JP2020013582A - Unmanned aerial vehicles and unmanned transport systems - Google Patents

Abstract

To provide a guide system of unmanned carrier requiring no installation of guidance lines.SOLUTION: A hoverable unmanned aerial vehicle 1 includes: an own vehicle position detection part for detecting the position of an own vehicle 1; a flight control part that controls the flight of the own vehicle 1; and a projection part that projects an image G of a guidance route on a road surface R for an unmanned carrier 100 traveling along the guidance route. The unmanned aerial vehicle 1 detects the position of the own vehicle 1 and projects the image G of the guidance route for guiding the unmanned carrier 100 on the road surface R.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aerial vehicle and an unmanned transport system using the same.

  In factories and warehouses, unmanned transport vehicles that can travel autonomously in transport operations are used. Various types of guidance systems are used in this type of automatic guided vehicle. For example, the automatic guided vehicle disclosed in Patent Literature 1 uses a guidance system that travels along a guidance line. Specifically, this automatic guided vehicle is provided with an imaging unit, uses the imaging unit to image a guide line laid on a road surface, and travels on the guide line based on the position of the imaged guide line. I do.

  The guide line is made of a tape affixed to the road surface, a paint applied to the road surface, or the like, and is colored differently from the road surface. However, since such a guide line is laid on a road surface, it is easy for dirt to adhere or peel off. Therefore, there is a problem that the automatic guided vehicle cannot recognize the guide line due to the adhesion and peeling of the guide line, and stops traveling.

  Therefore, for example, there is an automatic guided vehicle guidance system using electromagnetic induction that is not easily affected by the attachment or peeling of dirt (see Patent Document 2). According to this guidance system, the automatic guided vehicle detects the induced magnetic field of the tow path wire laid on the floor along the traveling route by a pickup coil provided on the vehicle body, and controls the steering motor based on the detected induced magnetic field. Thereby, it moves along the traveling route.

  However, laying the tow path wire on the floor is cumbersome. In addition, this guidance method has a problem that the tow path wire must be laid on the floor anew whenever the layout in a factory or warehouse is changed.

JP-A-7-210246 JP-A-6-119036

  Therefore, an object of the present invention is to provide an automatic guided vehicle guidance system that does not require installation of a guidance line.

In order to solve the above problems, an unmanned aerial vehicle according to the present invention
An unmanned aerial vehicle capable of hovering,
An own position detection unit for detecting the position of the own device,
A flight control unit for controlling the flight of the aircraft,
A projecting unit that projects an image of the guide route for an unmanned guided vehicle traveling along the guide route on a road surface,
A first imaging unit that captures an image of a lower side of the own device,
A traveling route storage unit that stores a predetermined traveling route of the automatic guided vehicle,
Detecting a position of the automatic guided vehicle based on an image captured by the first imaging unit, and a part of the travel route corresponding to the detected position of the automatic guided vehicle and the detected position of the own device; A guidance route extraction unit that extracts the as the guidance route,
An image of the extracted guidance route is projected while following the automatic guided vehicle.

The unmanned aerial vehicle is
Preferably,
A correction coefficient calculator,
A correction processing unit,
A first imaging unit that captures an image of the guidance route projected on the road surface,
The correction coefficient calculation unit calculates the guidance route based on each luminance of each color component of each pixel of the captured guidance route image and each luminance of each color component of each pixel of the guidance route image determined by the guidance route extraction unit. Calculate the correction coefficient of each color component of each pixel of the image of
The correction processing unit corrects each luminance of each color component of each pixel of the image of the guidance route determined using the correction coefficient,
The projection unit projects the corrected image of the guidance route.

The unmanned aerial vehicle is
Preferably,
A second imaging unit for imaging an upper part of the own device,
An upper image storage unit that stores an upper image of the own device captured in advance in association with position information,
The own position detection unit
A collation unit that collates the current upper image of the own device captured by the second imaging unit with the upper image of the own device stored in the upper image storage unit;
A position identification unit for identifying the position of the own device based on the result of the collation by the collation unit.

