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, a height position near that corresponding to the upper end of the mast, a load sensor for detecting the displacement provided, if the load on the fork is conveyed in a state of being stacked in a plurality of stages, upper cargo There ceiling of the container or truck, be buffered to the side wall portion, it is described that detect quickly the shift of the cargo.
CITATION
Patent Document
[0003]
Patent Document 1: JP 63-180700 JP
Summary of the Invention
Problems that the Invention is to Solve
[0004]
　However, the technology described in Patent Document 1 is adapted to detect the displacement of the cargo was loaded on the forklift, unloading destination other than forklifts (for example, loading platform of the transport vehicle, container storage and container) cargo that stacked in (transportation for the target), it can not be detected the deviation.
　If transported object loaded on the carry-out destination it is deviated (in the case of transport vehicles, including during transportation) after carrying object is loaded on, transportation object would fall or falls, there is a problem that.
　As illustrated above, in the technology disclosed in Patent Document 1 can not prevent overturning and successful for transporting the object, can not be properly loaded haul object, there is a problem that.
[0005]
　Accordingly, one aspect of the present invention is intended to provide vehicle device, handling machine capable of properly loading the transport target, control circuit, a control method, and a program.
Means for Solving the Problems
[0006]
　One aspect of the present invention has been made to solve the problems described above, based on the sensing information acquired from the space recognition apparatus, an analyzing unit for detecting a possible insertion target Plug Sakomitsume, the sensing based on the information, the difference write object loaded on the carry-out destination, and a control unit for stacking deviation determination determines whether the deviation with respect to the discharge destination, a vehicle device provided with a.
[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, based on the sensing information acquired from the space recognition apparatus, for possible insertion target Plug Sakomitsume, whether the insertion target is displaced relative to the discharge destination stacked a determining control circuit.
[0009]
　The aspect of the present invention, the analysis unit, based on the sensing information acquired from the space recognition apparatus detects a possible insertion target Plug Sakomitsume, the control unit, based on the sensing information, out the difference write target stacked first is a control method for performing stacking deviation determination determines whether the deviation with respect to the unloading location.
[0010]
　The aspect of the present invention, the computer, on the basis of sensing information acquired from the space recognition apparatus, to detect a possible insertion target insert the Sakomitsume, based on the sensing information, loaded on the carry-out destination said difference write target is a program to perform a load deviation determination determines whether the deviation with respect to the unloading location.
The invention's effect
[0011]
　According to one aspect of the present invention, the effect is obtained that the transport object can be properly loaded.
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.
It is a schematic diagram illustrating an example of FIG. 5 the sensing according to the present embodiment results.
6 is a schematic diagram showing an example of a load shift in accordance with the present embodiment.
[Figure 7A] is a schematic diagram showing an example of a stacking deviation determination according to the present embodiment and shows a case where the container is not shifted.
[Figure 7B] is a schematic diagram showing an example of a stacking deviation determination according to the present embodiment and shows a case where the container is shifted.
8 is a schematic view showing another example of the loading displacement according to the present embodiment.
9 is a schematic view showing another example of a stacked deviation determination according to the present embodiment.
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 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 a stacking deviation determination according to a modification of the embodiment, showing a case where the container is not shifted.
Is a schematic diagram showing an example of a stacking deviation determination according to a modification of FIG. 14B] This embodiment illustrates a case where the container is shifted.
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 which can insert the fork F101, F102. Fork pockets 201 and 202, is an example of a plug-in object.
　Insertion or during transportation when the forklift F1 which faces (also referred to as "Sakomimen 211") has a fork pocket 201, 202. Fork pockets 201 and 202, from the front of the conveying object (Sakomimen 211) to the back (the positive direction in FIG. 1, the Y-axis), respectively plugged forks F101, F102, hole to protrude its tip end from the back or it is a recess.
　In Figure 1, the fork pockets 201 and 202, in the lower part of the Sakomimen 211, a straight extending hole in the normal direction of Sakomimen 211.
[0016]
　Fork F101, F102, respectively, when inserted straight into the fork pockets 201 and 202, the forklift F1 is appropriately container 20 (good balance, thereby stabilizing) can be gripped to be transported.
