1, when attached to the position of FIG. 2, to detect the upper surface F 1011, F1021 fork F101, F102, the lower surface and side surfaces of the fork F101, F102 may not be detected. In this case, for example, work management device 1 stores the thickness information predetermined, the thickness indicated by the thickness information, forks F101, F102 thick; and (length of the side length of the Z-axis direction). Service management apparatus 1, the upper surface F 1011, F1021 of the detected fork F101, F102, in the thickness direction (Z axis direction), only the thickness indicated by the thickness information, and estimates a fork F101, F102 are present.
　Specifically, the service management apparatus 1, for fork F101, F102, estimates the shape shown by the broken line in FIG. However, the present invention is not limited to this, the working management device 1, by a separate space recognition device, may be detected the lower surface and side surfaces of the fork F101, F102.
[0035]
　In Figure 6, the fork F101, F102, respectively, located within the fork pockets 201, 202. In this case, the forklift F1, when straight forward in the Y-axis direction, the fork F101, F102, without bumping into the container 20, respectively, can be plugged into fork pockets 201, 202.
　Service management apparatus 1, as shown in FIG. 6, the projection of the XZ plane, the fork F101, F102, respectively, when located within the fork pockets 201 and 202, the fork pockets 201, 202 and fork F101, F102 deviation not determined that (fork not shifted).
[0036]
　Incidentally, the service management apparatus 1, in the projection of the XZ plane, the fork F101, F102 (surface; the outer surface) and the fork pockets 201 and 202 (the surface; inner surface) clearance (in the X-axis direction or the Z-axis direction of the gap length If there is at least a distance which is) is determined in advance, it may be determined that the fork is not displaced. In other words, the service management apparatus 1, in the projection of the XZ plane, when the gap of the fork F101, F102 and fork pockets 201, 202 is smaller than the distance a predetermined, it may be determined that the fork is shifted.
　Also, work management apparatus 1, in the projection of the XZ plane, the center of the fork F101, F102 (intersection of diagonal lines), respectively, if it is in a predetermined range with the center of the fork pockets 201, 202 (intersection of diagonal lines) , it is determined that the fork is not shifted, if not within a predetermined range, it may be determined that the fork is shifted. The predetermined range may be a distance between two points may be a distance in the X-axis or Z component.
[0037]
　Figure 7 is a schematic view showing another example of a deviation determination according to the present embodiment.
　Figure 7 is a diagram of a case where the deviation determination, it is determined that the fork is shifted. Figure 7 is a diagram of the sensing information, is projected to the XZ plane. In Figure 7, it represents an object (reflection source) by a solid line service management apparatus 1 has detected.
[0038]
　In Figure 7, the fork F101, F102, respectively, located outside of the fork pockets 201, 202. Specifically, fork F101, F102, respectively, located in the (positive direction of Z-axis) on the direction of the fork pockets 201, 202. In this case, the forklift F1, when straight forward in the Y-axis direction, the fork F101, F102, will be hit to the container 20 (Sakomimen 211), can not be plugged into fork pockets 201, 202.
[0039]
　Service management apparatus 1, as shown in FIG. 7, the projection of the XZ plane, if the fork F101 is located outside the range of the fork pockets 201, or, if the fork F102 is located outside the range of the fork pockets 202, fork It determined that the displaced.
　Here, the service management apparatus 1, the fork F101 or F102, respectively, if the offset in the vertical direction of the fork pockets 201 or 202 (Z-axis direction), as the type of deviation, deviation fork to the "height direction" and that the it may be determined. Also, the working management apparatus 1, as shift amount, by "d1" in the height direction, it may be determined that the deviation. Also, work management apparatus 1 may be output information based on the type or amount of deviation of the deviation.
[0040]
　Figure 8 is a schematic view showing another example of a deviation determination according to the present embodiment.
　Figure 8 is a diagram of a case where the deviation determination, it is determined that the fork is shifted. Figure 8 is a diagram of the sensing information, is projected to the XZ plane. In Figure 8, representing the object (reflection source) by a solid line service management apparatus 1 has detected.
[0041]
　In Figure 8, the fork F101, F102, respectively, located outside of the fork pockets 201, 202. Specifically, fork F101, F102, respectively, located in the right direction of the fork pockets 201 and 202 (positive direction of X-axis). In this case, the forklift F1, when straight forward in the Y-axis direction, the fork F101, F102, will be hit to the container 20 (Sakomimen 211), can not be plugged into fork pockets 201, 202.
[0042]
　Service management apparatus 1, as shown in FIG. 8, in the projection of the XZ plane, if the fork F101 is located outside the range of the fork pockets 201, and, if the fork F102 is located outside the range of the fork pockets 202, fork It determined that the displaced.
