Induction system

Abstract

To provide a guidance system allowing an operator manipulating a manned vehicle to intuitively recognize a distance to a handling position and a direction, etc. using an unmanned flying body.SOLUTION: A guidance system S comprises: a manned vehicle 1 manipulated by an operator O; a plurality of hoverable unmanned flying bodies 2 including a projection unit 23 for projecting guidance images 200 and 201 on a road surface P; a management device 3 which controls the unmanned flying bodies 2; a taxiway generation unit 31 which generates a taxiway 4 between the vehicle position D1 and the handling position D2 of the manned vehicle 1; an arrangement determination unit 32 which determines a position in which the plurality of unmanned flying bodies 2 hover on the taxiway 4; and a projection instruction unit 33 which determines the guidance images 200 and 201 to be projected on the road surface P on the basis of an interval X between unmanned flying bodies 2 hovering on the taxiway 4 and transmits an instruction to the projection unit 23.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a guidance system including a manned transport vehicle and an unmanned aerial vehicle.

Background Art

[0002] A manned transport vehicle (for example, a forklift) used in facilities such as factories and warehouses is configured to operate by an operator boarding and operating it. The forklift is configured to perform loading and unloading operations of loading and unloading goods using forks.

[0003] By the way, a guidance system including a manned transport vehicle operated by an operator, an unmanned aerial vehicle capable of hovering in the air, and a management device for controlling the unmanned aerial vehicle is known (see Patent Document 1, etc.).

[0004] In the guidance system, the unmanned aerial vehicle includes a projector that projects a guidance image onto the road surface. The guidance image shows, for example, an arrow indicating a specific direction and is projected onto the road surface in front of the manned transport vehicle. Thereby, the operator operating the manned transport vehicle is configured to be guided to the loading and unloading position by checking the guidance image.

[0005] By the way, in the conventional guidance system, since the manned transport vehicle is guided based on one guidance image projected by one unmanned aerial vehicle, there is a problem that it is difficult for the operator operating the manned transport vehicle to intuitively recognize the distance and direction to the loading and unloading position.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] Therefore, the problem to be solved by the present invention is to provide a guidance system that enables an operator who operates a manned transport vehicle to intuitively recognize the distance and direction to a loading / unloading position, etc., by using a plurality of unmanned aerial vehicles for guiding the manned transport vehicle.

Means for Solving the Problem

[0008] To solve the above problems, the guidance system according to the present invention includes a manned transport vehicle operated by an operator, a plurality of unmanned aerial vehicles that can be stopped in the air and have a projection unit for projecting a guidance image on the road surface, and a management device for controlling the unmanned aerial vehicles. The guidance system includes a guidance path generation unit that generates a guidance path between the vehicle position and the loading / unloading position of the manned transport vehicle, an arrangement determination unit that determines positions where a plurality of unmanned aerial vehicles stop in the air on the guidance path, and a projection instruction unit that determines a guidance image projected on the road surface based on the distance between the unmanned aerial vehicles stopped in the air on the guidance path and sends an instruction to the projection unit.

[0009] Preferably, the projection instruction unit determines to project a first guidance image when the distance between the unmanned aerial vehicles is shorter than a predetermined distance set in advance, and to project a second guidance image when the distance between the unmanned aerial vehicles is longer than the predetermined distance.

[0010] Also, it is desirable that the second guidance image is projected over a wider range than the first guidance image.

[0011] Also, the arrangement determination unit may determine the in-air stop positions of the unmanned aerial vehicles so that the unmanned aerial vehicles are arranged at the height of the loading / unloading position.

[0012] Preferably, the arrangement determination unit determines the in-air stop positions of the unmanned aerial vehicles so that the unmanned aerial vehicles are arranged at the height of the loading / unloading position. Also, when the height of the loading / unloading position corresponds to the height of the lowermost shelf, the management device controls the unmanned aerial vehicles to emit light.

