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.
[0003]For example, Patent Document 1, if the same column two rows of RFID (radio frequency identifier) tag is encountered, a forklift is described to be determined that the state of facing the rack.
　Patent Document 2, it is described that constitutes provided notification device for notifying the information about the insertion of the fork of the pallet to the driver based on the detection signal of the proximity sensor.
　Patent Document 3, if it contains the load or the pallet to be load pickup target distance data measured by the laser sensor, the orbit data of moving from the distance data of the vehicle to a load pickup position of the load or the pallet produced, it is described that gives a command to the control unit by using the generated trajectory data.
CITATION
Patent Document
[0004]
Patent Document 1: JP-T 2006-070463 Patent Publication
Patent Document 2: JP-A 09-175798 JP-
Patent Document 3: JP 2016-204067 JP
Summary of the Invention
Problems that the Invention is to Solve
[0005]
　However, for example, the technique of Patent Documents 1 and 2 described, a technique of using RFID (proximity sensors). Therefore, in Patent Documents 1 and 2 described technology, in the case of using only RFID, the accuracy can not be obtained, can not be properly gripping fork, there is a problem that.
　Further, for example, Patent Document 3 described technique, the result of the measurement, to generate trajectory data, a technique of moving the vehicle body. Therefore, in Patent Document 3 described technique, a result of the movement, if the movement is not the orbit data as can not properly grip the transported object, there is a problem that.
　Further, for example, Patent Documents 1 to 3 described techniques is not considered to extract the fork after delivery.
　As illustrated above, Patent Documents 1 to 3 described techniques may not be properly transported haul target.
[0006]
　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
[0007]
　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 the difference Komitsume performs determining confronting determining whether directly facing the insertion side with an insertion portion of the differential write target.
[0008]
　The aspect of the present invention is a cargo handling machine provided with the above-described in-vehicle device.
[0009]
　The aspect of the present invention, based on the sensing information acquired from the space recognition apparatus, whether the difference Komitsume the insertion surface is directly opposite with insertion portion of the insertion target plugging Sakomitsume determining a control circuit.
[0010]
　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 pawl is a control method of performing determining confronting determines whether faces the insertion side with an insertion portion of the differential write target.
[0011]
　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, wherein the difference Komitsume said plug is a program for causing the determining confronting determines whether faces the insertion side with an insertion portion of the subject.
The invention's effect
[0012]
　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
[0013]
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 schematic view showing another example of a sensing result according to the present embodiment.
[Figure 7A] is a schematic diagram showing an example of a positive-to-determination according to the present embodiment and shows a case where the forklift is directly facing the container.
[Figure 7B] is a schematic diagram showing an example of a positive-to-determination according to the present embodiment and shows a case where the forklift is not directly facing the container.
It is a schematic diagram showing another example of a positive-to-determination according to FIG. 8 embodiment.
9 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. 10 service management apparatus according to the present embodiment.
11 is a schematic block diagram showing the logical configuration of a service management apparatus according to the present embodiment.
Is a schematic view showing another example of FIG. 12 sensing according to the present embodiment results.
FIG. 13 is another schematic block diagram showing the logical configuration of a service management apparatus according to the present embodiment.
Is a schematic diagram showing an example of FIG. 14A] fork according to a modification to the embodiment detection result.
[Figure 14B] is a schematic diagram showing an example of a fork detection result according to a modification to the present embodiment and shows 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. 15A] This embodiment illustrates a case where the forklift is directly facing the container.
[Figure 15B] 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.
[Figure 16A] is a schematic view showing another example of the fork of the detection result according to a modification of the embodiment, showing a case where service management apparatus is positioned to be mounted is not appropriate.
[Figure 16B] is a schematic view showing another example result of detection of the fork according to a modification of the embodiment, showing a case where the work management device orientation to be attached is not appropriate.
DESCRIPTION OF THE INVENTION
[0014]
　It will be described in detail embodiments of the present invention with reference to the drawings.
[0015]

　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.
[0016]
　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, fork pockets 201 and 202 are 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"), the opening of the fork pockets 201 and 202; with a (plug portion may be a recess). 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.
[0017]
　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.
[0018]
　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).
[0019]
　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, the determining confronting determine whether or not face the insertion surface 211 having a fork pockets 201 and 202 of the container 20 (or Sakomimen 211). In other words, work management apparatus 1, in the facing determination, determines whether the forklift F1 is directly facing to the container 20 (or Sakomimen 211).
