Cargo handling systems and reflective devices

Abstract

To enable a cargo handling vehicle to handle a cargo from both the right side of a load carrying platform of a transporting vehicle and the left side thereof.SOLUTION: A cargo handling system includes: a reflector apparatus 2FL provided at a load carrying platform 93 of a transporting vehicle 90; and a cargo handling vehicle 30L which autonomously runs while estimating the own position by collimation of the reflector apparatus 2FL and which performs a loading operation of a cargo 99 to the load carrying platform 93 or picking-up operation of the cargo therefrom. The reflector apparatus 2FL includes: a first reflector portion 21 which is provided on the load carrying platform 93 and which is directed toward either the right side of the load carrying platform 93 or the left side thereof; and a second reflector portion 22 which is provided on the load carrying platform 93 at the right side of the first reflector portion 21 and which is directed toward the other side of the load carrying platform 93.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a cargo handling system and a reflection device.

Background Art

[0002] Patent Document 1 discloses a technique in which an autonomous traveling cargo handling vehicle loads cargo onto the cargo bed of a transport vehicle such as a truck. This cargo handling vehicle includes a laser scanner used for autonomous traveling. The cargo handling vehicle collimates a reflector installed on the right side of the cargo bed of the transport vehicle with the laser scanner to estimate its own position relative to the transport vehicle, travels along the right side of the cargo bed, and loads cargo onto the cargo bed from the right side of the cargo bed.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] However, it is desirable to enable the cargo handling vehicle to load cargo onto the cargo bed of the transport vehicle not only from the right side of the cargo bed but also from the left side thereof.

[0005] In view of the above problem, an object of the present invention is to enable a cargo handling vehicle to perform cargo handling from both the left side and the right side of the cargo bed of a transport vehicle.

Means for Solving the Problem

[0006] In order to achieve the above object, a reflection device provided on a cargo bed of a transport vehicle; and a cargo handling vehicle that autonomously travels while estimating its own position by collimating the reflection device, and performs an operation of loading cargo onto the cargo bed or an operation of unloading cargo from the cargo bed; the reflection device A first reflective section is provided on the cargo bed and is directed toward one of the left or right sides of the cargo bed, A second reflective portion is provided on the cargo bed to the left or right of the first reflective portion and directed toward the other side of the cargo bed, to have death, The first reflector, which is proximal to the cargo handling vehicle traveling alongside one of the aforementioned sides, is inclined with respect to a reference plane defined by the longitudinal and vertical directions of the transport vehicle, and the second reflector, which is distal to the cargo handling vehicle traveling alongside one of the aforementioned sides, is inclined from the reference plane in the opposite direction to the inclination of the first reflector from the reference plane. The first reflective section and the second reflective section are positioned on the cargo bed, adjacent to one of the aforementioned sections. The angle at which the distal second reflector is inclined from the reference plane relative to the cargo handling vehicle traveling alongside one of the aforementioned sides is greater than the angle at which the proximal first reflector is inclined from the reference plane relative to the cargo handling vehicle traveling alongside one of the aforementioned sides. A cargo handling system is provided. [Effects of the Invention]

[0007] According to the present invention, the cargo handling device can perform cargo handling from either the left or right side of the cargo bed. [Brief explanation of the drawing]

[0008] [Figure 1] This is a top view of the cargo handling system and transport vehicle in the first embodiment. [Figure 2] This is a perspective view of the transport vehicle in the first embodiment. [Figure 3] This is a perspective view of the reflective device in the first embodiment. [Figure 4] This is a top view of the cargo handling system and transport vehicle in the second embodiment. [Figure 5] This is a perspective view of the reflector in the second embodiment. [Modes for carrying out the invention]

[0009] Embodiments will be described below with reference to the drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. The drawings are provided for illustrative purposes only, and therefore the scope of the present invention is not limited to the examples shown in the drawings.

[0010] [First Embodiment] <Cargo handling systems and transport vehicles> Figure 1 is a top view of the cargo handling system and transport vehicle 90. Figure 2 is a perspective view of the transport vehicle 90.

[0011] The cargo handling system is equipped with two automated guided forklifts (AGFs) 30L and 30R, and four optical reflectors 2FL, 2FR, 2RL, and 2RR. Cargo handling system 1 is a system that loads cargo 99 from the receiving area onto the cargo bed 93 of the transport vehicle 90 using AGFs 30L and 30R, or unloads cargo 99 from the cargo bed 93 of the transport vehicle 90 onto the delivery area using AGFs 30L and 30R.

[0012] The transport vehicle 90 is a cargo truck. The transport vehicle 90 comprises a cab 91, a chassis 92, and a cargo bed 93. The cab 91 is the driver's cabin where the crew sits. The cab 91 is mounted on the front of the chassis 92, and wheels and the like are attached to the chassis 92. The cargo bed 93 is mounted on the chassis 92 behind the cab 91. The cargo bed 93 is a platform on which cargo 99 is placed. The cargo bed 93 has a double-wing structure in which its left and right sides can be opened and closed. Specifically, the cargo bed 93 comprises a floor plate 93a, a front panel 93b, a rear panel 93c, a pair of side panels 94L, 94R, and wing panels 95L, 95R. The floor plate 93a is mounted on the chassis 92 and extends in a rectangular shape in the front, back, left, and right directions. The front panel 93b stands upright at the front end of the floor plate 93a and extends in a rectangular shape in the up, down, left, and right directions. The rear panel 93c stands upright at the rear end of the floorboard 93a and extends in a rectangular shape in all directions (up, down, left, and right). The rear panel 93c faces the front panel 93b. The rear panel 93c may have an openable door. The left side tailgate 94L is attached to the left end of the floorboard 93a via a hinge so as to be able to swing up and down, and the right side tailgate 94R is attached to the right end of the floorboard 93a via a hinge so as to be able to swing up and down. The wing panels 95L and 95R are gull-wing type door panels. The wing panels 95L and 95R are attached to the left and right center of the upper ends of the front panel 93b and the rear panel 93c so as to be able to swing up and down. As the side panels 94L and 94R are raised and the wing panels 95L and 95R are lowered, a closed space is formed, enclosed by the floor plate 93a, front panel 93b, rear panel 93c, side panels 94L and 94R, and wing panels 95L and 95R.

