Carrier system

Abstract

To check for deterioration of camera images and encourage camera maintenance before work stops due to misreading of floor markers in a warehouse system in which floor markers such as 2D codes are attached to the floor in a grid pattern, and a moving cart reads the floor markers with a camera to recognize its own position and posture.SOLUTION: A carrier system includes: a carrier device having a drive unit for traveling in a travel area and a camera that captures images of floor markers provided on a floor surface of the travel area; and a control device that controls the carrier device. In the carrier system, the floor marker includes information corresponding to a position of the floor marker, and when the carrier device moves to the position of the floor marker, the carrier device captures an image of the floor marker with a camera to obtain the information corresponding to the position of the floor marker. An inspection pattern is provided on the floor surface of the travel area, and when the carrier device moves to a position of the inspection pattern for inspecting the camera, the camera captures the inspection pattern to obtain an image of the inspection pattern.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] Regarding a robot that moves along a movement path, there is a method in which floor markers such as two-dimensional codes are attached to the floor in a grid pattern and the robot recognizes its own position and posture by reading the floor markers. For example, there is a technology described in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 052825 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a traveling cart (transportation device) equipped with a camera mounted facing the floor surface as a sensor for reading floor markers (floor surface markers). When the traveling cart is operated for a long time, the position of the camera that captures the floor markers may shift due to aging, the focus adjustment of the lens may become unstable, dust may adhere to the lens, and the quality of the captured image may deteriorate. As the quality of the captured image deteriorates, the occurrence rate of floor marker reading errors increases, emergency stops occur frequently, and the operating rate decreases. In particular, in a warehouse where many traveling carts are in operation, if one cart breaks down and blocks an aisle, all other traveling carts that are trying to pass through that area will also stop, causing a significant deterioration in the operating rate.

[0005] If deterioration in image quality of the captured images of the floor markers can be detected in advance, for example, by presenting information on deterioration in image quality of the captured images of the traveling cart to the facility manager, it is possible to urge the maintenance of the camera before the traveling cart misreads the floor markers due to deterioration in image quality of the floor camera and makes an emergency stop. Therefore, there is an issue of providing a technology that can inspect deterioration of captured images in a conveying device. [Means for solving the problem]

[0006] According to the present invention, the following conveying system is provided. The conveying system includes a conveying device having a drive device that travels in a travel area and a camera that captures an image of a floor marker provided on the floor surface of the travel area, and a control device that controls the conveying device. The floor marker includes information corresponding to the position of the floor marker, and when the conveying device moves to the position of the floor marker, the camera captures the image of the floor marker to obtain the information corresponding to the position of the floor marker. An inspection pattern is provided on the floor surface of the travel area, and when the conveying device moves to the position of the inspection pattern in order to inspect the camera, the camera captures the inspection pattern to obtain an image of the inspection pattern. Effect of the Invention

[0007] According to the present invention, for example, a facility manager can grasp the degree of deterioration of the image quality of the floor marker captured image of a traveling cart, and an opportunity to maintain the camera before an abnormality occurs in reading the floor marker can be provided, thereby preventing a significant drop in the operation rate. Problems, configurations, and effects other than those described above will become clear from the following description of the embodiment of the invention. [Brief description of the drawings]

