Information processing device and program

Abstract

To contribute to remarkable improvement in production capacity, factory efficiency, etc., by controlling an automatic driving operation of a forklift.SOLUTION: An information processing device comprises: a calculation unit which calculates control parameters for controlling operations of a forklift on the basis of detection information detected by a detection unit mounted on the forklift; and a control unit which controls the operations of the forklift on the basis of the control parameters calculated by the calculation unit.SELECTED DRAWING: Figure 1A

Description

【Technical Field】 【0001】 The present invention relates to an information processing apparatus and a program. 【Background Art】 【0002】 Patent Document 1 describes a vehicle having an automatic driving function. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2022-035198 【Summary of the Invention】 【Means for Solving the Problems】 【0004】 According to an embodiment of the present invention, an information processing apparatus is provided. The information processing apparatus includes a calculation unit that calculates a control variable for controlling the operation of the forklift based on detection information detected by a detection unit mounted on the forklift, and a control unit that controls the operation of the forklift based on the control variable calculated by the calculation unit. 【0005】 In the information processing apparatus, the control unit controls the operation of the forklift in units of one billionth of a second based on the control variable calculated by the calculation unit. 【0006】 The information processing apparatus includes a determination unit that determines control information used for calculating the control variable for each operation of the forklift from the available detection information, and the calculation unit calculates the control variable for the control unit to control the operation of the forklift based on the control information determined by the determination unit. 【0007】 In the information processing device, the calculation unit calculates control variables for controlling the extension and retraction of the forks of the forklift, which are extendable and retractable in the front-rear direction, based on the detection information, and the control unit controls the extension and retraction of the forks based on the control variables calculated by the calculation unit. 【0008】 In the information processing device, the fork is configured by stacking multiple forks, and each of the multiple forks is equipped with the detection unit. The calculation unit calculates the control variable based on the detection information in which the multiple detection units have detected a common range. 【0009】 In the information processing device, the fork, which is composed of multiple forks stacked on top of each other, is equipped with the detection unit on each of the multiple forks, and the calculation unit calculates the control variable based on the detection information obtained by the multiple detection units, each detecting a different range. 【0010】 In the information processing device, the calculation unit calculates control variables for controlling the extension and retraction of the first fork as the fork or a second fork separate from the first fork in the forklift, based on the detection information, and the control unit controls the extension and retraction of the first fork or the second fork based on the control variables calculated by the calculation unit. 【0011】 In the information processing device, the calculation unit calculates control variables for controlling the extension and retraction of a vertically extendable guide provided on the forklift as an operation of the forklift based on the detection information, and the control unit controls the extension and retraction of the guide based on the control variables calculated by the calculation unit. 【0012】 In the information processing device, the calculation unit calculates, based on the detection information, a control variable for controlling the amount of protrusion of a protective member that can protrude upward to surround the load as part of the operation of the forklift, and the control unit controls the amount of protrusion of the protective member based on the control variable calculated by the calculation unit. 【0013】 According to one embodiment of the present invention, a program is provided for causing a computer to function as the information processing device. 【0014】 It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. Furthermore, subcombinations of these features may also constitute an invention. [Brief explanation of the drawing] 【0015】 [Figure 1A] This is an explanatory diagram showing an example of information stored in the cloud according to this embodiment. [Figure 1B] This is a schematic diagram of the network configuration according to this embodiment. [Figure 2A] This is a first perspective view showing a forklift according to this embodiment. [Figure 2B] This is a plan view relating to the tire of a forklift according to this embodiment. [Figure 2C] This is a side view relating to the tire of a forklift according to this embodiment. [Figure 3] This is a first flowchart executed by the Central Brain according to this embodiment. [Figure 4] This is a second perspective view showing the forklift according to this embodiment. [Figure 5] This is a third perspective view showing the forklift according to this embodiment. [Figure 6] This is a fourth perspective view showing the forklift according to this embodiment. [Figure 7] This diagram schematically shows an example of a computer hardware configuration that functions as a central brain. [Figure 8A] This is a side view showing the fork according to this embodiment. [Figure 8B] This is a side view showing the fork according to this embodiment. [Figure 9] This block diagram shows an example of the functional configuration of a computer that functions as a central brain. [Figure 10] It is the second flowchart executed by the Central Brain according to the present embodiment. [Figure 11] It is a side view showing the extended state of the fork according to the present embodiment. [Figure 12] It is the fifth perspective view showing the forklift according to the present embodiment. [Figure 13] It is the sixth perspective view showing the forklift according to the present embodiment. [Figure 14] It is the third flowchart executed by the Central Brain according to the present embodiment. 