[0013] The reflectors 2FL, 2FR, 2RL, 2RR are provided on the cargo bed 93. The reflectors 2FL, 2FR, 2RL, 2RR are targets collimated by the laser scanners 33L, 33R of the AGFs 30L, 30R. The reflectors 2FL, 2FR, 2RL, 2RR are respectively used to cause the control units of the AGFs 30L, 30R to recognize the positions of the left front corner, right front corner, left rear corner and right rear corner of the cargo bed 93. The reflectors 2FL, 2FR, 2RL, 2RR and the laser scanner 33L of the AGF 30L are used for estimating the self-position of the AGF 30L in an absolute coordinate system based on the transport vehicle 90. The reflectors 2FL, 2FR, 2RL, 2RR and the laser scanner 33R of the AGF 30R are used for estimating the self-position of the AGF 30R in an absolute coordinate system based on the transport vehicle 90. Details of the reflectors 2FL, 2FR, 2RL, 2RR will be described later.

[0014] The AGFs 30L, 30R are automated guided forklifts that autonomously travel on the floor of a work site without using rails or the like. The AGFs 30L, 30R perform cargo handling operations through autonomous operation. Cargo handling operations include loading operations and unloading operations, and the loading operation and unloading operation are, for example, as follows. In the case of a loading operation, first, the AGF 30L travels to a cargo receiving location away from the transport vehicle 90 to pick up the cargo 99. Thereafter, the AGF 30L lifts the cargo 99 at the cargo receiving location. Thereafter, the AGF 30L conveys the cargo 99 to the left side of the cargo bed 93. Thereafter, the AGF 30L loads the cargo 99 from the left side of the cargo bed 93 onto the floor plate 93a of the cargo bed 93. By repeating such a series of operations, the AGF 30L loads a plurality of pieces of cargo 99 one by one onto the floor plate 93a of the cargo bed 93. In the case of an unloading operation, first, the AGF30L travels to the left side of the loading platform 93 to retrieve the cargo 99 loaded on the loading platform 93. Thereafter, the AGF30L lifts the cargo 99 on the floor plate 93a and takes out the cargo 99 from the loading platform 93. Thereafter, the AGF30L transports the cargo 99 from the left side of the loading platform 93 to the unloading destination. Thereafter, the AGF30L unloads the cargo 99 at the unloading destination. By repeating such a series of operations, the AGF30L unloads a plurality of loads 99 one by one from the floor plate 93a of the loading platform 93.

[0015] While the AGF30L travels on the left side of the loading platform 93, the AGF30R travels on the right side of the loading platform 93. While the AGF30L loads the cargo 99 from the left side of the loading platform 93 onto the floor plate 93a of the loading platform 93, the AGF30R loads the cargo 99 from the right side of the loading platform 93 onto the floor plate 93a of the loading platform 93. Further, while the AGF30L takes the cargo 99 out to the left side of the loading platform 93, the AGF30R takes the cargo 99 out to the right side of the loading platform 93.

[0016] The AGF30L includes a traveling body 31L, a lifter 32L, a laser scanner 33L, and a control unit.

[0017] The traveling body 31L includes a vehicle body, a pair of drive wheels, a motor that drives the drive wheels, a pair of steered wheels, and a steering mechanism that steers the steered wheels. The traveling body 31L travels when the drive wheels are driven by the motor. After the steered wheels are steered by the steering mechanism, the drive wheels are driven by the motor, whereby the traveling body 31L turns.

[0018] The lifter 32L is attached to the front of the vehicle 31L. The lifter 32L lifts and lowers the load 99. The lifter 32L has a fork that supports the load 99 from below, a lifting mechanism that raises and lowers the fork, and a tilt mechanism that tilts the fork and the lifting mechanism. The fork supports the load 99 from below. The load 99 is lifted when the lifting mechanism raises the fork, and the load 99 is lowered when the lifting mechanism lowers the fork. When the tilt mechanism tilts the fork upward, the load 99 is supported by the mast of the lifting mechanism behind it.

[0019] The laser scanner 33L is mounted on the upper front end of the vehicle 31L. The laser scanner 33L is an optical range sensor, also known as LiDAR (Light Detection And Ranging). In other words, the laser scanner 33L detects the distance from the object by projecting a laser beam horizontally and receiving the reflected light of the laser beam incident on the object. The laser scanner 33L also detects the direction from the laser scanner 33L to the object as a rotation angle around a vertical axis by deflecting the laser beam. Deflection of a laser beam refers to displacing the direction of emission of the laser beam around a vertical axis. Here, sighting refers to the process in which the laser scanner 33L projects a laser beam onto a specific object and receives the reflected light from that object. When the laser scanner 33L sights the reflector 2FL with its laser beam, the laser scanner 33L detects the distance from the laser scanner 33L to the reflector 2FL and the direction from the laser scanner 33L to the reflector 2FL. The same applies when the laser scanner 33L sights the other reflectors 2FR, 2RL, and 2RR with its laser beam.

[0020] The loading and unloading operations of the AGF30L, as described above, are realized by the control unit controlling the traveling body 31L and the lifter 32L. The control unit includes a CPU (Central Processing Unit) and a storage medium. The control unit immediately calculates the position of the AGF30L's mobile body 31L based on the distance and direction to each reflective device 2FL, 2FR, 2RL, and 2RR detected by the laser scanner 33L. For example, first, the control unit calculates the positions of each reflective device 2FL, 2FR, 2RL, and 2RR relative to the mobile body 31L in a relative coordinate system based on the distance and direction to each reflective device 2FL, 2FR, 2RL, and 2RR detected by the laser scanner 33L. Then, the control unit converts the position of the mobile body 31L in the relative coordinate system to the position of the mobile body 31L in the absolute coordinate system based on the relative coordinate system positions and absolute coordinate system positions (these positions are included in the map data described later) of at least two of the reflective devices 2FL, 2FR, 2RL, and 2RR. Here, the control unit stores the map data in the storage medium. The map data includes at least reference position data representing the positions of each reflector (2FL, 2FR, 2RL, 2RR) in absolute coordinates. The map data also includes path data, as described below. Furthermore, the relative coordinate system positions of each reflector 2FL, 2FR, 2RL, and 2RR, relative to the vehicle 31L, may be calculated by a control circuit built into the laser scanner 33L.