　Work management device 1 outputs the determination result. For example, service management apparatus 1, when it is determined that it is not directly facing a warning (e.g., warning sound, warning light, warning image, guidance and the like) to the.
[0020]
　Thus, the service management apparatus 1, for example, the operator or the like, the forklift F1 can tell whether directly facing the container 20. That is, the operator or the like, can change the orientation of the forklift F1 in accordance with the alerts can be confronting forklift F1 to the container 20. As a result, the operator or the like, thereby plugged straight fork F101, F102 fork pockets 201 and 202, or can be withdrawn straight fork F101, F102 from the fork pockets 201 and 202.
[0021]
　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.
[0022]

　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.
[0023]
　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.
[0024]
　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.
[0025]

　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.
[0026]
　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.
[0027]
　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.
[0028]
　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.
[0029]
　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.
[0030]
　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.
[0031]
　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.
[0032]
　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.
[0033]
　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.
[0034]
　Figure 6 is a schematic view showing another example of a sensing result according to the present embodiment.
　5, when the forklift F1 is directly facing the container 20, and an example representing the sensing information. 6, when the forklift F1 is not directly facing the container 20 is an example representing the sensing information.
　As shown in this figure, the insertion surface 211 of the container 20, the normal direction does not coincide with the Y-axis direction, that is inclined to the X-axis and Y-axis directions.
[0035]
　If, if not directly facing (in FIG. 6), the resulting insert the fork F101, F102 fork pockets 201 and 202, the fork pockets 201 and 202 from being damaged or destroyed. Moreover, this remains, if the forklift F1 grips the container 20 can not properly grip the container 20, or collapses the balance of the container 20, there is a possibility that by dropping the container 20. In other words, it can not be properly transport the transport target.
　In the present embodiment, since the service management apparatus 1 performs confronting determination forklift F1 can be confronting the container 20, the forklift F1 can properly gripping the container 20 can be properly transported.
[0036]

　Fig. 7A and 7B are schematic views showing an example of a positive-to-determination according to the present embodiment.
　Figure 7A is a diagram showing a case where the forklift F1 is directly facing the container 20. 7A is a diagram of the sensing information, and projected into the XY plane in FIG.
　7B is a diagram of a case where the forklift F1 is not directly facing the container 20. 7B is a diagram of the sensing information, and projected into the XY plane in FIG.
　In Figures 7A and 7B, a solid line represents the laser beam. Further, in FIGS. 7A and 7B, for convenience, the container 20, describes fork F101, F102, and the projection of service management apparatus 1 by a broken line.
[0037]
　7A, the service management apparatus 1, the deflection angle theta is - [theta] P1 ≦ theta ≦ theta P1 + m in the range, and detects the plane 211. 7B, 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.
[0038]
　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).
[0039]
　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.
[0040]
　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.
[0041]
　(If you are completely directly opposite) in FIG. 7A, 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).
[0042]
　7B, 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).
[0043]
　Figure 8 is another schematic diagram showing an example of a positive-to-determination according to the present embodiment.
　The figure 8 is a diagram of the case where the forklift F1 is directly facing the container 20 is a diagram of the sensing information, is projected to the XZ plane in FIG.
　Service management apparatus 1, for a container 20 (Sakomimen 211), for example, at a position avoiding the fork pockets 201 and 202, L i performs positive pairs determined by calculating the. For example, service management apparatus 1, in a position higher than the fork pockets 201 and 202 (Z-axis direction to position greater value), and performs horizontal scanning. For example, this position in the vertical direction, is located above the top of the fork pockets 201, 202.
　Horizontal scanning in this case, at least two points on the straight line 2110, the laser beam is irradiated. Service management apparatus 1, the reflected light of the irradiated laser beam on a straight line 2110, the distance R i detected. Service management apparatus 1, the distance R i and the irradiation direction theta i reference distance difference ΔL, based on the i, j by calculating the carries out the facing determination.
[0044]

　Figure 9 is a flow diagram showing an example of the operation of the forklift F1 according to the present embodiment.
[0045]
(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.
[0046]
(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.
[0047]
(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.
[0048]
(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 a positive pair 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.
[0049]
(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.
[0050]
(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.
[0051]

　FIG. 10 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.