The unmanned aerial vehicle is
Preferably,
An unmanned aerial vehicle that projects an image of a guidance route in an indoor space provided with a ceiling marker on a ceiling,
The upper image storage unit stores a ceiling image including a ceiling marker captured in advance in association with position information,
The matching unit compares the ceiling image captured by the second imaging unit with the ceiling image stored in the upper image storage unit.

The unmanned aerial vehicle is
Preferably,
The ceiling marker further includes an infrared irradiator that irradiates infrared rays to the ceiling marker,
The ceiling marker is a retroreflective material,
The second imaging unit is an infrared camera, and captures an image of the ceiling including the ceiling marker irradiated with infrared light.

In order to solve the above-described problems, according to the present invention, an unmanned transport system includes:
Said unmanned aerial vehicle,
An automatic guided vehicle including a third imaging unit, a guidance route detection unit, and a steering control unit,
The third imaging unit captures an image of a road surface range including the guidance route projected on the road surface by the projection unit,
The guidance route detection unit detects a guidance route based on the road surface image captured by the third imaging unit,
The steering control unit performs steering control based on the detected guidance route.

  ADVANTAGE OF THE INVENTION According to this invention, the guidance system of an automatic guided vehicle which does not need to install a guidance line can be provided.

1 is a schematic diagram of an unmanned transport system according to the present invention. It is a figure which shows the ceiling marker provided in the ceiling of FIG. FIG. 2A is a perspective view of the configuration of the unmanned aerial vehicle shown in FIG. 1 as viewed obliquely from below, and FIG. 2B is a perspective view as viewed obliquely from above. FIG. 4 is a perspective view illustrating a configuration of an upper unit of the unmanned aerial vehicle of FIG. 3. FIG. 3A is a perspective view of the configuration of the gimbal and the lower unit of the unmanned aerial vehicle of FIG. 3 as viewed obliquely from below, and FIG. 3B is a perspective view as viewed obliquely from above. FIG. 4 is a functional block diagram of each configuration provided in the main body of the unmanned aerial vehicle in FIG. 3. (A) is a figure which shows an example of the guidance image projected on the road surface, (b) is a figure which shows the guidance image before correction, (c) is a top view which shows the guidance image after correction | amendment It is. It is a schematic top view when an in-vehicle camera captures a guidance image. It is a functional block diagram of each composition of the modification of the unmanned conveyance system of FIG.

  Hereinafter, an embodiment of an unmanned aerial vehicle and an unmanned transport system using the unmanned aerial vehicle according to the present invention will be described with reference to the accompanying drawings. The directions X, Y, and Z in the front-rear direction, the left-right direction, and the up-down direction are based on the traveling direction of the automatic guided vehicle, as shown in the accompanying drawings.

<Overview of unmanned transport system S>
FIG. 1 is a schematic diagram of an unmanned transport system S using an unmanned aerial vehicle 1 according to the present invention. In the unmanned transport system S, the unmanned aerial vehicle 1 captures an image of the ceiling C, analyzes the captured image to detect its own position, and an image of a guidance route for guiding the unmanned transport vehicle 100 (hereinafter, an image of the guidance route). “Guidance image G”) is projected on the road surface R. The unmanned guided vehicle 100 is an unmanned forklift, and travels on a predetermined traveling route by being guided along a guidance line L in a guidance image G projected by the unmanned aerial vehicle 1.

<Ceiling configuration>
As shown in FIG. 2, a plurality of rectangular ceiling markers 200 for use by the unmanned aerial vehicle 1 to detect its own position are provided on the entire ceiling C. The ceiling markers 200 are retroreflective materials, and are arranged at equal intervals in the same column or the same row. In other words, the ceiling markers 200 are arranged on the ceiling C at different intervals for each row. For example, the intervals P3 of the bottom row in FIG. 2 are all the same. On the other hand, the lengths of the intervals P1, P2, and P3 of the first, second, and third rows are different from each other. The lengths of the intervals P4 and P5 between the first, second, and third stages are also different.