[0021] The control unit controls the AGF30L's vehicle 31L (particularly the steering mechanism and the motors for the drive wheels) according to route data pre-recorded on the storage medium, causing the vehicle 31L to travel back and forth between the loading or unloading location and the left side of the transport vehicle 90. For example, the control unit calculates the vehicle 31L's own position in real time (i.e., monitors the AGF30L's own position) and causes the vehicle 31L to travel along the route data so that the vehicle 31L's own position lies on the route of the route data. The route data represents the route from the loading or unloading location to the left side of the transport vehicle 90 and the reverse route in an absolute coordinate system. In Figure 1, a portion of the route is shown by a dashed line.

[0022] Furthermore, during round-trip travel, specifically after the AGF30L has traveled to the left side of the transport vehicle 90 but before returning to the loading or unloading location, the control unit controls the traveling body 31L and the lifter 32L so that the AGF30L performs the loading or unloading operation of the cargo 99. Furthermore, during round-trip travel, specifically after the AGF30L has traveled to the receiving or unloading location and before returning to the left side of the transport vehicle 90, the control unit controls the traveling body 31L and the lifter 32L so that the AGF30L performs a lifting operation of the load 99 at the receiving location or an unloading operation of the load 99 at the unloading location.

[0023] Similar to the AGF30L, the AGF30R includes a traveling body 31R, a lifter 32R, a laser scanner 33R, and a control unit.

[0024] In the above description, two AGF30L and 30R units travel alongside the transport vehicle 90, one on the left and the other on the right. Alternatively, one AGF unit may travel alongside the transport vehicle 90, and that AGF unit may perform loading or unloading operations of the cargo 99 from the left and right sides of the transport vehicle 90.

[0025] Furthermore, in the above description, the control unit of AGF30L performs the processing independently. Alternatively, the control unit may operate the vehicle 31L and the lifter 32L according to commands from a server with which it can communicate. In this case, the control unit transfers the output signal of the laser scanner 33R to the server, and the server calculates the position of the vehicle 31L in an absolute coordinate system based on that signal and issues a command to the control unit to move the vehicle 31L along the path data.

[0026] <Reflector> The reflective devices 2FL, 2FR, 2RL, and 2RR will be described in detail below. When describing the arrangement of reflective devices 2FL, 2FR, 2RL, and 2RR below, the front-to-back, left-to-right, and up-and-down directions are defined relative to the transport vehicle 90.

[0027] Reflector 2FL is installed on the left front corner of the cargo bed 93, reflector 2FR is installed on the right front corner of the cargo bed 93, reflector 2RL is installed on the left rear corner of the cargo bed 93, and reflector 2RR is installed on the right rear corner of the cargo bed 93. Specifically, the reflector 2FL is mounted above the floor plate 93a, on the left edge 193bL of the rear surface 193b of the front panel 93b. The reflector 2FR is mounted above the floor plate 93a, on the right edge 193bR of the rear surface 193b of the front panel 93b. The reflector 2RL is mounted above the floor plate 93a, on the left edge 193cL of the front surface 193c of the rear panel 93c. The reflector 2RR is mounted above the floor plate 93a, on the right edge 193cR of the front surface 193c of the rear panel 93c. The height from the floor plate 93a to the bottom edge of each reflector 2FL, 2FR, 2RL, 2RR is greater than or equal to the height from the bottom edge to the top edge of the cargo 99.

[0028] <<Left front reflector>> Figure 3 is a perspective view of the left front reflector 2FL. As shown in Figure 3, the left front reflector 2FL has a body 20, a first reflector 21, and a second reflector 22. The reflector 2FL is manufactured by integrating the body 20, the first reflector 21, and the second reflector 22 through assembly or the like.

[0029] The body 20 is shaped like a triangular prism, more specifically an acute triangular prism or a right triangular prism, and consists of, for example, a triangular prism-shaped skeletal structure. Reflectors 21 and 22 are provided on the body 20. The reflectors 21 and 22 may be attached to the body 20 or may be integrally formed with the body 20. The area of ​​the second reflector 22 is larger than the area of ​​the first reflector 21. The first reflector 21 and the second reflector 22 are arranged to form a superior angle. A superior angle is an angle greater than 180° and less than 360°.

[0030] The first reflecting section 21 may be composed of a retroreflector that retroreflects light rays incident on the first reflecting section 21. Retroreflection means reflecting incident light rays in a direction parallel to and opposite to the direction of incidence. The second reflecting section 22 may be composed of a retroreflector that retroreflects light rays incident on the second reflecting section 22. The first reflective portion 21 and the second reflective portion 22 may be flat, cylindrically concave, or cylindrically convex.

[0031] As shown in Figure 1, when the left front reflector 2FL is attached to the left end 193bL of the rear surface 193b of the front panel 93b, the body 20 is attached to the left end 193bL of the rear surface 193b of the front panel 93b by fasteners such as magnets, fasteners, hooks, and double-sided adhesive tape. The body 20 may be detachable from the front panel 93b.

