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 discloses that to indicate that the distance between the pallet is within the optimum distance obtained from the depth of the length and the pallet fork.
CITATION
Patent Document
[0003]
Patent Document 1: Laid-Open Patent Publication No. 07-101696
Summary of the Invention
Problems that the Invention is to Solve
[0004]
　Optimal However, the technology described in Patent Document 1 is to detect only the distance between the pallets, or the depth of the fork length and the pallet are fixed, or, in accordance with the depth of the fork length and the pallet must be set in advance the distance. For example, if the depth of the fork length and the pallet is different from assumed, or, if you make a mistake setting, in the technology disclosed in Patent Document 1, thereby to determine the improper distance optimum distance.
　That incorrect optimum distance, more pointing too far insertion insufficient and forks, load carrying (transport object) or transportation subject of the back is falling, falling, or being damaged, there is a problem that.
　As illustrated above, in the technology disclosed in Patent Document 1, overturning or dropping for transporting the object, can not prevent damage, not adequately carry transport target, there is a problem that.
[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, to detect the insertion nail on the basis of sensing information acquired from the space recognition apparatus, the detected insertion nails are inserted into the insertion target an analysis unit that calculates an insertion distance indicating a distance are, the insertion distance is vehicle device and a control unit that performs determining insertion amount is determined whether the range set in advance.
[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 detects the insertion nail on the basis of sensing information acquired from the space recognition apparatus, the detected insertion nail insertion distance indicating the distance that is inserted into the insertion target is predetermined a determining control circuit whether ranges.
[0009]
　The aspect of the present invention, the analysis unit detects the insertion nail on the basis of sensing information acquired from the space recognition apparatus, insertion distance indicating the distance detected insertion nail is inserted into the insertion target is calculated, the control section, the insertion distance is a control method of performing determining insertion amount is determined whether the range set in advance.
[0010]
　The aspect of the present invention causes a computer to detect the insertion nail on the basis of sensing information acquired from the space recognition apparatus, the detected insertion nails an insertion distance indicating the distance that is inserted into the insertion target is calculated, the insertion distance is programmed to perform determining insertion amount is determined whether the range set in advance.
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.
Is a diagram illustrating an example of a calculation process of the target distance according to [6] The present embodiment.
[Figure 7A] is a schematic diagram showing an example of the insertion distance estimation according to the present embodiment and showing the reach of the forklift fork.
Is a schematic diagram showing an example of the insertion distance estimation according to FIG 7B] This embodiment illustrates an insertion distance of the fork.
Is a schematic diagram showing an example of the insertion amount determination according to FIG. 8A] This embodiment illustrates a case where insertion of the fork is suitable.
Is a schematic diagram showing an example of the insertion amount determination according to FIG. 8B] This embodiment illustrates a case where insertion of the fork is inappropriate.
[Figure 9A] is a schematic view showing another example of the insertion amount determination according to the present embodiment and showing a case where insertion of the fork is suitable.
[FIG 9B] is a schematic view showing another example of the insertion amount determination according to the present embodiment and showing a case where insertion of the fork is inappropriate.
Is a flowchart showing an example of the operation of the forklift according to [10] the present embodiment.
11 is a block diagram showing a hardware configuration of a service management apparatus according to the present embodiment.
12 is a schematic block diagram showing the logical configuration of a service management apparatus according to the present embodiment.
FIG. 13 is another schematic block diagram showing the logical configuration of a service management apparatus according to the present embodiment.
[Figure 14A] is a schematic diagram showing an example of the insertion amount determination according to a modification of the embodiment, showing the positional relationship between the timing of the fork has reached the insertion surface of the container.
[Figure 14B] is a schematic diagram showing an example of the insertion amount determination according to a modification of the embodiment, showing the positional relationship between the timing after the fork has reached the insertion surface of 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 is inserted the forks 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, detecting a fork F101, F102, detected fork F101, F102 distance d is inserted into the container 20 (or the fork pockets 201 and 202) p is calculated. In the following, this distance d p a "bayonet distance d p also referred to as" The distance d p to calculate the also referred to as "insertion distance estimation".
[0019]
　Work management device 1, the calculated insertion distance d p performs determining insertion amount determined whether or not the predetermined range. Work management device 1 outputs the determination result. For example, service management apparatus 1, the insertion distance d p when not in range is predetermined, that is, when the case of too plug fork F101, F102, or if the fork F101, F102 insertion of missing, that effect output representing the (e.g., warning sound, warning light, warning image, guidance and the like) is performed.