　Here, the service management apparatus 1, the fork F101 or F102, respectively, if the offset in the lateral direction of the fork pockets 201 or 202 (X-axis direction), as the type of shift fork is displaced in the "lateral" it may be determined that there. Also, the working management apparatus 1, as the deviation amount in the lateral direction by "d2" may be determined to be shifted. Also, work management apparatus 1 may be output information based on the type or amount of deviation of the deviation.
[0043]
　Figure 9 is a schematic view showing another example of a deviation determination according to the present embodiment.
　Figure 9 is a diagram of a case where the deviation determination, it is determined that the fork is shifted. Figure 9 is a diagram of the sensing information, is projected to the XZ plane. 9, representing an object (reflection source) by a solid line service management apparatus 1 has detected.
[0044]
　9, is one of the fork F101, F102, respectively, located outside of the fork pockets 201, 202. Specifically, fork F101 is located to the right of the fork pocket 201 (positive direction of X-axis). In this case, the forklift F1, when straight forward in the Y-axis direction, the fork F101, will be hit to the container 20 (Sakomimen 211), it can not be plugged into fork pocket 201.
　9, the spacing of the fork F101 and F102 is, indicates that do not conform to the spacing of the fork pockets 201 and 202, in the example of FIG. 9, it is necessary to widen the gap of the fork F101 and F102.
[0045]
　Service management apparatus 1, as shown in FIG. 9, in the projection of the XZ plane, the fork F101 is located outside of the fork pockets 201, or fork F102 is located outside of the fork pockets 202, either one of for, it is determined that the fork is offset.
　In this case, the service management apparatus 1, as the type of displacement may be determined that the deviation is the "width" of the fork. Also, the working management apparatus 1, as the deviation amount in the lateral direction by "d3", it may be determined that the deviation. Also, work management apparatus 1 may be output information based on the type or amount of deviation of the deviation.
[0046]
　Figure 10 is a schematic view showing another example of a deviation determination according to the present embodiment.
　Figure 10 is a diagram showing a case where the deviation determination, it is determined that the fork is shifted. Figure 10 is a diagram of the sensing information, is projected to the XZ plane. In Figure 10, it represents an object (reflection source) by a solid line service management apparatus 1 has detected.
　Figure 10 is a container 20, four fork pockets 201, 202, 203, 204 are provided. In this case, the forklift F1 is the left-right direction; in (X-axis direction width direction of the container 20), the center line (axis of symmetry Lc) symmetrically fork pockets 201 and 202 combinations of container 20, or a fork pocket 203 to one of 204 combinations, it is necessary to grip insert the fork F101 and F102.
[0047]
　In Figure 10, the fork F101, F102, respectively, located within the fork pockets 201, 202, 203, 204 of the combination not line symmetrical to the center line of the container 20 (also referred to as "combination improper pocket") . Specifically, fork F101, F102, respectively, located within the fork pockets 202, 204. In this case, the forklift F1, when straight forward in the Y-axis direction, it is possible to insert the fork F101, F102 fork pockets 202, 204. However, since the center of the container 20 between the fork F101 and F102 not located, forklift F1 can not be well-balanced grip the container 20.
[0048]
　Work management device 1, as shown in FIG. 10, the projection of the XZ plane, when the fork F101, F102 is positioned within a range of combinations of improper pockets are offset fork, that is, appropriate combination of pocket determined that the deviation from.
　In this case, the service management apparatus 1, as the type of shift fork is shifted from the "combination of suitable pockets", or, it may be determined that the "combination of improper pocket".
　Incidentally, the service management apparatus 1 based on the number and order of the detected fork pocket may choose appropriate pocket. As an example, the service management apparatus 1, when the forklift detects four fork pockets when two claws fork, the X-axis direction, second and third fork pocket combination, or the first and fourth the combination of the fork pockets, to select a combination of an appropriate pocket.
[0049]

　FIG. 11 is a flow diagram showing an example of the operation of the forklift F1 according to the present embodiment.
[0050]
(Step S101) operation such as worker, a forklift F1 starts the engine (ACC ON). Then, the process proceeds to step S102.
(Step S102) the service management apparatus onboard unit, such as 1, power is supplied, or, by acquiring the information indicating that the engine has been started, starts. Thereafter, the process proceeds to step S103, S104, S05.
[0051]
(Step S103) work management device 1 uses the spatial recognition sensor, obtains sensing information representing spatial. Specifically, the irradiation of the laser beam, to sense the distance to the object (sensor scanning). Then, the process proceeds to step S106.
(Step S104) the service management apparatus 1 acquires the position information indicating the position of a forklift F1 (service management apparatus 1). Position information is, for example, a positioning result of GNSS (global positioning satellite system). However, the location information, other wireless communication (e.g., wireless LAN and RFID tags) may be a positioning result using. Then, the process proceeds to step S106.
[0052]
(Step S105) the service management apparatus 1 acquires the vehicle information indicating the operation by the state or the operator, such as a forklift F1. Then, the process proceeds to step S106.