　Note that dimensions of the container 20 and the fork pockets 201 and 202, specified in the standard (e.g., JIS). In addition, transport subject is not limited to the container 20, may be a pallet, it may be both of luggage placed on the pallet and the pallet. Here, the palette refers to a loading and unloading platform for placing the luggage. Pallet, the fork pocket is provided. Also, the fork pockets, three or more (e.g., four) may be.
[0017]
　Bed L1 is an example of the carry-out destination. Out destination, depending forklift F1, container 20 is transported, a previously to be stacked. 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, unloading destination is not limited to a transportation vehicle such as a truck or a freight train, other containers or support stand, or may be a warehouse or container yard (ground or floor).
[0018]
　Service management apparatus 1 is attached to the handling machine, are 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 container 20 loaded on the loading platform L1, whether offset relative bed L1 (hereinafter, simply "I shift", also referred to as "deviation Not") performing loading deviation determination determines. For example, the container 20, if not clamped to the twistlock L11 ~ L14 to be fastened, are offset with respect to the loading platform L1. Service management apparatus 1 can determine whether it has been clamped in the clamping device L11 ~ L14.
　Work management device 1 outputs the determination result. For example, service management apparatus 1, when it is determined that the deviation, warning (e.g., warning sound, warning light, warning image, guidance and the like) to the.
[0020]
　Thus, the service management apparatus 1, for example, the operator or the like, the container 20 can be informed whether the offset relative to the loading platform L1. That is, the operator or the like, the container 20 according to the warning, can be re-loaded, it is possible to stack the containers 20 without misalignment.
　If the container 20 is shifted, the container 20 (in the case of transport vehicles, including during transportation) after being loaded, unbalanced or clamping function of the twistlock L11 ~ L14 does not act, the loading platform L1 there is a possibility that fall or overturn. In other words, it can not be properly loaded with transport target.
　In contrast, work management apparatus 1, since determining whether the container 20 is shifted, based on the determination result, it is possible to properly stack the transported object.
[0021]
　Incidentally, the service management apparatus 1, when the container 20 is not shifted, that is, if the container 20 is properly loaded, may be performed an output representative of that effect. In addition, the "loaded", refers to that part or all of the container 20 are stacked. In other words, the "loaded" comprise a portion of the container 20 is in contact with the bed L1, if the other part is not in contact with the bed L1 (for example, if the fork F101, F102 is grasping the other portions) also included.
　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 sequentially a laser beam irradiated is a diagram when viewed from the side of the forklift F1. 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, the vertical direction (as the other argument θ constant) sequentially, by irradiating a laser beam, performing the vertical scanning.
　More specifically, the working management device 1 towards the positive direction of the deflection angle phi, sequentially (e.g., every equal angle [Delta] [phi), irradiating a laser beam. Service management apparatus 1, a specific range in the vertical direction (deflection angle obtained by projecting the YZ plane -Faimax (e.g., φmax = 90 °) ≦ φ ≦ 0) ( also referred to as "vertical scanning") the irradiation with laser light after , shifting the irradiation direction of the laser beam in the vertical direction, towards the negative direction of the deflection angle phi, irradiated with a laser beam.
　If the negative direction of the vertical scanning of the deflection angle phi is completed, the service management apparatus 1, the irradiation direction of the laser beam in the vertical direction and shifted again toward the positive direction of the deflection angle phi, performs vertical scanning .
　Incidentally, the service management apparatus 1 may perform either or both of the sensing of FIG. 3 or FIG. 4. Also, work 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, a flat or substantially flat surface (including a surface having irregularities) is detected as a 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 may 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]

　FIG. 6 is a schematic diagram showing an example of a load shift in accordance with the present embodiment.
　This figure is a diagram of a case where the container 20 is inclined in the depth direction (to the forklift F1 side) is a diagram when viewed from the side of the forklift F1.　
[0035]
　In Figure 6, the orientation of the plug surface 211 of the container 20 (also back) is shifted the direction of the side surface of the loading platform L1 (forklift F1 and the surface facing). Orientation (or angle) is to be "shifted" terms with each other, not parallel parallel or substantially faces thereof, or refers to the normal direction of the surface each other not the same or substantially the same.