[0013] Preferably, the placement determination unit determines the aerial stop position of the unmanned aerial vehicle so that the unmanned aerial vehicle is placed at the height of the loading position. Further, when the height of the loading position corresponds to the height of the lowermost shelf, the management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guiding image toward the ceiling.

[0014] Preferably, the placement determination unit determines the aerial stop position of the unmanned aerial vehicle on a straight line connecting the eye level of the operator operating the manned transporter and the height of the loading position.

[0015] The placement determination unit may determine the aerial stop position of the unmanned aerial vehicle on a straight line connecting the height corresponding to the eyes of the operator operating the manned transporter and the height of the loading position. Further, the management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guiding image toward the road surface.

[0016] Preferably, the management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guiding image toward the ceiling. Further, the placement determination unit controls the unmanned aerial vehicle so that the distance between the manned transporter and the unmanned aerial vehicle closest to the manned transporter becomes a predetermined length.

[0017] Further, the management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guiding image toward the road surface or the ceiling, and may control to perform focus adjustment to adjust the focus of the guiding image according to the height of the unmanned aerial vehicle.

Advantages of the Invention

[0018] The guiding system according to the present invention allows the operator operating the manned transporter to intuitively recognize the distance, position, direction, etc. to the loading position by suspending a plurality of unmanned aerial vehicles in the air on the guiding path generated between the vehicle position of the manned transporter and the loading position.

[0019] Furthermore, the guidance system determines a guidance image projected onto the road surface based on the distance between unmanned aerial vehicles hovering in the air on the guidance path. As a result, even when the number of unmanned aerial vehicles hovering in the air on the guidance path is small and the intervals are long, by projecting the guidance image over a wide area, it becomes easier for the operator who operates the manned transport vehicle to recognize the distance, position, direction, etc. to the loading and unloading position.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Modes for Carrying Out the Invention

[0021] Hereinafter, embodiments of the guidance system according to the present invention will be described with reference to the drawings.

[0022] <First Embodiment> As shown in FIGS. 1 to 4, the guidance system S includes a manned transport vehicle 1 operated by an operator O. The manned transport vehicle 1 is configured to operate by being operated by the operator O. In the present embodiment, the manned transport vehicle 1 is a counterbalanced forklift, and is configured to be able to travel the vehicle body and raise and lower the fork by being operated by the operator O.

[0023] The guidance system S includes a plurality of shelves R installed in a facility such as a factory or a warehouse. The shelf R has a plurality of stepped portions in the height direction, and is configured to be able to store the load L at a predetermined position of the stepped portion. The manned transport vehicle 1 performs a loading and unloading operation by loading and unloading the load L at a predetermined position of the shelf R. The shelves R are arranged at intervals of a predetermined width so that the manned transport vehicle 1 can travel and perform a loading and unloading operation, and a passage P is formed between each shelf R (FIGS. 1 and 3).

[0024] The guidance system S includes a plurality of unmanned aerial vehicles 2 that can be stopped in the air. The unmanned aerial vehicle 2 is called a drone, and is configured to fly to a predetermined aerial stop position by the rotation of rotors provided at the tip sides of a plurality of arms, and to be able to hover at the predetermined aerial stop position.

[0025] The guidance system S includes a management device 3 for controlling the unmanned aerial vehicle 2 (FIG. 4). The management device 3 includes a storage unit 30. The storage unit 30 stores a map M composed of the shelves R and passages P installed in the facility, the loads L arranged in the facility, and the like.

[0026] Furthermore, the storage unit 30 stores the task T performed by the manned transport vehicle 1 as a cargo handling schedule J. That is, the cargo handling schedule J is set with a plurality of tasks T, such as a task T1 of picking up the cargo L from a predetermined location on a predetermined shelf R, a task T2 of placing the cargo L at a predetermined location on a predetermined shelf R, a task T3 of placing the cargo L at the shipping location, and a task T4 of picking up the cargo L from the receiving location, in a predetermined order. Also, the cargo handling task T includes the position information of the cargo L and the cargo handling (picking up or placing) information for the cargo L.

