Transport system, automated guided vehicle, and position identification method

Abstract

The present invention provides a transport system including a plurality of automated guided vehicles each comprising a detection unit that emits infrared rays and detects reflected light. The transport system comprises: a plurality of marks provided in correspondence with each of a plurality of specified positions assigned to any of the plurality of automated guided vehicles and having different patterns of regions of high and low infrared absorptivity; a storage unit storing association information associating information pertaining to the assignments of specified positions with information pertaining to the patterns of marks; and an identification unit that recognizes a specified position on the basis of a detection result detected by the detection unit and the association information, and identifies whether or not the specified position that has been recognized is the position assigned to the automated guided vehicle that detected a mark.

Description

Transport system, automated guided vehicle, and position identification method

[0001] The present specification discloses a transport system, an automated guided vehicle, and a position identification method.

[0002] A system has been proposed for enabling automated guided vehicles used in stores, factories, warehouses, etc. to recognize their location, etc. (See, for example, Patent Document 1.) In this system, a mark having a plurality of cells, including a first cell that can reflect infrared light and a second cell that cannot, is arranged on a two-dimensional plane. The automated guided vehicle irradiates the mark with infrared light from an irradiation unit, captures an image with a camera, and analyzes the image data to recognize the distance and direction of the mark.

[0003] Japanese Patent Application Laid-Open No. 2019-102047

[0004] In a system using multiple automated guided vehicles, each automated guided vehicle may be assigned a specific position such as a charging position, a waiting position, etc. In such a case, it is necessary to allow the automated guided vehicle to appropriately identify which specific position belongs to which automated guided vehicle.

[0005] The main objective of the present disclosure is to allow an automated guided vehicle to properly identify a specific position.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The transport system disclosed herein is a transport system including a plurality of unmanned guided vehicles each equipped with a detection unit that irradiates infrared light and detects reflected light, and is equipped with: a plurality of marks each having different patterns of areas with high and low infrared absorption rates, each provided corresponding to a plurality of specific positions assigned to one of the plurality of unmanned guided vehicles; a memory unit that stores correspondence information that associates information regarding the assignment of the specific positions with information regarding the patterns of the marks; and an identification unit that recognizes the specific positions based on the detection results detected by the detection unit and the correspondence information, and identifies whether the recognized specific positions are positions assigned to the unmanned guided vehicle that detected the marks.

[0008] In the transport system disclosed herein, multiple marks with different patterns of areas with high and low infrared absorption rates are provided corresponding to multiple specific positions. The specific positions are recognized based on the detection results detected by the detection unit of the automated guided vehicle and correspondence information that associates information about the allocation of the specific positions with information about the mark patterns, and it is determined whether the specific positions are positions assigned to the automated guided vehicle that detected the marks. This allows the automated guided vehicle to properly identify the specific positions.

[0009] 1 is a schematic configuration diagram of a transport system 1. An external perspective view of an automated guided vehicle 10 and a cart 100. An external perspective view of the automated guided vehicle 10. A side view of the automated guided vehicle 10. A side view of the automated guided vehicle 10. An explanatory diagram showing a state in which the automated guided vehicle 10 has slipped under the cart 100. An explanatory diagram showing a state in which the automated guided vehicle 10 has been coupled to the cart 100. A block diagram of the transport system 1. An external perspective view of a charging point 80. An explanatory diagram showing an example of a mark 86A and a detection result. An explanatory diagram showing an example of a mark 86B and a detection result. An explanatory diagram showing an example of correspondence information 62a (41a). A flowchart showing an example of a charging point identification process. An explanatory diagram showing a modified mark 86.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a transport system 1. FIG. 2 is an external perspective view of an automated guided vehicle 10 and a basket cart 100. As shown in FIG. 1 , the transport system 1 is used in a logistics center, warehouse, store, or the like having multiple shelves R, and includes multiple automated guided vehicles 10 and a management device 60 (see FIG. 8 ) that manages the operation of the automated guided vehicles 10. The automated guided vehicles 10 are, for example, autonomously traveling transport robots (AMRs) that couple to basket carts 100 located in a basket cart storage area P and transport the basket carts to designated shelves R.