[0052]
　Figure 11 is a schematic configuration diagram showing a hardware configuration of a service management apparatus 1 according to this embodiment. In FIG 11, the service 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 constructed.
[0053]
　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.
[0054]
　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.
[0055]
　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.
　Further, the analysis unit 104, based on the obtained sensing information, the reference distance L for the detected at least two points of the plug surface 211 i is calculated. The difference [Delta] L i, j is calculated.
[0056]
　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 positive versus the above determination.
　Specifically, the control unit 105 determines that if the analysis unit 104 has detected the fork pockets 201 and 202, is the detected plane a plug surface 211 of the container 20. Control unit 105 causes the Sakomimen 211, the difference ΔL analyzing unit 104 calculates i, j on the basis of the performed positive versus the above determination.
[0057]
　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.
　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.
[0058]
　The sensor unit 101 is realized by the sensor 114 of FIG. 10. 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.
[0059]

　The following describes the positive pair determination in the case of extracting the fork F101, F102.
　Work management device 1 (control unit 105), even when withdrawn fork F101, F102, performs the facing determination.
[0060]
　Figure 12 is a schematic view showing another example of a sensing result according to the present embodiment.
　12, when withdrawing the forks F101, F102, is an example representing the sensing information when a fork F101, F102 has not expired disconnect from the fork pockets 201 and 202.
　Moreover, this figure, when the forklift F1 is not directly facing the container 20 is an example representing the sensing information indicating the sensing result. As shown in this figure, the insertion surface of the container 20 is inclined to the X-axis and Y-axis directions.
[0061]
　If, while not confronting, when withdrawing the forks F101, F102, a portion of the forks hit the container 20, damage or destruction of the fork pockets 201, 202, or container 20 may possibly be dropped.
　In the present embodiment, even when withdrawn fork F101, F102, since the service management apparatus 1 performs confronting determination, it is possible to directly face the forklift F1 to the container 20, the forklift F1 is suitably fork from the container 20 F101, F102 can be withdrawn.
[0062]
(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). As shown in FIG. 13, the service management apparatus 1 (forklift F1), 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 determining confronting determine whether or not face the insertion surface 211 having openings of the fork pockets 201 and 202 (the insertion portion).
　Thus, the service management apparatus 1 can be confronting forklift F1 in the transport object of the container 20 such as a forklift F1 can properly carry transport object. 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.
　Also, the space recognition apparatus, since recognizing the spatial coordinates, as compared to the proximity sensor, such as RFID, accurately, it may be possible to perform the facing determination. However, the present invention may be used in combination with the proximity sensor.
　Also, the space recognition apparatus, since determining whether directly opposite, in the actual positional relationship of the forklift F1 and containers 20 (including the orientation), it can be determined whether you face. For example, the automatic driving, even when the forklift F1 has not moved exactly as assumed trajectory, in response to that is determined not directly opposite, it is possible to perform the trajectory correction and the like.
[0063]
　Further, in the present embodiment, the service management apparatus 1, the control unit 105, the distance R up to at least two points of Sakomimen 211 i , R j or according to the difference based on, and face the Sakomimen 211 and determines whether or not. At least two points, in the vertical direction, is located above the top of the fork pockets 201, 202.
　The transport object forklift carrying fork pockets provided on the lower part, in its upper part, there is a continuous plane (part of Sakomimen 211). Work management device 1 uses the continuous plane, it can be performed confronting determination can be performed more accurately the positive pair determination.
[0064]
　Incidentally, the service management apparatus 1, in the vertical direction, a position higher than the top of the fork pockets 201 and 202, at a position lower than a certain height performs horizontal scanning, the distance R detected by the horizontal scanning i irradiation direction θ and i based on, it may be performed confronting determination. This particular height, for example, may be determined based on the height of the pallet. Thus, the service management apparatus 1, even when there is no plan for transportation target mounted on pallets, on the basis of the plane of the pallet, it is possible to perform the facing determination.
[0065]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), when the forklift F1 is not directly facing the container 20, when in close proximity to Sakomimen 211 (container 20) to, may be a warning.
[0066]
　Specifically, the output unit 106, when determining the control unit 105 is not directly facing, when in close proximity to Sakomimen 211 may output a warning. And it is close to Sakomimen 211, for example, the reference distance L to a point on Sakomimen 211 i is a case where the threshold value or less. Conversely, the output unit 106, control unit 105 even when it is determined that no positive contrast, if not close to Sakomimen 211 may not output a warning.