[0020]
　Thus, the service management apparatus 1, for example, the operator or the like, a fork pockets 201 and 202, that are too insert the fork F101, F102, or the insertion of the fork F101, F102 is insufficient (simply it can be informed also referred to as a "plug-in amount is incorrect"). If the insertion is insufficient, 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. Also, if too plug, an object in the back of the container 20 (other containers, etc.), some injury, or cause and invert, possibly even. In other words, it can not be properly transport the transport target.
[0021]
　Operator or the like can change the insertion condition of the fork F101, F102 depending on the warning.
　As a result, the operator or the like, the fork F101, F102 fork pockets 201, 202 by an appropriate amount, it can be inserted. That is, 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, the forklift F1 is an object (other containers, etc.) at the back of the container 20, it is possible to prevent the damaging or overturning.
　Incidentally, the service management apparatus 1, the insertion distance d p when in the range in which a predetermined, i.e., when the fork F101, F102 is inserted properly (simply "plug weight appropriate" also referred to), its it may be carried out an output indicative of the fact.
[0022]
　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.
[0023]

　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.
[0024]
　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.
[0025]
　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.
[0026]

　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.
[0027]
　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.
[0028]
　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.
[0029]
　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.
[0030]
　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 (range -φ ≦ 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.
[0031]
　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.
[0032]
　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.
[0033]
　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.
[0034]
　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, fork F101, stored in advance patterns of position and shape of the F102, may detect an object that matches the pattern as a fork F101, F102.
　Also, work management apparatus 1, the length of the detected fork F101, F102 (also referred to as "fork length") is calculated f1. The fork length f1, in the XY plane, the length from the base of the fork F101 or F102 to the tip. However, the present invention is not limited thereto, may be a length, including the Z-axis direction, may have a length that one end in the vicinity of the neighborhood and the tip of the root. Note that the root of the fork F101 or F102, the base of the fork F101 or F102, termination, the bent portion of the L-shaped, the portion becomes less flat, in the XY plane, the fork F101 or F102 and fork rails F11, F12 or the backrest F13 It is also a part intersect.
[0035]

　FIG. 6 is a diagram showing an example of the calculation process of the target distance LB according to the present embodiment.
　Note that the subject distance LB, the distance from the forklift F1 to the container 20 (Sakomimen 211). Further, the target distance LB, is also the distance from the position of the root or its vicinity of the fork F101, F102 to the opening of the fork pockets 201, 202.
[0036]
　Figure 6 is a case diagram forklift F1 is directly facing the container 20. That is, the traveling direction of the forklift F1 (the extending direction of the fork F101, F102) is the case of the Y-axis direction, the traveling direction is the normal direction of the insertion plane 211. Figure 6 is a diagram of the sensing information, and projected into the XY plane in FIG.
　6, the solid line represents the laser beam. Further, in FIG. 6, for convenience, the container 20, describes fork F101, F102, and the projection of service management apparatus 1 by a broken line.
[0037]
　6, service management apparatus 1, the deflection angle theta is - [theta] P1 ≦ theta ≦ theta P1 + m 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.
　Reference surface B1 is 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). Reference surface B1, in projection onto the XY plane, the fork F101, root or the vicinity thereof F102, fork rail F11, F12, or backrest F13, work management device 1, or position or positions near the space recognition sensor to.
[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, 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 is also referred to as" ) is calculated. 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.
[0039]
　(If the reference surface B1 and insertion face 211 are completely directly opposite) in FIG. 6, the range of P1 ≦ i ≦ P1 + m, the reference distance L i is the same value. In this case, the service management apparatus 1, the reference distance L i to target distance LB to.
　Meanwhile, like the reference surface B1 and plug surface 211 is not fully forward against the reference distance L i when are different, the service management apparatus 1, the reflected light from Sakomimen 211, the minimum value reference distance L i may be used as the target distance LB, the reference distance L i may be subject distance LB an average of. Or, the service management apparatus 1, 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, may be the object distance LB.
　Incidentally, the service management apparatus 1 detects the root or its vicinity of the fork, from the detected fundamental or near the may calculate the distance to the insertion surface 211 as the object distance LB.