[0008] [Figure 1] 10 is a flowchart illustrating an example of a floor marker captured image quality inspection method. [Diagram 2] FIG. 13 is a diagram showing an example of a floor marker used in inspection. [Diagram 3] FIG. 13 is a diagram showing an example of a captured image of an inspection pattern. [Figure 4] FIG. 1 is a block diagram illustrating an example of a system configuration. [Diagram 5] FIG. 13 is a diagram showing an example of a test pattern. [Figure 6] 10 is a flowchart illustrating an example of processing according to a degree of deterioration in image quality of a captured image. [Figure 7] FIG. 11 is a diagram showing an example of traveling vehicle state management data. [Figure 8] 11A and 11B are diagrams showing an example of an inspection pattern for inspecting image quality for each area of ​​a captured image. [Figure 9] FIG. 1 is a perspective view showing an example of a shelf transport warehouse system. [Figure 10] 13 is a diagram showing an example of a floor marker that serves both as a pattern indicating position information and an inspection pattern; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The embodiment is an example for explaining the present invention, and appropriate omissions and simplifications are made for clarity of explanation. The present invention can be implemented in various other forms. Unless otherwise specified, each component may be singular or plural. In order to facilitate understanding of the invention, the position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings. As examples of various information, the various information may be described using expressions such as "table," "list," and "queue," but the various information may be expressed using data structures other than these. For example, various information such as "XX table," "XX list," and "XX queue" may be expressed as "XX information." When describing identification information, expressions such as "identification information," "identifier," "name," "ID," and "number" are used, but these are mutually interchangeable. When there are multiple components having the same or similar functions, they may be described by using the same reference numerals with different subscripts, or when there is no need to distinguish between these multiple components, the subscripts may be omitted. In the embodiment, a process performed by executing a program may be described. Here, a computer executes the program using a processor (e.g., CPU, GPU), and performs the process defined by the program while using a storage resource (e.g., memory) and an interface device (e.g., communication port), etc. Therefore, the subject of the process performed by executing the program may be the processor. Similarly, the subject of the process performed by executing the program may be a controller, device, system, computer, or node having a processor. The subject of the process performed by executing the program may be a calculation unit, and may include a dedicated circuit that performs a specific process. Here, the dedicated circuit is, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device), etc. The program may be installed in the computer from a program source. The program source may be, for example, a program distribution server or a computer-readable storage medium. When the program source is a program distribution server, the program distribution server may include a processor and a storage resource for storing the program to be distributed, and the processor of the program distribution server may distribute the program to be distributed to other computers. In addition, in an embodiment, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0010] In the embodiment, an example of a transport system will be described. In detail, the present invention relates to a transport system using an unmanned traveling vehicle, and in particular to a technology for maintaining a traveling vehicle that estimates its own position by capturing an image of a marker on a floor with a camera.

[0011] The traveling cart (transportation device) operates and travels for transportation according to instructions from a warehouse control device (control device). As described later, an inspection pattern is originally attached to a place where the traveling cart stops for a certain period of time, such as a charging station (a place where a charger is placed to charge the storage battery of the traveling cart), a picking station (a work place where products to be stored on the shelf transported by the traveling cart are taken out or put into storage), or a place where goods such as pallets are transferred, and a camera inspection is performed while the traveling cart is stopped. Note that an inspection pattern may be attached to a place where the traveling cart travels, and a camera inspection may be performed while the traveling cart is traveling.

[0012] Fig. 1 shows a flowchart of an example of a method for inspecting the image quality of a captured image of a floor marker of a traveling cart. When the traveling cart is positioned on a floor marker, the floor marker is captured in an image captured by a camera. Processing starts (S1001), and the traveling cart acquires information about the floor marker (S1002). The floor marker expresses position information by, for example, a two-dimensional code.

[0013] For example, an inspection pattern is added to a marker at a predetermined position, and the traveling cart performs processing depending on the presence or absence of the inspection pattern (S1003). For example, a control device of the traveling cart processes the captured image and recognizes the inspection pattern on the floor marker. In this way, the inspection pattern may be recognized by extracting the characteristics of the inspection pattern through image processing, or the position of the inspection pattern may be registered in advance in map data, and the presence or absence of the inspection pattern may be recognized by acquiring attributes of the position information acquired from the floor marker from the map data.

[0014] When the inspection pattern on the floor marker is recognized (S1003-YES), the inspection operation start process is executed (S1004). Specifically, the control device of the traveling cart reports the start of the inspection operation to the warehouse control device and executes the positioning operation of the cart. The positioning operation is an operation to position and stop the traveling cart at a position where the floor marker is reflected in the center of the captured image, similar to normal transport operation. Therefore, if the location is a charging station or the like where the cart will originally stop for a certain period of time, no additional operation for inspection is required, and there is no impact on transport efficiency.