[0067]
　Thus, the service management apparatus 1 until when the need for a warning is low, can be prevented to output the warning. For example, if the forklift F1 to a distant container 20 is located, forklift F1 may not carry the container 20. Further, the worker or the like, at a position away from the container 20 without confronting some cases be positive pairs from approaching the container 20. In such a case, the service management apparatus 1 can stop the warning output.
[0068]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), the period in which the fork F101, F102 has not expired disconnect from the fork pockets 201 and 202 may be performed confronting determination .
[0069]
　Specifically, the control unit 105, when the gear is retracted determines whether fork F101, F102 has not expired disconnect from the fork pockets 201 and 202. For example, the control unit 105 stores in advance the position and shape of the fork F101, F102 (referred to as "fork D101, D102").
[0070]
　Control unit 105 determines in the sensing information, whether fork D101, D102 to be stored in advance is detected. As a specific example, the control unit 105, X fork D101, D102 are present in all Y coordinates, by comparing the Z coordinate of the Z-coordinate and the sensing information of the fork D101, D102, whether matching judge.
　Control unit 105 determines that if the fork D101, D102 to be stored in advance is determined to have been detected (Z coordinate match), the fork F101, F102 was fully disconnect from the fork pockets 201 and 202. On the other hand, the control unit 105, when the fork D101, D102 to be stored in advance is determined not to be detected (Z coordinate does not match), and determines a fork F101, F102 has not expired disconnect from the fork pockets 201 and 202.
[0071]
　Control unit 105, a period in which the fork F101, F102 are determined not to have expired disconnect from the fork pockets 201 and 202, may be performed confronting determination. Conversely, the control unit 105, when the gear is reverse, a fork F101, F102 is after it is determined that fully disconnect from the fork pockets 201 and 202, may not be performed confronting determination or warning.
[0072]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), when the forklift F1 is determined to be directly facing the container 20, a forklift device itself is mounted F1 ( based on the vehicle information that indicates a steering angle of the vehicle), it may be a warning.
　Thus, the forklift F1, immediately after it is determined that you face, forklift F1 bends, it is possible to warn that no longer confronting.
[0073]
　(If the relative direction of travel straight, bent) Specifically, the control unit 105, when the forklift F1 is determined to be directly facing the container 20, the steering angle is larger than the threshold indicated vehicle information, to output a warning to the output unit 106.
　That is, the output unit 106, when the control unit 105 is determined to be positive against, based on the vehicle information that indicates a steering angle of the forklift F1, and outputs a warning. Here, the output unit 106, based on the vehicle information that indicates a steering angle of the forklift F1, when bent the moving direction of the forklift F1 outputs a warning.
　The control unit 105, based on the sensing information, it may be determined whether the bent direction of movement of the forklift F1. Control unit 105, for example, determines that the object detected is if you are displaced in a specific direction of rotation, are bent the moving direction of the forklift F1. In this case, the output unit 106 outputs a warning.
[0074]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) may be employed directly facing judgment below. For example, the control unit 105, based on the detected fork F101, F102, may be performed confronting determination. Specifically, the control unit 105, based on the shape of the fork F101 and F102, in accordance with the hiding degree fork F101 and F102, performs the facing determination.
[0075]
　14A and 14B are schematic diagrams showing an example of detection results of the fork F101, F102 according to a modification to the embodiment.
　For example, service management apparatus 1 performs a sensing state where the fork of the forklift F1 is completely sensed to detect the fork of the forklift F1. For example, this state, at the start of the engine, when fitted with a service management apparatus 1 to the forklift F1, or a factory forklift F1. The detected fork this time is referred to as a fork D101, D102.
[0076]
　In Figure 14A, the fork D101, D102 are detected.
　Control unit 105 stores the shape and position of this fork D101, D102.
　Thereafter, the service management apparatus 1 performs a sensing to detect the fork F101, F102 forklift F1.
[0077]
　Control unit 105 compares the fork F101, F102 of the detected forklift F1, stored and fork D101, D102.
　Result of the comparison, the control unit 105 determines, for example, the shape of the fork F101 and fork D101, or, if any of the shapes of the fork F102 and fork D102 are different, fork F101 or F102 is not withdrawn and .