　Here, the vehicle information includes, for example, the speed of the forklift F1, the steering angle, the accelerator operation, brake operation, the gear (forward, reverse, fast, slow, etc.), manufacturer, model, vehicle identification information, etc., forklifts F1 capable output it is the data. Further, the vehicle information, the position of the fork F101, F102 (height), presence or absence of a transport object that is gripped, and its weight, or load conditions of the lift chain, fork F101, F102 fork information indicating the type of, or identification information of the operator (driver), workplace (warehouses and factories) and identification information of the company, grasped (transported the) transport object identification information (e.g., acquired in affixed to the RFID or the like in the transport object) or the like it may also be included work information indicating a.
[0053]
(Step S106) the service management apparatus 1 (also referred to the association data as "association data") acquired sensing information in step S103, the position information obtained in step S104, and, associating the acquired vehicle information in step S105. For example, service management apparatus 1, the apparatus identification information of the service management apparatus 1, the acquisition date and time, associating the sensing information, position information, and the vehicle information. Then, the process proceeds to step S107.
(Step S107) the service management apparatus 1, based on the association data associated in step S106, determines the presence or absence of danger or event. For example, service management apparatus 1 based on the association data, performs shift determination in. If it is determined that there is danger or event (yes), the process proceeds to step S108. On the other hand, if it is determined that there is no danger or event (no), the process proceeds to step S109.
[0054]
(Step S108) the service management apparatus 1, dangers and events of the type determined in step S107, or on the basis of the data associated with this type, and outputs a warning (including a guide). Then, the process proceeds to step S109.
(Step S109) the service management apparatus 1, the determination information indicating the determination result of the association data, step S107, or, the output information representing the output of a warning in step S108, association, records the associated data to the memory device, or the like . Thereafter, the process proceeds to step S110.
(Step S110) the service management apparatus 1, the data associated in step S109, and transmits to the server or the like. Then, the process proceeds to step S111.
　Incidentally, this server is, for example, in the workplace and companies, data from multiple forklift F1, an information processing apparatus for managing comprehensively collected. Data sent to the server, by a statistical processing function and machine learning function is analyzed. Data transmitted to the server, or data analysis results are used to education of operation. For example, the loading of the transport object is good, or operating data of efficient workers are used as role model. On the other hand, if there is damage or dropping of the conveying object, the data at that time is used to determine the cause and improvement.
[0055]
(Step S111) by operation such as worker, when the engine of the forklift F1 is stopped (yes), the process proceeds to step S112. On the other hand, when the engine of the forklift F1 is not stopped (no), the process proceeds to step S103, S104, S05. In other words, work management apparatus 1 performs acquisition of information by sensing the like, the association of data, record, transmit, until engine stops.
(Step S112) the service management apparatus onboard unit, such as a 1, the supply of power is stopped, or by acquiring information indicating that the engine is stopped, the stop to or sleep state.
After that, the operation is finished.
[0056]

　FIG. 12 is a schematic configuration diagram showing a hardware configuration of a service management apparatus 1 according to this embodiment. In this figure, work management apparatus 1, CPU (Central Processing Unit) 111 , IF (Interface) 112, a communication module 113, the sensor 114 (e.g., spatial recognition sensor), ROM (Read Only Memory) 121, RAM (Random Access Memory) 122, and configured to include a HDD (Hard Disk Drive) 123.
　IF112 is, for example, a part of the forklift F1 (the driver's seat, a vehicle body, a mast F14, etc.) and service management apparatus output device provided in 1 (lamp or a speaker, a touch panel display, etc.). Communication module 113 transmits and receives signals via the communication antenna. Communication module 113 is, for example, a communication chip such as GNSS receiver and a wireless LAN. Sensor 114 may, for example, by irradiating a laser beam, performs sensing based on the received reflected light.
[0057]
　Figure 13 is a schematic configuration diagram showing a hardware configuration of a service management apparatus 1 according to this embodiment. In this figure, construction work management apparatus 1 includes a sensor unit 101, the vehicle information acquisition unit 102, GNSS receiver 103, the analysis unit 104, the control unit 105, output unit 106, recording unit 107, and includes a communication unit 108 It is.
[0058]
　The sensor unit 101 is a space recognition sensor. Sensor unit 101, for example, by a laser beam, to sense the distance R to the object from the own apparatus. The sensor unit 101, the irradiation direction of the laser beam (deflection angle theta, phi) and on the basis of sensing the distance R, recognize the space. Note that the recognition space, the space including the periphery of the object, but refers to generate three-dimensional coordinates, the present invention is not limited thereto, it may be to generate a two-dimensional coordinate. Sensor unit 101 generates sensing information (e.g., coordinate information), and outputs to the control unit 105.