[0011] As shown in Fig. 2 , the basket cart 100 has a rectangular, mesh-shaped loading platform 101 on which cargo can be loaded, and a plurality of (for example, four) casters 110 attached to the underside of the loading platform 101. The loading platform 101 of the basket cart 100 is provided with a vehicle mark 102 such as an AR marker, a two-dimensional code, or a barcode for identifying the basket cart 100. By reading the vehicle mark 102, the automated guided vehicle 10 recognizes the basket cart 100 to be transported (transport target vehicle) and the type of cargo loaded on the loading platform 101. The vehicle mark 102 may be attached to the cargo loaded on the loading platform 101.

[0012] As shown in FIG. 3 , the automated guided vehicle 10 of this embodiment has a low, flat, rectangular parallelepiped appearance. The automated guided vehicle 10 includes a vehicle body 11, a plurality of (e.g., four) wheels 21 rotatably attached to the bottom surface of the vehicle body 11, and a plurality of (e.g., four) drive motors 22 (see FIG. 8 ) that rotate and drive the corresponding wheels 21. In this embodiment, the wheels 21 are configured as Mecanum wheels, each having a plurality of rollers on its outer periphery that can rotate around an axis inclined at 45 degrees relative to the rotation axis of the wheel. The automated guided vehicle 10 can move the vehicle body 11 in all directions and turn (such as by making a pivot turn, a pivot turn, or a gentle turn) by independently controlling the rotation direction and rotation speed of the corresponding wheels 21 using the plurality of drive motors 22. The wheels 21 may also be configured as omniwheels having a plurality of rollers that can rotate around an axis that intersects the rotation axis of the wheel. That is, the plurality of wheels 21 may be any type of wheels as long as they can move the vehicle body 11 in a plurality of directions and turn.

[0013] 4 and 5 , the automated guided vehicle 10 also includes a connecting unit 30 that is provided on the upper surface of the vehicle body 11 and can be connected to the cart 100 when the vehicle body 11 is positioned below the cart 100. The connecting unit 30 includes a flat lift plate 31, connecting pins 32, 33, and 34 that extend upward relative to the lift plate 31, and a lifting device 35 that raises and lowers the lift plate 31. The lift plate 31 covers the upper surface of the vehicle body 11 and has a width that is approximately the same as the width of the vehicle body 11 and a front-to-rear width that is slightly shorter than the front-to-rear width of the vehicle body 11. The connecting pin 32 is provided at the front of the lift plate 31, the connecting pin 33 is provided at the rear of the lift plate 31, and the connecting pin 34 is provided in an intermediate portion between the front and rear of the lift plate 31. 6 and 7 , when the vehicle body 11 is submerged under the cart 100 and the lifting plate 31 is raised by the lifting device 35, at least one of the connecting pins 32, 33, 34 engages with the back side of the loading platform 101 of the cart 100. This connects the automated guided vehicle 10 and the cart 100, and the automated guided vehicle 10 can transport the cart 100.

[0014] As shown in FIGS. 3 to 5 , contact detection sensors 36 (spring sensors) are provided on both the left and right sides of the lift plate 31 to detect when the connecting portion 30 (connecting pins 32, 33, 34) comes into contact with (connects to) the loading platform 101 of the cart truck 100. The contact detection sensors 36 have a plate that is biased upward by a spring, with its upper end at approximately the same height as the connecting pins 32, 33, 34 relative to the lift plate 31. When the connecting pins 32, 33, 34 engage with the loading platform 101 of the cart truck 100, the plate of the contact detection sensor 36 comes into contact with the loading platform 101, and the spring is compressed as it descends relative to the connecting pins 32, 33, 34. The contact detection sensor 36 detects when the connecting portion 30 comes into contact with (connects to) the loading platform 101 of the cart truck 100 by detecting that the plate has descended relatively.

[0015] As shown in FIG. 8 , the automated guided vehicle 10 further includes a control unit 40 that controls the entire system, a memory unit 41 that stores various information, a communication unit 42, a camera unit 51 as an imaging device, LiDAR (Light Detection and Ranging) sensors 52 and 53, and a light-emitting unit 54 that illuminates the area ahead of the vehicle body 11. The communication unit 42 communicates (wirelessly) with a management device 60 and the like. The camera unit 51 is installed on the front of the vehicle body 11 to recognize the area ahead of the vehicle body 11. The LiDAR sensors 52 and 53 scan the surrounding area with an infrared laser, receive each reflected light, and measure the time it takes to receive the reflected light. This allows them to measure distance data for each scan angle and obtain surrounding point cloud data, thereby detecting surrounding obstructions. The LiDAR sensors 52 and 53 are installed on the front and rear of the vehicle body 11, respectively. The light emitting unit 54 is installed on the front of the vehicle body 11 and illuminates the area ahead, making it easier for the camera unit 51 to recognize surrounding objects in dark places.