　Further, the control unit 105 determines withdrawn portion of fork F101 and fork F102, or, for the part that is not extracted, whether or not the difference of the area or the length of the shape is greater than the threshold value. If the difference is greater than the threshold, the control unit 105 determines that no directly facing. On the other hand, if the difference is less than the threshold value, the control unit 105 determines that the directly opposite.
[0078]
　Figure 14B is, for example, shows the case of a state shown in FIG. 12 is a diagram of a case where the forklift F1 is not directly facing the container 20. This figure, while the fork F102 is withdrawn from the fork pockets 202, is a diagram of the case where the fork F101 is not withdrawn from the fork pockets 201.
[0079]
　In this case, the control unit 105 determines that the coordinates of the tip portion of the fork F101 it is determined that the different fork D101 and (dashed line), different parts of the coordinates is plugged into fork pocket 201. For example, the control unit 105 determines the fork F101 is, by a length f1, is plugged into the fork pockets 201, or by a length f2, is disconnected from the fork pockets 201, and.
　On the other hand, the control unit 105 determines that the fork F102 and fork D101 are the same. In this case, the control unit 105, the fork F102 is withdrawn from the fork pockets 202, and determines.
　Control unit 105, for example, the difference in length is determined to be f1, determines whether or not the difference f1 is greater than the threshold value. If the difference f1 is larger than the threshold value, the control unit 105 determines that no directly facing.
[0080]
　As another modified example, the control unit 105, for example, if a fork D101 and the D102 was axisymmetric in the left-right (X-axis direction), and the detected fork F101 and F102 is whether the same line symmetry by determining it may determine whether you face. The control unit 105 immediately after the transport object has been made, or if the gear is reverse, performs the facing determination based on the fork F101 and F102, otherwise, may not be performed confronting determination .
[0081]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) may be employed directly facing judgment below. Specifically, the control unit 105, the difference ΔL of the predetermined number of i, j based on, may be performed confronting determination, the difference ΔL of the position between a predetermined i, j on the basis of the , it may be performed confronting decision.
[0082]
　For example, the control unit 105, the difference ΔL in Sakomimen 211 i, j of the difference ΔL of the predetermined number N1 i, j may be determined that is directly opposite the case is within the threshold value T11, the difference ΔL predetermined number N2 i, j may be determined that does not face the case of the threshold T12 greater than. The threshold T11 and T12 each other, or the number N1 and N2 each other, may be the same value or may be a different value.
[0083]
　For example, the control unit 105, the center (for example, deviation angle theta = 0) reference distance L i reference distance L at a predetermined distance from the center (or deflection angle theta, the number of irradiation times i or j) j difference ΔL between the i , j by comparing the threshold value T1, may be performed confronting determination.
　For example, the control unit 105, the reference distance L apart a predetermined distance or more i difference ΔL between the i, j may be compared to a threshold T1 of the end (edge portion) of the detected container 20 or reference the vicinity thereof distance L i and another position (e.g., next to the other end or near the center, a predetermined distance or more away from the edge) the reference distance L j difference ΔL of the i, j by comparing the threshold value T1 it may be.
　For example, the control unit 105, a predetermined distance (or deflection angle theta, the number of irradiation times i or j) for each, the reference distance L i extracts, extracted reference distance L i difference ΔL of i, j on the basis of, confronting the determination may be performed. For example, the number of times of irradiation is the reference distance L for each 10 times i the case of using the control unit 105, [Delta] L P + 10, P= | L P + 10 -L P | and [Delta] L P + 20, P + 10 = | L P + 20 -L P + 10 |, [Delta] L P + 30, P + 20 = | L P + 10 -L P |, and may be used these average values.
[0084]
　The control unit 105, in consideration of the irregularities on the Sakomimen 211 may be performed confronting determination.
　15A and 15B are schematic views showing an example of a positive-to-determination according to a modification of the present embodiment.
　In this figure, the surface of the container 20 shown by a chain line, has irregularities. In this case, reference distance L of the convex portion i reference distance L of the recess j difference ΔL of i, j , the actual (average value of the coordinates of Sakomimen 211. For example, linear 212) the inclination of the plug surface 211 from also, it increases.
　For example, the convex portion and the concave portion are separated by a distance in the normal direction of the insertion plane (FIG. 15A in the Y-axis direction) D (also referred to as uneven distance D). If the sensor unit 101 detects the projections and recesses, [Delta] L i, j = D next, even though you face, exceeds the threshold value T1, it may be determined not to directly facing.