[0040]

　Figures 7A and 7B are schematic views showing an example of the insertion distance estimation according to the present embodiment.
　Service management apparatus 1 (also referred to as "fork length") length of the fork F101, F102 values d obtained by subtracting the target distance LB from f1, the insertion distance d p (the value is positive, or 0), or reach the distance d c (value if negative) is calculated as.
　Here, the insertion distance d p , when the fork F101, F102 is inserted, the distance from Sakomimen 211 (opening of the fork pockets 201, 202) to the tip of the fork F101, F102. Reaching distance d c , when the fork F101, F102 is not inserted, the distance from the tip of the fork F101, F102 to insertion surface 211.
[0041]
　7A and 7B are diagrams sensing information and projected onto the XY plane.
　Note that, in FIGS. 7A and 7B, the distance LB1, LB2 is a reference distance LB, fork length f1 is the length of the fork F101, F102 (length in the Y-axis direction).
　7A, the reaching distance d c shows an example of, in FIG. 7B, the insertion distance d p illustrating an example of.
[0042]
　Work management device 1 (the case of FIG. 7A) when the fork F101, F102 is not inserted, the distance LB1 a value obtained by subtracting the fork length f1, reaching distance d c is calculated as. On the other hand, the service management apparatus 1, when the fork F101, F102 is plugged (Fig. 7B, a value obtained by subtracting the distance LB2 from the fork length f1, the insertion distance d p is calculated as. Incidentally, the work management system 1 , may be detected length f1, it may be stored in advance.
[0043]

[0044]
　8A and 8B are schematic views showing an example of the insertion amount determination according to the present embodiment.
　8A is a diagram of when the insertion amount of a suitable, 8B are diagrams when the insertion amount of improperly. Incidentally, FIGS. 8A and 8B are diagrams sensing information and projected onto the XY plane. In Figure 8A and 8B, the distance LB 3 , LB 4 is a reference distance LB, the distance d p3 , d p4 is insertion distance d p is a specific example of. Fork length f1 is the length of the fork F101, F102.
[0045]
　Work management apparatus 1 performs first insertion amount determination below.
　Service management apparatus 1, the insertion distance d p is determined (see In other words, work management apparatus 1, the insertion distance d p is determined and when is not less than the threshold value TH1 is fork F101, F102 is inserted into the well can be properly grip the container 20. In this case, the service management apparatus 1 determines to permit the lifting of the fork F101, F102. For example, the threshold value TH1 is a predetermined percentage of the fork length f1 (e.g., 90%) the length of, or the length determined in advance from the fork length f1 (e.g., 20 cm) is the length obtained by subtracting the.
[0046]
　Incidentally, the service management apparatus 1, the insertion distance d p is the threshold value TH1 or more, and if the threshold value TH2 (> TH1) or less, it may be determined that the insertion amount is appropriate. In other words, work management apparatus 1, the insertion distance d p is determined and if the threshold TH2 below, fork F101, F102 is not too plugged, can properly grasp the container 20. For example, the threshold TH2 is a predetermined percentage of the fork length f1 (e.g., 95%) the length of, or the length determined in advance from the fork length f1 (e.g., 5 cm) is the length obtained by subtracting the.
[0047]
　On the other hand, the service management apparatus 1, the insertion distance d p is determined if the threshold value TH1 is smaller than, the insertion amount is inadequate. In other words, work management apparatus 1, the insertion distance d p is determined and when the threshold value TH1 is smaller than the fork F101, F102 is not inserted sufficiently, can not properly grip the container 20.
　Incidentally, the service management apparatus 1, the insertion distance d p is greater than the threshold TH2, it may be determined that the insertion amount is inappropriate. In other words, work management device 1 determines that the fork F101, F102 too plugged, not properly grip the container 20. In these cases, the service management apparatus 1 determines not to permit the lifting of the fork F101, F102.
[0048]
　Figure 8A, TH1 ≦ d p3 is a view when it is ≦ TH2. For Figure 8A, the fork F101, F102 is inserted into the well, the container 20 can be properly grasped. Incidentally, for example, the threshold value TH1, the container 20 (or the fork pockets 201, 202) than the depth (length in the Y-axis direction) of a large value.
　Figure 8B, d p3 diagrams when a 0. In FIG. 9B, the fork F101, F102 is not completely withdrawn. In this case, for example, a forklift F1 while backward and thus bent by the steering operation, the fork F101, F102 collides the container 20 (or the opening of the fork pockets 201 and 202). For example, service management apparatus 1 can inform the fact.
