CN114056863B

CN114056863B - Unmanned carrier system

Info

Publication number: CN114056863B
Application number: CN202110884695.4A
Authority: CN
Inventors: 冈崎吉洋; 尾辻勇一; 星昌良; 北口亮一
Original assignee: Nakanishi Metal Works Co Ltd
Current assignee: Nakanishi Metal Works Co Ltd
Priority date: 2020-08-03
Filing date: 2021-08-03
Publication date: 2023-10-20
Anticipated expiration: 2041-08-03
Also published as: CN114056863A; JP7489013B2; JP2022028342A

Abstract

The invention provides an unmanned carrier system, which is provided with a laser sensor for detecting a reflector on a vehicle body, wherein the unmanned carrier automatically runs inside and outside a goods accommodating body, the operation of arranging the reflector is not troublesome, and even if the stop position of a track deviates from a specified position, the reflector does not need to be arranged again, and the reflector does not become an obstacle. The automated guided vehicle (1) is an automated guided vehicle system that performs loading and unloading operations of cargo (W) in a cargo container (A). The automated guided vehicle (1) is provided with laser sensors (3, 4) for detecting reflectors (5, 6) in a vehicle body (2), and autonomously travels inside and outside a cargo housing (A). Reflectors (5, 6) are provided on the left and right sides of the entrance (E) of the cargo housing (A) so as to face the path (G) through which the automated guided vehicle (1) autonomously travels.

Description

Unmanned carrier system

Technical Field

The present invention relates to an automated guided vehicle system that performs cargo handling operations of an automated guided vehicle in a cargo container, and more particularly, to an automated guided vehicle system that performs such operations while the automated guided vehicle is traveling autonomously inside and outside the cargo container.

Background

As an automated guided vehicle system, there is a system in which an automated guided vehicle performs cargo handling in a cargo container such as a container of a truck (for example, refer to patent documents 1 and 2).

In the automated guided vehicle system of patent document 1, a mobile robot 6 as an automated guided vehicle autonomously travels in a cargo compartment 5 as a cargo container of a truck 4 to perform loading and unloading operations of an article W. The mobile robot 6 has a laser beam generating device, and irradiates a laser beam ([ 0013 ]) over a wide range upward and sideways. By detecting a plurality of laser beams reflected by the reflecting plate 9 as a reflector, which are stuck to the side wall of the cargo box 5 and the fixed position on the inner surface side of the ceiling, by the sensor, the mobile robot 6 can know the position and posture of itself inside the cargo box 5 ([ 0013 ]).

In the automated guided vehicle system of patent document 2, a guided vehicle 1 as an automated guided vehicle autonomously travels in a container C as a cargo container of a truck T to perform loading and unloading operations of a cargo W. The transport vehicle 1 includes: a reference position setting member 10 that is disposed outside the housing C and that sets a reference position of the vehicle body 2; distance acquiring portions 11A, 11B that acquire information ([ 0016] - [0019 ]) related to a distance between the vehicle body 2 and the reference position setting member 10. The reference position setting member 10 has a shape extending in the width direction of the vehicle body 2, and is disposed on a platform (0017) outside the housing C at a travel start position of the vehicle body 2 when the vehicle body 2 is to be moved from outside the housing C into the housing C.

When the traveling state acquisition unit 31 of the control unit 20 determines that the vehicle body 2 is in an abnormal state inclined from the reference direction SD based on the first distance information acquired by the distance acquisition unit 11A and the second distance information acquired by the distance acquisition unit 11B, the drive control unit 32 of the control unit 20 performs control for correcting the abnormal state, and returns the vehicle body 2 to the straight traveling state ([ 0025] - [0026 ]).