<Unmanned aerial vehicle 1>
First, the configuration of each part of the unmanned aerial vehicle 1 will be briefly described. As shown in FIG. 3, the unmanned aerial vehicle 1 is provided on a main body 20, four arms 12 extending from an upper surface of the main body 20 in four directions parallel to the ground, and a tip end of each of the four arms 12. Motor 13, a rotary wing 14 provided on the motor 13, a substantially octagonal column-shaped upper unit 15 erected above the base of the four arms 12, and a gimbal 16 provided below the main body 20. And a lower unit 17 supported by the gimbal 16, and four skids 18 provided around the main body 20 and below the arm 12.

  As shown in FIG. 4, the upper unit 15 has an upper unit main body 151, an infrared camera 152, and four infrared irradiation units 153. The infrared camera 152 corresponds to the “second imaging unit” of the present invention, and is arranged upward at the center of the upper surface of the upper unit main body 151. The four infrared irradiators 153 are arranged upward and downward and right and left around the infrared camera 152, respectively. The infrared irradiation unit 153 may be, for example, an infrared LED. The four infrared irradiators 153 irradiate infrared light toward the ceiling C, and the infrared camera 152 captures an image of the ceiling C including the ceiling marker 200 irradiated with the infrared light to generate a ceiling image.

  Usually, an electric light is provided on the indoor ceiling C, but it is difficult for the light of the electric light to reach the ceiling marker 200 provided on the ceiling C. Further, when imaging the ceiling marker 200 provided on the ceiling C, backlight caused by the electric light hinders imaging. Thus, the infrared camera 152 can appropriately image the ceiling C including the ceiling marker 200 by irradiating the ceiling C with infrared rays by the infrared irradiation unit 153. Further, since the ceiling marker 200 is a retroreflective material, the infrared camera 152 can appropriately image the ceiling marker 200 even when the incident angle of the infrared light applied to the ceiling marker 200 is large.

  As shown in FIG. 5, the gimbal 16 includes a first rotation shaft 161 rotatably connected to the main body 20, a disk-shaped rotation base 162 connected to the first rotation shaft 161, and a rotation base 162. And a pair of left and right second rotation shafts 164 rotatably connected to the center of the inside of the support column 163.

  The lower unit 17 has a projector 171 and a lower camera 172, and is supported by a second rotation shaft 164. The projector 171 corresponds to the “projection unit” of the present invention. The lower camera 172 corresponds to the “first imaging unit” of the present invention. The projector 171 and the lower camera 172 can be pointed in any direction by the gimbal 16. The projector 171 projects the guidance image G determined by the control unit 21 (see FIG. 6) on the road surface R. The lower camera 172 captures the guidance image G projected on the road surface R and generates a road surface image.

  As shown in FIG. 6, the main body 20 has a control unit 21, a position detection unit 23, and a storage unit 24.

  The control unit 21 includes a flight control unit 211, a guidance route extraction unit 212, a correction processing unit 213, and a correction coefficient calculation unit 214. The flight of the unmanned aerial vehicle 1 and the projection of the guidance image G by the projector 171 Control.

  The storage unit 24 includes a flight route storage unit 241, an upper image storage unit 242, and a traveling route storage unit 243.

  The own position detection unit 23 has various sensors (not shown) such as a GPS sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, a barometric pressure sensor, a compass, and an acceleration sensor, and detects the position of the unmanned aerial vehicle 1. Can be used for However, the GPS sensor cannot properly detect a GPS signal indoors. Therefore, as described in detail later, the indoor unit position detection unit 23 compares the ceiling image captured by the infrared camera 152 with the ceiling image stored in the upper image storage unit 242 indoors. Thus, the position of the unmanned aerial vehicle 1 is detected.

  Next, flight control of the unmanned aerial vehicle 1 by the flight control unit 211 will be described. The flight control unit 211 controls the rotation speed of each motor 13 to enable hovering of the unmanned aerial vehicle 1 and controls the flight speed, the flight direction, and the flight altitude of the unmanned aerial vehicle 1. In addition, during the autonomous flight of the unmanned aerial vehicle 1, the flight control unit 211 refers to the position of the unmanned aerial vehicle 1 detected by the own aircraft position detection unit 23 and refers to the flight path stored in the flight path storage unit 241. The unmanned aerial vehicle 1 is caused to fly along.