[0027] The management device 3 includes a cargo handling instruction unit 34, and the cargo handling instruction unit 34 is configured to display the task T of the cargo handling schedule J transmitted from the storage unit 30 on a display unit 11 provided in the driver's seat of the manned transport vehicle 1.

[0028] The display unit 11 is configured by, for example, a touch panel display. The cargo handling instruction unit 34 displays the task T that the manned transport vehicle 1 should perform on the display unit 11. The operator O operates the manned transport vehicle 1 to perform cargo handling according to the task T displayed on the display unit 11. When the task T is completed, the operator O presses an end button displayed on the display unit 11, and an end signal is transmitted to the cargo handling instruction unit 34. The cargo handling instruction unit 34 is configured to display the next task T that the manned transport vehicle 1 should perform on the display unit 11 when it receives the end signal.

[0029] The manned transport vehicle 1 includes a position detection unit 10. The position detection unit 10 is configured by a laser sensor, a GPS sensor, an electromagnetic induction sensor, etc. The position detection unit 10 is configured to detect the vehicle position D1 of the manned transport vehicle 1.

[0030] The management device 3 includes a guidance path generation unit 31. The guidance path generation unit 31 generates a guidance path 4 between the vehicle position D1 of the manned carrier vehicle 1 and the loading and unloading position D2 based on the information of the vehicle position D1 of the manned carrier vehicle 1 transmitted from the position detection unit 10, the facility map M transmitted from the storage unit 30, and the task T of the loading and unloading schedule J transmitted from the storage unit 30. The loading and unloading position D2 is a position on the passage P where the manned carrier vehicle 1 picks up and places loads in the task T (Fig. 3).

[0031] As shown in Fig. 3, the guidance path generation unit 31 is configured to generate, for example, a guidance path 4 that connects the vehicle position D1 and the loading and unloading position D2 on the passage P. The guidance path 4 is set, for example, so that the travel distance of the manned carrier vehicle 1 is the shortest. In this embodiment, as shown in Fig. 3, the guidance path 4 is composed of a first straight portion 41, a bending portion 40, and a second straight portion 42.

[0032] The unmanned aerial vehicle 2 includes a position detection unit 20. The position detection unit 20 is composed of a GPS sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, a barometric pressure sensor, a compass, an acceleration sensor, etc., and can detect the position of the unmanned aerial vehicle 2.

[0033] The unmanned aerial vehicle 2 includes a flight control unit 21. The flight control unit 21 is configured to control the rotation of the rotor blades. Based on the detection result of the position detection unit 20 and the control of the flight control unit 21, the unmanned aerial vehicle 2 can fly to a predetermined aerial stop position on the guidance path 4 and hover at the aerial stop position.

[0034] The arrangement determination unit 32 is configured to determine the aerial stop position where the unmanned aerial vehicle 2 hovers on the guidance path 4. As shown in Figs. 2 and 3, in this embodiment, a plurality of unmanned aerial vehicles 2 hover in the air at intervals of X on the first straight portion 41 and the second straight portion 42 of the guidance path 4, and are arranged at the bending position D3 on the bending portion 40 of the guidance path 4 and hover in the air at the loading and unloading position D2 arranged on the guidance path 4.

[0035] Since the bending position D3 on the guiding path 4 is an important position where the manned transport vehicle 1 turns, by having the unmanned aerial vehicle 2 stop in the air and hover at the bending position D3, the operator O can quickly grasp the bending position D3 which is an important position. Also, since the loading / unloading position D2 on the guiding path 4 is an important position where the manned transport vehicle 1 performs loading / unloading operations, by having the unmanned aerial vehicle 2 stop in the air and hover at the loading / unloading position D2, the operator O can quickly grasp the loading / unloading position D2 which is an important position.