[0015] Then, while the traveling cart is stopped, a camera captures an image of the floor marker, and an image quality inspection is performed (S1005). As described below, an inspection pattern is extracted from the captured image to determine the degree of degradation of the image quality. The degree of degradation of the image quality as a result of the inspection is recorded in a database (DB) that stores information about the traveling cart and is accessible by the warehouse control device and station terminals (S1006). The traveling cart reports the end of the inspection operation to the warehouse control device, releases the cart's inspection operation state, and enables normal movement according to a command from the warehouse control device (S1007).

[0016] With the above, the series of operations for inspecting the image quality of the captured image of the floor marker of the traveling cart is completed (S1008), and the operation of the normal transportation work is resumed. Since the inspection operation is performed at a place where the traveling cart stops for a certain period of time, it appears to be the same as performing normal transportation operation from start to finish.

[0017] By capturing an image of the inspection pattern while the vehicle is stopped, the effects of travelling can be eliminated and highly accurate inspection can be performed. For example, the inspection can be performed while the vehicle is charging or waiting, which can avoid an increase in load during travelling or transport. However, the inspection operation can also be performed at a place where the travelling vehicle passes. In this case, the travelling vehicle acquires floor marker information while traveling, and the travelling vehicle does not need to stop (i.e., the travelling vehicle continues to travel), and the same inspection process as above is performed.

[0018] The degree of degradation of image quality may be determined by a control device of the traveling cart, and the control device of the traveling cart may transmit the resultant degree of degradation of image quality to an external device. Alternatively, the warehouse control device may obtain information on the inspection pattern and determine the degree of degradation of image quality.

[0019] Figure 2 shows an example of a floor marker used for inspection. In the center, a marker 2001, for example a two-dimensional code, is placed that indicates position information similar to that of general floor markers that are not intended for inspection. Striped inspection patterns (2002a to 2002d) are placed above, below, left and right of that part so as not to overlap with the position information marker 2001 (two-dimensional code). The striped patterns placed above and below are oriented vertically, and the striped patterns placed left and right are oriented horizontally, making it possible to inspect the image quality of the camera in two directions.

[0020] As described above, the floor marker is composed of, for example, a marker 2001 indicating a normal position and striped inspection patterns (2002a to 2002d). Since the inspection patterns can be imaged together with the floor markers for self-location identification, traveling and imaging processes are efficient. In the example of FIG. 2, the striped inspection patterns are arranged at the top, bottom, left and right, but they may be arranged at only two locations, either at the top or bottom or only at the left or right. The traveling cart may travel in the vertical direction relative to the floor marker in FIG. 2, or in the horizontal direction. In either direction, the inspection patterns arranged at two or more locations can inspect the degradation of the captured image for the two-directional stripes, i.e., the horizontal stripes and the vertical stripes. In this way, the degradation of the image quality in two directions is evaluated to recognize the two-dimensional code. Incidentally, diagonal stripes may be arranged to inspect the image quality in two directions.

[0021] In image processing, for example, the four corner edges (2003a to 2003d) of the two-dimensional code area are extracted, and a predetermined area surrounding them is extracted as the inspection pattern.

[0022] The principle of image quality inspection will be explained using Figure 3. Figure 3 shows the part marked with the symbol A1 in Figure 2. A binarization process is performed on the area of ​​the inspection pattern extracted from the image processing of the entire captured image. The edges corresponding to the stripes of the inspection pattern are extracted, and a calculation process is performed to obtain an imaginary line between the black and black areas. If this imaginary line is connected by one or more consecutive white pixels, it is determined that there is no degradation. Conversely, if the gap between the black and black edges is eliminated and the imaginary line is broken halfway, it is determined that the image quality is deteriorating. As will be described later, if the spacing of the stripes of the test pattern is set based on the resolution required to recognize the two-dimensional code that represents position information, it is possible to determine whether the image quality has deteriorated to the point where the two-dimensional code is misread.