【Mode for Carrying Out the Invention】 【0016】 Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution means of the invention. 【0017】 (First Embodiment) First, the first embodiment according to the present embodiment will be described. FIG. 1A is an explanatory diagram showing an example of information stored in the cloud 5 according to the present embodiment. In the present embodiment, a plurality of types of detection information described later is converted into AI data and stored in the cloud 5. The AI predicts and determines the best mix of situations every nanosecond (one billionth of a second) and optimizes the operation of the forklift 10. 【0018】 FIG. 1B is a schematic diagram of the network configuration according to the present embodiment. The forklift 10 of the present embodiment is connected to the cloud 5 through the network N. The network N is exemplified by a public line based on a communication standard of 6G or higher. 【0019】 FIG. 2A is the first perspective view showing the forklift 10 according to the present embodiment. As shown in Figure 2A, the forklift 10 includes a control device 20, forks 30, a pallet 40, and a guide 50. 【0020】 The control device 20 is the part that controls the operation of the forklift 10. The "operation of the forklift 10" is a concept that includes the operation of each component of the forklift 10, and the operation of the forklift 10 itself, specifically the automatic driving operation of the forklift 10. 【0021】 As an example, the control device 20 has a rectangular parallelepiped shape. Furthermore, multiple tires 22 are provided on the lower part of the control device 20. In addition, a Central Brain 24 is provided inside the control device 20. The Central Brain 24 is an example of an information processing device. 【0022】 Figures 2B and 2C illustrate the tires 22 of the forklift 10 according to this embodiment. The tires 22 in this embodiment include a pair of drive wheels 22A located on the left and right sides in the front-rear center of the forklift 10, and driven wheels 22B located at the four corners. The drive wheels 22A are non-rotatable and can be driven by motors (not shown) independently mounted on each of the left and right sides. The driven wheels 22B are rotatable so-called casters. By rotating the left and right drive wheels 22A in the same direction, the forklift 10 moves forward or backward. In this case, by changing the rotation speed of the left and right drive wheels 22A rotating in the same direction, the forklift 10 can turn to the left or right. Also, by rotating the left and right drive wheels 22A in opposite directions, the forklift 10 can turn in place. Each tire 22 may be equipped with a suspension to absorb shocks from the road surface. As described above, the forklift 10 of this embodiment can travel freely along a road by independently rotating the left and right drive wheels 22A based on the control of the Central Brain 24. 【0023】 As shown in Figures 1B and 2A, multiple Gateways 23 are connected to the Central Brain 24 in a communicative manner. The Central Brain 24 is connected to an external cloud 5 via Gateways 23. The Central Brain 24 is configured to be able to access the external cloud 5 via Gateways 23. On the other hand, the presence of Gateways 23 prevents direct access to the Central Brain 24 from the outside. 【0024】 Central Brain24 outputs a request signal to the server at predetermined intervals. Specifically, Central Brain24 outputs a request signal representing a query to Cloud 5, which acts as the server, every one billionth of a second. 【0025】 The fork 30 is equipped with a sensor 35 at its tip. Pallet 40 has cargo L placed on its mounting surface. 【0026】 The guide 50 extends upward from one end of the control device 20 in the front-rear direction. A sensor 55 is provided at the upper end of the guide 50. 【0027】 Examples of sensors 35 and 55 mentioned above include radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, and high-performance cameras, vision recognition, subtle sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, temperature, humidity, spot AI weather forecasting, high-precision multi-channel GPS, low-altitude satellite information, and long-tail incident AI data. Long-tail incident AI data refers to data equivalent to trip data from vehicles with Level 5 implemented. 【0028】 The detection information acquired from the above-mentioned sensors 35 and 55, as well as other sensors, includes the position, center of gravity, and orientation of the forklift 10; the orientation, material, wear condition, and air pressure of the tires 22; road surface conditions (coefficient of friction, inclination in the vertical, horizontal, and diagonal directions, material, road width, etc.); the type of cargo L, load, source, destination, and travel route; ambient temperature; ambient humidity; and surrounding conditions (birds, animals, soccer balls, accident vehicles, earthquakes, fires, wind, typhoons, heavy rain, light rain, blizzards, fog, etc.). In this embodiment, these detections are performed every 1 billionth of a second. 