[0054]
　Incidentally, the service management apparatus 1, a second plug weight determination may be performed when extracting the fork F101, F102 from the container 20. On the other hand, the service management apparatus 1, the first insertion amount determination may not be performed when extracting the fork F101, F102 from the container 20.
　Similarly, the service management apparatus 1, the first insertion amount determination may be performed when inserting a fork F101, F102 container 20. On the other hand, the service management apparatus 1, a second plug weight determination may not be performed when inserting a fork F101, F102 container 20.
[0055]

　FIG. 10 is a flow diagram showing an example of the operation of the forklift F1 according to the present embodiment.
[0056]
(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.
[0057]
(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.
[0058]
(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.
[0059]
(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 insertion amount determination described above. 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.
[0060]
(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.
[0061]
(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.
[0062]

　FIG. 11 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.
[0063]
　Figure 12 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.
[0064]
　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.
[0065]
　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.
[0066]
　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. Here, the analysis unit 104 may measure the length of the detected fork F101, F102.
　Further, the analysis unit 104, based on the obtained sensing information, the reference distance L for the detected at least one point of the insertion surface 211 i is calculated and determined object distance LB. Analysis unit 104, the value d obtained by subtracting the target distance LB from the fork length f1, the insertion distance d p (the value is positive, or 0), or reach d c is calculated as (if
[0067]
　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 insertion amount determination described above.
　Specifically, the control unit 105, the value analysis unit 104 calculates d (insertion distance d p or reaching distance d c that) to determine whether it is the predetermined range, the insertion amount determination performing (first insertion amount determination, the second insertion amount determination).
[0068]
　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.
[0069]
　The sensor unit 101 is realized by the sensor 114 of FIG. 11. 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.
[0070]
(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. 13, the analysis unit 104 detects the fork F101, F102 (Sakomitsume) based on the obtained sensing information from the space recognition sensor (space recognition apparatus), fork F101, F102 was detected insertion distance d indicates the distance that is plugged into the container 20 (insertion target) p is calculated. Control unit 105, the insertion distance d p performs determining insertion amount is determined whether the range is determined in advance.
　Thus, the service management apparatus 1, the fork F101, F102 fork pockets 201 and 202, can be inserted by an appropriate distance, it can be appropriately carry transport object. For example, a forklift F1 is appropriately container 20 (good balance, be stabilized) gripped to be able to transport, etc. insertion amount is insufficient, it is possible to prevent dropping the container 20. Also, work management device 1, the object (other containers, etc.) at the back of the container 20, it is possible to prevent the damaging or overturning. Furthermore, the service management apparatus 1, after placing the container 20 in the carrier L1, etc., when the fork F101, F102 is not completely withdrawn, performed steering operation (steering operation) is fork F101, F102 are the container it is possible to prevent the conflict with 20.
[0071]
　Further, in the present embodiment, the service management apparatus 1 (forklift F1), analysis unit 104, a distance indicated by the sensing information, forks F101, the difference from the position of the root or near the F102 write target opening based on the reference distance LB to, insertion distance d p is calculated. For example, analysis unit 104, subtract from the reference distance LB from the fork length f1.
　Thus, the service management apparatus 1, based on the distance indicated by the sensing information, insertion distance d p can be calculated, it is possible to perform an insertion quantity determination using sensing information.
[0072]

　In the above embodiment, the analysis unit 104 (forklifts F1 or service management apparatus 1) is a position indicated by the sensing information, the fork pockets 201, 202 of the fork F101, F102 (tip) of the container 20 a timing reaching the position of the opening of the (also referred to as "reaching timing"), and the speed of the forklift F1, based on, plug the distance d p may be calculated.
[0073]
　14A and 14B are schematic views showing an example of the insertion amount determination according to a modification of the present embodiment.
　14A is a diagram showing the positional relationship between the timing fork F101, F102 reaches the insertion surface 211 of the container 20, FIG. 14B is a timing after the fork F101, F102 reaches the insertion surface 211 it is a diagram showing a father relationship between the two in. Incidentally, FIGS. 14A and 14B are diagrams sensing information and projected onto the XY plane. In Figure 14A and 14B, the distance LB 5 , LB 6 is a reference distance LB, the distance d p5 (= 0), d p6 is insertion distance d p is. Fork length f1 is the length of the fork F101, F102.