[0032] The reflective sections 21 and 22 are positioned towards the left end of the cargo bed 93, with the second reflective section 22 positioned to the right of the first reflective section 21. Comparing the second reflective section 22 and the first reflective section 21, the first reflective section 21 is positioned proximally to the left side of the cargo bed 93 and the AGF30L running along it, while the second reflective section 22 is positioned distally to the left side of the cargo bed 93 and the AGF30L. Furthermore, the first reflective section 21 is positioned distally to the right side of the cargo bed 93 and the AGF30R running along it, while the second reflective section 22 is positioned proximally to the right side of the cargo bed 93 and the AGF30R. Looking from the left side of the cargo bed 93 towards the reflective device 2FL, the second reflective section 22 is hidden behind the first reflective section 21. Therefore, even if the laser scanner 33L of the AGF30L projects a laser beam toward the second reflector 22, the laser beam is reflected by the first reflector 21 and does not reach the second reflector 22. When viewing the reflector 2FL from the right side of the cargo bed 93, the first reflector 21 is hidden behind the second reflector 22. Therefore, even if the laser scanner 33R of the AGF30R projects a laser beam toward the first reflector 21, the laser beam is reflected by the second reflector 22 and does not reach the first reflector 21.

[0033] The first reflective section 21 and the second reflective section 22 are inclined with respect to a reference plane 80 defined by the longitudinal and vertical directions of the transport vehicle 90. Specifically, when viewed from above, the first reflective section 21 is inclined counterclockwise from the reference plane 80. Therefore, the first reflective section 21 is directed diagonally to the left rear of the cargo bed 93. When viewed from above, the second reflective section 22 is inclined clockwise from the reference plane 80. Therefore, the second reflective section 22 is directed diagonally to the right rear of the cargo bed 93. The inclination angle of the second reflective section 22 with respect to the reference plane 80 is greater than the inclination angle of the first reflective section 21 with respect to the reference plane 80.

[0034] <<Reflector on the front right>> Similar to the left front reflector 2FL, the right front reflector 2FR has a body 20, a first reflector 21, and a second reflector 22.

[0035] When the body 20 of the right front reflector 2FR is attached to the right end 193bR of the rear surface 193b of the front panel 93b, the reflectors 21 and 22 are positioned towards the right end of the cargo bed 93, and the second reflector 22 is positioned to the left of the first reflector 21. Comparing the first reflector 21 and the second reflector 22 of the reflector 2FR, the first reflector 21 is positioned proximal to the right side of the cargo bed 93 and the AGF30R running along it, while the second reflector 22 is positioned distal to the right side of the cargo bed 93 and the AGF30R. The first reflector 21 is positioned distal to the left side of the cargo bed 93 and the AGF30L running along it, while the second reflector 22 is positioned proximal to the left side of the cargo bed 93 and the AGF30L.

[0036] The first reflective section 21 and the second reflective section 22 are inclined with respect to a reference plane 80 defined by the longitudinal and vertical directions of the transport vehicle 90. When viewed from above, the first reflective section 21 is inclined clockwise from the reference plane 80. Therefore, the first reflective section 21 is directed diagonally to the right rear of the cargo bed 93. When viewed from above, the second reflective section 22 is inclined counterclockwise from the reference plane 80. Therefore, the second reflective section 22 is directed diagonally to the left rear of the cargo bed 93. The angle of inclination of the second reflective section 22 with respect to the reference plane 80 is greater than the angle of inclination of the first reflective section 21 with respect to the reference plane 80.

[0037] <<Reflector on the left rear>> Similar to the left front reflector 2FL, the left rear reflector 2RL has a body 20, a first reflector 21, and a second reflector 22.

[0038] When the body 20 of the left rear reflector 2RL is attached to the left end 193cL of the front 193c of the rear panel 93c, the reflectors 21 and 22 are positioned towards the left end of the cargo bed 93, and the second reflector 22 is positioned to the right of the first reflector 21. Comparing the first reflector 21 and the second reflector 22 of the reflector 2RL, the first reflector 21 is positioned proximally to the left side of the cargo bed 93 and the AGF30L running along it, while the second reflector 22 is positioned distally to the left side of the cargo bed 93 and the AGF30L. The first reflector 21 is positioned distally to the right side of the cargo bed 93 and the AGF30R running along it, while the second reflector 22 is positioned proximally to the right side of the cargo bed 93 and the AGF30R.

[0039] The first reflective section 21 and the second reflective section 22 are inclined with respect to a reference plane 80 defined by the longitudinal and vertical directions of the transport vehicle 90. When viewed from above, the first reflective section 21 is inclined clockwise from the reference plane 80. Therefore, the first reflective section 21 is directed diagonally forward to the left of the cargo bed 93. When viewed from above, the second reflective section 22 is inclined counterclockwise from the reference plane 80. Therefore, the second reflective section 22 is directed diagonally forward to the right of the cargo bed 93. The angle of inclination of the second reflective section 22 with respect to the reference plane 80 is greater than the angle of inclination of the first reflective section 21 with respect to the reference plane.

[0040] <<Reflector on the right rear>> Similar to the left front reflector 2FL, the right rear reflector 2RR has a body 20, a first reflector 21, and a second reflector 22.

[0041] When the body 20 of the right rear reflector 2RR is attached to the right end 193cR of the front 193c of the rear panel 93c, the reflectors 21 and 22 are positioned towards the right end of the cargo bed 93, and the second reflector 22 is positioned to the left of the first reflector 21. Comparing the first reflector 21 and the second reflector 22 of the reflector 2RR, the first reflector 21 is positioned proximally to the right side of the cargo bed 93 and the AGF30R running along it, while the second reflector 22 is positioned distally to the right side of the cargo bed 93 and the AGF30R. The first reflector 21 is positioned distally to the left side of the cargo bed 93 and the AGF30L running along it, while the second reflector 22 is positioned proximally to the right side of the cargo bed 93 and the AGF30L.

[0042] The first reflective section 21 and the second reflective section 22 are inclined with respect to a reference plane 80 defined by the longitudinal and vertical directions of the transport vehicle 90. When viewed from above, the first reflective section 21 is inclined counterclockwise from the reference plane 80. Therefore, the first reflective section 21 is directed diagonally forward to the right of the cargo bed 93. When viewed from above, the second reflective section 22 is inclined clockwise from the reference plane 80. Therefore, the second reflective section 22 is directed diagonally forward to the left of the cargo bed 93. The inclination angle of the second reflective section 22 with respect to the reference plane 80 is greater than the inclination angle of the first reflective section 21 with respect to the reference plane 80.