【0029】 In this embodiment, the Central Brain 24 functions as a calculation unit that calculates control variables for controlling the operation of the forklift 10 based on detection information detected by the sensors 35 and 55, as well as other sensors. Sensors 35 and 55, as well as other sensors, are examples of "detection units". In this embodiment, the calculation of the control variables is performed every 1 billionth of a second. 【0030】 Furthermore, in this embodiment, the Central Brain 24 functions as a control unit that controls the operation of the forklift 10 in units of one billionth of a second based on the control variables calculated above. 【0031】 Central Brain24 repeatedly executes the flowchart shown in Figure 3. 【0032】 In step S10, the Central Brain 24 acquires detection information detected by sensors 35 and 55, as well as other sensors. Then, the Central Brain 24 proceeds to step S11. 【0033】 In step S11, the Central Brain 24 calculates control variables based on the detection information acquired in step S10. Then, the Central Brain 24 proceeds to step S12. 【0034】 In step S12, the Central Brain 24 controls the operation of the forklift 10 based on the control variables calculated in step S11. Then, the Central Brain 24 terminates the processing of the flowchart. 【0035】 For example, Central Brain24 controls the automatic driving operation of forklift 10, allowing it to travel within the factory at a maximum speed of 20 km / h. Since the maximum speed of conventional forklifts is approximately 5 km / h, Central Brain24 can significantly improve production capacity and factory efficiency. 【0036】 Figures 4 to 6 are explanatory diagrams illustrating an example of control over the operation of the forklift 10 by the Central Brain 24. The states of the forklift 10 shown in Figures 2A and 4 to 6 are achieved by the Central Brain 24 controlling the operation of the forklift 10 in units of one billionth of a second based on control variables calculated from detection information detected by sensors 35 and 55, as well as other sensors. 【0037】 Figure 4 is a second perspective view showing the forklift 10 according to this embodiment. As shown in Figures 2A and 4, the forks 30 of the forklift 10 can move up and down while extending a predetermined amount from the control device 20. This allows for fine vertical adjustment of the fork position when picking up a load L from the forklift 10. Furthermore, as shown in Figure 4, the forks 30 can be completely retracted into the upper surface of the control device 20. 【0038】 Figure 5 is a third perspective view showing the forklift 10 according to this embodiment. As shown in Figure 5, the forklift 10 can move the forks 30 and pallet 40 up and down along the guide 50. This makes it possible to move the load L to a position higher than the control device 20. 【0039】 Figure 6 is a fourth perspective view showing the forklift 10 according to this embodiment. As shown in Figure 6, the fork 30 is extendable and retractable in the front-rear direction. In this figure, the fork 30 comprises a first fork 30A supported by a guide 50 and a second fork 30B separately provided above the first fork 30A and capable of sliding on the first fork 30A. The extension and retraction of the fork 30 is performed by the Central Brain 24 controlling the drive of a drive mechanism (not shown). As a result, the second fork 30B slides forward on the first fork 30A, extending the overall length of the fork 30 compared to when the second fork 30B is on the first fork 30A, making it possible to move the load L to a position farther away from the control device 20. Furthermore, when the fork 30 is at the lowest end of the forklift 10 and the second fork 30B slides forward on the first fork 30A, the tip of the downwardly extending second fork 30B contacts the road surface, thereby suppressing deflection when the fork 30 is extended to its maximum extent. Furthermore, a sensor similar to the sensor 35 provided on the second fork 30B may also be provided on the first fork 30A. In addition, a portion extending downward may be provided on the first fork 30A, similar to the tip of the second fork 30B, and a sensor similar to the sensor 35 may be provided on this portion. This can also suppress the deflection of the first fork 30A. 【0040】 Furthermore, as shown in Figure 6, the guide 50 is extendable and retractable in the vertical direction. The extension and retraction of the guide 50 is performed by the Central Brain 24 controlling the drive of a drive mechanism (not shown). This allows, for example, the load L to be moved to a position higher and further away from the control device 20 by moving the forks 30 to the top of the guide 50 and then extending the forks 30. Also, if there is no load L on the pallet 40, the guide 50 can be retracted to move the forklift 10 at high speed. 【0041】 As shown in Figures 2A and 4 to 6, a sensor 35 is provided at the tip of the fork 30. This allows for reliable and high-speed capture of the load L. Furthermore, as shown in Figure 6, the destination of the load L can be detected with high accuracy even at high positions, enabling more reliable delivery of the load L. These effects are also present when the fork 30 is extended, as shown in Figure 6. 