　The direction of the bottom surface of the container 20 (or the upper surface) of the upper surface of the bed L1 (the surface carrying the subject is placed, or, transported object surface facing the) are shifted to the direction of. Incidentally, the sides and top of the bed L1, a portion may be a space. For example, the upper surface (or top) of bed L1, the surface and including a support portion for supporting the load of the container 20 than three points may be a plane parallel to the surface.
[0036]
　Thus, each side of the container 20, its direction, corresponds to the direction which is predetermined by the loading platform L1. For example, service management apparatus 1, the insertion surface 211 or the back of the orientation of the container 20, corresponding to the orientation of the side surface of the bed L1, and stores. Service management apparatus 1, the orientation of the bottom or top surface of the container 20, corresponding to the orientation of the upper surface of the bed L1, and stores.
[0037]
　Further, insertion face 211 of the container 20 is not a vertical plane (a plane forming a horizontal plane perpendicular). If the side surface of the loading platform L1 is assumed to be a vertical plane, Sakomimen 211 is shifted to the side surface of the loading platform L1.
　Or when illustrated in (case of FIG. 6), the service management apparatus 1 determines the stacking deviation determination, and the container 20 are offset.
[0038]
　7A and 7B are schematic views showing an example of a stacking deviation determination according to the present embodiment.
　Figure 7A is a diagram showing a case where the container 20 is not shifted. Figure 7A is a diagram of the sensing information described with reference to FIG. 5, and projected onto the XY plane.
　Figure 7B is a diagram showing a case where the container 20 is displaced. Figure 7B is a diagram of the sensing information described with reference to FIG. 6, is projected into the XY plane.
[0039]
　In Figures 7A and 7B, a solid line represents the laser beam. Further, in FIGS. 7A and 7B, for convenience, the container 20 (fork pockets 201, 202) have described a fork F101, F102, and the projection of service management apparatus 1 by a broken line. Incidentally, phi t t of represents in one vertical scanning, the order in which the laser irradiation, that is, the number of times of irradiation. For example, if the positive direction of vertical scanning, phi t = -.phi max a + t × [Delta] [phi, when the negative direction of the vertical scanning, phi t is = -t × Δφ.
[0040]
　Work management apparatus 1 performs loading deviation determination determines whether the container 20 is displaced. For example, service management apparatus 1, by Sakomimen 211 to determine whether parallel to the reference plane B1 (whether or not tilted), the stacking deviation 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).
[0041]
　Specific examples of loading deviation determination, service management apparatus 1, the distance R from the work management apparatus 1 to the object (reflective original) t based on the distance from the reference plane B1 of the forklift F1 to insertion face 211 L t ( "reference distance L T also referred to) is calculated with". Here, the distance R t is in the vertical scanning, a distance R detected by the irradiation of the t th represents the distance R from the work management apparatus 1 to the object (reflection source).
　For example, service management apparatus 1, the irradiation direction phi t For, theta, distance R to the object t when detecting the reference distance L t = R t cos | phi t | × cos | theta | is calculated as. Here, theta denotes the deflection angle theta when performing t th irradiation of the.
[0042]
　Service management apparatus 1, in Sakomimen 211, the reference distance L t and the reference distance L s (t ≠ s) the difference ΔL of t, s = | L t -L s | based on, perform load deviation determination. As an example, the service management apparatus 1, the reference distance adjacent L t and the reference distance L t + 1 difference [Delta] L t + 1, t = | L t + 1 -L t | based on, perform load deviation determination.
　In this case, the service management apparatus 1, in Sakomimen 211, a difference [Delta] L t + 1, t is determined that if all is within the threshold value T1, the container 20 out non.
　On the other hand, the service management apparatus 1, in Sakomimen 211, a difference [Delta] L t + 1, t is determined that when at least one threshold value T1 greater than the are container 20 off.
[0043]
　In Figure 7A, the Sakomimen 211, L t is the same value. In this case, for example, the difference [Delta] L t + 1, t = | L t + 1 -L t | = | L T1 + 1 -L T1 becomes = 0 ≦ T1 |. In this case, it is determined that the service management apparatus 1, the container 20 out non.