[0023] A block diagram showing an example of the configuration of a warehouse system is shown in Figure 4. The warehouse system, which is an example of a transport system, is composed of a warehouse control device 100 that controls traveling vehicles based on work information, traveling vehicles 203 that transport products and parts, station terminals 210 that are located at locations where products and parts are received and handed over from the traveling vehicles, and a network 150 for communicating information between these.

[0024] The warehouse control device 100, the traveling cart 203, and the station terminal 210 have a database (DB) of traveling cart information and share information, or can access an external database (DB) of traveling cart information. Therefore, the information of the floor camera inspection result performed by the traveling cart can be confirmed by the warehouse control device 100 and the station terminal 210. When information on deterioration of the floor camera is registered in the traveling cart information, the warehouse control device 100 automatically checks the traveling cart information at a predetermined time interval and can confirm the traveling cart 203 whose floor camera image quality has deteriorated. In addition, by operating the station terminal 210 to display the traveling cart information on the output device, the worker can check the traveling cart information at any time and confirm the traveling cart 203 whose floor camera image quality has deteriorated. Therefore, the corresponding traveling cart 203 can be guided to a maintenance area to perform maintenance on the floor camera. This makes it possible to prevent the corresponding traveling cart 203 from abnormally stopping due to erroneous recognition of the floor marker and the operation of the warehouse system from being stopped in advance.

[0025] Next, a specific hardware configuration will be described. The warehouse control device 100 includes a calculation device 101, a memory 102, an input device 103, an output device 104, a storage device 195a, and a communication interface 131. The calculation device 101 is a subject that executes a predetermined process, and can be configured using a processor. The memory 102 is a main storage device, and stores appropriate data when the calculation device 101 executes data processing. The memory 102 is configured using a RAM (Random Access Memory), for example. The input device 103 is a device used for operation by a worker, etc. The output device 104 is a device that outputs appropriate information to a worker, etc. The storage device 195a is an auxiliary storage device, and stores appropriate data. The storage device 195a stores, for example, work information 196 and traveling cart information 300. The storage device 195a is configured using a HDD (Hard Disk Drive), for example. The communication interface 131 is a configuration used for communication via the network 150.

[0026] The traveling cart 203 includes a control device 161, a storage device 195b, a communication interface 151, a sensor 170, and a driving device 175. The traveling cart 203 also includes a rechargeable battery. The control device 161 is used to control the traveling cart. The control device 161 performs travel control 162, for example, by controlling the driving device 175. The control device 161 also performs image processing control 163. The control device 161 can be configured, for example, using a processor and a memory. The storage device 195b is an auxiliary storage device, and stores appropriate data. The storage device 195b stores, for example, work information 196 and traveling cart information 300. The storage device 195b is configured, for example, using an HDD (Hard Disk Drive). The communication interface 151 is configured to be used for communication via the network 150.

[0027] The sensor 170 includes, for example, an obstacle sensor 171, a floor camera 172, and a shelf camera 173. The obstacle sensor 171 is a sensor used to detect obstacles, and is, for example, a distance measuring sensor. The floor camera 172 captures an image of the floor surface. The shelf camera 173 captures, for example, an image of the shelf 202 to be transported.

[0028] The station terminal 210 includes an input device 192, an output device 193, a control device 194, a storage device 195c, and a communication interface 191. The input device 192 is a device used by a worker or the like for operation. The output device 193 is a device that outputs appropriate information to a worker or the like. The control device 194 is used to control the station terminal, and can be configured, for example, using a processor and a memory. The storage device 195c is an auxiliary storage device, and stores appropriate data. The storage device 195c stores, for example, work information 196 and traveling cart information 300. The storage device 195c is configured, for example, using an HDD (Hard Disk Drive). The communication interface 191 is configured to be used for communication via the network 150.