【0042】 Furthermore, as shown in Figures 2A and 4 to 6, a sensor 55 is provided at the upper end of the guide 50. This allows the sensor 55 to detect the height of a shelf at a higher position as the fork 30 rises along the guide 50, enabling the fork 30 to reach that shelf smoothly and without error. In addition, the sensor 55 constantly detects from a high position even while the forklift 10 is moving, enabling safe travel to the destination and stopping precisely at the destination without error. 【0043】 Furthermore, as shown in Figures 2A and 4 to 6, the portion of the fork 30 at the tip where the sensor 35 is located extends downward from the fork 30. This allows the portion to function as both a sensor and a counterbalance. In other words, when the fork 30 moves to the lowest point of the forklift 10, this portion comes into contact with the road surface, providing a firm grip when picking up the load L. 【0044】 It should be noted that the states of the forklift 10 shown in Figures 2A and 4 through 6 are just examples of the results of the control of the forklift 10's operation by the Central Brain 24, and it goes without saying that different states of the forklift 10 may occur from those shown in each figure. 【0045】 Furthermore, the forklift 10 is not limited to the configuration described above, but may also adopt the following configurations. 【0046】 For example, the forklift 10 may have additional forks on the back side of the guide 50 shown in Figures 2A and 4 to 6, separate from the forks 30. When the forklift 10 is moving a short distance, the load L may be placed on the additional forks and the forklift 10 moved without placing the load L on the top surface of the control device 20. This configuration allows for smooth handling of short-distance load L movements. 【0047】 Furthermore, the forklift 10 may be configured so that protective members, such as a fence, can protrude upward from around the control device 20 shown in Figures 2A and 4 to 6. Since these protective members protrude upward, they can surround the load L, including the pallet 40, thus preventing the load L from flying out when the forklift 10 moves at high speed. 【0048】 Furthermore, in the forklift 10, the control device 20, the forks 30, the pallet 40, and the guide 50 may be configured as separate components. This allows for versatility, such as integrating the control device 20 with a device that has forklift functionality to control the operation of the forklift 10, or integrating the control device 20 with a device that has drone functionality to control the operation of the drone. 【0049】 Figure 7 schematically shows an example of the hardware configuration of computer 1200, which functions as Central Brain 24. Programs installed on computer 1200 can cause computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause computer 1200 to execute a process or a stage of such process according to this embodiment. Such programs may be executed by CPU 1212 to cause computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein. 【0050】 The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes legacy input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240. 【0051】 The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 and stores it in the frame buffer provided in RAM 1214 or within itself, so that the image data is displayed on the display device 1218. 【0052】 The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card. 【0053】 The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc. 【0054】 The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200. 【0055】 For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium. 【0056】 Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium. 【0057】 Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition. 【0058】 The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network. 【0059】 In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements. 【0060】 A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc. 【0061】 Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages. 【0062】 Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like. 【0063】 Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention. 【0064】 It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. 【0065】 Figures 8A and 8B are side views showing the fork 30 according to this embodiment. Specifically, Figure 8A is a side view showing the fork 30 in its retracted state, and Figure 8B is a first side view showing the fork 30 in its extended state. 【0066】 As shown in Figure 8A, in the stowed state, the first fork 30A, the second fork 30B, and the third fork 30C are overlapping. Here, the second fork 30B is provided separately on top of the first fork 30A and is slidable on top of the first fork 30A, and the third fork 30C is provided separately on top of the second fork 30B and is slidable on top of the second fork 30B. 【0067】 As shown in Figure 8B, in the extended state, the Central Brain 24 controls the drive of a drive mechanism (not shown), causing the second fork 30B and the third fork 30C to slide forward from the retracted state. As a result, in the extended state, the overall length of the forks 30 is extended compared to the retracted state. 【0068】 Furthermore, the extended state is not limited to the case where the second fork 30B and the third fork 30C slide forward, as shown in Figure 8B; it may also be a state where only the third fork 30C slides forward. Also, the amount of forward sliding of the second fork 30B and the third fork 30C in the extended state is not limited to that shown in Figure 8B, but may be greater or less. 