[0059]
　Vehicle information acquisition unit 102 acquires the vehicle information from the forklift F1, and outputs the acquired vehicle information to the control unit 105.
　GNSS receiver 103 obtains position information, and outputs the obtained position information to the control unit 105.
[0060]
　Analysis unit 104, sensing information sensor section 101 is output, vehicle information vehicle information acquisition unit 102 outputs the position information GNSS receiver has outputted, and acquires from the control unit 105.
Analysis unit 104, the obtained sensing information, vehicle information, by associating the position information, generates the association data. Analysis unit 104 analyzes the generated association data.
　For example, analysis unit 104, the first detection processing based on the sensing information, detecting the plane and fork pockets 201 and 202, detects Sakomimen 211 (container 20). Further, the analysis unit 104, the second detection processing based on the sensing information, detecting a fork F101, F102.
[0061]
　Control unit 105, sensing information sensor section 101 is output, vehicle information vehicle information acquisition unit 102 outputs, to obtain position information GNSS receiver has output, and analyzed for example using an analysis unit 104, analysis results based on a determination is made by.
　For example, the control unit 105 performs the determination of the presence or absence of danger or event. Control unit 105, as one of the determination, performs the deviation determination described above.
　Specifically, the control unit 105, a positional relationship in the sensing information, on the basis of the positional relationship of the fork F101, F102 and fork pockets 201 and 202, determines whether the fork is offset. For example, the control unit 105, when projected to the XZ plane, the fork F101, F102, respectively, by determining whether located within the fork pockets 201 and 202, whether the fork is offset the judges.
[0062]
　Control unit 105, the determination result or, on the basis of the data associated with the determination result, to output a warning (including guidance) from the output unit 106. The output unit 106 may output the information based on the type or amount of deviation of the deviation.
　Control unit 105, determination information indicating the determination result, and the association data and records in the recording unit 107 via the communication unit 108 to the server or the like.
[0063]
　The sensor unit 101 is realized by the sensor 114 of FIG. 12. Similarly, the vehicle information acquisition unit 102 and the GNSS receiver 103 is realized by, for example, a communication module 113. Analysis unit 104 and the control unit 105 is realized by, for example, a CPU 111, ROM 121, RAM 122, or HDD 123.
[0064]
(Summary of this embodiment)
　As described above, in the present embodiment, the service management apparatus 1 is a vehicle device mounted on a forklift truck F1 (handling machine). In the service management apparatus 1 (forklift F1), as shown in FIG. 14, the analysis unit 104 based on the sensing information acquired from the space recognition sensor (space recognition apparatus), inserting fork F101, F102 and (Sakomitsume) Container detecting the 20 (insertion target). Control unit 105, based on the sensing information, the opening of the fork pockets 201 and 202 determines whether or not misaligned relationship (plug portion) and the fork F101, F102, performs shift determination.
　Thus, the service management apparatus 1, the fork F101, F102 fork pockets 201 and 202, it is possible to reliably insert can be properly transported haul target. For example, a forklift F1 can prevent the fork pockets 201 and 202 from being damaged or destroyed. Further, the forklift F1 is appropriately container 20 (good balance, be stabilized by) can be gripped to be transported can be prevented from dropping the container 20.
　Further, for example, service management apparatus 1 may be a container 20 the mark is not attached, the fork F101, F102 fork pockets 201 and 202, it is possible to reliably insert can be properly transported haul target. However, work management device 1, may be used in combination with the mark, it may be holding the container 20 in which the mark is attached.
[0065]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), and based on the sensing information and faces the insertion face 211 having an opening portion of the fork pockets 201 and 202 determination after (also referred to as "confronting decision"), and deviation determination, also (also referred to as "deviation judgment, etc.") warning based on the outskirts judgment may be performed. For example, the control unit 105 performs at least one shift after a positive-to-decision determination or the like, before the determination of at least one positive pairs may not perform the deviation determination and the like.　
　Thus, the service management apparatus 1, the forklift F1 and container 20 (Sakomimen 211) directly facing, in terms of made to face in the correct orientation, it can be determined whether the fork is offset.
That is, the forklift F1 is deviated not straight, it is possible to insert the fork F101, F102 fork pockets 201, 202.
[0066]
　Hereinafter, the service management apparatus 1, by using the sensing information, to describe an example of a case where the confronting determination. However, the present invention is not limited to this, the working management device 1, other positively pair determination (e.g., the facing determination based on confronting determination and captured images using RFID) may be performed.
[0067]

　Fig. 15A and 15B are schematic views showing an example of a positive-to-determination according to the present embodiment.
　Figure 15A is a diagram showing a case where the forklift F1 is directly facing the container 20. Figure 15A is a diagram of the sensing information, and projected into the XY plane in FIG.
　Figure 15B is a diagram showing a case where the forklift F1 is not directly facing the container 20. 15B is a diagram of the sensing information, and projected into the XY plane in FIG.