[0043] <The object of sight for the cargo handling vehicle on the left> When the laser scanner 33L of the AGF30L, which is traveling along the left side of the cargo bed 93, projects a laser beam toward the left front reflector 2FL, the first reflector 21 of the reflector 2FL reflects the laser beam back to the laser scanner 33L. Therefore, the control unit of the AGF30L recognizes the position of the first reflector 21 of the reflector 2FL as the position of the reflector 2FL.

[0044] When the laser scanner 33L of the AGF30L projects a laser beam toward the front right reflector 2FR, the second reflector 22 of the reflector 2FR reflects the laser beam back to the laser scanner 33L. Therefore, the control unit of the AGF30L recognizes the position of the second reflector 22 of the reflector 2FR as the position of the reflector 2FR.

[0045] When the laser scanner 33L of the AGF30L projects a laser beam toward the reflector 2RL located to the left rear, the first reflector 21 of the reflector 2RL reflects the laser beam back to the laser scanner 33L. Therefore, the control unit of the AGF30L recognizes the position of the first reflector 21 of the reflector 2RL as the position of the reflector 2RL.

[0046] When the laser scanner 33L of the AGF30L projects a laser beam toward the reflector 2RR located to the right rear, the second reflector 22 of the reflector 2RR reflects the laser beam back to the laser scanner 33L. Therefore, the control unit of the AGF30L recognizes the position of the second reflector 22 of the reflector 2RR as the position of the reflector 2RR.

[0047] The further back AGF30L is positioned, the smaller the apparent area of ​​the first reflector 21 of the left front reflector 2FL and the second reflector 22 of the right front reflector 2FR as seen from AGF30L. However, because the first reflector 21 of the reflector 2FL and the second reflector 22 of the reflector 2FR are directed diagonally to the left rear, even if AGF30L is positioned on the left side of the rear of the cargo bed 93, the apparent area of ​​the first reflector 21 of the reflector 2FL and the second reflector 22 of the reflector 2FR as seen from AGF30L does not become too small. In particular, because the second reflector 22 of the reflector 2FR has a large inclination angle with respect to the reference plane 80, a sufficient apparent area of ​​the second reflector 22 of the reflector 2FR is ensured. Therefore, even if the AGF30L is located on the left side of the rear of the cargo bed 93, the first reflector 21 of the reflector 2FL and the second reflector 22 of the reflector 2FR are easily sighted by the laser scanner 33L of the AGF30L. Thus, the position of the first reflector 21 of the reflector 2FL is recognized by the control unit of the AGF30L, and the position of the second reflector 22 of the reflector 2FR is recognized by the control unit of the AGF30L.

[0048] The further forward the AGF30L is positioned, the smaller the apparent area of ​​the first reflector 21 of the left rear reflector 2RL and the second reflector 22 of the right rear reflector 2RR appears to the AGF30L. However, because the first reflector 21 of the reflector 2RL and the second reflector 22 of the reflector 2RR are oriented diagonally forward to the left, even if the AGF30L is positioned on the left side of the front of the cargo bed 93, the apparent area of ​​the first reflector 21 of the reflector 2RL and the second reflector 22 of the reflector 2RR as seen from the AGF30L does not become too small. In particular, because the second reflector 22 of the reflector 2RR has a large inclination angle with respect to the reference plane 80, a sufficient apparent area of ​​the second reflector 22 of the reflector 2RR is ensured. Therefore, even if the AGF30L is positioned on the left side of the front of the cargo bed 93, the first reflector 21 of the reflector 2RL and the second reflector 22 of the reflector 2RR are easily sighted by the laser scanner 33L of the AGF30L. Thus, the position of the first reflector 21 of the reflector 2RL is recognized by the control unit of the AGF30L, and the position of the second reflector 22 of the reflector 2RR is recognized by the control unit of the AGF30L.

[0049] Among the reflectors 2FL, 2FR, 2RL, and 2RR, some are difficult to sight depending on the position of AGF30L. For example, if AGF30L is located on the left side of the rear of the cargo bed 93, the first reflector 21 of the left front reflector 2FL is difficult to sight by the laser scanner 33L of AGF30L. Even so, the second reflector 22 of the other reflectors 2FR, the first reflector 21 of the reflector 2RL, and the second reflector 22 of the reflector 2RR are easily sighted by the laser scanner 33L of AGF30L. Therefore, the control unit of AGF30L can reliably estimate its own position. Similarly, if AGF30L is located on the left side of the front of the cargo bed 93, even if the first reflector 21 of the left rear reflector 2RL is difficult to sight, the first reflector 21 of the other reflectors 2FL, the second reflector 22 of the reflector 2FR, and the second reflector 22 of the reflector 2RR are easily sighted by the laser scanner 33L of AGF30L. Therefore, the control unit of the AGF30L can reliably estimate its own position.

[0050] <Object of sight for the cargo handling vehicle on the right> When the laser scanner 33R of the AGF30R, which is traveling along the right side of the cargo bed 93, projects a laser beam toward the reflector 2FR at the front right, the first reflector 21 of the reflector 2FR reflects the laser beam back to the laser scanner 33R. Therefore, the control unit of the AGF30R recognizes the position of the first reflector 21 of the reflector 2FR as the position of the reflector 2FR.

[0051] When the laser scanner 33R of the AGF30R projects a laser beam toward the left front reflector 2FL, the second reflector 22 of the reflector 2FL reflects the laser beam back to the laser scanner 33R. Therefore, the control unit of the AGF30R recognizes the position of the second reflector 22 of the reflector 2FL as the position of the reflector 2FL.