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 7-101554 publication

Patent document 2: japanese patent laid-open No. 2020-1845

Disclosure of Invention

Problems to be solved by the invention

In the structure of the automated guided vehicle system of patent document 1, it is necessary to provide a large number of reflection plates 9 in a certain range on the inner surface side of the side wall and ceiling of the cargo housing. Therefore, each time the cargo container to be operated is changed, the operation of repositioning a large number of reflection plates 9 in the cargo container is required, and therefore, the above-described operation takes a large effort.

In the configuration of the unmanned conveyor system of patent document 2, it is necessary to dispose and fix the reference position setting member 10 having a shape extending in the width direction of the vehicle body 2, which sets the reference position of the vehicle body 2, on the platform outside the cargo housing. Therefore, when the stop position of the truck deviates from the predetermined position, the reference position setting member 10 needs to be reset. Further, since the reference position setting member 10 having a shape extending in the width direction of the vehicle body 2 is disposed on the platform, the reference position setting member 10 may become an obstacle.

The invention aims to solve the problems that in an unmanned carrier system with a laser sensor for detecting a reflector on a vehicle body, the operation of arranging the reflector is not troublesome, and even if the stop position of a truck deviates from a specified position, the reflector does not need to be arranged again, and the reflector does not become an obstacle.

Means for solving the problems

The unmanned carrier system according to the present invention is an unmanned carrier system for carrying out cargo handling operation of an unmanned carrier in a cargo housing,

the unmanned carrier is provided with a laser sensor for detecting a reflector on a vehicle body, and autonomously travels inside and outside the goods accommodating body,

the reflector is provided on the left and right sides of the entrance of the cargo housing so as to face a path through which the automated guided vehicle autonomously travels.

According to this configuration, the reflectors are provided on the left and right sides of the entrance of the cargo housing so as to face the path through which the automated guided vehicle autonomously travels. The automated guided vehicle autonomously travels inside and outside the cargo housing while detecting the reflector by a laser sensor provided in the vehicle body. Therefore, the automated guided vehicle may travel autonomously inside and outside the cargo housing while maintaining high travel accuracy without providing an induction belt or the like.

Further, since the automated guided vehicle can use the same reflector when traveling inside and outside the cargo container, the number of reflectors can be reduced. Further, the reflectors provided on the left and right sides of the entrance of the cargo housing can be easily provided by, for example, magnets or the like, so that the installation work of the reflectors becomes very simple. That is, since the reflectors are provided only on the left and right sides of the entrance of the cargo container, there is no need to newly provide a large number of reflectors in the cargo container every time the cargo container to be operated is changed as in the case of the reflector installation operation in patent document 1.

Even when the stop position of the truck is deviated from a predetermined position and the position of the cargo container is deviated from the predetermined position, the reflectors are provided on the left and right sides of the entrance of the cargo container, and therefore, it is not necessary to provide the reflectors again as in the reference position setting means of patent document 2. Further, since the reflectors are provided on the left and right sides of the entrance of the cargo container, the reference position setting member having a shape extending in the left and right direction and disposed on the platform is not an obstacle as in patent document 2.

In this case, the preferred embodiment of the reflector is as follows,

including a shape along the side of the half cylinder with the center axis of the half cylinder as the vertical direction, or a shape along the 3 sides of the square prism with sides between the sides of the square prism as the vertical direction.

According to this configuration, when the automated guided vehicle enters from the outside of the cargo housing to the inside and when the automated guided vehicle exits from the inside of the cargo housing to the outside, the reflection direction of the laser light irradiated from the laser sensor of the automated guided vehicle and incident on the reflector can be further continuously changed. Thus, when the automated guided vehicle moves to and from the inside and outside of the cargo housing, the position of the automated guided vehicle with respect to the reflector can be continuously and accurately detected.

Further, as the laser sensor, a front laser sensor and a rear laser sensor are provided at positions diagonally opposite to the front and rear of the vehicle body.

According to this configuration, when the automated guided vehicle moves to and from the inside and outside of the cargo housing, the reflectors provided at the left and right sides of the entrance of the cargo housing can be continuously detected by the front and rear laser sensors provided at the front and rear diagonal positions of the vehicle body.