[0016] The automated guided vehicle 10 also includes a battery 37 that supplies power to each component, such as the drive motors 22, the lifting device 35, the control unit 40, the memory unit 41, the communication unit 42, the camera unit 51, the LiDAR sensors 52 and 53, and the light-emitting unit 54; a battery remaining capacity meter 38; and a power receiver 39. The battery 37 is a rechargeable secondary battery, such as a lithium-ion battery. The battery remaining capacity meter 38 includes a current sensor attached to the output terminal of the battery 37 and a voltage sensor attached between the output terminals of the battery 37, and calculates the remaining battery capacity as a percentage of the maximum capacity of the battery 37 based on the detected values ​​of each sensor. The power receiver 39 includes a power receiving coil that receives power supplied contactlessly from, for example, a charging point 80, and a power conversion circuit. The power conversion circuit converts the received power into power that can be output to the battery 37 and outputs it.

[0017] The control unit 40 is configured as a microprocessor centered around a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, a timer, etc. As shown in FIG. 8 , the control unit 40 receives inputs such as an image signal from the camera unit 51, detection signals from the LiDAR sensors 52 and 53, a detection signal from the contact detection sensor 36, and a remaining battery charge from the battery power gauge 38. The control unit 40 outputs control signals to the drive motor 22, the lifting device 35, and the light-emitting unit 54. The memory unit 41 is a storage device such as an HDD or SSD, and stores various information such as correspondence information 41a. The correspondence information 41a is information regarding the pattern (formation pattern) of the mark 86 provided on the charging point 80, and will be described in detail below.

[0018] 8, the management device 60 includes a processing unit 61, a storage unit 62, a communication unit 63 for communicating (wirelessly communicating) with the automated guided vehicle 10, and a timer unit 64 for acquiring the time. The management device 60 is also connected to input devices such as a mouse and a keyboard, a display, and the like. The processing unit 61 is configured as a microprocessor centered around a CPU, and includes, in addition to the CPU, a ROM for storing processing programs, a RAM for temporarily storing data, and the like. The storage unit 62 is a storage device such as an HDD or SSD, and stores various information such as correspondence information 62a similar to the correspondence information 41a.

[0019] As shown in FIG. 9 , the charging point 80 is provided in a backyard B of, for example, a logistics center, a warehouse, a store, or the like, and is a position where the automated guided vehicles 10 are charged and kept waiting. In this embodiment, a charging point 80 is assigned to each automated guided vehicle 10. For example, if there are two automated guided vehicles 10, the charging point 80A is assigned to the automated guided vehicle 10A, and the charging point 80B is assigned to the automated guided vehicle 10B. The charging points 80A and 80B are configured in the same manner. Although not shown, the backyard B may also contain empty carts 100, carts 100 loaded with cargo, cargo before loading, etc.

[0020] A frame unit 82 sized to accommodate an automated guided vehicle 10 is provided at each charging point 80A, 80B. The frame unit 82 is open at the front and rear in FIG. 9 and has a gate-like shape with left and right side walls 82s and an upper wall, and is provided along the wall of the backyard B. The automated guided vehicle 10 enters and exits the frame unit 82 through the front opening of the frame unit 82. A contactless charger 84 is provided on the upper wall of the frame unit 82, and a mark 86 is provided on one of the left and right side walls 82s (inner wall).

[0021] The contactless charger 84 is a contactless charger equipped with a power transmission coil that supplies power to the power receiver 39 of the automated guided vehicle 10. This contactless charger 84 is provided on the upper wall of the frame unit 82 so as to face the power receiver 39 when the automated guided vehicle 10 is parked at a predetermined position within the frame unit 82, and supplies power to the power receiver 39 in a contactless manner to charge the battery 37 of the automated guided vehicle 10. Note that the charging point 80 is not limited to a type that charges the automated guided vehicle 10 in a contactless manner, and may be a type that charges by coming into contact with the automated guided vehicle 10.