[0052] When the laser scanner 33R of the AGF30R projects a laser beam toward the reflector 2RR located to the right rear, the first reflector 21 of the reflector 2RR reflects the laser beam back to the laser scanner 33R. Therefore, the control unit of the AGF30R recognizes the position of the first reflector 21 of the reflector 2RR as the position of the reflector 2RR.

[0053] When the laser scanner 33R of the AGF30R projects a laser beam toward the reflector 2RL located at the left rear, the second reflector 22 of the reflector 2RL reflects the laser beam back to the laser scanner 33R. Therefore, the control unit of the AGF30R recognizes the position of the second reflector 22 of the reflector 2RL as the position of the reflector 2RL.

[0054] The further back AGF30R is positioned, the smaller the apparent area of ​​the first reflector 21 of the front right reflector 2FR and the second reflector 22 of the front left reflector 2FL appears from AGF30R. However, because the first reflector 21 of the reflector 2FR and the second reflector 22 of the reflector 2FL are directed diagonally to the rear right, even if AGF30R is positioned on the right side of the rear of the cargo bed 93, the apparent area of ​​the first reflector 21 of the reflector 2FR and the second reflector 22 of the reflector 2FL as seen from AGF30R does not become too small. In particular, because the second reflector 22 of the reflector 2FL has a large inclination angle with respect to the reference plane 80, a sufficient apparent area of ​​the second reflector 22 of the reflector 2FL is ensured. Therefore, even if the AGF30R is positioned on the right side of the rear of the cargo bed 93, the first reflector 21 of the reflector 2FR and the second reflector 22 of the reflector 2FL are easily sighted by the laser scanner 33R of the AGF30R. Thus, the position of the first reflector 21 of the reflector 2FR is recognized by the control unit of the AGF30R, and the position of the second reflector 22 of the reflector 2FL is recognized by the control unit of the AGF30R.

[0055] The further forward AGF30R is positioned, the smaller the apparent area of ​​the first reflector 21 of the right rear reflector 2RR and the second reflector 22 of the left rear reflector 2RL appears to AGF30R. However, because the first reflector 21 of the reflector 2RR and the second reflector 22 of the reflector 2RL are oriented diagonally forward to the right, even if AGF30R is positioned on the right side of the front of the cargo bed 93, the apparent area of ​​the first reflector 21 of the reflector 2RR and the second reflector 22 of the reflector 2RL as seen from AGF30R does not become too small. In particular, because the second reflector 22 of the reflector 2RR has a large inclination angle with respect to the reference plane 80, a sufficient apparent area of ​​the second reflector 22 of the reflector 2RR is ensured. Therefore, even if the AGF30R is positioned on the right side of the front of the cargo bed 93, the first reflector 21 of the reflector 2RR and the second reflector 22 of the reflector 2RL are easily sighted by the laser scanner 33R of the AGF30R. Thus, the position of the first reflector 21 of the reflector 2RR is recognized by the control unit of the AGF30R, and the position of the second reflector 22 of the reflector 2RL is recognized by the control unit of the AGF30R.

[0056] Among the reflectors 2FL, 2FR, 2RL, and 2RR, some are difficult to sight depending on the position of AGF30R. For example, if AGF30R is located on the right side of the rear of the cargo bed 93, the first reflector 21 of the front right reflector 2FR is difficult to sight by the laser scanner 33R of AGF30R. Even so, the second reflector 22 of the other reflectors 2FL, the first reflector 21 of the reflector 2RR, and the second reflector 22 of the reflector 2RL are easily sighted by the laser scanner 33R of AGF30R. Therefore, the control unit of AGF30R can reliably estimate its own position. Similarly, if AGF30R is located on the right side of the front of the cargo bed 93, even if the first reflector 21 of the rear right reflector 2RR is difficult to sight, the first reflector 21 of the other reflectors 2FR, the second reflector 22 of the reflector 2FL, and the second reflector 22 of the reflector 2RL are easily sighted by the laser scanner 33R of AGF30R. Therefore, the control unit of the AGF30R can reliably estimate its own position.

[0057] <Technically advantageous effects> The first reflective section 21 of the left front reflector 2FL is tilted diagonally to the left rear from the reference plane 80, the second reflective section 22 of the right front reflector 2FR is tilted diagonally to the left rear from the reference plane 80, the first reflective section 21 of the left rear reflector 2RL is tilted diagonally to the left front from the reference plane 80, and the second reflective section 22 of the right rear reflector 2RR is tilted diagonally to the left front from the reference plane 80. Therefore, the laser scanner 33L of the AGF30L on the left side of the cargo bed 93 can easily sight the first reflective section 21 of the left front reflector 2FL, the second reflective section 22 of the right front reflector 2FR, the first reflective section 21 of the left rear reflector 2RL, and the second reflective section 22 of the right rear reflector 2RR. Thus, the AGF30L can autonomously drive while estimating its own position and can load or unload cargo on the left side of the cargo bed 93. Similarly, the laser scanner 33R of the AGF30R located on the right side of the cargo bed 93 can easily sight the second reflector 22 of the left front reflector 2FL, the first reflector 21 of the right front reflector 2FR, the second reflector 22 of the left rear reflector 2RL, and the first reflector 21 of the right rear reflector 2RR. Therefore, the AGF30R can autonomously drive while estimating its own position and can load or unload cargo on the right side of the cargo bed 93.

[0058] Four reflective devices 2FL, 2FR, 2RL, and 2RR are installed at different positions, specifically at the four corners of the cargo bed 93, and the reflective parts 21 and 22 of each reflective device 2FL, 2FR, 2RL, and 2RR are inclined from the reference plane 80. Therefore, even if some of the reflective devices 2FL, 2FR, 2RL, and 2RR are difficult to sight depending on the position of AGF30L and 30R, others that are easier to sight will be reliably sighted by the laser scanners 33L and 33R of AGF30L and 30R. In other words, even if the laser scanners 33L and 33R of AGF30L and 30R cannot sight one or two of the reflective devices 2FL, 2FR, 2RL, and 2RR, AGF30L and 30R can sight the others, thereby estimating their own position and driving autonomously.