In a more preferred embodiment, the automated guided vehicle stores a map of the inside of the cargo housing,

in the cargo housing, the front laser sensor measures a distance to one of the lateral wall of the cargo housing and the reflector, the rear laser sensor measures a distance to both of the lateral wall of the cargo housing and the reflector,

and integrating the measurement data of the front laser sensor and the rear laser sensor, and using the integrated measurement data for estimating the self position of the automated guided vehicle.

According to this configuration, even if the automated guided vehicle enters the deep portion of the cargo container far from the entrance of the cargo container, the automated guided vehicle can autonomously travel in the cargo container while accurately grasping the position of the automated guided vehicle and the positional deviation in the direction of rotation about the vertical axis by integrating the distance data of one of the lateral wall and the reflector of the cargo container measured by the front laser sensor and the distance data of both the lateral wall and the reflector of the cargo container measured by the rear laser sensor.

In addition, in a further preferred embodiment, the laser sensor is a two-dimensional laser sensor,

and a second reflector provided on the left and right sides of a loading platform provided in connection with the entrance of the cargo housing so as to face the path through which the automated guided vehicle autonomously travels.

According to this configuration, when the loading platform is provided so as to eliminate steps when the height of the floor surface of the cargo housing body is different from the height of the floor surface of the platform, the automated guided vehicle can accurately detect the position of the loading platform and travel on the loading platform while detecting the second reflectors provided on the left and right sides of the loading platform so that the automated guided vehicle faces the path of autonomous travel by the two-dimensional laser sensor provided in the vehicle body. Further, the second reflectors provided on the left and right sides of the loading platform can be easily provided by, for example, magnets, and thus the installation work of the second reflectors is also very simple.

The invention has the following effects:

as described above, according to the automated guided vehicle system of the present invention, in the automated guided vehicle system in which the automated guided vehicle having the laser sensor for detecting the reflector on the vehicle body autonomously travels inside and outside the cargo container, the work for installing the reflector is not troublesome, and even if the stop position of the truck deviates from a predetermined position, it is not necessary to newly install the reflector, and the reflector does not become an obstacle.

Drawings

FIG. 1 is a partial cross-sectional top view of an automated guided vehicle system according to an embodiment of the present invention.

Fig. 2 is a front view in longitudinal section of the same.

Fig. 3 is a partial cross-sectional top view of an automated guided vehicle system according to an embodiment of the present invention including an example of a loading dock.

Fig. 4 is a front view in longitudinal section of the same.

Fig. 5 is a perspective view of the automated guided vehicle according to the embodiment of the present invention.

Fig. 6 is the same front view.

Fig. 7 shows an example of a reflector according to an embodiment of the present invention, in which (a) is a perspective view and (b) is a plan view.

Fig. 8 shows a modification of the reflector, in which (a) is a perspective view and (b) is a plan view.

Fig. 9 is an enlarged top view of a major portion around the reflector in fig. 3.

Fig. 10 is an enlarged front view of a main portion around the reflector in fig. 4.

Symbol description:

1. unmanned carrier

2. Vehicle body

3. 4 laser sensor

5. 6 reflector

7. 8 second reflector

9. Semi-cylinder

Side of 9A semi-cylinder

10. Quadrangular prism

Sides of 10A, 10B, 10C quadrangular prism

11. Magnet

A goods container

B loading and unloading device

C mobile device

D loading and unloading platform

E inlet

F fork

G path

Horizontal plane below H

I inclined plane

Floor surface of J-platform

K promotes bracket

L1, L2 laser

M stand column

Floor surface of N goods container

Central axis of O semi-cylinder

P tray

Q load

R edge

S1, S2 transverse wall

T truck

Height of U-reflector

V-shaped contact surface

W goods

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the following embodiments, the direction in which the automated guided vehicle enters the interior from the outside of the cargo housing is defined as front, the left and right are defined toward the front, and the view from the left is defined as front.