【0069】 As described above, the forks 30 can extend and retract in three stages: a retracted state, an extended state where only the third fork 30C slides forward, and an extended state where both the second fork 30B and the third fork 30C slide forward. This allows for easy transport of loads L placed at the rear, for example, by changing from the retracted state to the extended state when the forks 30 move to the lowest or highest end of the forklift 10. Although not shown in the figures, when the second fork 30B and the third fork 30C are sliding forward, the fourth fork can also extend over them and move along the entire length of the forks 30. 【0070】 (Second embodiment) Next, a second embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiment. 【0071】 Figure 9 is a block diagram showing an example of the functional configuration of computer 1200, which functions as Central Brain24. 【0072】 As shown in Figure 9, the CPU 1212 of the computer 1200 has a functional configuration consisting of a determination unit 1212A, an acquisition unit 1212B, a calculation unit 1212C, and a control unit 1212D. Each functional configuration is realized by the CPU 1212 reading and executing a program installed on the computer 1200. 【0073】 The determination unit 1212A determines the control information to be used to calculate the control variables for each operation of the forklift 10 from among the obtainable detection information. For example, while the forklift 10 is stopped, the determination unit 1212A obtains detection information that can be detected by sensors 35 and 55, as well as other sensors, and determines the control information to be used to calculate each control variable from among that detection information. Specifically, the determination unit 1212A determines the control information to be used to calculate the control variables for controlling the extension and retraction of the forks 30, and the control information to be used to calculate the control variables for controlling the extension and retraction of the guides 50, etc., from among the obtainable detection information. 【0074】 The acquisition unit 1212B acquires detection information detected by sensors 35 and 55, as well as other sensors, at intervals of one billionth of a second while the forklift 10 is moving. 【0075】 While the forklift 10 is moving, the calculation unit 1212C calculates control variables for the control unit 1212D to control the operation of the forklift 10 every one billionth of a second, based on control information predetermined by the determination unit 1212A from the detection information acquired by the acquisition unit 1212B. 【0076】 The control unit 1212D controls the operation of the forklift 10 every one billionth of a second based on the control variables calculated by the calculation unit 1212C. 【0077】 Next, we will describe the processing flow executed by the computer 1200, which functions as the Central Brain 24. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, loads it into the RAM 1214, and executes it, thereby executing the processing shown in the flowchart in Figure 3. As a prerequisite for this processing, the CPU 1212 determines the control information to be used to calculate the control variables for each operation of the forklift 10 from the obtainable detection information. Below, we will describe only step S11, which differs in processing content from the first embodiment. 【0078】 In step S11, the CPU 1212 calculates control variables based on control information predetermined from the detection information acquired in step S10. Then, the CPU 1212 proceeds to step S12. 【0079】 As described above, in the computer 1200 functioning as the Central Brain 24 according to the second embodiment, the CPU 1212 determines control information to be used to calculate control variables for each operation of the forklift 10 from among the obtainable detection information. Then, based on the control information determined while the forklift 10 is stopped, the CPU 1212 calculates control variables for controlling the operation of the forklift 10 every one billionth of a second. As a result, the processing load on the CPU 1212 during the movement of the forklift 10 can be reduced compared to when the information used to calculate control variables for each operation of the forklift 10 is determined while the forklift 10 is moving. 【0080】 (Third embodiment) Next, a third embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiments. 【0081】 In the third embodiment, unlike the second embodiment, the CPU 1212 of the computer 1200 has, as a functional configuration, an acquisition unit 1212B, a calculation unit 1212C, and a control unit 1212D (see Figure 9). 【0082】 The calculation unit 1212C calculates control variables every billionth of a second to control the extension and retraction of the forks 30 in the forward and backward directions as part of the operation of the forklift 10, based on the detection information acquired by the acquisition unit 1212B. For example, the calculation unit 1212C calculates the amount of extension and retraction of the forks 30 according to the positional relationship between the forklift 10 and the destination of the cargo L based on the detection information, and calculates control variables to extend and retract the forks 30 to that amount. 【0083】 The control unit 1212D controls the extension and retraction of the fork 30 based on the control variables calculated by the calculation unit 1212C. 【0084】 Next, we will describe the processing flow performed by the computer 1200, which functions as the Central Brain24. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, loads it into RAM 1214, and executes it, thereby executing the process shown in the flowchart in Figure 10. 【0085】 In step S20, the CPU 1212 acquires detection information detected by sensors 35 and 55, as well as other sensors. Then, the CPU 1212 proceeds to step S21. 