[0022] The mark 86 has an area with high infrared absorption and an area with lower infrared absorption, and in this embodiment, it is a barcode-like pattern in which the areas with high and low infrared absorption alternate horizontally. The mark 86 has a different pattern for each charging point 80A, 80B. The charging point 80A is provided with a mark 86A, and the charging point 80B is provided with a mark 86B.

[0023] FIG. 10 is an explanatory diagram showing an example of a mark 86A and the detection results, and FIG. 11 is an explanatory diagram showing an example of a mark 86B and the detection results. In this embodiment, each mark 86A, 86B is provided by attaching multiple transparent films F, each having a higher infrared absorption rate than the side wall 82s, to the side wall 82s of the frame unit 82. For example, the mark 86A includes nine films F, Fa1 to Fa9, from left to right. Similarly, the mark 86B includes nine films F, Fb1 to Fb9, from left to right. For convenience of illustration, the films F are shown with dotted lines, but in reality, the films F are transparent, making it difficult for workers, store clerks, and the like to visually recognize the films F. In other words, each mark 86A, 86B is difficult to recognize visually.

[0024] Furthermore, each mark 86A, 86B is attached at a fixed interval D1 in different arrangements (combinations) of three types of film F, each with a horizontal width W of W1, W2, or W3 (W1<W2<W3, see FIG. 11), resulting in a different pattern. As shown in FIG. 12, the correspondence information 62a (41a) stores a pattern including the width W and the interval D (D1 in this embodiment) between adjacent films F for each of the films Fa1 to Fa9 and Fb1 to Fb9 of each mark 86A, 86B. Note that the interval D between the leftmost films Fa1 and Fb1 is not specified in order to indicate the interval D between the film F on the left.

[0025] Furthermore, as described above, the film F has a higher infrared absorption rate than the sidewall 82s, and therefore receives a weaker amount of reflected infrared light than the sidewall 82s. As a result, the detection signals of the LiDAR sensors 52, 53 have large values ​​in the area of ​​the distance D1 between the films F, i.e., the area of ​​the sidewall 82s where the film F is not attached, and small values ​​in the area where the film F is attached. Therefore, the detection signals of the LiDAR sensors 52, 53 are binarized to a value of 0 or 1, and have a value of 1 in the area of ​​the sidewall 82s where the film F is not attached (the area of ​​the distance D1) and a value of 0 in the area where the film F is attached (the area of ​​width W). Because the patterns of the marks 86A, 86B are different, the detection results when the LiDAR sensors 52, 53 detect the marks 86A, 86B also differ from each other.

[0026] Next, the operation of the automated guided vehicle 10 of the transport system 1 of this embodiment configured as described above will be described. In particular, the operation when the automated guided vehicle 10 identifies the charging point 80 assigned to itself will be described. Fig. 13 is a flowchart showing an example of the charging point identification process. This process is executed by the control unit 40.

[0027] In the charging point identification process, the control unit 40 acquires detection results based on detection signals from the LiDAR sensors 52 and 53 (S100). Next, the control unit 40 determines whether the detection results include a pattern (predetermined pattern) in which the binarized detection values ​​(value 1, value 0) alternate at intervals D1, as in the detection results of the above-described marks 86A and 86B (S110). If the control unit 40 determines that such a pattern is not included, the process ends.

[0028] On the other hand, if the control unit 40 determines that such a pattern is included, it reads the correspondence information 41a from the storage unit 41 (S120) and recognizes a charging point 80 based on the detection result and the correspondence information 41a (S130). In S130, the control unit 40 selects a mark 86 corresponding to the pattern from the correspondence information 41a based on the width W and spacing D obtained by analyzing the pattern of the current detection result, and recognizes the charging point 80 corresponding to the mark 86 from the correspondence information 41a. Next, the control unit 40 determines whether the recognized charging point 80 matches the charging point 80 assigned to itself (S140).

[0029] If the control unit 40 determines that there is a match in S140, it identifies the charging point 80 where the detected mark 86 is provided as its own charging point 80 (S150) and ends this process. On the other hand, if the control unit 40 determines that there is no match in S140, it identifies the charging point 80 where the detected mark 86 is provided as not its own charging point 80 (S160) and ends this process.