　In Figure 15A and B, a solid line represents a laser beam. Further, in FIGS. 15A and B, for convenience, the container 20, describes fork F101, F102, and the projection of service management apparatus 1 by a broken line.
[0068]
　In Figure 15A, the service management apparatus 1, the deflection angle theta is - [theta] P1 ≦ theta ≦ theta P1 + m in the range, and detects the plane 211.
　In Figure 15B, the service management apparatus 1, the deflection angle theta is - [theta] P2 ≦ theta ≦ theta P2 + n in the range, and detects the plane 211. Incidentally, theta i i a represents the one horizontal scanning order of the laser irradiation, that is, the number of times of irradiation. For example, theta i = - [theta] max is a + i × Δθ.
[0069]
　Work management device 1 determines that the plane 211 of detection, when detecting the fork pockets 201 and 202, the plane 211 is a plug surface of the container 20 (Sakomimen 211).
　Service management apparatus 1, determining confronting determine whether the forklift F1 is directly opposite to the insertion face 211 (container 20) is performed based on the sensing information. For example, service management apparatus 1, by Sakomimen 211 to determine whether parallel to the reference plane B1 (whether or not tilted), the confronting determination. Here, the reference plane B1, a plane parallel to the XZ plane, when the forklift F1 advances straight, a plane perpendicular to the traveling direction. For example, the reference plane B1, of such a surface is a plane including the service management apparatus 1 (projection opening).
[0070]
　Specific examples of the facing determination, service management apparatus 1, the distance R from the work management apparatus 1 to the object (reflective original) i based on the distance L from the reference plane B1 of the forklift F1 to insertion surface 211 i ( "reference distance L I also referred to) is calculated with". Here, the distance R i is a distance R detected by the i-th irradiation, represents the distance R from the work management apparatus 1 to the object (reflection source).
　For example, service management apparatus 1, the irradiation direction theta i cases, phi, the distance R to the object i if it detects a reference distance L i = R i cos | phi | × cos | theta i | is calculated as. Here, phi represents the deflection angle phi when performing i-th irradiation of the.
[0071]
　Service management apparatus 1, in Sakomimen 211, the reference distance L i and the reference distance L j difference ΔL of (i ≠ j) i, j = | L i -L j | on the basis, performs the facing determination. As an example, the service management apparatus 1, the reference distance adjacent L i and the reference distance L i + 1 difference [Delta] L i + 1, i = | L i + 1 -L i | based on, performs the facing determination.
　In this case, the service management apparatus 1, in Sakomimen 211, a difference [Delta] L i + 1, i when all is within the threshold value T1, determines that the forklift F1 is directly opposite to the insertion face 211 (container 20).
　On the other hand, the service management apparatus 1, in Sakomimen 211, a difference [Delta] L i + 1, i when at least one threshold value T1 greater than the forklift F1 is not directly facing the insertion side 211 (container 20) and determination to.
[0072]
　(If you are completely directly opposite) in FIG. 15A, in the range of ≦ i ≦ P1 P1 + m, L i is the same value. In this case, for example in the range of P1 ≦ i ≦ P1 + m- 1, the difference [Delta] L i + 1, i = | L i + 1 -L i a = 0 ≦ T1 |. In this case, the service management apparatus 1 determines that the forklift F1 is directly opposite to the insertion face 211 (container 20).
[0073]
　In FIG. 15B, in the range of ≦ i ≦ P2 P2 + n, L i are different values, for example, L i is a monotone increasing function of i. In this case, for example in the range of P1 ≦ i ≦ P1 + m- 1, the difference [Delta] L i + 1, i = | L i + 1 -L i a> T1 |. In this case, the service management apparatus 1 determines that the forklift F1 is not directly facing the insertion side 211 (container 20).
[0074]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) is fork F101, F102 timing is located in the opening or its vicinity of the fork pockets 201 and 202 t ( "insertion timing t based on "and also referred to) may be performed deviation determination and the like. For example, the control unit 105, before a predetermined time t1 than the insertion time t, performs shift determination, and the like.
　Thus, the service management apparatus 1 until when the need for a warning is low, can be prevented to output the warning. Incidentally, the insertion timing t is also a timing fork F101, F102 begins to be inserted into the container 20. The insertion timing t from the time of calculation, represent the time until the fork F101, F102 are located in the opening of the fork pockets 201, 202.
[0075]
　Specifically, the control unit 105, the distance d of the opening of tip and fork pockets 201, 202 of the fork F101, F102 (or Sakomimen 211) c based on the vehicle speed of the vehicle information, insertion timing t to predict the (also referred to as a "insertion timing prediction"). Control unit 105, than the insertion time t, before a predetermined time t1, performs shift determination, and the like. If aspect, the control unit 105, than the insertion time t, Until before a predetermined time t1, not performed deviation determination and the like.