【0086】 In step S21, the CPU 1212 calculates control variables for controlling the extension and retraction of the fork 30 based on the detection information acquired in step S20. Then, the CPU 1212 proceeds to step S22. 【0087】 In step S22, the CPU 1212 controls the extension and retraction of the fork 30 based on the control variables calculated in step S21. Then, the CPU 1212 completes the processing shown in the flowchart in Figure 10. 【0088】 As described above, in the computer 1200 functioning as the Central Brain 24 according to the third embodiment, the CPU 1212 calculates control variables for controlling the extension and retraction of the forks 30 in the forward and backward directions every one billionth of a second based on the detected information. The CPU 1212 then controls the extension and retraction of the forks 30 based on the calculated control variables. This enables the computer 1200 to accurately move the load L to a position far from the control device 20. Furthermore, if there is no load L on the pallet 40, the computer 1200 can move the forklift 10 at high speed by retracting the forks 30. 【0089】 (Fourth embodiment) Next, a fourth embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiments. 【0090】 Figure 11 is a second side view showing the extended state of the fork 30 according to this embodiment. As shown in Figure 11, the fork 30 according to the fourth embodiment is constructed by stacking a first fork 30A, a second fork 30B, and a third fork 30C. The first fork 30A is provided with a sensor 35A at its tip, the second fork 30B is provided with a sensor 35B at its tip, and the third fork 30C is provided with a sensor 35C at its tip. Sensors 35A, 35B, and 35C have the same detection function as the sensor 35 in the above embodiment. 【0091】 In this fourth embodiment, sensors 35A, 35B, and 35C share a common detection range. Therefore, in the fourth embodiment, detection information indicating that sensors 35A, 35B, and 35C have detected a common range is input to the Central Brain 24. 【0092】 With the above configuration, in the computer 1200 functioning as the Central Brain 24 according to the fourth embodiment, the CPU 1212 functions as an acquisition unit 1212B that acquires detection information in addition to detection information detected by the sensor 55 and other sensors, as well as detection information for a common range detected by sensors 35A, 35B, and 35C. The CPU 1212 also functions as a calculation unit 1212C that calculates control variables for controlling the extension and retraction of the fork 30 in the front-rear direction every one billionth of a second based on the acquired detection information. As a result, the computer 1200 can improve the reliability of the detection information from the sensor 35 used to calculate the control variables compared to the case where there is only one sensor 35 on the fork 30. 【0093】 (Fifth embodiment) Next, a fifth embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiments. 【0094】 The fifth embodiment is similar to the fourth embodiment in that the fork 30 comprises a first fork 30A, a second fork 30B, and a third fork 30C, and the first fork 30A, the second fork 30B, and the third fork 30C are each equipped with sensors 35A, 35B, and 35C, respectively. 【0095】 In this fifth embodiment, unlike the fourth embodiment, sensors 35A, 35B, and 35C have different detection ranges. Therefore, in the fifth embodiment, detection information from sensors 35A, 35B, and 35C detecting different ranges is input to the Central Brain 24. 【0096】 With the above configuration, in the computer 1200 functioning as the Central Brain 24 according to the fifth embodiment, the CPU 1212 functions as an acquisition unit 1212B that acquires detection information detected by the sensor 55 and other sensors, as well as detection information from different ranges detected by sensors 35A, 35B, and 35C. The CPU 1212 also functions as a calculation unit 1212C that calculates control variables for controlling the extension and retraction of the fork 30 in the front-rear direction every one billionth of a second based on the acquired detection information. As a result, in the computer 1200, the detection range of the sensor 35 is wider than when there is only one sensor 35 on the fork 30, so that control variables can be calculated based on detection information over a wide range. 【0097】 (Sixth embodiment) Next, a sixth embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiments. 【0098】 Figure 12 is a fifth perspective view showing the forklift 10 according to this embodiment. As shown in Figure 12, the fork 30 according to the sixth embodiment includes a front fork 30X housed on the upper surface of the control device 20 and a rear fork 30Y separate from the front fork 30X, provided on the back side of the guide 50. The front fork 30X and the rear fork 30Y are extendable and retractable in the front-rear direction. The extension and retraction of the front fork 30X and the rear fork 30Y is performed by the Central Brain 24 controlling the drive of a drive mechanism not shown. The front fork 30X is an example of a "first fork," and the rear fork 30Y is an example of a "second fork." 