[0029] The interval between the stripes of the inspection pattern will be explained in more detail with reference to Figure 5. By making the interval r1 between the stripes of the inspection pattern narrower than the interval r0 between the blocks of the two-dimensional code, inspection can be performed with the image processing resolution required to recognize the two-dimensional code. Here, r1, r2, r3, ...r n The intervals can be equal, but in that case, the floor camera inspection results will be either pass or fail. If it fails, there is a high risk of the warehouse system being stopped due to a misreading of the floor markers on the traveling cart, so it is desirable to take action as soon as possible.

[0030] while r1, r2, r3, ...r nBy gradually narrowing the interval, it becomes possible to evaluate the degree of deterioration in stages. For example, items with no deterioration can be classified as A, items with ongoing deterioration as B, and items with severe deterioration that may lead to misreading as C, and these can be recorded in the traveling cart information. Since maintenance can be carried out before the deterioration level reaches C, planned maintenance can be carried out outside of the operating hours of the warehouse system.

[0031] 6 is a flowchart showing an example of image quality inspection processing. The image quality inspection processing is executed (S1601), and the image quality degradation level is recorded in the traveling vehicle status management data (the traveling vehicle information database, which is a database of traveling vehicle information) (S1602).

[0032] Then, a deterioration determination is performed (S1603). For example, when the inspection pattern in FIG. 5 is used, the deterioration degree is classified into A to C, and the A range is good and 1 point is given, the B range is slightly deteriorated and 2 points is given, and the C range is deteriorated to the extent that misreading is possible and 3 points is given. In this case, for example, if the judgment value is 3, the corresponding traveling cart misreads the code on the floor and makes an emergency stop, and a maintenance response process can be executed before the operation of the warehouse system stops (S1603-YES, S1604). The maintenance response process is, for example, the warehouse control system issues an instruction to the corresponding traveling cart to move to a maintenance area or the like where the traveling of other traveling cars is not affected.

[0033] The above describes the process when the deterioration is most advanced, but when the deterioration is somewhat advanced in the range B, it is also possible to display an alarm of deterioration of the image quality of the camera on the station terminal, etc. In the image quality inspection process, the arithmetic unit 101 of the warehouse control device 100, the control device 161 of the traveling cart 203, or the control device 194 of the station terminal 210 can be the main processing unit.

[0034] 7 shows an example of data registered in the traveling cart status displayed on the output device of a station terminal. The traveling cart information (traveling cart status management data 500) is information that lists, for each traveling cart to which a device ID 501 is assigned, information such as an operating status 502, a task ID 503, a current position 504, a work station ID 505, a shelf ID 506, an abnormality code (abnormal CD 507), and a camera image quality 508.

[0035] The operation status 502 indicates the operation status of the traveling cart, and indicates whether it is currently working, waiting without working, charging, or stopped due to an abnormality. The work ID 503 indicates the identification number of the assigned work, and indicates a number that can be inquired and checked against the work information managed by the warehouse control system. The current position 504 indicates the number on the map of the position where the traveling cart is currently traveling or stopped. The work station ID 505 indicates the location of the work station assigned during work. The shelf ID indicates an ID number that identifies the shelf that the traveling cart is transporting. The abnormality CD 506 indicates a code number that indicates the content of the abnormality when the traveling cart is abnormal. The camera image quality 507 indicates the degree of deterioration of the floor camera image described above. In this way, the worker can check the status of the floor camera by operating the station terminal to display the traveling cart information on the output device. Note that the display mode of FIG. 7 is one example, and may be changed as appropriate. For example, the camera image quality 508 may be displayed as a score.

[0036] Figure 8 shows an example where an inspection pattern is placed over the entire imaging range of a floor marker. When the traveling cart travels from the bottom to the top of the figure, the floor marker moves from the top to the bottom of the captured image. By defining the area of ​​the inspection pattern, it is possible to distinguish between degradation of important areas in the center of the captured image and degradation of less important areas on the edges of the captured image.