[0030] After identifying the charging point 80 as its own, the control unit 40 causes the automated guided vehicle 10 to enter the frame unit 82 of the charging point 80 and stop it at a predetermined position. This starts charging the battery 37 by contactless charging. If the automated guided vehicle 10 mistakenly charges at a charging point 80 that is not assigned to the automated guided vehicle 10, it may erroneously estimate its own position when charging is completed and the automated guided vehicle 10 departs. In this embodiment, the automated guided vehicle 10 can charge at the correct charging point 80 assigned to the automated guided vehicle 10, thereby preventing erroneous estimation of its own position when charging is completed and the automated guided vehicle 10 departs.

[0031] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The mark 86 of this embodiment corresponds to the mark of the present disclosure, and the memory unit 41 (or the memory unit 62) corresponds to the memory unit. The automated guided vehicle 10 corresponds to the automated guided vehicle, the LiDAR sensors 52 and 53 correspond to the detection unit and the LiDAR sensor, and the control unit 40 that executes the charging point identification process corresponds to the identification unit. Note that this embodiment also clarifies an example of a position identification method of the present disclosure by explaining the operation of the conveyance system 1 and the automated guided vehicle 10 (control unit 40).

[0032] In the transport system 1 according to the embodiment described above, a plurality of marks 86 having different patterns of areas with high and low infrared absorption rates are provided to correspond to each of a plurality of charging points 80 (specific positions). When the LiDAR sensors 52, 53 detect a mark 86, the automated guided vehicle 10 recognizes the charging point 80 corresponding to the mark 86 based on the correspondence information 41a and identifies whether the charging point 80 is assigned to the automated guided vehicle 10. Therefore, by detecting the mark 86 provided on the charging point 80, the automated guided vehicle 10 can properly identify the charging point 80 assigned to the automated guided vehicle 10.

[0033] The mark 86 is provided by attaching a transparent film F (transparent member) having a higher infrared absorption rate than the side wall 82s to the side wall 82s, which is the region (one region) having a low infrared absorption rate. This makes the mark 86 difficult to recognize visually, allowing the automatic guided vehicle 10 to properly identify the charging point 80 without impairing the aesthetics or design.

[0034] The marks 86 are provided so that regions with high and low infrared absorption rates are alternately arranged in the horizontal direction (a predetermined direction), and the patterns differ depending on the width W of each region in the horizontal direction. This makes it easy to differentiate the patterns of the marks 86 corresponding to the multiple charging points 80, and makes it easy to distinguish between the marks 86, thereby suppressing erroneous detection of the marks 86.

[0035] Furthermore, the automated guided vehicle 10 detects the mark 86 using the LiDAR sensors 52, 53. Therefore, the LiDAR sensors 52, 53 can be used to detect both surrounding objects and the mark 86, allowing the automated guided vehicle 10 to appropriately identify the charging point 80 without providing a sensor or camera dedicated to mark detection.

[0036] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0037] In the embodiment, the automated guided vehicle 10 detects the mark 86 using the LiDAR sensors 52, 53 used to detect surrounding objects. However, the LiDAR sensors are not limited to LiDAR sensors as long as they emit infrared light and detect reflected light. A sensor dedicated to mark detection may also be provided. However, in order to reduce the number of parts, the sensor as in the embodiment is preferred.

[0038] In the embodiment, the charging point 80 is exemplified as a specific location assigned to the automated guided vehicle 10. However, this is not limiting, and other locations, such as a temporary waiting location for the automated guided vehicle 10, may also be used as the specific location. Furthermore, the specific location is not limited to one automated guided vehicle 10 being assigned to one specific location, and two or more automated guided vehicles 10 may be assigned to one specific location. That is, a specific location may be shared by two or more automated guided vehicles 10. Furthermore, the specific location is not limited to being located in the backyard B, but may also be located in a sales floor or the like of a store. When the specific location is located in a sales floor or the like, the mark 86 is visible not only to workers and store clerks but also to customers. For this reason, it is highly important to make the mark 86 difficult to recognize visually so as not to impair the aesthetics and design of the store.

[0039] In the embodiment, the marks 86A and 86B are the same in number while some of the marks on the film F have different widths W. However, this is not limited to this. The width W of the film F may all be the same but the number may vary. Alternatively, some of the film F may have different widths W and the number may also vary. Furthermore, the spacing D of the film F is a constant spacing D1, but the patterns may be different by varying the spacing D. In other words, the patterns may be different by varying at least one of the width W, the number, and the spacing D. Furthermore, the marks 86A and 86B are barcode-like patterns. However, any pattern may be used as long as a detection unit such as the LiDAR sensors 52 and 53 can detect differences in the patterns.