[0036] The unmanned aerial vehicle 2 is provided with a storage unit 22. The storage unit 22 stores guiding images (first guiding image 200, second guiding image 201). The guiding images 200, 201 are, for example, composed of images with an arrow drawn inside a frame so as to easily guide the manned transport vehicle 1 to the loading / unloading position D2, and are configured such that the direction of the arrow is different according to the loading / unloading position D2 (FIGS. 3, 5, 6). As a result, the operator O is guided to the loading / unloading position D2 which is the loading / unloading place by driving the manned transport vehicle 1 along the direction of the arrow drawn in the guiding images 200, 201.

[0037] The unmanned aerial vehicle 2 is provided with a projection unit 23. The projection unit 23 is composed of, for example, a projector or the like, and can project the guiding image 200 stored in the storage unit 22 onto the passage P (FIGS. 1 to 3).

[0038] The management device 3 is provided with a projection instruction unit 33. The projection instruction unit 33 is configured to determine the guiding images 200, 201 to be projected onto the road surface P based on the interval X between the unmanned aerial vehicles 2 that stop in the air on the guiding path 4, and send an instruction to project to the projection unit 23 of the unmanned aerial vehicle 2.

[0039] As shown in FIG. 7, when the interval X between the unmanned aerial vehicles 2 that stop in the air on the guiding path 4 is shorter than a preset predetermined distance F, the projection instruction unit 33 determines to project the first guiding image 200 onto the road surface P. In the present embodiment, as shown in FIGS. 2 and 3, the first guiding image 200 is configured with one arrow drawn inside one circular frame. The first guiding image 200 is to be projected onto the first range W1.

[0040] Also, as shown in FIG. 7, when the interval X between the unmanned aerial vehicles 2 hovering in the air on the guiding path 4 is longer than the predetermined distance F, the projection instruction unit 33 determines to project the second guiding image 201 onto the road surface P. In the present embodiment, as shown in FIG. 5, the second guiding image 201 is configured by drawing two arrows inside one oval frame. The second guiding image 201 is projected onto a second range W2 that is wider than the first range W1. Also, as shown in FIG. 6, the second guiding image 201 may be configured by arranging, for example, two circular frames in the second range W2 and drawing one arrow inside each circular frame.

[0041] The operator O visually observes the guiding images 200 and 201 projected on the passage P, drives the manned carrier vehicle 1 along the guiding images 200 and 201 to the loading / unloading position D2, and can operate the manned carrier vehicle 1 according to the task T displayed on the display unit 11 to perform the loading / unloading operation on the luggage L.

[0042] Also, the distance of the interval X between the unmanned aerial vehicles 2 is determined according to the number of unmanned aerial vehicles 2 hovering in the air on the guiding path 4. However, if the same guiding image is projected onto the road surface P regardless of the distance of the interval X, the operator O driving the manned carrier vehicle 1 may lose sight of the guiding image, and the manned carrier vehicle 1 may not be properly guided to the loading / unloading position D2. Therefore, by determining the guiding images 200 and 201 projected onto the road surface P based on the interval X between the unmanned aerial vehicles 2, the manned carrier vehicle 1 can be properly guided to the loading / unloading position D2.

[0043] In the guiding system S, by hovering a plurality of unmanned aerial vehicles 2 in the air on the guiding path 4 generated between the vehicle position D1 and the loading / unloading position D2 of the manned carrier vehicle 1, the operator O operating the manned carrier vehicle 1 can intuitively recognize the distance and direction to the loading / unloading position D2 and the like.

[0044] <Other Embodiments> Based on FIGS. 8 to 13, other embodiments of the guiding system S will be described. Note that, for the same configurations as those in the first embodiment above, redundant descriptions may be omitted to avoid duplication.

[0045] (Embodiment 1) As shown in FIG. 8, the placement determination unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 such that the unmanned aerial vehicle 2 is placed at the height of the loading position D2. That is, the storage unit 30 of the management device 3 stores the height position of the loading position D2 of each task T in the loading schedule J. The height position of the loading position D2 is the height of the load L to be loaded and unloaded in each task T. The manned transporter 1 performs loading and unloading operations on the load L at the height position of the loading position D2. The placement determination unit 32 is configured such that the unmanned aerial vehicle 2 hovers and stops in the air at a height corresponding to the height position of the loading position D2 of each task T.