As the automated guided vehicle system according to the embodiment of the present invention, fig. 1 is a partial cross-sectional plan view and fig. 2 is a partial longitudinal cross-sectional front view showing an example in which there is no step between the floor surface N of the cargo housing a as a container of the truck T and the floor surface J of the deck, and fig. 3 is a partial cross-sectional plan view and fig. 4 is a partial longitudinal cross-sectional front view showing an example in which the loading/unloading deck D is provided due to the presence of the step.

The automated guided vehicle 1 autonomously travels inside and outside the cargo housing a, and performs loading and unloading operations of the cargo W inside the cargo housing a. The cargo W is, for example, a pallet P and a load Q loaded on the pallet P.

The automated guided vehicle 1 includes two-dimensional laser sensors 3 and 4 on a vehicle body 2. Here, the laser sensors 3 and 4 are two-dimensional laser sensors.

In the example of fig. 1 and 2, reflectors 5 and 6 are provided on the left and right sides of the entrance E of the cargo housing a, and in the example of fig. 3 and 4, second reflectors 7 and 8 are provided on the left and right sides of the shade D in addition to the reflectors 5 and 6. The reflectors 5 to 8 face the path G (fig. 1 and 3) through which the automated guided vehicle 1 autonomously travels.

In the example of fig. 1 and 2, the laser sensors 3 and 4 of the automated guided vehicle 1 detect reflectors 5 and 6 (for example, refer to the lasers L1 and L2 of fig. 1).

In the example of fig. 3 and 4, when the automated guided vehicle 1 is positioned on the floor surface J of the platform, the reflectors 5 and 6 cannot be detected because the laser sensors 3 and 4 are two-dimensional laser sensors. In the example of fig. 3 and 4, the laser sensors 3 and 4 of the automated guided vehicle 1 detect reflectors 5 to 8 (for example, refer to the lasers L1 and L2 of fig. 3).

Here, even if a reflector is to be provided on the contact surface V on the rear side of the cargo housing a, the reflector cannot be provided on the contact surface V because the cargo W is normally disposed from the rear side in the cargo housing a. Further, if the reflector is provided on the cargo W, the position of the reflector fluctuates due to the cargo W being stacked. That is, the reflectors 5 and 6 are provided on the left and right sides of the entrance E of the cargo box a, so that the installation position of the reflectors provided in the cargo box a is optimized.

The laser sensors 3 and 4 are, for example, liDAR (Light Detection And Ranging: laser radar), irradiate the laser beams L1 and L2 in a pulse shape while changing the direction, detect the reflected scattered light, and measure the distance to the object, the direction, and the like by measuring the time until the reflected scattered light is returned by the object. By using the laser beams L1, L2 having a higher beam density and a shorter wavelength than the electric wave, the position, shape, and the like can be detected with high accuracy.

The automated guided vehicle 1 according to the embodiment of the present invention is, for example, an automated guided vehicle, and includes a loading/unloading device B that performs loading/unloading operations, a moving device C that performs traveling operations and turning operations, a control device that controls the loading/unloading device B and the moving device C, and the like, as shown in the perspective view of fig. 5 and the front view of fig. 6.

The loading/unloading device B includes a mast M that moves up and down and tilts in the front-rear direction, a fork F that loads the cargo W, and a lift bracket K that supports the fork F and moves up and down along the mast M. The moving device C has a pair of left and right front wheels, and rear wheels and a rear wheel drive device as drive wheels and being steered wheels. The control device includes a communication device or the like that controls the driving of the loading/unloading device B and the moving device C and communicates with the control device on the ground side.

The automated guided vehicle 1 is of an autonomous mobile type, and has a self-position estimating function of estimating a self-position in an environment map. The self-position estimating function is defined by JIS D6801, for example: 2019, "laser SLAM-type" or "image SLAM-type" as defined in relation to an unmanned truck system ("SLAM" is an abbreviation for Simultaneously Localization And Mapping). That is, the distance to the surface of a wall, a column, or the like is measured by a laser range finder or a camera capable of measuring the distance on the automated guided vehicle 1, and a surrounding environment map is created and the self position on the environment map is estimated.