[0074]
　Specifically, the analysis unit 104, the value d obtained by subtracting the target distance LB from the fork length f1 is 0 (insertion distance d p = arrival distance d c a time became = 0), the arrival of fork F101, F102 detected as the timing (e.g., Figure 14A). Incidentally, analysis unit 104, when the forklift F1 had advanced on the basis of the vehicle information, the time when the value d is 0, may be arrival timing.
　The vehicle information may include, for example, gears vehicle information indicating a forward or a vehicle information movement direction indicates front (direction of rotation of the tire).
[0075]
　Analysis unit 104, the arrival timing, speed (or the Y-axis velocity) by integrating in time, insertion distance d p is calculated. For example, if the velocity v is the time when the constant Delta] t has passed, the analysis unit 104, the insertion distance d p is calculated as = v × Delta] t.
　The vehicle information, if it contains information that indicates the rotational speed and the circumference of the tires, analysis unit 104, the insertion distance d p a, (rotational speed of the later arrival timing tires) circumference × Tire it may be calculated as.
[0076]
　In this modification, analysis unit 104, for example, after reaching timing, without using the distance LB and forks length f1, the insertion distance d p can be calculated.
[0077]

　In the above embodiment, the analysis unit 104 (forklifts F1 or service management apparatus 1) is a position indicated by the sensing information, the fork pockets 201, 202 of the fork F101, F102 (tip) of the container 20 the basis of the distance LB to the plug surface 211 from the space recognition sensor upon reaching the position of the opening (the service management apparatus 1) of the subsequent spatial recognition sensor to the difference between the distance LB to the plug surface 211, Te, the insertion distance D the p- may be calculated.
[0078]
　For example, in FIGS. 14A and 14B, analysis unit 104, the distance LB from the space recognition sensor when the fork F101, F102 reaches the position of the opening of the fork pockets 201 and 202 to the insertion face 211 5 from the subsequent distance LB from the space recognition sensor to plug surface 211 6 by subtracting the, insertion distance d p6 is calculated.
　In this modification, analysis unit 104, for example, after reaching timing, without using a fork length f1, the insertion distance d p can be calculated.
[0079]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) has insertion distance d p on the basis of, it may be changed an output based on the insertion amount determination.
　Specifically, the control unit 105, when the plug amount is determined to be inappropriate, or approach the right and determining the range (or away from either) in whether may change the size and frequency of the output. Thus, the service management apparatus 1, in addition to the determination result of the insertion amount determination, insertion distance d p can output a change in the.
　For example, the control unit 105, when the plug amount is determined to be inappropriate, the closer to the right and determines the range, or, as the distance to the right and determines the range, increasing the frequency of the output (e.g., sound). In this case, the control unit 105, when the plug weight determination of the determination result is changed (appropriately changed from inappropriate), may be stops the output, or by performing a different output from that inappropriate it also may or may stop the output after the output. Thus, the service management apparatus 1, for example, for insertion amount determined in decision result alters correctly insertion distance d p whether to change the can inform the operator or the like.
[0080]
　Further, for example, the control unit 105, when the insertion amount is determined to be inappropriate, insertion distance d p in is greater than the predetermined value, as compared with smaller warning, less noticeable (smaller output, e.g. small sound or dark light, flashing time and the small number sound, light, may be a warning broad sound or flashing light) spaced. On the other hand, the control unit 105, when the insertion amount is determined to be inappropriate, insertion distance d p if is less than a predetermined value, as compared with the greater, more prominent warning (large output, for example, large sound or bright light, time and a large number of times a sound or light flashing, a warning in a narrow sound, light flashing, etc.) spaced.
[0081]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), result of the insertion amount determination, the traveling direction of the host vehicle in which the apparatus is mounted, based on the warning it may be output. In this case, the output unit 106, the result of the insertion amount determination, the traveling direction of the host vehicle in which the apparatus is mounted, based on, outputs a warning.
[0082]
　Specifically, the control unit 105, when the plug amount is determined to be inappropriate (insertion distance d p is smaller than the threshold TH1), when the traveling direction is reverse, to output a warning. In this case, the control unit 105, when the traveling direction is forward, may not be a warning. The control unit 105, when the plug amount is determined to be inappropriate (insertion distance d p is smaller than the threshold TH1), when the traveling direction is changed from forward to reverse, may be a warning.