[0076]
　16A and B are schematic diagrams showing an example of an insertion timing prediction according to a modification of the present embodiment.
　16A and B are diagrams sensing information and projected onto the XY plane. In Figure 16A and B, the distance d C1 , d C2 , the distance d of the opening of tip and fork pockets 201, 202 of the fork F101, F102 (or Sakomimen 211) c is a specific example of length f1 is the length of the fork F101, F102 (length in the Y-axis direction).
　Figure 16B than in FIG. 16A, a diagram of the case where the forklift F1 is close to the container 20. When the vehicle speed is the same, in the case of FIG. 16B, than in the case of FIG. 16A, a short insertion timing t (time required to insert the start).
[0077]
　Control unit 105, for example, from the distance between the Sakomimen 211 and the reference surface B1, by subtracting the length f1, the distance d c is calculated. The control unit 105, as the distance between Sakomimen 211 and the reference surface B1, the normal direction of the irradiation direction reference plane B1, i.e., theta = 0, the reference distance L was measured in the case of phi = 0 i a , the distance D C may be. The control unit 105 may be detected length f1, it may be stored in advance.
　Control unit 105, the calculated distance d c a is divided by the vehicle speed, to calculate the insertion timing t. Control unit 105, the calculated insertion timing t is performed off determination or the like if it is within the time t1 for storing in advance, does not perform the off determination or the like is greater than the time t1.
[0078]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), based on the relative positional relationship of the opening of the fork F101, F102 and fork pockets 201 and 202, shift determination, etc. it may be carried out.
　Thus, the service management apparatus 1 until when the need for a warning is low, can be prevented to output the warning.
[0079]
　Specifically, the control unit 105, the position of the tip of the fork F101, F102, on the basis of the position of the opening of the fork pockets 201 and 202 (or Sakomimen 211), performs the deviation determination and the like. For example, the control unit 105, a distance d c when reaches a predetermined distance d11 (eg 1m) Hereinafter, the deviation determination and the like. In other words, the control unit 105, the distance d c is greater than the predetermined distance d11 (distant) if not perform the deviation determination and the like.
[0080]
　Control unit 105, for example, from the middle point between the tip of the tip and fork F102 fork F101, the distance d to the Sakomimen 211 c is used (see 16A and 16B), but the present invention is not limited thereto. Control unit 105, a distance d c as, to the either the distal end of the tip or fork F102 fork F101 may be used the distance to the insertion face 211, adds the distance f11 determined in advance to the tip of the fork F101 or it may be used subtracted value. Further, the distance to Sakomimen 211 is not limited to the normal direction of Sakomimen 211, the normal direction of the reference plane B1, that is, there in a direction extending in the axial direction of the traveling direction or the fork F101, F102 forklift and it may be. Further, the distance to Sakomimen 211 may be a distance to the center line of Sakomimen 211 (symmetry axis Lc in FIG. 10). In this case, Sakomimen 211, the reference distance L i may be calculated centerline by detecting the edges of the insertion face 211 based on, by detecting the edge of the plug face 211 by edge detection or the like the center line may be calculated.
[0081]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), based on the insertion timing t, may be changed warning based on the deviation determined.
　For example, the control unit 105, when determining that the fork is shifted, when the insertion timing t is larger than t2, as compared with a case insertion timing t is t2 or less, less noticeable warning (small output, for example, a small sound or dark light, a warning in time flashing and the small number sound, light, or the like flashing wide sound and light-spaced). On the other hand, the control unit 105, when determining that the fork is shifted, when the insertion timing t is t2 or less, compared insertion timing t is a larger than t2, more prominent warning (large output, for example, , loud noise and bright light, flashing time and a large number of times a sound or light, a warning in a narrow sound or light flashing, etc.) spaced.
[0082]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), based on the relative positional relationship of the opening of the fork F101, F102 and fork pockets 201 and 202, the deviation determination warning may be changed based.
　For example, the control unit 105, when determining that the fork is offset a distance d c when is larger than a predetermined distance d12 (far), the distance d c is the distance d12 smaller (closer) as compared to the case performs warning less noticeable (smaller output, for example, a small sound or dark light, flashing time and the small number sound or light, wide sound or flashing light, etc. spaced) alerts.
　On the other hand, the control unit 105, when determining that the fork is shifted, the distance d c is the predetermined distance d12 below (close) when the distance d c is greater than the predetermined distance d12 (distant) if the in comparison, it performed more prominent warning (large output, for example, loud noise and bright light, flashing time and a large number of times a sound or light, narrow sound, light blinking of the interval) alerts.
[0083]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) may be set condition is not performed or to perform deviation determination.
　Control unit 105, when the first condition below is satisfied, a warning based on the deviation determination, if not satisfied first condition may not be performed a warning based on the deviation determination. The control unit 105, when the first condition is satisfied, performs shift determination or sensing, if the first condition is not satisfied, may not perform a shift determination or sensing.