[0085]
　Control unit 105, a Sakomimen 211 linearly by approximation (linear approximation), based on the straight line that approximates, performs the facing determination. For example, the control unit 105, the coordinates of Sakomimen 211, an approximation of a straight line using the least squares method.
　In Figure 15A, the insertion surface 211 of the container 20 is approximated by a straight line 212. On the other hand, in FIG 15B, the insertion surface 211 of the container 20 is approximated by a straight line 213.
　Thus, the control unit 105, since the insertion face 211 detected linear approximation, even when there are irregularities on all or part of the surface of the container 20, appropriately whether insertion face 211 is directly opposite It can be determined.
[0086]
　The control unit 105 causes the Sakomimen 211, a plurality of difference [Delta] L i, j based on the average value of the may be performed confronting determination. For example, the control unit 105, the difference in each other or around a position next to [Delta] L i, j may be used an average value of.
　For example, the difference [Delta] L i, j a, [Delta] L i, j = | [Delta] L i + 1, j + [Delta] L i, j + [Delta] L i-1, j | / 3 may be. Thus, the control unit 105, a difference [Delta] L i, j can level the value of the erroneous judgment can be prevented.
[0087]
　The control unit 105, in consideration of the unevenness of Sakomimen 211, the threshold T1, may be set a threshold value T11, or T12. That is, a value greater than the irregularity distance D (see FIG. 15A and 15B), the threshold value T1, may be set a threshold value T11, or T12.
　That is, even when there is unevenness of Sakomimen 211, as long as Sakomimen 211 from tipping, the difference [Delta] L i, j does not exceed an uneven distance D. Control unit 105, the threshold T1, sets a value greater than D in the threshold T11, or T12, despite directly opposite, it is possible to prevent put away determined not directly facing.
[0088]

　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 confronting determination.
　Control unit 105, when the first condition below is satisfied, performs output (warning) based on confronting determination, if not satisfied first condition, even without an output based on confronting determination good. The control unit 105, when the first condition is satisfied, performs the facing determination or sensing, if the first condition is not satisfied, may not be performed confronting determination or sensing.
　The control unit 105, based on the first condition, the output and based on the confronting determination, the facing determination or sensing (hereinafter, referred to as a warning, etc.) interval may be changed for.
[0089]
　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. Control unit 105, gears a warning or the like in the case of reverse, the other may not be performed a warning or the like.
[0090]
　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.
[0091]
　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.
[0092]
　The first condition is, for example, may be a condition that the fork F101, F102 is not withdrawn.
　For example, the control unit 105, when the fork F101, F102 are not withdrawn, warning or the like (e.g., warning) performs, when the fork F101, F102 was withdrawn, without any warning or the like (e.g., warning) and it may be. Furthermore, whether control unit 105, when the gear is reverse, or gripped by transporting the subject has no (Place the transport target, when no longer subjected to loads fork), in this condition, a warning, etc. or it may be determined.
[0093]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), whether the service management apparatus 1 has been installed properly determined ( "Mounting determination "and also referred to) may be performed.
　For example, service management apparatus 1, when thus mounted inclined to the traveling direction of the forklift F1, when the forklift F1 is directly facing the container 20, will be determined not directly opposite (see Fig. 16B ).
　Service management apparatus 1 performs a sensing state where the fork of the forklift F1 is completely sensed, detected and forklift F1 fork D101 and D102. Service management apparatus 1 based on the fork D101 and D102 and performs mounting determination. Thus, the service management apparatus 1 is properly installed, it is possible to perform appropriate positive pair determination.
[0094]
　16A and 16B are schematic views showing another example of the detection results of the fork D101 according to a modification of the present embodiment and the D102. This figure represents the case where service management apparatus 1 is not properly installed. Incidentally, the straight line A1, the initial direction of the irradiation direction of the laser beam: represents a (deflection angle θ = φ = 0 is referred to as the initial optical axis A1). Straight A22, A23, respectively, Fig. 16A, at 16B, represents the axis of symmetry of the fork D101 and D102 of (also referred to as target axis A2).