　In other words, the service management apparatus 1, Sakomimen 211 is a vertical plane, the normal of Sakomimen 211 is horizontal, or container 20 is not shifted in the vertical direction, and determines. Also, work management apparatus 1, for the container 20 (rectangular (or transport object having a substantially rectangular parallelepiped)), is a horizontal bottom or top surface of the container 20, and determines. Further, if the upper surface of the bed L1 is assumed to be horizontal, the bottom surface of the container 20 is parallel to the upper surface of the bed L1, and judges.
[0044]
　In Figure 7B, the Sakomimen 211, L t is a different value, for example, L t is a monotonically decreasing function of t. In this case, for example, the difference [Delta] L t + 1, t = | L t + 1 -L t | = | L T2 + 1 -L T2 becomes> T1 |. In this case, it is determined that the service management apparatus 1 has a container 20 off.
　In other words, the service management apparatus 1, Sakomimen 211 is not vertical plane, the normal of Sakomimen 211 is not horizontal, or the container 20 determines that is inclined in the depth direction. Also, work management apparatus 1, for the container 20 (rectangular (or transport object having a substantially rectangular parallelepiped)), is not horizontal bottom or top surface of the container 20, and determines. Further, if the upper surface of the bed L1 is assumed to be horizontal, the bottom surface of the container 20 is not parallel to the upper surface of the bed L1, and judges.
[0045]

　FIG. 8 is a schematic view showing another example of the loading displacement according to the present embodiment.
　This figure is a diagram of a case where the container 20 is tilted in the width direction is a diagram when viewed from a forklift F1 side.　
[0046]
　In Figure 8, the direction of the bottom surface of the container 20 (also the top surface) is shifted the direction of the upper surface of the bed L1.
　The side surface of the container 20 is not a vertical plane. If the upper surface of the bed L1 is assumed to be horizontal, the bottom surface of the container 20 is shifted to the upper surface of the bed L1.
　Or when illustrated in (case of FIG. 8), the service management apparatus 1 determines the stacking deviation determination, and the container 20 are offset.
[0047]
　Figure 9 is a schematic view showing another example of a stacked deviation determination according to the present embodiment.
　Figure 9 is a diagram showing a case where the container 20 is displaced. Figure 9 is a diagram showing the detected sensing information was projected onto the XZ plane at FIG. 9, representing an object (reflection source) by a solid line service management apparatus 1 has detected.
[0048]
　In this figure, the straight line 2111, represents the bottom of the container 20. Straight 2111 is in Sakomimen 211, even base (or loading platform L1 side of one side).
　In this figure, the straight line T111 represents the upper surface of the bed L1. Straight T111 is in a side of the bed L1, it is also the side of the container 20 side.
[0049]
　Service management apparatus 1, to the sensing information, the edge detection is performed.
　Service management apparatus 1, the result of edge detection, for example, a straight line 2111 that represents the bottom of the container 20 (bottom of discovered of the insertion surface 211), the straight line T111, which represents the upper surface of the bed L1, to detect.
　Incidentally, the service management apparatus 1 is a straight line in the vertically downward direction of the straight line 2111, may be a straight line (edge) closest to the straight line 2111 as a straight line T111. Also, work management apparatus 1, among the detected plane, the plane which is vertically downward in Sakomimen 211 and the side surface of the loading platform L1, the straight line of the container 20 side (the vertical upper side), may be linear T111 .
　A straight line such as linear 2111 and the straight line T111 may be straight lines approximating the edges. For example, service management apparatus 1, for each point of the part of the detected edge (object coordinates), using the least square method or the like, performs the linear approximation.
[0050]
　Service management apparatus 1 based on the detected straight line 2111 and the line T111, perform load deviation determination. As a specific example, the service management apparatus 1 based on the angle between the straight line 2111 and the line T111 detected (difference of inclination), the stacking deviation determination.
　For example, service management apparatus 1, the straight line 2111 and the line T111, projected into the XZ plane (ignoring Y coordinates). Work management device 1 executes the slope of the straight line 2111 obtained by projecting the gradient of the straight line T111, the based on the difference (also referred to as "inclination difference"), the stacking deviation determination.
[0051]
　More specifically, the service management apparatus 1 determines the slope difference is not container 20 out in the case of less than a predetermined threshold value.