The laser sensors included in the vehicle body 2 of the automated guided vehicle 1 are a front laser sensor 3 and a rear laser sensor 4, the front laser sensor 3 being located at the left front portion of the vehicle body 2, and the rear laser sensor 4 being located at the right rear portion of the vehicle body 2 (see also the main part enlarged plan view of fig. 9). The front laser sensor 3 may be disposed at the right front portion of the vehicle body 2, and the rear laser sensor 4 may be disposed at the left rear portion of the vehicle body 2, that is, the laser sensors 3 and 4 may be disposed at positions diagonally opposite to the front and rear portions of the vehicle body 2.

By providing the laser sensors 3 and 4 at the front-rear diagonal positions of the vehicle body 2, the reflectors 5 and 6 provided at the left and right sides of the entrance E of the cargo housing a can be continuously detected by the laser sensors 3 and 4 when the automated guided vehicle 1 moves to and from the inside and outside of the cargo housing a.

One (total of 4) laser sensors 3 and 4 may be disposed at each of the left and right positions in the front-rear direction of the vehicle body 2 (modification 1).

The arrangement positions of the front laser sensor 3 and the rear laser sensor 4 are not limited to the positions of the front and rear diagonal corners of the vehicle body 2. For example, the laser sensors 3 and 4 may be disposed in front of and behind the center portion of the vehicle body 2 in the lateral direction (modified configuration example 2). In this case, a slit is provided in the vehicle body 2 so that the laser beam reaches the side of the vehicle body 2.

In addition to the front and rear of the center portion in the lateral direction of the vehicle body 2, laser sensors may be provided on the lateral side surfaces of the vehicle body 2 (modification 3). Alternatively, a 3-dimensional laser sensor capable of detecting 360 degrees around the vehicle body 2 may be provided above the vehicle body 2 (modification 4).

As in the modified examples 1 and 3, if 4 laser sensors are arranged on the vehicle body 2, the number of laser sensors increases, which results in a cost. As in modification 2, if a slit is provided in the vehicle body 2, the strength of the vehicle body 2 is reduced. In the case where the 3-dimensional laser sensor is provided above the vehicle body 2 as in modification 4, there is a possibility that the laser light emitted from the 3-dimensional laser sensor toward the reflector is blocked by the cargo W, the mast M, or the like loaded on the automated guided vehicle 1. As described above, the laser sensors 3 and 4 are arranged at the front-rear diagonal positions of the vehicle body 2, which is a more preferable embodiment.

The automated guided vehicle 1 stores a map in the cargo housing a shown in fig. 1 to 4. In the cargo-accommodating body a, the front laser sensor 3 measures the distance to one of the lateral walls S1, S2 of the cargo-accommodating body a and the reflector 5, and the rear laser sensor 4 measures the distance to both of the lateral walls S1, S2 of the cargo-accommodating body a and the reflectors 5, 6 (see the laser light L2 of fig. 1 and 3). Then, the measurement data of the front laser sensor 3 and the rear laser sensor 4 are integrated and used for estimating the self-position of the automated guided vehicle 1.

According to this configuration, even when the automated guided vehicle 1 enters the deep portion of the cargo container a far from the entrance E of the cargo container a, the automated guided vehicle 1 can automatically travel in the cargo container a while accurately grasping the position of the automated guided vehicle and the deviation of the posture in the direction of rotation about the vertical axis by integrating the distance data measured by the front laser sensor 3 to one of the lateral walls S1, S2 and the reflector 5 of the cargo container a and the distance data measured by the rear laser sensor 4 to the both lateral walls S1, S2 and the reflector 5, 6 of the cargo container a, even when the overall length of the cargo container a is long.