[0046] The operator O who operates the manned transporter 1 travels the manned transporter 1 along the guidance image 200(201) projected onto the passage P from the unmanned aerial vehicle 2. By simply visually confirming the aerial stop position of the unmanned aerial vehicle 2, the operator O can intuitively recognize the height of the load L for which the loading and unloading operations should be performed.

[0047] (Embodiment 2) As shown in FIG. 9, the placement determination unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 such that the unmanned aerial vehicle 2 is placed at the height of the loading position D2. And the unmanned aerial vehicle 2 is provided with a light emitting device (not shown), and is configured to emit light so that the operator O can easily recognize the position of the unmanned aerial vehicle 2.

[0048] When the height position of the loading position D2 corresponds to the height of the lowermost stage of the shelf R, the placement determination unit 32 of the management device 3 determines the aerial stop position of the unmanned aerial vehicle 2 such that the unmanned aerial vehicle 2 is placed at the height of the lowermost stage of the shelf R. Therefore, since the unmanned aerial vehicle 2 stops in the air at a low position close to the passage P, even if the guidance image 200(201) is projected onto the passage P, it is difficult for the operator O to recognize it. Thus, the unmanned aerial vehicle 2 emits light, and as a result, the operator O can surely recognize the guide path 4.

[0049] When the manned transporter 1 travels and approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 is configured to perform an avoidance flight so as not to collide with the manned transporter 1.

[0050] The operator O who operates the manned transporter 1 can reach the loading / unloading position D2 by driving the manned transporter 1 along the unmanned aerial vehicle 2. By simply visually confirming the aerial stop position of the unmanned aerial vehicle 2, the operator can intuitively recognize the height of the load L to be loaded / unloaded.

[0051] (Embodiment 3) As shown in FIG. 10, the arrangement determination unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is arranged at the height position of the loading / unloading position D2. The unmanned aerial vehicle 2 is provided with a projection unit 23, and the projection unit 23 is configured to be able to project a guiding image 200(201) onto the ceiling C of the facility.

[0052] When the height position of the loading / unloading position D2 corresponds to the height of the lowermost stage of the shelf R, the arrangement determination unit 32 of the management device 3 determines the aerial stop position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is arranged at the height of the lowermost stage of the shelf R. Therefore, since the unmanned aerial vehicle 2 is hovering at a low position close to the passage P, even if the guiding image 200(201) is projected onto the passage P, it is difficult for the operator O to recognize it. By projecting the guiding image 200(201) onto the ceiling C by the unmanned aerial vehicle 2, the operator O can surely recognize the guiding path 4.

[0053] When the manned transporter 1 travels and approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 is configured to perform an avoidance flight so as not to collide with the manned transporter 1.

[0054] The operator O who operates the manned transporter 1 can reach the loading / unloading position D2 by driving the manned transporter 1 along the guiding image 200(201) projected from the unmanned aerial vehicle 2 onto the ceiling C. By simply visually confirming the aerial stop position of the unmanned aerial vehicle 2, the operator can intuitively recognize the height of the load L to be loaded / unloaded.

[0055] (Embodiment 4) As shown in FIG. 11, the arrangement determination unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 on a straight line OS connecting the eye height of the operator O operating the manned carrier vehicle 1 and the height position of the loading / unloading position D2. The unmanned aerial vehicle 2 is provided with a light-emitting device (not shown) and is configured to emit light so that the operator O can easily recognize the position of the unmanned aerial vehicle 2.

[0056] The operator O operating the manned carrier vehicle 1 can reach the loading / unloading position D2 by driving the manned carrier vehicle 1 along the unmanned aerial vehicle 2. By simply visually confirming the aerial stop position of the unmanned aerial vehicle 2, the operator O can intuitively recognize the height of the load L to be loaded / unloaded.