[0095]
　Control unit 105 performs the mounting determined as follows. Control unit 105 detects the target axis A2 of the fork D101 and D102. Controller 105 compares the initial optical axis A and the target axis A2. Control unit 105, the service management apparatus 1 (irradiation port) as the origin of the orthogonal coordinate, the Y-axis as an initial optical axis A, is stored in advance.
　Work management device 1 (including the case is not in a predetermined range) the initial optical axis A and the target axis A2 may not match, it is determined that not properly attached. On the other hand, (including the case where the range determined in advance) If the initial optical axis A and the target axis A2 coincides determines that the service management apparatus 1 is properly installed.
[0096]
　Specifically, the service management apparatus 1, when the initial optical axis A and the target axis A2 is parallel mounted orientation is determined to be appropriate, if the initial optical axis A and the target axis A2 is not parallel determines that mounted orientation is not appropriate.
　Service management apparatus 1, when the intersection of the initial optical axis A and the target axis A2 is in the service management apparatus 1 (irradiation ports) (including the case where the initial optical axis A and the target axis A2 is exact), is attached position is determined to be appropriate. Work management device 1 determines that the intersection of the initial optical axis A and the target axis A2 is not in the service management apparatus 1 (irradiation port), a position to be mounted is not appropriate.
[0097]
　Figure 16A, although the working direction managing apparatus 1 is attached is appropriate, is not appropriate positions service management apparatus 1 is mounted. In this case, as shown in FIG. 16A, although the initial optical axis A and the target axis A21, which is parallel, intersection is shifted.
　FIG. 16B, although the positions service management apparatus 1 is attached is appropriate, is not appropriate orientation service management apparatus 1 is mounted. In this case, as shown in FIG. 16B, the initial optical axis A and the target axis A22, although the intersection is in the service management apparatus 1 (irradiation port), not parallel.
[0098]
　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).
[0099]
　Note that the confronting determination, fork F101 and fork F102 is, may be to determine whether the normal to the container 20 or port 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.
[0100]
　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 loading deviation determination may be automatically operated forklift F1 as insertion amount is appropriate.
　For example, service management apparatus 1, the loading deviation determination result, the insertion distance d p so as to approach the range is predetermined gear, accelerator, to adjust the brake, for example, to the forklift F1 forward or reverse.
　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). For example, service management apparatus 1, when the projection to each side, excluding them from the projected object.
[0101]
　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.
[0102]
　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.
[0103]
　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).
[0104]
　This application, on March 22, 2017, claiming priority on Japanese Patent Application No. 2017-56109 filed in Japan, the contents of which are incorporated herein.
DESCRIPTION OF SYMBOLS
[0105]
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,
　differences having, based on the sensing information, the differential Komitsume is an insertion portion of the difference write target a control unit for determining the facing determines whether faces the write surface,
　vehicle device comprising a.
[Requested item 2]
　Wherein the control unit is, when determining that the difference Komitsume is not directly facing the insertion side, when the differential Komitsume is in proximity to the insertion surface, warning unit for outputting a warning
　according comprising vehicle apparatus according to claim 1.
[Requested item 3]
　Wherein, during the course of the difference Komitsume is withdrawn from the difference write target vehicle apparatus according to claim 1 or 2 performs the confronting determination.
[Requested item 4]
　The control section, when the difference Komitsume is determined to be positive against the insertion face, based on the vehicle information that indicates a steering angle of the vehicle, wherein the vehicle device is mounted, and outputs a warning alert part
　-vehicle apparatus according to any one of claims 1 to 3, comprising a.
[Requested item 5]
　The sensing information, or based on the vehicle information that indicates a steering angle of the host vehicle in which the apparatus is mounted, wherein when the moving direction of the vehicle is curved, the warning unit outputs a warning
　claim 1, further comprising a 4 vehicle apparatus according to any one of.
[Requested item 6]
　Wherein, in response to said difference based on the distance from the insertion nail to at least two points of the insertion face, and determines whether the difference Komitsume is directly opposite to the insertion plane,
　at least 2 points, in the vertical direction, the vehicle-mounted device according to any one of claims 1 to 5 which is located above the top of the insertion portion of the differential write target.
[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 difference Komitsume is directly facing the insertion side with an insertion portion of the insertion target plugging Sakomitsume.
[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 differential Komitsume difference of the differential write target performing determining confronting determines whether faces the insertion side having a write unit,
　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, a difference of the difference Komitsume has an insertion portion of the difference write target to perform determining confronting determine whether or not face the write plane
program.