　In other words, the work management unit 1, the bottom surface of the container 20 is a horizontal plane, the normal of the bottom surface of the container 20 is a vertical direction or the container 20 is not tilted in the width direction, and determines. Also, work management apparatus 1, for a container 20, is horizontal bottom or top surface of the container 20, and determines. Further, if the upper surface of the bed L1 is assumed to be horizontal, the bottom surface of the container 20 is parallel to the upper surface of the bed L1, and judges.
[0052]
　On the other hand, the service management apparatus 1 determines the slope difference is container 20 out is greater than this threshold.
　In other words, the service management apparatus 1 determines, the bottom surface of the container 20 is not horizontal, the normal of the bottom surface of the container 20 is not vertical, or, the container 20 is inclined in the width direction, and.
　Also, work management apparatus 1, for a container 20, is not horizontal bottom or top surface of the container 20, and determines. Further, if the upper surface of the bed L1 is assumed to be horizontal, the bottom surface of the container 20 is not parallel to the upper surface of the bed L1, and judges.
[0053]
　Incidentally, FIG. 9, a part of the fork F101, F102 is a diagram showing a case that still inserted in the container 20. For example, a line T111 representing the upper surface of the bed L1 is partially shown in dashed lines. This is between the service management apparatus 1 and the bed L1, located part of the fork F101, F102, the sensing by the service management apparatus 1 is because the part of the bed L1 can not be detected. Thus, the service management apparatus 1, when it is extracted fork F101, F102, may be performed stacking deviation determination.
　Also, the fork F101, F102 is withdrawn completely from the container 20, when the forklift F1 is backward by a predetermined distance, work management apparatus 1, when can detect the upper surface of the bed L1 includes all lines T111 is solid Become. Thus, the service management apparatus 1, after completely withdrawn fork F101, F102, may be performed stacking deviation determination.
[0054]

　FIG. 10 is a flow diagram showing an example of the operation of the forklift F1 according to the present embodiment.
[0055]
(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.
[0056]
(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.
[0057]
(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.
[0058]
(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 loading deviation 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.
[0059]
(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.
[0060]
(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.
[0061]

　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.
[0062]
　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.
[0063]
　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.
[0064]
　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.
[0065]
　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 detected vertical scanning of the plug surface 211, the reference distance L t is calculated. The difference [Delta] L t, s is calculated. Further, the analysis unit 104 performs edge detection on the obtained sensing information, result of the edge detection, for detecting a linear 2111 and the straight line T111 (Fig. 9).
[0066]
　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, it performs the loading deviation determination described above.
　Specifically, the control unit 105, a difference ΔL analyzing unit 104 calculates t, s based on, perform load deviation determination described above. The control unit 105, based on the straight line 2111 and the line T111, which analysis unit 104 has detected, performs loading deviation determination described above.
[0067]
　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.
[0068]
　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.
[0069]
(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, which can insert the fork F101, F102 (Sakomitsume) based on the sensing information analysis unit 104 has obtained from the space recognition sensor (space recognition apparatus) to detect the container 20 (insertion target). Control unit 105 determines based on the sensing information, the loading platform L1 container 20 stacked on the (unloading destination), whether offset relative bed L1.
　Thus, the service management apparatus 1 can be stacked without the container 20 is displaced relative to the bed L1, it can be properly stacked transport object. As a result, for example, the work management device 1, can act appropriately to tightening function of the twistlock L11 ~ L14, (the case of transport vehicles, including during transportation) after being loaded, unbalanced, bed L1 It can be prevented from being dropped or falling from.
[0070]
　Further, in the present embodiment, the service management apparatus 1 (forklift F1), the control unit 105, a loading deviation determination, at least one surface of the orientation of the container 20, whether or not offset with respect to the corresponding direction in the bed L1 the judges.
　For example, the control unit 105 (ROM 121, RAM 122 or HDD 123) is in the insertion surface 211 or the back of the orientation of the container 20, corresponding to the orientation of the side surface of the bed L1, and stores. Control unit 105, a loading deviation determination, determines Sakomimen 211 or back of the orientation, whether offset relative to the orientation of the side surface of the loading platform L1 (see FIG. 7A and 7B). Further, for example, the control unit 105, the orientation of the bottom or top surface of the container 20, corresponding to the orientation of the upper surface of the bed L1, and stores. Control unit 105 determines as a loading deviation determination, the orientation of the bottom or top surface of the container 20, whether or not offset with respect to the orientation of the upper surface of the bed L1.