　For example, a forklift F1, when carrying the container 20 forward to insert the forks F101, F102 to the container 20, then grips the container 20, usually, first, to carry the container 20 in reverse. That is, when the reverse is fork F101, which is appropriately inserting the F102 (insertion amount appropriate) is necessary. In this modification, the service management apparatus 1, since the traveling direction to output a warning when it is reverse, when it is necessary to properly grip the transported object, it is possible to output a warning.
[0083]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), result of the insertion amount determination, the vehicle information indicating the lifting operation of the host vehicle in which the apparatus is mounted, the based on, it may be a warning.
　Specifically, the service management apparatus 1, the insertion amount determination may be performed when the operation for raising and lowering the lift is performed. For example, service management apparatus 1, the first insertion amount determination, (moved in the Z-axis positive direction) to raise the lift may be performed when the operation is performed. On the other hand, the service management apparatus 1, the first insertion amount determining, after lowering the lift (Z-axis is moved in the negative direction) operation is performed, (time to have a specific movement) a specific period conducted it may be.
[0084]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) includes a first determination result and the second determination result, and the vehicle information, based on, may be performed output.
　Specifically, the control unit 105, the result of the insertion amount determination, the traveling direction of the host vehicle in which the apparatus is mounted, based on, to output a warning.
　For example, the control unit 105, when the plug is determined to be inappropriate in the first plug weight determination, to indicate that the vehicle information is backward traveling direction of the forklift F1, may output a warning . On the other hand, the control unit 105, when the plug is determined to be inappropriate in the second plug weight determination, to indicate that the vehicle information is backward traveling direction of the forklift F1, without a warning good.
　Here, the case showing that the traveling direction of the forklift F1 is backward, for example, if the gear is reverse, or a case where the gear is a forklift F1 began to reverse by the reverse.
[0085]
　Further, for example, the control unit 105, when the plug is determined to be inappropriate in the second plug weight determination, when the vehicle information indicates that the traveling direction of the forklift F1 is forward, even if a warning good. On the other hand, the control unit 105, when the plug is determined to be inappropriate in the first plug weight determination, when the vehicle information indicates that the traveling direction of the forklift F1 is advancing, without a warning good.
[0086]
　Further, for example, the control unit 105, when the plug is determined to be inappropriate in the first judgment result or the second judgment result, to indicate that a forklift F1 bends may output a warning. Here, the case shown that the forklift F1 bends, for example, if the steering angle indicated vehicle information is not less than the threshold value, or is the case where the forklift F1 began to reverse with the steering angle indicated vehicle information is equal to or greater than the threshold .
[0087]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) determines whether or not based on the sensing information and faces the insertion face 211 having an opening portion of the fork pockets 201 and 202 the determination after (also referred to as "confronting decision"), insertion quantity determination, or insertion quantity determination based warning (also referred to as "insertion amount determination etc.") may be performed.
　The control unit 105, after determining whether or not shift the positional relationship between the fork pockets 201, 202 and fork F101, F102 (also referred to as "deviation determination") based on the sensing information, insertion quantity determination or the like may be performed. Note that the deviation determination, the projection of the XZ plane, in the range of the fork pockets 201 and 202, it is to determine whether include forks F101, F102.
　Control unit 105, after the confronting determination, performs shift determination, then, it may be carried out insertion amount determination like. Thus, the service management apparatus 1, the forklift F1 is confronting, so inserted into the fork pockets 201 and 202 without displacement forks F101, F102, further suitable insertion distance d p can be inserted only.
[0088]

　In the above embodiment, the analysis unit 104 (forklifts F1 or service management apparatus 1), when inserting the fork F101, F102, the amount to which the tip protrudes from the back of the container 20 ( "protrusion amount" both referred to) may be calculated.
　Specifically, the analysis unit 104 stores the length A in the depth direction of the container 20 (Y-axis direction) in advance, or calculated by the detection result due to the space recognition sensor. Analysis unit 104, the insertion distance d p a value obtained by subtracting A from the projection amount.
　Control unit 105, the amount of protrusion of the analysis unit 104 has calculated the case of more than the threshold value, as being too protruding, and outputs a warning. On the other hand, a protruding amount of analysis unit 104 has calculated a negative (not protrude), and (in the case of negative) when the threshold value or less, as insertion is insufficient, and may output a warning.