【0099】 Here, in the computer 1200 functioning as the Central Brain 24 according to the sixth embodiment, the CPU 1212 functions as a calculation unit 1212C that calculates control variables for controlling the extension and retraction of the front fork 30X or the rear fork 30Y every one billionth of a second based on the acquired detection information. For example, if the CPU 1212 recognizes that the load L is behind the guide 50 based on the acquired detection information, it calculates control variables for controlling the extension and retraction of the rear fork 30Y. Then, the CPU 1212 functions as a control unit 1212D that controls the extension and retraction of the front fork 30X or the rear fork 30Y based on the calculated control variables. In the above case, the CPU 1212 extends or retracts the rear fork 30Y to the amount of extension or retraction determined by the control variables, and places the load L on the rear fork 30Y. As a result, unlike the case where the forks 30 are provided on only one side of the control device 20, the computer 1200 does not require the forklift 10 to rotate when placing the load L on the side without the forks 30 onto the forks 30. Therefore, the computer 1200 can contribute to a significant improvement in production capacity and factory efficiency compared to the case where the forks 30 are provided on only one side of the control device 20. 【0100】 (Seventh Embodiment) Next, a seventh embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiments. 【0101】 In the seventh embodiment, similar to the third embodiment, the CPU 1212 of the computer 1200 has, as a functional configuration, an acquisition unit 1212B, a calculation unit 1212C, and a control unit 1212D (see Figure 9). 【0102】 The calculation unit 1212C calculates control variables every one billionth of a second to control the vertical extension and retraction of the guide 50 as part of the operation of the forklift 10, based on the detection information acquired by the acquisition unit 1212B. For example, the calculation unit 1212C calculates the amount of extension and retraction of the guide 50 according to the positional relationship between the forklift 10 and the destination of the cargo L based on the detection information, and calculates control variables to extend and retract the guide 50 to that amount. 【0103】 The control unit 1212D controls the expansion and contraction of the guide 50 based on the control variables calculated by the calculation unit 1212C. 【0104】 Next, the processing flow executed by the computer 1200, which functions as the Central Brain 24, will be described. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, loads it into the RAM 1214, and executes it, thereby executing the processing shown in the flowchart in Figure 10. In the following, only steps S21 and S22, which differ in processing content from the third embodiment, will be described. 【0105】 In step S21, the CPU 1212 calculates control variables for controlling the expansion and contraction of the guide 50 based on the detection information acquired in step S20. Then, the CPU 1212 proceeds to step S22. 【0106】 In step S22, the CPU 1212 controls the expansion and contraction of the guide 50 based on the control variables calculated in step S21. Then, the CPU 1212 completes the processing shown in the flowchart in Figure 10. 【0107】 As described above, in the computer 1200 functioning as the Central Brain 24 according to the seventh embodiment, the CPU 1212 calculates control variables for controlling the vertical extension and retraction of the guide 50 every one billionth of a second based on the detection information. The CPU 1212 then controls the extension and retraction of the guide 50 based on the calculated control variables. This enables the computer 1200 to accurately move the load L to a position higher than the control device 20. Furthermore, if there is no load L on the pallet 40, the computer 1200 can move the forklift 10 at high speed by retracting the guide 50. 【0108】 (Eighth embodiment) Next, an eighth embodiment according to this embodiment will be described, omitting or simplifying any parts that overlap with the above embodiments. 【0109】 Figure 13 is a sixth perspective view showing the forklift 10 according to this embodiment. Specifically, Figure 13 shows a protruding structure in which a protective member 60, like a fence, protrudes upward from around the control device 20. The protrusion of the protective member 60 is achieved by the Central Brain 24 controlling the drive of a drive mechanism (not shown). As an example, the protective member 60 is composed of four plate-like members combined together. 【0110】 Here, in the eighth embodiment, similar to the third embodiment, the CPU 1212 of the computer 1200 has, as a functional configuration, an acquisition unit 1212B, a calculation unit 1212C, and a control unit 1212D (see Figure 9). 【0111】 The calculation unit 1212C calculates control variables every one billionth of a second to control the amount of protrusion of the protective member 60 as part of the operation of the forklift 10, based on the detection information acquired by the acquisition unit 1212B. Here, the detection information acquired by the acquisition unit 1212B includes dimensional information indicating the dimensions of the load L. Then, the calculation unit 1212C calculates, for example, an amount of protrusion that is more than half the height dimension of the load L based on the detection information, and calculates control variables to make the protective member 60 protrude to that amount. 【0112】 The control unit 1212D controls the amount of protrusion of the protective member 60 based on the control variables calculated by the calculation unit 1212C. 【0113】 Next, we will describe the processing flow performed by the computer 1200, which functions as the Central Brain24. In the computer 1200, the CPU 1212 reads the program installed in the computer 1200, loads it into RAM 1214, and executes it, thereby executing the process shown in the flowchart in Figure 14. 【0114】 In step S30, the CPU 1212 acquires detection information detected by sensors 35 and 55, as well as other sensors. Then, the CPU 1212 proceeds to step S31. 