　Thus, the service management apparatus 1, the orientation of the deviation of the plane orientation and loading platform L1 of the container 20 can be eliminated, without deviating the container 20 can be loaded in the carrier L1.
[0071]
　Further, in the present embodiment, the service management apparatus 1 (forklift F1), analysis unit 104 detects a part or the whole of the insertion face 211 having an opening portion of the fork pockets 201, 202. Control unit 105, a loading deviation determination, it is determined whether a portion of Sakomimen 211 or all are vertical plane.
　Thus, the service management apparatus 1, for is that the container 20 inclined with respect to the vertical direction, can be determined to be shifted, the container 20 can be detected that are likely to fall or tip over. Or, the service management apparatus 1, for a container 20 that is not inclined with respect to the vertical direction, it can be determined that not shifted, it can detect that the container 20 is properly loaded.
[0072]
　Further, in the present embodiment, the service management apparatus 1 (forklift F1), analysis unit 104 detects a first edge that indicates the edge of a container 20, a second edge that represent the edges of the bed L1, a. For example, analysis unit 104 detects a first edge which represents the bottom of the container 20, a second edge which represents the upper surface of the bed L1, a. Control unit 105, based on the first edge and the second edge, performs loading deviation determination.
　Thus, the service management apparatus 1 can be based on the second edge of the first edge and the loading platform L1 of the container 20, to determine whether or not the container 20 are offset.
[0073]
　Further, in the present embodiment, the service management apparatus 1 (forklift F1), analysis unit 104, a straight line 2111 indicating the direction of the first edge (the edge that represents the bottom of the container 20), the upper surface of the second edge (loading platform L1 the straight line T111, which represents the direction of the edge) representing a detected. Control unit 105, the difference between the inclinations of the straight line T111 linear 2111, for example, based on the angle between the straight line 2111 and the line T111 (difference of inclination), the stacking deviation determination.
　Thus, work management device 1 uses the detected edges from the container 20 and the bed L1, based on the difference of the slope of the edge with each other, it is possible to determine whether the container 20 is displaced.
[0074]

[0075]
　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), based on the distance of the straight line 2111 and the line T111 in FIG. 9 may be performed stacking deviation determination.
　For example, service management apparatus 1, based on the distance between the straight line 2111 and the line T111 (also referred to as "edge distance"), the stacking deviation determination.
　Specifically, the service management apparatus 1 determines that the edge distance is not container 20 out in the case of less than a predetermined threshold value. On the other hand, work management device 1 determines that the edge distance is container 20 out is greater than this threshold.
　Incidentally, the edge distance is a plane parallel to the YZ plane may be a distance that intersect point and the straight line T111 linearly 2111 intersect. The edge distance, the two plane parallel to the YZ plane, the points a point and a straight line T111 linearly 2111 intersect intersect may be calculated the difference between the distances at each side. Edge distance, if the calculated difference is equal to or less than the threshold, determines that the container 20 out not, the difference is larger than the threshold, it may be determined that the off container 20.
[0076]
　Thus, in this modification, the service management apparatus 1 (forklift F1), the control unit 105, based on the distance between the straight line 2111 and the line T111, perform load deviation determination.
　Thus, work management device 1 uses the detected edges from the container 20 and the loading platform L1 Prefecture, based on the distance of the edge between, it is possible to determine whether the container 20 is displaced.
[0077]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) is taken as the rotation axis container 20 is stacked direction (Z axis direction), it is determined whether or not there is deviation in the angle and it may be.
[0078]

　FIGS. 14A and 14B are schematic views showing an example of a stacking deviation determination according to a modification of the present embodiment.
　Figure 14A is a diagram showing a case where the container 20 is not shifted.
　Figure 14B is a diagram showing a case where the container 20 is displaced.
　14A and 14B, among the sensing information, the detected object (container 20 and the bed L1), which is a diagram obtained by projecting the XY plane. Note that, in FIGS. 14A and 14B, for convenience, the container 20, describes fork F101, F102, and the projection of service management apparatus 1 by a broken line.