[0089]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) may be set to perform or performed without condition bayonet amount determination.
　Control unit 105, when the first condition below is satisfied, a warning based on the insertion amount judgment, if not satisfy the first condition may not be performed a warning based on the insertion amount determination . The control unit 105, when the first condition is satisfied, performs insertion amount determining or sensing, if the first condition is not satisfied, may not perform an insertion quantity determination or sensing.
　The control unit 105, based on the first condition, a warning or based on insertion amount determination, insertion amount determining or sensing (hereinafter, referred to as a warning, etc.) interval may be changed for.
[0090]
　The first condition is, for example, the distance of the container 20 and the forklift F1 (e.g., the reference distance L i or subject distance LB) is a condition that is smaller than the threshold value (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.
[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]
　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.
[0093]
　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, work management apparatus 1, if it is fixed to the lower surface side, such as a fork rail F11 (bottom), the fork F101, F102 (especially to root portion) can sense the.
[0094]
　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).
[0095]
　Incidentally, the space 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 may be connected to the automatic operation device may be part of the automatic operation device. In other words, work management apparatus 1 performs insertion amount determination may be automatically operated forklift F1 as insertion amount is appropriate.
　For example, service management apparatus 1, results of the insertion amount determination, 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). Service management apparatus 1, when the projection to each side, excluding them from the projected object.
[0096]
　Incidentally, the service management apparatus 1, when detecting the container 20 and forks 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.
[0097]
　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.
[0098]
　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).
[0099]
　This application, on March 22, 2017, claiming priority on Japanese Patent Application No. 2017-56012 filed in Japan, the contents of which are incorporated herein.
DESCRIPTION OF SYMBOLS
[0100]
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]An analysis unit detects the insertion nail on the basis of sensing information acquired from the space recognition apparatus, detected the difference Komitsume calculates the insertion distance indicating the distance that is inserted into the insertion target,
　the insertion distance There a control unit for determining insertion amount is determined whether the range predetermined
　in-vehicle apparatus comprising a.
[Requested item 2]
　The analysis unit is a distance indicated by the sensing information, on the basis of the distance to the insertion portion of the difference write target from the position of the root or the vicinity thereof of the difference Komitsume, calculates the insertion distance
　claims vehicle apparatus according to claim 1.
[Requested item 3]
　Wherein the analysis unit is configured to a position indicated sensing information, on the basis of the speed of the vehicle, wherein a timing at which the difference Komitsume reaches the position of the insertion portion of the differential write target vehicle device is mounted, It calculates the insertion distance
　vehicle according to claim 1 or 2.
[Requested item 4]
　The analysis unit is a position indicated by the sensing information, the difference between the distance to the insertion plane of the space recognition apparatus when said difference Komitsume reaches the position of the insertion portion of the difference write target Komitsume is based on the difference between the distance from the space recognition apparatus after reaching the plug surface to the position of the insertion portion, calculates the insertion distance
　vehicle according to claim 1 or 2 .
[Requested item 5]
　The control unit, on the basis of the insertion distance, changes the output based on the insertion amount determination
　vehicle apparatus according to any one of claims 1 to 4.
[Requested item 6]
　Wherein, based on the traveling direction of the vehicle results and the subject device of the plug amount determination are mounted, to output a warning
　vehicle apparatus according to claim 1, any one of 5.
[Requested item 7]
　Handling machine provided with vehicle apparatus according to any one of claims 1 to 6.
[Requested item 8]
　Detecting the insertion nail on the basis of sensing information acquired from the space recognition apparatus, it detected the difference Komitsume is whether the range bayonet distance indicating the distance that is inserted into the insertion target is predetermined determining control circuit.
[Requested item 9]
　Analysis unit detects the insertion nail on the basis of sensing information acquired from the space recognition apparatus, it detected the difference Komitsume calculates the insertion distance indicating the distance that is inserted into the insertion target,
　the control unit performs determines insertion amount is determined whether the range in which the insertion distance is determined in advance,
　the control method.
[Requested item 10]
　The computer,
　to detect the insertion nail on the basis of sensing information acquired from the space recognition apparatus,
detected the difference Komitsume is to calculate an insertion distance indicating the distance that is inserted into the insertion target,
　the insertion distance There causes determining insertion amount is determined whether the range predetermined
　program.