[0059] Even if the AGF30L is located at the rear left side of the cargo bed 93, the laser beam emitted from the AGF30L's laser scanner 33L will not be mistakenly incident on the first reflector 21 of the front right reflector 2FR. This is because the first reflector 21 of the front right reflector 2FR has a small inclination angle with respect to the reference plane 80. Therefore, the control unit of the AGF30L will not mistakenly recognize the position of the first reflector 21 of the front right reflector 2FR as the position of the reflector 2FR. Similarly, even if AGF30L is located at the front left side of the cargo bed 93, the laser beam of AGF30L's laser scanner 33L will not erroneously enter the first reflector 21 of the reflector 2RR at the rear right. Even if AGF30R is located at the rear right side of the cargo bed 93, the laser beam of AGF30R's laser scanner 33R will not erroneously enter the first reflector 21 of the reflector 2FL at the front left. Even if AGF30R is located at the front right side of the cargo bed 93, the laser beam of AGF30R's laser scanner 33R will not erroneously enter the first reflector 21 of the reflector 2RL at the rear left.

[0060] Since the reflectors 2FL, 2FR, 2RL, and 2RR are installed at a higher position than the load 99 on the floor plate 93a, the laser beams projected by the laser scanners 33L and 33R of AGF30L and 30R reach the reflectors 2FL, 2FR, 2RL, and 2RR without being obstructed by the load 99 on the floor plate 93a. In addition, load 99 can be stacked on the floor plate 93a below the reflectors 2FL, 2FR, 2RL, and 2RR.

[0061] The left front reflector 2FL has a first reflector 21 and a second reflector 22, which are integrated together. Therefore, it is not necessary to install the first reflector 21 and the second reflector 22 individually on the cargo bed 93, and the first reflector 21 and the second reflector 22 can be easily installed together on the cargo bed 93 simply by installing the reflector 2FL on the cargo bed 93. Once the reflector 2FL is installed on the cargo bed 93, self-position estimation and autonomous driving can be achieved on either the left or right AGF30L or 30R of the transport vehicle 90.

[0062] The AGF30L and 30R units share the loading and unloading work, loading or unloading cargo 99 from the left and right sides of the cargo bed 93 respectively, allowing for the efficient loading and unloading of a large number of cargo 99 in a short amount of time.

[0063] [Second Embodiment] Next, the second embodiment will be described with reference to Figures 4 and 5. The second embodiment will be described in terms of the changes made from the first embodiment. The second embodiment is the same as the first embodiment, except for the points described below.

[0064] The left front reflector 2FL has a light-shielding section 23 in addition to the body 20, first reflector 21, and second reflector 22 described above. The light-shielding section 23 is attached to the corner formed by the first reflector 21 and the second reflector 22. The light-shielding section 23 is provided in a plate shape. The light-shielding section 23 has a width such that it protrudes from the corner formed by the first reflector 21 and the second reflector 22 toward the first reflector 21 and the second reflector 22. When the body 20 of the left front reflector 2FL is attached to the left end 193bL of the rear surface 193b of the front panel 93b, the light-shielding section 23 is positioned behind the corner formed by the first reflector 21 and the second reflector 22, and the light-shielding section 23 protrudes to the left and right from that corner. Therefore, even if the laser scanner 33L of the AGF30L, which is traveling along the rear left side of the cargo bed 93, projects a laser beam toward the second reflector 22 of the reflector 2FL, the laser beam is blocked by the light-shielding part 23. Thus, the laser scanner 33L of the AGF30L is prevented from mis-sighting the second reflector 22 of the reflector 2FL on the left front. This contributes to increasing the inclination angle of the second reflector 22 of the reflector 2FL with respect to the reference plane 80. A larger inclination angle of the second reflector 22 of the reflector 2FL with respect to the reference plane 80 improves the visibility of the second reflector 22 of the reflector 2FL from the right side of the AGF30R. Furthermore, even if the laser scanner 33R of the AGF30R, which is traveling along the rear right side of the cargo bed 93, projects a laser beam toward the first reflecting section 21 of the reflecting device 2FL, the laser beam is blocked by the light-shielding section 23.

[0065] Similar to the left front reflector 2FL, the other reflectors 2FR, 2RL, and 2RR also have a light-shielding section 23.

[0066] When the body 20 of the front right reflector 2FR is attached to the right end 193bR of the rear surface 193b of the front panel 93b, the light-shielding portion 23 is positioned behind the corner formed by the first reflector 21 and the second reflector 22, and the light-shielding portion 23 protrudes to the left and right from that corner. Therefore, even if the laser scanner 33R of the AGF30R, which is traveling along the rear right side of the cargo bed 93, projects a laser beam toward the second reflector 22 of the reflector 2FR, the laser beam is blocked by the light-shielding portion 23. Similarly, even if the laser scanner 33L of the AGF30L, which is traveling along the rear left side of the cargo bed 93, projects a laser beam toward the first reflector 21 of the reflector 2FR, the laser beam is blocked by the light-shielding portion 23.

[0067] When the body 20 of the left rear reflector 2RL is attached to the left end 193cL of the front 193c of the rear panel 93c, the light-shielding section 23 is positioned in front of the corner formed by the first reflector 21 and the second reflector 22, and the light-shielding section 23 protrudes to the left and right from that corner. Therefore, even if the laser scanner 33L of the AGF30L, which is traveling along the front left side of the cargo bed 93, projects a laser beam toward the second reflector 22 of the reflector 2RL, the laser beam is blocked by the light-shielding section 23. Similarly, even if the laser scanner 33R of the AGF30R, which is traveling along the front right side of the cargo bed 93, projects a laser beam toward the first reflector 21 of the reflector 2RL, the laser beam is blocked by the light-shielding section 23.