　The control unit 105, based on the first condition, warnings and based on the deviation determined, the deviation determination or sensing (hereinafter, referred to as a warning, etc.) interval may be changed for.
[0084]
　The first condition is, for example, as described above, with the proviso that less than the distance of the container 20 and the forklift F1 threshold (in proximity).
　The first condition may be, for example, a condition based on the position information and the vehicle information. For example, the control unit 105 causes the warehouses, when containing forklift F1 is in a predetermined position (range), a warning or the like, may not be performed a warning or the like in the other position.
　For example, the control unit 105, gears a warning or the like in the case of forward, the other may not be performed a warning or the like.
[0085]
　For example, the control unit 105, such as a warning when the vehicle speed is lower than the threshold, otherwise it is not necessary to perform a warning or the like. Conversely, the control unit 105, such as a warning when the vehicle speed is higher than the threshold, otherwise it is not necessary to perform a warning or the like.
　For example, the control unit 105, a warning or the like when the steering angle is smaller than the threshold value, otherwise may not perform a warning or the like.
[0086]
　The first condition may be, for example, a condition based on the fork information and work information.
　For example, the control unit 105, if there is no transport subject in grasping, a warning or the like, when the grip to transport the target and there may not be performed a warning or the like. Control unit 105, if the position of the fork F101, F102 (height) is less than the threshold value, a warning or the like, when the position of the fork F101, F102 (height) is higher than the threshold value, may not be performed a warning or the like .
　For example, the control unit 105, if a particular operator is operating, a warning or the like, otherwise, may not be performed a warning or the like.
[0087]
　The first condition is, for example, may be a condition that when the fork F101, F102 are inserted.
　For example, the control unit 105, when the fork F101, F102 is inserted, a warning or the like, when the fork F101, F102 is drawn may not perform a warning or the like. The control unit 105, gears a warning or the like when the forward gear may not perform a warning or the like in the case of the reverse.
[0088]
　Incidentally, as shown in FIG. 2, if the service management apparatus 1 is fixed to the central portion of the X-axis direction of the forklift F1, when the forklift F1 is to properly grip the container 20, the fork F101 and fork F102 the central portion of, or, in the central portion of the fork pockets 201 and fork pockets 202, it is possible to position the work management device 1.
　Also, if the service management apparatus 1 is fixed to the fork rail F11 and backrest F13, work management device 1, as compared with when it is fixed to the fork rail F12, easily recognized more forks F101, F102 . That is, since the service management apparatus 1 and the fork F101, F102 away in the height direction (X axis direction), the service management apparatus 1, shape, more recognition forks F101, F102 length direction (Y-axis direction) it (see FIG. 3, FIG. 5).
　Also, if the service management apparatus 1 is fixed to the fork rail F11 and F12, work management device 1, as compared with when it is fixed to the backrest F13, easily recognized more fork pockets 201, 202. That is, since the service management apparatus 1 and the fork pockets 201, 202 approaches the height direction, the service management apparatus 1, the irradiation angle of the laser beam or the like to the fork pockets 201, 202 (the angle in the height direction), more horizontal It can be close to the (perpendicular to the insertion plane).
[0089]
　Note that the confronting determination, fork F101 and fork F102 is, may be to determine whether the normal to the container 20 or Sakomimen 211.
　Moreover, spatial recognition sensor may perform spatial recognition using non laser light. For example, service management apparatus 1 may be performed spatial recognition using radio waves other than the laser beam, for example, may be performed space recognition using the captured image. For example, the space recognition sensor, a monocular camera, stereo camera, infrared camera, a millimeter wave radar, optical laser, LiDAR (Light Detection And Ranging, Laser Imaging Detection And Ranging), may be (ultrasonic) wave sensor or the like.
　Also, work management apparatus 1, when the fork pockets 201 and 202 with each other is not located horizontally, that is, if the offset in the vertical direction, may output a warning or the like.
[0090]
　Also, work management apparatus 1 may be connected to the automatic operation device may be part of the automatic operation device. In other words, work management apparatus 1 performs shift determination may be automatically operated forklift F1 so fork does not deviate. For example, service management apparatus 1, a result of the displacement determination, if the image is shifted "height direction", raises and lowers the fork F101 and fork F102, raise or lower the height. For example, service management apparatus 1, a result of the displacement determination, if the image is shifted "laterally" is the steering angle, gear, accelerator, by adjusting the brake, adjustment so that the position of the forklift F1 is shifted laterally to.
　Also, work management apparatus 1, the road surface G and walls, an object located far from the predetermined distance, may be excluded from the detection target (sensing information). Service management apparatus 1, when the projection to each side, excluding them from the projected object.