  Next, a method of detecting the position of the own device by the own position detecting unit 23 will be described. The own device position detecting unit 23 further includes a checking unit 231 and an own device position specifying unit 232. The upper image storage unit 242 stores an entire ceiling image of the entire ceiling C in association with position information. During the autonomous flight of the unmanned aerial vehicle 1, the infrared camera 152 captures an image of the upper part of the unmanned aerial vehicle 1 at any time, generates an upper image, and outputs the image to the matching unit 231. The matching unit 231 compares the input upper image with the entire ceiling image stored in the upper image storage unit 242, and searches for a position in the entire ceiling image where the upper image exists. I do. For template matching, for example, SSD (“Sum of Squared Difference”) or SAD (“Sum of Absolute Difference”) may be used as a similarity calculation method. The own aircraft position specifying unit 232 specifies the position of the unmanned aerial vehicle 1 based on the result of the template matching of the matching unit 231. In addition, the own aircraft position detection unit 23 detects the altitude of the unmanned aerial vehicle 1 using an ultrasonic sensor, a laser sensor, or the like.

  Next, a method of projecting the guidance image G will be described. The guidance route extraction unit 212 determines a guidance image G to be projected on the road surface R based on the position of the unmanned aerial vehicle 1 detected by the own aircraft position detection unit 23. Specifically, the traveling route storage unit 243 stores a predetermined traveling route of the automatic guided vehicle 100, and the guidance route extracting unit 212 stores the traveling route corresponding to the detected position of the unmanned aerial vehicle 1. Is extracted as a guidance route. The extracted image of the guidance route, that is, the guidance image G is processed by the correction processing unit 213 and then output to the projector 171. The area of the guidance route is not particularly limited.

  The projector 171 projects the input guidance image G on the road surface R. Since the unmanned aerial vehicle 1 can hover stably by the flight control unit 211 and the projector 171 can stably face a certain direction by the gimbal 16, the guidance image G can be stably positioned at an appropriate position on the road surface R. Can be projected.

  As shown in FIG. 7A, in the guidance image G, a guidance line L having a certain width is arranged at the center, and the direction of the guidance line L indicates the direction in which the automatic guided vehicle 100 is guided. Further, the color of the area of the guide line L is clearly different in brightness and saturation compared to the areas at both ends. The guidance image G is merely an example and is not limited to this. For example, a guidance line L of one color that is clearly different from the road surface R may be used as the guidance image G.

  Referring to FIG. 7B, the road surface R may be stained or peeled off depending on the use condition. In this case, a part of the guidance image G is not appropriately displayed as in the region A. Therefore, the control unit 21 analyzes the guidance image G projected on the road surface R, and corrects the guidance image G so as to correspond to such a road surface R. Hereinafter, a specific description will be given.

  Referring to FIG. 6, guidance image G <b> 1 extracted by guidance route extraction unit 212 is output to correction coefficient calculation unit 214 and projector 171 via correction processing unit 213. The projector 171 projects the input guidance image G1 on the road surface R. The lower camera 172 captures the projected guidance image G1, generates a road surface image, and outputs the road surface image to the correction coefficient calculation unit 214.

  The correction coefficient calculation unit 214 generates input data D1 by normalizing each brightness of each pixel of the guide image G1 for each color component, and also calculates each brightness of each pixel of the road surface image output from the lower camera 172 by each color component. The output data D2 is generated by normalizing the data. Next, the correction coefficient calculation unit 214 checks the input data D1 and the output data D2, and calculates a correction coefficient of each color component of each pixel for adjusting the luminance ratio between each pixel of the output data D2 to the input data D1. Then, the calculated correction coefficient is output to the correction processing unit 213.

  The correction processing unit 213 corrects the luminance of each color component of each pixel of the projection image G1 to be projected using the calculated correction coefficient of each color component of each pixel to generate a guidance image G2. Next, the correction processing unit 213 outputs the generated guidance image G2 to the projector 171 and to the correction coefficient calculation unit 214. The projector 171 projects the input guidance image G2 on the road surface R. The lower camera 172 captures the projected guidance image G2, generates a road surface image, and outputs the road surface image to the correction coefficient calculation unit 214. The correction coefficient calculation unit 214 calculates a correction coefficient corresponding to the guidance image G2 as described above.