[0037] Therefore, for example, the image quality is evaluated by the product a×m of the degree of degradation a of the image quality and the weighting factor m assigned to the area. The degree of degradation a is assigned a value of 0 in the case of A where there is no degradation, a value of 1 in the case of B where degradation is progressing, and a value of 2 in the case of C where degradation is severe and there is a possibility of misreading. The weighting factor m is assigned a value of 3 to the most important area where the two-dimensional code is read at the stopping position, a value of 2 to a relatively important area where the two-dimensional code passes while driving, and a value of 1 to a not so important area where the two-dimensional code is not usually reflected. For example, in the area (F-5, F-6), the weighting factor m is 1. In this way, the evaluation value of a×m becomes large due to degradation of the image quality of the important area, and it becomes possible to plan maintenance that prioritizes the important area in the center of the captured image. As an example, if degradation is found in the area (F-5, F-6), maintenance is not planned, but maintenance can be planned in the state where degradation is found in the center.

[0038] An example of the arrangement of inspection patterns will be described using a warehouse system with shelf transport as an example with reference to Fig. 9. In the warehouse system, multiple shelves are arranged in a grid pattern in the vertical and horizontal directions in storage space 901. The shelves form "islands" consisting of a predetermined number of shelves (for example, 2 x 6 or 1 x 6).

[0039] A plurality of traveling carts are arranged within the storage space 901. The traveling carts enter under shelves, lift up the shelves, and travel to transport the shelves. A plurality of charging stations 902 for charging the traveling carts are arranged at predetermined locations around the storage space 901. In this example, the charging stations 902 are provided with chargers 903.

[0040] A plurality of work stations 904 are arranged at predetermined positions on the outer edge of the storage space 901. At the work stations 904, workers perform work of storing and retrieving goods. The work stations 904 are provided with station terminals 210. In addition, a broken-down traveling cart can be evacuated to a maintenance space 905 adjacent to the storage space 901.

[0041] Floor markers using two-dimensional codes are attached to the floor surface of the storage space 901 in a grid pattern, and the traveling cart recognizes its own position and posture by reading the floor markers. The warehouse system is originally characterized by inspecting the image quality of the image captured by the floor camera at a position where the traveling cart stops for a certain period of time. In the example of Fig. 9, first, an inspection pattern P is placed at the position of the charging station 902. Since charging takes a certain period of time, the image quality of the image captured by the floor camera is inspected using the inspection pattern P placed at that position while the traveling cart is stopped for charging.

[0042] Similarly, the traveling cart stops for a certain period of time while work is being performed at the work station 904. Therefore, by placing an inspection pattern P in front of the work station 904, it is possible to inspect the image quality of the image captured by the floor camera while the traveling cart is stopped during work.

[0043] Furthermore, an inspection pattern P is also placed in a maintenance space 905. The maintenance space 905 is a space for maintaining the traveling cart, and the traveling cart is moved to this space when the image quality of the image captured by the floor camera of the traveling cart deteriorates. After adjusting the floor camera, the image quality of the captured image can be checked using the inspection pattern P placed in that place.

[0044] 9 is just an example. Inspection may be performed while the traveling cart is traveling. Therefore, the inspection pattern P may be arranged on the travel path of the traveling cart in the storage space 901. Then, when the traveling cart passes the position of the inspection pattern, the inspection pattern may be imaged, and an image quality inspection may be performed.

[0045] FIG. 10 shows an example of a floor marker that uses both a two-dimensional code for position information and a striped inspection pattern. That is, this floor marker includes a position information pattern P1 and an inspection pattern P2, and the inspection pattern P2 is a part of the floor marker. In this example, after inspecting the image quality, image processing is performed to fill in the area printed with the striped pattern with black, which is the same as the processing performed on a normal two-dimensional code. When inspecting the image quality of a portion of the captured image other than the center, the position of the body 204 of the traveling cart is shifted by a predetermined position, and the image quality of a predetermined area of ​​the captured image is inspected using the striped pattern of the inspection pattern P2.