In fig. 1 to 4, the automated guided vehicle 1 travels autonomously from the outside of the cargo housing a to the entrance E of the cargo housing a using a map reflecting the positions of the reflectors 5 and 6 of the entrance E in a map of the outside of the cargo housing a. When the automated guided vehicle 1 enters the cargo storing body a from the entrance E, the map in the cargo storing body a is different for each cargo storing body a, and therefore the automated guided vehicle 1 reads out the stored environment map in the cargo storing body a, or acquires or creates the environment map in the cargo storing body a at that location, and autonomously travels while estimating the position of the vehicle on the environment map.

The reflectors 5, 6 and the second reflectors 7, 8 according to the embodiment of the present invention shown in the perspective view of fig. 7 (a) and the plan view of fig. 7 (b) are, for example, identical in shape. The reflectors 5 to 8 have a shape along the side surface 9A of the half cylinder 9 with the center axis O of the half cylinder 9 as the vertical direction.

The reflectors 5, 6 and the second reflectors 7, 8 of the modification shown in the perspective view of fig. 8 (a) and the plan view of fig. 8 (b) are also, for example, the same shape. The reflectors 5 to 8 have a shape along 3 sides 10A, 10B, and 10C of the quadrangular prism 10 with the sides R between the sides of the quadrangular prism 10 as the vertical direction. In the example of fig. 8 (a) and 8 (B), the reflectors 5 to 8 are separated into 3 reflectors along the side surfaces 10A, 10B, and 10C, but may be integrated reflectors connecting them.

The height U of the reflectors 5 to 8 is set so as to be able to receive laser light from the laser sensors 3 and 4 of the automated guided vehicle 1. For example, in the partial longitudinal sectional front view of fig. 4 and the main part enlarged front view of fig. 10, the reflectors 5 to 8 can receive the laser lights L1, L2 from the laser sensors 3, 4 when the automated guided vehicle 1 travels on the floor surface J of the platform, when the automated guided vehicle 1 travels on the inclined surface I of the loading platform D, and when the automated guided vehicle 1 travels on the floor surface N of the cargo housing a (refer to the partial cross-sectional top view of fig. 3 and the main part enlarged top view of fig. 9).

According to the shapes of the reflectors 5 and 6 described above, the reflection directions of the laser beams L1 and L2 irradiated from the laser sensors 3 and 4 of the automated guided vehicle 1 and incident on the reflectors 5 and 6 can be further continuously changed when the automated guided vehicle 1 enters the interior from the outside of the cargo housing a and when the automated guided vehicle 1 exits from the inside of the cargo housing a. Thus, when the automated guided vehicle 1 moves to and from the inside and outside of the cargo housing a, the position of the automated guided vehicle 1 with respect to the reflectors 5 and 6 can be continuously and accurately detected.

In addition, according to the shapes of the reflectors 7 and 8 described above, the reflection directions of the laser beams L1 and L2 irradiated from the laser sensors 3 and 4 of the automated guided vehicle 1 and incident on the reflectors 7 and 8 can be further continuously changed when the automated guided vehicle 1 enters from the rear with respect to the loading dock D and when the automated guided vehicle 1 exits from the loading dock D. Thus, when the automated guided vehicle 1 passes through the loading/unloading platform D to and from the cargo housing a, the position of the automated guided vehicle 1 with respect to the second reflectors 7 and 8 can be continuously and accurately detected.

Since the reflectors 5 to 8 of the example shown in fig. 7 (a) and 7 (b) and 8 (a) and 8 (b) have the magnet 11 fixed to their lower surfaces, the work of disposing the reflectors 5 and 6 on the left and right sides of the entrance E of the cargo housing a and the work of disposing the second reflectors 7 and 8 on the left and right sides of the loading platform D by the magnetic attraction force of the magnet 11 is very simple.