[0057] (Embodiment 5) As shown in FIG. 12, the arrangement determination unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 on a straight line OS connecting the eye height of the operator O operating the manned carrier vehicle 1 and the height position of the loading / unloading position D2. The unmanned aerial vehicle 2 is provided with a projection unit 23, and the projection unit 23 is configured to be able to project a guiding image 200(201) onto the passage P of the facility.

[0058] The operator O operating the manned carrier vehicle 1 can reach the loading / unloading position D2 by driving the manned carrier vehicle 1 along the unmanned aerial vehicle 2. By simply visually confirming the aerial stop position of the unmanned aerial vehicle 2, the operator O can intuitively recognize the height of the load L to be loaded / unloaded.

[0059] In addition, since the operator O can drive the manned carrier vehicle 1 along the unmanned aerial vehicle 2, the guiding image 200(201) does not need to be composed of an arrow pointing in the direction of the loading / unloading position D2, and can display other information such as the type of the load L to be loaded / unloaded. Therefore, the operator O can make preparations for loading and unloading according to the type of the load L and the like.

[0060] (Embodiment 6) As shown in FIG. 13, the placement determination unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 such that the unmanned aerial vehicle 2 is placed at the height position of the loading / unloading position D2. The unmanned aerial vehicle 2 is provided with a projection unit 23, and the projection unit 23 is configured to be able to project a guidance image 200(201) onto the ceiling C of the facility.

[0061] When the height position of the loading / unloading position D2 corresponds to the height of the lowermost stage of the shelf R, the placement determination unit 32 of the management device 3 determines the aerial stop position of the unmanned aerial vehicle 2 such that the unmanned aerial vehicle 2 is placed at the height of the lowermost stage of the shelf R. Therefore, since the unmanned aerial vehicle 2 is at a low position close to the passage P, even if the guidance image 200(201) is projected onto the passage P, it is difficult for the operator O to recognize it. Thus, the projection instruction unit 33 controls the unmanned aerial vehicle 2 to project the guidance image 200(201) onto the ceiling C.

[0062] Furthermore, when the distance Y between the manned transport vehicle 1 and the unmanned aerial vehicle 2 closest to the manned transport vehicle 1 is short, it is dangerous because the line of sight of the operator O operating the manned transport vehicle 1 is directed upward at a large angle. Therefore, the placement determination unit 32 controls such that the distance Y between the manned transport vehicle 1 and the guidance image 200(201) closest to the manned transport vehicle 1 becomes a predetermined length and the line of sight of the operator O does not face upward at a large angle.

[0063] The distance Y may be a preset constant length. For example, it may be changed according to the speed of the manned transport vehicle 1, such as becoming longer when the speed of the manned transport vehicle 1 is faster than a predetermined speed and becoming shorter when it is slower than the predetermined speed. Thereby, since the line of sight of the operator O operating the manned transport vehicle 1 faces upward at a small angle, the manned transport vehicle 1 can travel safely.

[0064] When the manned transport vehicle 1 travels and approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 is configured to perform an avoidance flight so as not to collide with the manned transport vehicle 1.

[0065] The operator O who operates the manned transporter 1 travels the manned transporter 1 along the guidance image 200(201) projected onto the ceiling C from the unmanned aerial vehicle 2. By simply visually confirming the aerial stop position of the unmanned aerial vehicle 2, the operator can intuitively recognize the height of the luggage L for which the handling is to be performed.

[0066] (Embodiment 7) When the projection instruction unit 33 of the management device 3 projects the guidance image 200(201) toward the road surface P or the ceiling C by the unmanned aerial vehicle 2, the projection instruction unit 33 may control to perform focus adjustment to adjust the focus so that the guidance image 200(201) is clearly projected onto the road surface P or the ceiling C according to the height of the aerial stop position of the unmanned aerial vehicle 2.

