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Movable body system

A mobile body and body system technology, applied in the field of mobile body systems, can solve the problems of limiting the freedom of movement of the moving body, not easy to change the travel path, and complicated guide rail setting operations, etc.

Inactive Publication Date: 2012-01-11
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the following problems arise when guide rails are used: 1) the installation work of the guide rails is complicated; 2) it is not easy to change the traveling path; Movement degrees of freedom

Method used

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Embodiment Construction

[0015] Next, specific embodiments of the present invention will be described with reference to the drawings for understanding of the present invention.

[0016] Such as figure 1 A. figure 1 B. figure 2 As shown, the moving body system 10 according to one embodiment of the present invention is used in factories, offices, hospitals, commercial structures, etc., and moves the moving body 12 along a predetermined travel path 11 .

[0017] The moving body system 10 has: a moving body 12, which is equipped with a camera 13 for capturing the external environment; an image analysis unit 14, which compares the image taken by the camera 13 with the image taken in advance on the travel path 11 of the moving body 12 . Furthermore, the moving body system 10 further includes a wall surface detection unit 16 that detects the direction of the moving body 12 relative to the walls 15 and 15 a arranged along the travel path 11 and the distance between the walls 15 and 15 a and the moving bod...

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PUM

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Abstract

A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

Description

[0001] This application claims priority from Japanese Patent Application No. 2010-133151 filed on Jun. 10, 2010, the contents of which are hereby incorporated by reference. technical field [0002] The present invention relates to mobile body systems. Background technique [0003] In production plants and the like, automatic moving bodies are used for transportation of products and parts in order to save labor. The mainstream of such a moving body is a moving body that travels along guide rails such as reflective tapes and magnetic tapes installed on the ground. However, the following problems arise when guide rails are used: 1) the installation work of the guide rails is complicated; 2) it is not easy to change the traveling path; Travel degrees of freedom of the moving body. [0004] In order to solve these problems, moving bodies that do not use guide rails have recently been proposed, and specific examples thereof are described in JP-A-2006-293975 and JP-A-2009-052924....

Claims

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Application Information

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IPC IPC(8): G06T7/20G06K9/00
CPCG05D1/024G05D1/0253G05D2201/0216
Inventor 泉哲郎河野大
Owner YASKAWA DENKI KK