【0115】 In step S31, the CPU 1212 calculates control variables for controlling the amount of protrusion of the protective member 60 based on the detection information acquired in step S30. Then, the CPU 1212 proceeds to step S32. 【0116】 In step S32, the CPU 1212 controls the amount of protrusion of the protective member 60 based on the control variables calculated in step S31. Then, the CPU 1212 completes the processing shown in the flowchart in Figure 14. 【0117】 As described above, in the computer 1200 functioning as the Central Brain 24 according to the eighth embodiment, the CPU 1212 calculates control variables every one billionth of a second, based on detection information, to control the amount of protrusion of the protective member 60 that can protrude upward from the periphery of the control device 20 and surround the load L. Then, the CPU 1212 controls the amount of protrusion of the protective member 60 based on the calculated control variables. As a result, the computer 1200 can surround more than half of the height dimension of the load L with the protective member 60, thereby suppressing the load L from flying out when the forklift 10 moves at high speed. [Explanation of symbols] 【0118】 24 Central Brain, 1200 Computer, 1210 Host Controller, 1212 CPU, 1214 RAM, 1216 Graphics Controller, 1218 Display Device, 1220 Input / Output Controller, 1222 Communication Interface, 1224 Storage Device, 1230 ROM, 1240 Input / Output Chip

Claims

[Claim 1] A calculation unit calculates control variables for controlling the operation of the forklift based on detection information detected by a detection unit mounted on the forklift, A control unit controls the operation of the forklift based on the control variables calculated by the calculation unit, Equipped with, Based on the detection information, the calculation unit calculates the control variables for controlling the extension and retraction of the forks of the forklift, which are extendable and retractable in the forward and backward directions, as the operation of the forklift. The control unit controls the extension and retraction of the fork based on the control variable calculated by the calculation unit. The fork, which is constructed by stacking multiple forks, has the detection unit mounted on each of the multiple forks. The calculation unit calculates the control variable based on the detection information in which the multiple detection units have detected a common range. Information processing device. [Claim 2] The control unit controls the operation of the forklift in units of one billionth of a second based on the control variables calculated by the calculation unit. The information processing apparatus according to claim 1. [Claim 3] The system includes a determination unit that determines control information to be used to calculate the control variables for each operation of the forklift from among the obtainable detection information, The calculation unit calculates the control variables for the control unit to control the operation of the forklift based on the control information determined by the determination unit. The information processing apparatus according to claim 1. [Claim 4] A calculation unit that calculates control variables for controlling the operation of the forklift based on detection information detected by a detection unit mounted on the forklift, A control unit controls the operation of the forklift based on the control variables calculated by the calculation unit, Equipped with, Based on the detection information, the calculation unit calculates the control variables for controlling the extension and retraction of the forks of the forklift, which are extendable and retractable in the forward and backward directions, as the operation of the forklift. The control unit controls the extension and retraction of the fork based on the control variable calculated by the calculation unit. The fork, which is constructed by stacking multiple forks, has the detection unit mounted on each of the multiple forks. The calculation unit calculates the control variable based on the detection information obtained from multiple detection units that have detected different ranges. Information processing device. [Claim 5] The calculation unit calculates the control variables for controlling the extension and retraction of the first fork as the fork or a second fork separate from the first fork in the forklift, based on the detection information. The control unit controls the extension and retraction of the first fork or the second fork based on the control variable calculated by the calculation unit. The information processing apparatus according to claim 1. [Claim 6] Based on the detection information, the calculation unit calculates the control variables for controlling the extension and retraction of the vertically extendable guides provided on the forklift as the operation of the forklift. The control unit controls the extension and retraction of the guide based on the control variable calculated by the calculation unit. The information processing apparatus according to claim 1. [Claim 7] Based on the detection information, the calculation unit calculates the control variables for controlling the amount of protrusion of the protective member that can protrude upward to surround the load as part of the operation of the forklift. The control unit controls the amount of protrusion of the protective member based on the control variable calculated by the calculation unit. The information processing apparatus according to claim 1. [Claim 8] A program for causing a computer to function as an information processing device according to any one of claims 1 to 7.

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