[0067] By clearly projecting the guidance image 200(201) onto the road surface P or the ceiling C by focus adjustment, the operator O can surely recognize the guidance image 200(201), and thereby can appropriately drive and operate the manned transporter 1.

[0068] As described above, the preferred embodiments of the present invention have been described, but the configuration of the present invention is not limited to these embodiments. For example, it can also be changed as follows.

[0069] In the above embodiment, the unmanned aerial vehicle 2 is configured such that the guidance path 4 is recognized by the operator O's vision by projecting the guidance images 200 and 201 onto the passage P or the ceiling C or by emitting light from the own vehicle. However, the unmanned aerial vehicle 2 may be provided with a voice generation unit (not shown) that emits sounds such as voice, buzzer, chime, etc., and may be configured such that the guidance path 4 is recognized by the operator O's hearing. The voice generation unit is configured to emit voices such as "Turn left 15 m ahead", "Destination 30 m ahead", "There is an obstacle ahead. Please be careful", etc.

[0070] The distance of the interval X of the unmanned aerial vehicle 2 does not have to be a constant distance on the guidance path 4, and may be determined according to the distances of the first straight portion 41, the second straight portion 42, etc., for example.

[0071] In addition, in this embodiment, the guidance images 200 and 201 are of two types, namely the first guidance image 200 and the second guidance image 201, but there may be three or more types, such as adding a third guidance image. Then, according to the distance of the interval X of the unmanned aerial vehicle 2, the guidance image projected onto the road surface P or the like may be determined from among the plurality of guidance images.

[0072] The effects of the present invention will be described.

[0073] In the guidance system S, by suspending a plurality of unmanned aerial vehicles 2 in the air on the guidance path 4 generated between the vehicle position D1 and the loading position D2 of the manned transport vehicle 1, the operator O operating the manned transport vehicle 1 can intuitively recognize the distance, position, direction, etc. to the loading position D2.

[0074] Furthermore, the guidance system S determines the guidance images 200 and 201 projected onto the road surface P based on the interval X of the unmanned aerial vehicles 2 suspended in the air on the guidance path 4. Therefore, even when the interval X changes according to the number of unmanned aerial vehicles 2 suspended in the air on the guidance path 4, the guidance images 200 and 201 corresponding to the interval X are projected, so that the operator O driving the manned transport vehicle 1 can easily recognize the distance, position, direction, etc. to the loading position D2.

Explanation of Signs

[0075] O Operator 1 Manned transport vehicle 2 Unmanned aerial vehicle 3 Management device 4 Guidance path S Guidance system 22 Storage unit 23 Projection unit 31 Guidance path generation unit 32 Arrangement determination unit 33 Shooting instruction unit D1 Vehicle position D2 Loading position D3 Bending position R Shelf P Road surface C Ceiling 200 First guidance image 201 Second induced image

Claims

1. A manned transport vehicle operated by an operator; A plurality of unmanned aerial vehicles having a projection unit for projecting a guidance image onto a road surface and capable of stopping in the air; A management device for controlling the unmanned aerial vehicle; A guide path generating unit that generates a guide path between a vehicle position of the manned guided vehicle and a loading position; A placement determination unit that determines positions at which the plurality of unmanned aerial vehicles will stop in the air on the taxiway; and a projection instruction unit that determines the guidance image to be projected onto the road surface based on the distance between the unmanned aerial vehicles stopping in the air on the taxiway and sends instructions to the projection unit. A guidance system comprising:

2. The projection instruction unit is When the distance between the unmanned aerial vehicles is shorter than a predetermined distance, a first guidance image is projected; When the distance between the unmanned aerial vehicles is longer than the predetermined distance, a second guidance image is projected.

2. The guidance system according to claim 1 .

3. The second guide image is projected over a wider area than the first guide image.

3. The guidance system according to claim 2.

4. The management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward a road surface or a ceiling, A focus adjustment is performed to adjust the focus of the guidance image according to the height of the unmanned aerial vehicle.

2. The guidance system according to claim 1 .

Images