As shown in the enlarged top view of the main part of fig. 9 and the enlarged front view of the main part of fig. 10, in the example including the loading platform D, the second reflectors 7 and 8 provided on the left and right sides of the loading platform D are provided on the left and right sides of the lower horizontal plane H near the lowermost part of the inclined plane I of the loading platform D. In the case where the loading platform D does not have the inclined surface I and the horizontal surface is lifted by the lifting mechanism, the second reflectors 7 and 8 may be provided on the left and right sides of the area farthest from the cargo housing a (for example, the area corresponding to the lower horizontal surface H in the loading platform D having the inclined surface I in fig. 9 and 10) in the horizontal surface of the loading platform D.

In this way, by providing the second reflectors 7 and 8, when the loading platform D is provided so as to eliminate steps when the height of the floor surface N of the cargo housing a is different from the height of the floor surface J of the platform, the automated guided vehicle 1 can accurately detect the position of the loading platform D and travel on the loading platform D by detecting the second reflectors 7 and 8 by the laser sensors 3 and 4 provided in the vehicle body 2.

As shown in fig. 9 and 10, when the loading dock D has the inclined surface I, the inclination of the automated guided vehicle 1 when the automated guided vehicle 1 travels on the inclined surface I is recognized by the inclination sensor mounted on the vehicle body 2.

As in the case of the automated guided vehicle 1 shown in the rightmost side of fig. 3 and 4, when the automated guided vehicle 1 travels on the floor surface J of the platform toward the loading platform D, the automated guided vehicle travels autonomously using a map reflecting the positions of the second reflectors 7 and 8 on the loading platform D in a map outside the cargo housing a. When the automated guided vehicle 1 travels on the loading dock D, autonomous travel is performed using a map reflecting the positions of the reflectors 5 and 6 at the entrance E of the cargo container a in the map outside the cargo container a. When the automated guided vehicle 1 enters the cargo storing body a from the entrance E, the automated guided vehicle 1 reads out the stored environment map in the cargo storing body a, or acquires or creates the environment map in the cargo storing body a at this time, and autonomously travels while estimating the position of the automated guided vehicle on the environment map.

According to the above-described automated guided vehicle system, the automated guided vehicle 1 can often travel autonomously inside and outside the cargo housing a while maintaining high travel accuracy without providing an induction belt or the like. Even when the stop position of the rail T is deviated from the predetermined position and the position of the cargo container a is deviated from the predetermined position, the reflectors 5 and 6 are provided on the left and right sides of the entrance E of the cargo container a, and therefore, the reflectors 5 and 6 do not need to be newly provided. Further, since the reflectors 5 and 6 are provided on the left and right sides of the entrance E of the cargo housing a, the reflectors 5 and 6 do not become an obstacle.

The description of the above embodiments is given by way of example and is not limited thereto. Various modifications and alterations can be made without departing from the scope of the invention.

Claims

1. An unmanned carrier system for carrying out cargo handling operation of an unmanned carrier in a cargo housing, characterized in that,

the unmanned carrier is provided with a laser sensor for detecting a reflector on a vehicle body and automatically runs inside and outside the goods accommodating body,

the reflectors are provided on the left and right sides of the entrance of the cargo housing so as to face the path through which the automated guided vehicle autonomously travels,

a front laser sensor and a rear laser sensor are provided as the laser sensors at positions diagonally opposite to the front and rear of the vehicle body,

the unmanned carrier stores a map within the cargo receptacle,

2. The automated guided vehicle system of claim 1, wherein,

the reflector may have a shape along the side surfaces of the half cylinder with the center axis of the half cylinder as the vertical direction, or may have a shape along 3 side surfaces of the square prism with sides between the side surfaces of the square prism as the vertical direction.

3. The automated guided vehicle system according to claim 1 or 2, wherein,

the laser sensor is a two-dimensional laser sensor,

and a second reflector provided on the left and right sides of the loading platform connected to the entrance of the cargo housing so as to face the path through which the automated guided vehicle autonomously travels.