[0091]
　Incidentally, the service management apparatus 1, the container 20 and the bed L1, when detecting the fork F101, F102, may be used edge detection. Here, edges detected by edge detection, for example, the distance R, or a portion thereof change rate is large.
　Specific edge detection, the work management device 1, the detected object may be a partial portion of the differential is equal to or greater than the threshold value for each coordinate axis as an edge. Parts Further, for example, the service management apparatus 1, and Yamaji Waru planar portion between the detected difference portion becomes equal to or higher than the threshold of the distance R between a point adjacent or close to the opposite direction, which does not detect the reflected light of the laser beam the adjacent portions, the portion where the reception level of the reflected light of the laser beam adjacent to the lower portion, may be an edge. Service management apparatus 1 may perform edge detection by other methods.
[0092]
　Incidentally, the service management apparatus 1 described above, a program for realizing the functions may be recorded on a computer readable recording medium, to read the program recorded in this recording medium into a computer system, by executing, it may perform the above-described processing. Here, the "computer system" includes an OS and hardware such as peripheral devices. In addition, the "computer system" also includes a WWW system having a homepage providing environment (or display environment). The "computer-readable recording medium" refers to flexible disks, magneto-optical disks, ROM, portable media such as a CD-ROM, and a storage device such as a hard disk built in the computer system. Furthermore, the "computer-readable recording medium", as the Internet or the like networks or telephone via a communication line of the circuit, such as a server or a client when the program is sending computer system internal volatile memory (RAM) in, and also includes those that holds the program for a certain time.
[0093]
　Further, the program from a computer system storing the program in a storage device or the like via a transmission medium or may be transmitted to another computer system by a transmission wave in the transmission medium. Here, "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as the Internet or a network (communication network), a telephone line communication circuit (communication line) such as. Further, the program may be one for implementing part of the above functions. Furthermore, what can be achieved in combination with a program already recorded in the above-described functions in the computer system may be a so-called differential file (differential program).
[0094]
　This application, on March 22, 2017, claiming priority on Japanese Patent Application No. 2017-56011 filed in Japan, the contents of which are incorporated herein.
DESCRIPTION OF SYMBOLS
[0095]
F1 forklift
F101, F102 fork
F11, F12 fork rail
F13 backrest
F14 mast
20 containers
201,202 fork pocket
211 Sakomimen
1 service management apparatus
111 CPU
112 IF
113 communication module
114 sensor
121 ROM
122 RAM
123 HDD
101 sensor unit
102 vehicle information acquisition unit
103 GNSS receiver
104 analyzer
105 controller
106 output unit
107 recording unit
108 communication unit

The scope of the claims
[Requested item 1]Based on the obtained sensing information from the space recognition apparatus, an analyzing unit for detecting an insertion target plugging the Sakomitsume,
　the position of based on the sensing information, and the difference Komitsume and the difference write target of the insertion portion a control unit for performing determining deviation determination whether the relationship is shifted
　vehicle device provided with a.
[Requested item 2]
　Wherein said control part, based on the sensing information, performed after the difference Komitsume is determined to directly facing the insertion side with the insertion portion, the deviation determination, or a warning based on the deviation determination vehicle apparatus according to claim 1.
[Requested item 3]
　Wherein, based on the timing at which the difference Komitsume is inserted into the insertion portion, the deviation determination, or vehicle apparatus according to claim 1 or 2 a warning based on the deviation determination.
[Requested item 4]
　Wherein, based on the positional relationship between the difference Komitsume and the insertion portion, the deviation determination, or vehicle apparatus according to any one of claims 1-3 for performing a warning based on the deviation determination .
[Requested item 5]
　Wherein, based on the timing at which the difference Komitsume is inserted into the insertion portion, the vehicle-mounted device according to any one of 4 from the claims 1 to change the alert based on the deviation determination.
[Requested item 6]
　Wherein, based on the positional relationship between the difference Komitsume and the insertion portion, the vehicle-mounted device according to any one of claims 1 to 5 for changing the warning based on the deviation determination.
[Requested item 7]
　Handling machine provided with vehicle apparatus according to any one of claims 1 to 6.
[Requested item 8]
　Based on the obtained sensing information from the space recognition apparatus, the control circuit determines whether the positional relationship between the difference Komitsume the insertion portion of the insertion target plugging Sakomitsume is shifted.
[Requested item 9]
　Analysis unit, based on the sensing information acquired from the space recognition apparatus detects the insertion target plugging the Sakomitsume,
　control unit, based on the sensing information, the difference between the difference write target of the insertion portion positional relationship between the Komitsume performs determining deviation determination whether displaced,
　the control method.
[Requested item 10]
　The computer,
　on the basis of sensing information acquired from the space recognition apparatus, to detect the insertion target plugging the Sakomitsume,
　based on the sensing information, the position of the difference Komitsume and the difference write target of the insertion portion to perform determining deviation determination whether the relationship is shifted