[0079]
　In Figure 14A and 14B, the straight line 2111 represents the front of the container 20 (Sakomimen 211). Straight 2111 in Sakomimen 211 represents base (or loading platform L1 side of one side). In Figure 14A and 14B, the straight line T111 represents the side of the bed L1, also represent one side of the container 20 side in the side surface of the loading platform L1.
[0080]
　Control unit 105, based on the straight line 2111 and the line T111, perform load deviation determination. As a specific example, the service management apparatus 1, in the XY plane, based on the angle between the straight line 2111 and the line T111 (difference of the second gradient), the stacking deviation determination.
　More specifically, the control unit 105 determines that the second gradient difference is not container 20 out in the case of less than a predetermined threshold value. On the other hand, the control unit 105 determines that the second gradient difference is container 20 out is greater than this threshold.
[0081]
　Thus, in this modification, the service management apparatus 1 (forklift F1), the control unit 105, a loading deviation determination, as the rotation axis stacking direction (Z axis direction), whether or not there is deviation in the angle judge. Thus, the service management apparatus 1 can appropriately loaded haul target.
[0082]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1), after the third stack deviation determination may be performed a second stacking deviation determination.
　When the loading direction (Z axis direction) is shifted to the angle as the rotation axis, even if there is no deviation in the width direction of the container 20, which may be linear 2111 and the straight line T111 in FIG. 9 deviates.
　In this modification, the service management apparatus 1 performs the third stacking deviation determination, it is determined whether or not there is a deviation in angle stacking direction as the rotation axis, but if they do not shift, second stacking deviation it is possible to perform an output based on the determination. In other words, work management apparatus 1 can be improved second stacking deviation determination accuracy.
[0083]

　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) may be set to perform or performed without condition the loading deviation determination.
　Control unit 105, when the first condition below is satisfied, a warning based on load deviation determination, if not satisfied first condition may not be performed a warning based on the stacking deviation determination. The control unit 105, when the first condition is satisfied, performs the load deviation determination or sensing, if the first condition is not satisfied, may not perform the load deviation determination or sensing.
　The control unit 105, based on the first condition, a warning or based on loading deviation determination, loading deviation determination or sensing (hereinafter, referred to as a warning, etc.) interval may be changed for.
[0084]
　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 small (close proximity to and then) than the threshold value is a condition that. Alternatively, the first condition, the container 20 and the distance of the forklift F1 is greater than the threshold value (distant, near're not) is a condition that.
　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.
[0085]
　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 higher than the threshold value, a warning or the like, when the position of the fork F101, F102 (height) is less than the threshold value, may not be performed a warning or the like .
　Thus, the service management apparatus 1 is in the container 20 is a high position, when there is a high possibility of falling or falling and, in the case of high risk from falling or sliding, or the like can be a warning.
　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.
[0086]
　In the above embodiment, the control unit 105 (forklifts F1 or service management apparatus 1) includes a container 20, may determine the deviation of the position of the loading platform L1 (including twistlock L11 ~ L14). For example, the control unit 105 stores in advance the distance between the container 20 and the bed L1 when it is tightened. Control unit 105, the distance between the container 20 and the loading platform L1 detected, the distance between the straight line 2111 and the line T111, by determining whether the distance stored in advance, whether the position is deviated the judges.
[0087]
　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.
[0088]
　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.
[0089]
　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).
[0090]
　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 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). Service management apparatus 1, when the projection to each side, excluding them from the projected object.
[0091]
　Incidentally, the service management apparatus 1, the container 20 and the bed L1, when detecting the fork F101, F102, may be used edge detection. Here, edges detected by edge detection, for example, the distance R, or a portion thereof change rate is large.
　Specific edge detection, the work management device 1, the detected object may be a partial portion of the differential is equal to or greater than the threshold value for each coordinate axis as an edge. Parts Further, for example, the service management apparatus 1, and Yamaji Waru planar portion between the detected difference portion becomes equal to or higher than the threshold of the distance R between a point adjacent or close to the opposite direction, which does not detect the reflected light of the laser beam the adjacent portions, the portion where the reception level of the reflected light of the laser beam adjacent to the lower portion, may be an edge. Service management apparatus 1 may perform edge detection by other methods.