  As shown in FIG. 7C, by repeating this process, the finally projected guidance image G is displayed like an image projected on a one-color screen.

<Automated guided vehicle 100>
Referring to FIG. 1 again, the configuration of the automatic guided vehicle 100 will be described. The automatic guided vehicle 100 includes a vehicle body 101, a vehicle-mounted camera 102, a pair of left and right front wheels 103, a pair of left and right rear wheels 104, and a steering control unit 105 that performs steering control of one or both of the front wheels 103 and the rear wheels 104. , A guidance route detection unit 106, a fork 107, and a mast 108. The in-vehicle camera 102 corresponds to the “third imaging unit” of the present invention.

  A part of the front surface of the vehicle body 101 is formed of a transparent member. The in-vehicle camera 102 is provided at a front upper side and in a central position in the vehicle body 101 so as to face a road surface R through a transmission member. The position of the vehicle-mounted camera 102 is merely an example and is not limited to this.

  As shown in FIG. 8, the on-vehicle camera 102 generates a road surface image by capturing a predetermined imaging range Q of the road surface R including the guidance image G, and outputs the road surface image to the guidance route detection unit 106.

  The guidance route detection unit 106 analyzes the input road surface image based on the saturation and brightness to detect the guidance line L.

  The steering control unit 105 controls the steering of one or both of the front wheel 103 and the rear wheel 104 based on the guidance line L detected by the guidance route detection unit 106. Specifically, the steering control unit 105 performs feedback control on the steering angles of the wheels 103 and 104 so that the position of the guidance line L is located at the center of the imaging range Q. Thereby, the automatic guided vehicle 100 can be guided along the guidance route projected by the unmanned aerial vehicle 1, and can travel on a predetermined traveling route.

  According to the unmanned transport system S, since the unmanned aerial vehicle 1 projects the guidance image G, there is no need to install a separate guidance line to guide the automatic guided vehicle 100. Further, since the guidance image G projected by the projector 171 is corrected as needed by the correction processing unit 213, the guidance route can be appropriately displayed even if the road surface R as the projection surface is partially contaminated.

  The embodiment of the system for guiding the automatic guided vehicle 100 according to the present invention has been described above, but the present invention is not limited to the above embodiment.

  (1) The unmanned guided vehicle 100 may be, for example, a manned or unmanned guided vehicle or a forklift.

  (2) The method by which the unmanned aerial vehicle 1 detects its own position is not particularly limited. For example, the position of the unmanned aerial vehicle 1 may be detected by a Simultaneous Localization And Mapping (SLAM) technique.

  (3) The infrared irradiating unit 153 may not be provided in the unmanned aerial vehicle 1 as long as the own position detection unit 23 can recognize the ceiling marker 200 from the ceiling image captured by the second imaging unit. The second imaging unit is not limited to the infrared camera 152, as long as the own device position detection unit 23 can recognize the ceiling marker 200 from the ceiling image captured by the second imaging unit.

  (4) The two-dimensional barcode is attached to the ceiling marker 200, for example, and the two-dimensional barcode may include position information. Accordingly, the own-machine position detection unit 23 can directly recognize the position of the unmanned aerial vehicle 1 by recognizing the ceiling marker 200 from the ceiling image.

  (5) The unmanned aerial vehicle 1 may have a configuration in which a gimbal is provided on the upper surface of the arm 12 and the upper unit 15 is connected to the gimbal. Thereby, the infrared camera 152 can always image the ceiling C at a fixed angle regardless of the attitude of the unmanned aerial vehicle 1.

  (6) The projector 171 may include a plurality of projectors. In this case, a plurality of guidance images G may be simultaneously projected by a plurality of projectors, so that a plurality of automatic guided vehicles 100 may be guided simultaneously. Further, a plurality of guidance images G may be simultaneously projected by a plurality of projectors to display a wide range of guidance routes on the road surface R.

  (7) The guidance route extracting unit 212 may determine the guidance image G based on the position of the unmanned carrier 100 in addition to the position of the unmanned aerial vehicle 1. In this case, the guide route extracting unit 212 detects the position of the automatic guided vehicle 100 based on an image captured by the lower camera 172 in advance.