[0040] In the embodiment, the mark 86 is exemplified by the film F (second member) attached thereto, which has a higher infrared absorption rate than the side wall 82s (predetermined member, first member). However, the present invention is not limited to this, and a film F having a lower infrared absorption rate than the side wall 82s may be attached thereto. Furthermore, the film F is not limited to a transparent member, and may be an opaque member. In the case of an opaque member, the film F may be made difficult to recognize by using a film F of a color similar to that of the side wall 82s.

[0041] 14, a mark 86 may be provided by partially applying a transparent infrared absorbing agent (paint) to a transparent film F attached to the side wall 82s. The mark 86 of this modified example has a coating area A (A1 to A9, an area with high infrared absorption) on the transparent film F where the infrared absorbing agent is applied, and an area on the transparent film F where the infrared absorbing agent is not applied (an area with low infrared absorption). Note that the mark 86 is not limited to a transparent film F, and may be provided by applying a transparent infrared absorbing agent to a transparent member to form the coating area A. That is, the mark 86 may be provided by forming a coating area A of a transparent infrared absorbing agent with a different infrared absorption rate on a transparent member that is one of the areas with high and low infrared absorption rates. Alternatively, the mark 86 may be provided by applying an infrared absorbing agent to a structure or member such as the side wall 82s, rather than by attaching a film F or the like to the side wall 82s. For example, the mark 86 may be provided by applying an infrared absorbing agent having a different infrared absorption rate than the side wall 82s. In this case, the mark 86 can be made difficult to recognize by using an infrared absorbing agent of a similar color to the color of the side wall 82s. Furthermore, the mark 86 is not limited to being provided on the side wall 82s of the charging point 80. The mark 86 may be provided on a wall, pillar, floor, or the like in the backroom B. Furthermore, the mark 86 is not limited to being provided on a fixed object. The mark 86 may also be provided on a movable object that can be moved by a worker, store clerk, or the like.

[0042] In the embodiment, the mark 86 is provided so as to be difficult to recognize visually, but this is not limited to this. For example, the area with high infrared absorption and the area with low infrared absorption may be made of different colors or different materials to make it easier to recognize visually. However, in order to avoid impairing the aesthetics and design, the mark 86 as in the embodiment is preferable.

[0043] In the embodiment, the correspondence information 41a stored in the storage unit 41 of the automated guided vehicle 10 and the correspondence information 62a stored in the storage unit 62 of the management device 60 are the same information, but this is not limited to this. The correspondence information 41a may store at least the correspondence information of the mark 86 of the charging point 80 assigned to the automated guided vehicle 10. For example, the correspondence information 41a of the automated guided vehicle 10A may include the correspondence information of the mark 86A, and the correspondence information 41a of the automated guided vehicle 10B may include the correspondence information of the mark 86B. Alternatively, the automated guided vehicle 10 is not limited to storing the correspondence information 41a in the storage unit 41, and may acquire the correspondence information 62a by communicating with the management device 60 when executing the charging point identification process, and perform the process. That is, in S120 of the charging point identification process, the control unit 40 acquires the correspondence information by reading it from the storage unit 41, but may also acquire the correspondence information by communicating with the management device 60, etc.

[0044] In the embodiment, the control unit 40 of the automated guided vehicle 10 executes the charging point identification process, but this is not limited to this. For example, the processing unit 61 of the management device 60 may execute the charging point identification process. In this case, the processing unit 61 receives the detection results of the LiDAR sensors 52, 53 from the automated guided vehicle 10, executes the charging point identification process, and transmits the execution result to the automated guided vehicle 10. Furthermore, although the present disclosure is in the form of a conveyance system 1 and an automated guided vehicle 10, it may also be in the form of a position identification method.

[0045] This specification also discloses the technical idea of ​​changing the "conveying system according to claim 1 or 2" in claim 4 at the time of filing to "the conveying system according to any one of claims 1 to 3," the technical idea of ​​changing the "conveying system according to claim 1 or 2" in claim 5 at the time of filing to "the conveying system according to any one of claims 1 to 4," and the technical idea of ​​changing the "conveying system according to claim 1 or 2" in claim 6 at the time of filing to "the conveying system according to any one of claims 1 to 5."