[0068] When the body 20 of the right rear reflector 2RR is attached to the right end 193cR of the front 193c of the rear panel 93c, the light-shielding section 23 is positioned in front of the corner formed by the first reflector 21 and the second reflector 22, and the light-shielding section 23 protrudes to the left and right from that corner. Therefore, even if the laser scanner 33R of the AGF30R, which is traveling along the front right side of the cargo bed 93, projects a laser beam toward the second reflector 22 of the reflector 2RR, the laser beam is blocked by the light-shielding section 23. Similarly, even if the laser scanner 33L of the AGF30L, which is traveling along the front left side of the cargo bed 93, projects a laser beam toward the first reflector 21 of the reflector 2RR, the laser beam is blocked by the light-shielding section 23.

[0069] [Variation] In the above embodiment, four reflective devices 2FL, 2FR, 2RL, and 2RR are attached to the cargo bed 93, but two or three of these reflective devices 2FL, 2FR, 2RL, and 2RR may be attached to the cargo bed 93. Furthermore, in addition to the reflective devices 2FL, 2FR, 2RL, and 2RR, one or more reflective devices configured similarly to the reflective devices 2FL, 2FR, 2RL, and 2RR may be attached to the cargo bed 93.

[0070] Reflectors 2FL, 2FR, 2RL, and 2RR are installed at the left front, right front, left rear, and right rear corners of the cargo bed 93, respectively, but they may be installed at other locations. [Explanation of Symbols]

[0071] 2FL,2FR,2RL,2RR Reflector 21 1st reflection section 22 2nd reflection section 23 Light-shielding part 30L, 30R AGF (Cargo Handling Vehicle) 31L, 31R running gear 32L, 32R Lifter 33L, 33R Laser Scanner 90 transport vehicles 93 Cargo bed 93a floorboard 99 loads

Claims

1. A reflective device installed on the cargo bed of a transport vehicle, A cargo handling vehicle that autonomously drives while estimating its own position by sighting the reflective device, and performs loading operations onto the cargo bed or unloading operations from the cargo bed, The aforementioned reflective device A first reflective section is provided on the cargo bed and is directed toward one of the left or right sides of the cargo bed, A second reflective portion is provided on the cargo bed to the left or right of the first reflective portion and directed toward the other side of the cargo bed, It has, The first reflector, which is proximal to the cargo handling vehicle traveling alongside one of the aforementioned sides, is inclined with respect to a reference plane defined by the longitudinal and vertical directions of the transport vehicle, and the second reflector, which is distal to the cargo handling vehicle traveling alongside one of the aforementioned sides, is inclined from the reference plane in the opposite direction to the inclination of the first reflector from the reference plane. The first reflective section and the second reflective section are positioned on the cargo bed, adjacent to one of the sides. The angle at which the distal second reflector is inclined from the reference plane relative to the cargo handling vehicle traveling alongside one of the aforementioned sides is greater than the angle at which the proximal first reflector is inclined from the reference plane relative to the cargo handling vehicle traveling alongside one of the aforementioned sides. Cargo handling system.

2. The aforementioned reflective device A light-shielding portion is attached to the corner formed by the first reflective portion and the second reflective portion, and has a width that extends outwards toward the first reflective portion and the second reflective portion. has The cargo handling system according to claim 1.

3. A reflective device installed on the cargo bed of a transport vehicle, A cargo handling vehicle that autonomously drives while estimating its own position by sighting the reflective device, and performs loading operations onto the cargo bed or unloading operations from the cargo bed, The aforementioned reflective device A first reflective section is provided on the cargo bed and is directed toward one of the left or right sides of the cargo bed, A second reflective portion is provided on the cargo bed to the left or right of the first reflective portion and directed toward the other side of the cargo bed, It has, The first reflector, which is proximal to the cargo handling vehicle traveling alongside one of the aforementioned sides, is inclined with respect to a reference plane defined by the longitudinal and vertical directions of the transport vehicle, and the second reflector, which is distal to the cargo handling vehicle traveling alongside one of the aforementioned sides, is inclined from the reference plane in the opposite direction to the inclination of the first reflector from the reference plane. The aforementioned reflective device A light-shielding portion is attached to the corner formed by the first reflective portion and the second reflective portion, and has a width that extends outwards toward the first reflective portion and the second reflective portion. has Cargo handling system.

4. The cargo handling system according to any one of claims 1 to 3, wherein the reflective device is provided at the left front corner, right front corner, left rear corner, or right rear corner of the cargo bed.

5. The first reflective section and the second reflective section are configured as retroreflectors. A cargo handling system according to any one of claims 1 to 3.

6. The reflector is located above the floorboard of the cargo bed. A cargo handling system according to any one of claims 1 to 3.

7. A reflective device installed on the cargo bed of a transport vehicle, A body having a first side, a second side, and a third side, the first side, the second side, and the third side forming a triangular prism shape, and attached to a cargo bed via the third side, A first reflective portion provided on the first side surface of the body, A second reflective portion provided on the second side surface of the body, Equipped with, The angle at which the second reflector is inclined from a reference plane perpendicular to the third side surface, passing through the angle formed by the first and second side surfaces, is greater than the angle at which the first reflector is inclined from the reference plane in the opposite direction to the inclination of the second reflector from the reference plane. Reflector.

8. A light-shielding portion is attached to the corner formed by the first reflective portion and the second reflective portion, and has a width that extends outwards toward the first reflective portion and the second reflective portion. The reflective device according to claim 7, comprising:

9. A reflective device installed on the cargo bed of a transport vehicle, A body having a first side, a second side, and a third side, the first side, the second side, and the third side forming a triangular prism shape, and attached to a cargo bed via the third side, A first reflective portion provided on the first side surface of the body, A second reflective portion provided on the second side surface of the body, Light-shielding part, Equipped with, The second reflecting portion is inclined from a reference plane perpendicular to the third side surface through the angle formed by the first side surface and the second side surface, and the first reflecting portion is inclined from the reference plane in the opposite direction to the direction in which the second reflecting portion is inclined from the reference plane. The light-shielding portion is attached to the corner formed by the first reflecting portion and the second reflecting portion, and has a width that extends outwards toward the first reflecting portion and the second reflecting portion. Reflector.

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