[0092]
　Incidentally, the service management apparatus 1 described above, a program for realizing the functions may be recorded on a computer readable recording medium, to read the program recorded in this recording medium into a computer system, by executing, it may perform the above-described processing. Here, the "computer system" includes an OS and hardware such as peripheral devices. In addition, the "computer system" also includes a WWW system having a homepage providing environment (or display environment). The "computer-readable recording medium" refers to flexible disks, magneto-optical disks, ROM, portable media such as a CD-ROM, and a storage device such as a hard disk built in the computer system. Furthermore, the "computer-readable recording medium", as the Internet or the like networks or telephone via a communication line of the circuit, such as a server or a client when the program is sending computer system internal volatile memory (RAM) in, and also includes those that holds the program for a certain time.
[0093]
　Further, the program from a computer system storing the program in a storage device or the like via a transmission medium or may be transmitted to another computer system by a transmission wave in the transmission medium. Here, "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as the Internet or a network (communication network), a telephone line communication circuit (communication line) such as. Further, the program may be one for implementing part of the above functions. Furthermore, what can be achieved in combination with a program already recorded in the above-described functions in the computer system may be a so-called differential file (differential program).
[0094]
　This application, on March 22, 2017, claiming priority on Japanese Patent Application No. 2017-56013 filed in Japan, the contents of which are incorporated herein.
DESCRIPTION OF SYMBOLS
[0095]
F1 forklift
F101, F102 fork
F11, F12 fork rail
F13 backrest
F14 mast
20 containers
201,202 fork pocket
211 Sakomimen
1 service management apparatus
111 CPU
112 IF
113 communication module
114 sensor
121 ROM
122 RAM
123 HDD
101 sensor unit
102 vehicle information acquisition unit
103 GNSS receiver
104 analyzer
105 controller
106 output unit
107 recording unit
108 communication unit

The scope of the claims

[Requested item 1]Based on the obtained sensing information from the space recognition apparatus, an analyzing unit for detecting a possible insertion target Plug Sakomitsume,
　on the basis of the sensing information, the differential write target the unloading destination loaded on unloading destination a control unit for performing stacking deviation determination determines whether the deviation with respect to
　the vehicle-mounted device comprising a.
[Requested item 2]
　Wherein the control unit, at least one surface of the orientation of the difference write object, performs the loading deviation determination determines whether or not offset with respect to the corresponding direction by the carry-out destination
　vehicle apparatus according to claim 1.
[Requested item 3]
　The analyzing unit detects a part or the whole of the insertion side with an insertion portion of the difference write target,
　the control unit, part or all of the insertion surface whether a vertical plane performing the loading deviation determination determining
　vehicle apparatus according to claim 1 or 2.
[Requested item 4]
　Wherein the analysis unit includes a first edge representing the difference write target side, and a second edge representing the carry-out destination of the sides, is detected and
　the control unit, and the said first edge a second edge based on, performs the loading deviation determination
　vehicle apparatus according to any one of claims 1-3.
[Requested item 5]
　Wherein, based on the difference between the slope of the second straight line representing the direction of the first straight line slope as the second edge of which represents the direction of the first edge, performs the loading deviation determination
　claim 4 of the in-vehicle apparatus.
[Requested item 6]
　Wherein, based on the distance between the second straight line representing the first straight line and the second edge representing the first edge, performs the loading deviation determination
　vehicle apparatus according to claim 4 or 5.
[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 capable insertion target Plug Sakomitsume is, the control circuit determines whether the insertion target is displaced relative to the discharge destination stacked.
[Requested item 9]
　Analysis unit, based on the sensing information acquired from the space recognition apparatus detects a possible insertion target Plug Sakomitsume,
　control unit, based on the sensing information, the insertion loaded on unloading destination subject performs loading deviation determination determines whether the deviation with respect to the unloading location,
　the control method.
[Requested item 10]
　The computer,
　on the basis of sensing information acquired from the space recognition apparatus, to detect a possible insertion target insert the Sakomitsume,
　based on the sensing information, said difference write object loaded on the carry-out destination, the unloading causing the loading deviation determination determines whether the deviation with respect to first,
program.