[0046] By performing appropriate maintenance in response to deterioration in image quality, it is possible to prevent a decrease in operating rate due to emergency stops, which can contribute from an economic perspective.

[0047] Although the embodiments have been described above, the present invention is not limited to the above-described embodiments, and includes various modifications and equivalent configurations within the spirit of the appended claims. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the configurations described. In addition, for example, other configurations may be added, deleted, or replaced with respect to part of the configuration of the embodiment.

[0048] In the warehouse system, the inspection pattern is not limited to being placed at the position of the two-dimensional code indicating the position information, and the inspection pattern may be placed at a position different from the two-dimensional code and independently of the two-dimensional code. In this case, for example, the warehouse control device may output a command to the traveling cart to move the traveling cart to the position of the inspection pattern and perform the inspection.

[0049] The striped pattern of the inspection pattern may be formed based on a plurality of lines arranged in parallel at one or more intervals. The inspection pattern may be formed to include a plurality of linear blocks.

[0050] Deterioration may be judged based on multiple inspection results. That is, for example, if the inspection results of the first inspection pattern and the second inspection pattern both indicate deterioration, a judgment result indicating deterioration may be output and maintenance measures may be implemented. By performing inspections using multiple inspection patterns, it is possible to eliminate cases where the inspection is abnormal due to factors other than the camera, such as when there is an abnormality in a specific inspection pattern.

[0051] The warehouse control device may also determine the condition of the inspection pattern on the floor. The warehouse control device may obtain the inspection results of multiple traveling cars for the same inspection pattern, and may determine that the condition of the inspection pattern itself is poor, for example, if there are a predetermined number or more of inspection results that are determined to be deteriorated. As a result, if there is an abnormality in a specific inspection pattern, the abnormality in the inspection pattern can be identified. Then, the fact that the inspection pattern is poor is appropriately notified to a worker, etc. via an output device, etc. of the terminal station, and the worker, etc. can take action such as repairing the inspection pattern.

[0052] Inspection using the inspection pattern may be performed in both a state where the traveling cart is loaded with a transported object (e.g., a shelf) and a state where the traveling cart is not loaded with a transported object. That is, depending on the load (weight) of the transported object, the camera may approach the floor surface, which may cause the position of the imaging area of ​​the two-dimensional code to differ. Therefore, from the viewpoint that the proximity of the camera to the floor differs depending on whether or not the transported object is loaded, better maintenance can be performed by performing inspection in each state and checking the quality of the camera image.

[0053] The inspection pattern can be placed, for example, at a designated position provided for the entry or exit of transported items transported by the traveling cart, or at a designated position provided for the transfer of transported items transported by the traveling cart, or at a designated position provided for maintenance of the traveling cart, or at a designated position provided for the traveling cart to wait.

[0054] The traveling vehicle can change its moving direction by rotating at the position of the two-dimensional code, and the camera may be inspected using the inspection pattern at the turning position while changing the direction. This makes it possible to inspect the state of the camera when turning.

[0055] Also, the direction of the traveling cart with respect to the inspection pattern may be changed to inspect the camera of the traveling cart. This makes it possible to inspect the accuracy of the camera in each direction, for example, parallel to the direction of the inspection pattern or in-plane perpendicular direction. For example, the traveling cart may be made to enter the inspection pattern from various directions to inspect the camera of the traveling cart.