[0046] The present disclosure is applicable to the technical field of transportation using an automated guided vehicle.

[0047] 1 Conveying system, 10 Automated guided vehicle (AMR), 11 Vehicle body, 21 Wheels, 22 Drive motor, 30 Connection part, 31 Lifting plate, 32, 33, 34 Connection pin, 35 Lifting device, 36 Contact detection sensor, 37 Battery, 38 Battery remaining capacity meter, 39 Power receiver, 40 Control part, 41 Memory part, 41a, 62a Correspondence information, 42 Communication part, 51 Camera part, 52, 53 LiDAR sensor, 54 Light emitting part, 60 Management device, 61 Processing part, 62 Memory part, 63 Communication part, 64 Timer part, 80, 80A, 80B Charging point, 82 Frame unit, 82s Side wall, 84 Non-contact charger, 86, 86A, 86B, Mark (point mark), 100 Basket cart, 101 Loading platform, 102 cart mark, 110 caster, A, A1 to A9 coating area, F, Fa1 to Fa9, Fb1 to Fb9 film, P basket cart storage area, R shelf.

Claims

1. A transport system including a plurality of unmanned guided vehicles equipped with a detection unit that emits infrared light and detects reflected light, comprising: a plurality of marks each having a different pattern of areas with high and low infrared absorption rates, each mark being provided corresponding to a plurality of specific positions assigned to one of the plurality of unmanned guided vehicles; a memory unit that stores correspondence information that associates information regarding the assignment of the specific positions with information regarding the patterns of the marks; and an identification unit that recognizes the specific positions based on the detection results detected by the detection unit and the correspondence information, and identifies whether the recognized specific positions are positions assigned to the unmanned guided vehicle that detected the mark.

2. A conveying system as described in claim 1, wherein the mark is provided by attaching a specified member that constitutes one of the areas with high and low infrared absorption rate to a transparent member that constitutes the other area and has a different infrared absorption rate from that of the specified member.

3. A conveying system as described in claim 1, wherein the mark is provided by forming a transparent member that is one of an area with high infrared absorption rate and an area with low infrared absorption rate, and a transparent infrared absorbing agent having an infrared absorption rate different from that of the transparent member is applied to the other area.

4. A conveying system as described in claim 2 or 3, wherein the mark is arranged such that areas of high and low infrared absorption rate are arranged alternately along a specified direction, and the pattern differs due to differences in at least one of the width and number of each area in the specified direction.

5. A conveying system as described in claim 1 or 2, wherein the multiple specific positions are multiple charging positions assigned to each of the multiple unmanned guided vehicles and where batteries equipped in the unmanned guided vehicles are charged, and the identification unit identifies whether the specific position derived based on the detection result and the correspondence information is the charging position assigned to the unmanned guided vehicle that detected the mark.

6. The transport system according to claim 1 or 2, wherein the unmanned transport vehicle is provided with a LiDAR sensor as the detection unit for detecting surrounding objects, and detects the mark using the LiDAR sensor.

7. An unmanned guided vehicle comprising: a detection unit that irradiates infrared light and detects reflected light; a memory unit that stores correspondence information relating to the allocation of a plurality of specific positions assigned to one of a plurality of unmanned guided vehicles and information relating to the patterns of a plurality of marks that are provided corresponding to each of the plurality of specific positions and have different patterns of areas with high and low infrared absorption rates; and an identification unit that recognizes the specific position based on the detection results detected by the detection unit and the correspondence information, and identifies whether the recognized specific position is a position assigned to the vehicle itself.

8. A position identification method for identifying multiple specific positions assigned to any of multiple unmanned guided vehicles equipped with a detection unit that emits infrared light and detects reflected light, comprising the steps of: (a) acquiring detection results detected by the detection unit; (b) acquiring correspondence information that associates information regarding the assignment of the multiple specific positions with information regarding the patterns of multiple marks that are provided corresponding to each of the multiple specific positions and have different patterns of areas with high and low infrared absorption rates; and (c) recognizing the specific position based on the detection results and the correspondence information, and identifying whether the recognized specific position is a position assigned to the unmanned guided vehicle that detected the mark.

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