[0056] The notification to the worker etc. is not limited to a display, but may be made by voice etc. For example, a voice notification that the camera is defective may be made. [Explanation of symbols]

[0057] 100 Warehouse control device 203 Travelling Cart 210 Station Terminal

Claims

1. A transportation system including a transportation device having a driving device that travels in a travel area and a camera that captures an image of a floor marker provided on a floor surface of the travel area, and a control device that controls the transportation device, the floor marker includes information corresponding to a location of the floor marker; When the transport device moves to the position of the floor marker, the transport device captures an image of the floor marker with the camera to obtain information corresponding to the position of the floor marker; An inspection pattern is provided on a floor surface of the travel area, When the transport device moves to a position of the inspection pattern in order to inspect the camera, the transport device captures an image of the inspection pattern with the camera to obtain the image of the inspection pattern. Conveying system.

2. The transport device performs an inspection of the camera based on an image of the inspection pattern. The transport system according to claim 1 .

3. the conveying device transmits an image of the inspection pattern to the control device; The control device executes the inspection of the camera based on the received image of the inspection pattern. The transport system according to claim 1 .

4. the inspection pattern is located within an imageable range when the transport device images the floor marker with the camera, The transport device is capable of acquiring an image including the floor marker and the inspection pattern. The transport system according to claim 1 .

5. the test pattern is at a different position from the floor marker; The transport device moves from the position of the floor marker to the position of the inspection pattern, and captures an image of the inspection pattern with the camera. The transport system according to claim 1 .

6. At least a portion of the inspection pattern is composed of a plurality of lines arranged in parallel at one or more intervals, The inspection pattern is different from the part constituting the information corresponding to the position of the floor marker. The transport system according to claim 1 .

7. The test pattern is at least a portion of the floor marker and is a component of information corresponding to the position of the floor marker. The transport system according to claim 1 .

8. the inspection pattern includes a plurality of linear blocks arranged in parallel at one or more intervals; The plurality of linear blocks are components of information corresponding to the positions of the floor markers. The transport system according to claim 7.

9. The transport device captures an image of the inspection pattern while the transport device is stopped at the position of the inspection pattern. The transport system according to claim 1 .

10. The transport device captures an image of the inspection pattern when passing the position of the inspection pattern during travel. The transport system according to claim 1 .

11. A plurality of inspection patterns are provided on a floor surface of the travel area, performing an inspection of the camera of the transport device using the plurality of inspection patterns; The control device determines a state of the camera of the transport device using results of the inspections using the plurality of inspection patterns. The transport system according to claim 1 .

12. A plurality of conveying devices are provided, The plurality of conveying devices executes an inspection of the camera of the conveying device with the inspection pattern; The control device determines a state of the inspection pattern using results of the inspection of the plurality of transport devices. The transport system according to claim 1 .

13. Inspection of the camera of the conveying device is performed when the conveying device is loaded with an object to be conveyed and when the conveying device is not loaded with an object to be conveyed. A transport system according to any one of claims 1 to 12.

14. The inspection pattern is placed on a floor at a predetermined location of a space adjacent to a space constituted by an area in which objects that can be transported by the transport device are stored and a travel area along which the transport device travels when transporting the objects. The transport system according to claim 1 .

15. The transport device has a storage battery, a charger for charging the storage battery is installed in a travel area in which the transport device travels; The test pattern is arranged at the installation position of the charger. The transport system according to claim 1 .

16. The inspection pattern is disposed at a predetermined position provided for the entrance or exit of an object to be transported by the transport device, or a predetermined position provided for transferring an object to be transported by the transport device, or a predetermined position provided for the maintenance of the transport device, or a predetermined position provided for the transport device to be on standby. The transport system according to claim 1 .

17. The control device has a traveling vehicle information database, After the control device has performed the inspection of the camera, the control device records information on the deterioration of the image quality of the camera, which is the result of the inspection, in the traveling vehicle information database and outputs the information. The transport system according to claim 1 .

18. The conveying device is capable of changing the direction of movement by turning at the position of the floor marker; The conveying device performs the inspection of the camera while changing the direction of the conveying device by rotating the conveying device with respect to the inspection pattern. The transport system according to claim 1 .

19. The direction of the transport device with respect to the inspection pattern is changed, and inspection of the camera of the transport device is performed. The transport system according to claim 1 .

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