  (8) The unmanned aerial vehicle 1 may project the guidance image G while following the automatic guided vehicle 100, or may project the guidance image G from a predetermined position.

  (9) As a method of correcting the guidance image G by the correction processing unit 213, for example, the light distribution characteristics of the projector 171 with respect to the road surface R may be acquired, and the guidance image G to be projected may be corrected using the light distribution characteristics. . Specifically, the control unit 21 further includes a light distribution characteristic acquisition unit that acquires light distribution characteristics. The projector 171 projects a reference image of one color on the road surface R1 before projecting the guidance image G, and the lower camera 172 captures the reference image to generate a road surface image and outputs it to the light distribution characteristic acquisition unit. I do. The light distribution characteristic acquisition unit analyzes and normalizes the brightness of each color component of each pixel of the road surface image, and creates an orientation distribution indicating the light distribution characteristics of each color component of the projector 171 with respect to the road surface R1. The correction processing unit 213 corrects the guidance image G using the light distribution. Thereby, the guidance image G adapted to the mode of the road surface R is generated.

  Further, the correction processing unit 213 may correct the guidance image G by using both the orientation distribution and the correction coefficient according to the above-described method. Specifically, after the light distribution characteristic acquisition unit creates the orientation distribution, the projector 171 projects the uncorrected guide image G1 on the road surface R. The lower camera 172 captures the guidance image G, generates a road surface image, and outputs the road surface image to the correction coefficient calculation unit 214. The correction processing unit 213 corrects the guide image G1 based on the above-described correction coefficient and orientation distribution, and generates a guide image G2.

  (10) As shown in FIG. 9, an unmanned transport system S1 including a server 400 capable of communicating with the unmanned aerial vehicle 1 may be used. In this case, the unmanned transport system S1 includes the unmanned aerial vehicle 1, the server 400, and the unmanned transport vehicle 100. The unmanned aerial vehicle 1 includes a position detection unit 23 and a projector 171. The server 400 includes a traveling route storage unit 401 and a guidance route extracting unit 402. The automatic guided vehicle 100 includes a vehicle-mounted camera 102, a pair of left and right front wheels 103, a pair of left and right rear wheels 104, a steering control unit 105, and a guidance route detection unit 106.

  In the automatic guided vehicle system S1, the traveling route storage unit 401 stores a predetermined traveling route of the automatic guided vehicle 100, and the traveling corresponding to the position of the unmanned aerial vehicle 1 received by the guidance route extracting unit 402 through communication. A part of the route is extracted as a guidance route. The projector 171 projects the image G of the guidance route received from the server 400 on the road surface R. The automatic guided vehicle 100 can be guided along the guidance route projected by the unmanned aerial vehicle 1 and travel on a predetermined traveling route in the same manner as the automatic guided vehicle system S. According to the unmanned transport system S1, the unmanned aerial vehicle 1 does not need to include the traveling route storage unit 243 and the guidance route extracting unit 212.

DESCRIPTION OF SYMBOLS 1 Unmanned aerial vehicle 12 Arm 13 Motor 14 Rotor wing 15 Upper unit 151 Upper unit main body 152 Infrared camera (second imaging unit)
153 Infrared irradiating unit 16 Gimbal 161 First rotating shaft 162 Rotating table 163 Support post 164 Second rotating shaft 17 Lower unit 171 Projector (projection unit)
172 Lower camera (first imaging unit)
18 Skid 20 Main body 21 Control unit 211 Flight control unit 212 Guidance route extraction unit 213 Correction processing unit 214 Correction coefficient calculation unit 23 Own unit position detection unit 231 Collation unit 232 Own unit position identification unit 24 Storage unit 100 Unmanned transport vehicle 101 Body 102 In-vehicle camera (third imaging unit)
103 Front wheel 104 Rear wheel 105 Steering control unit 106 Guidance route detection unit 200 Ceiling marker 400 Server 401 Travel route storage unit 402 Guidance route extraction unit S, S1 Unmanned transport system C Ceiling R Road surface G Guidance image Q Imaging range L Guidance line

Claims (6)

An unmanned aerial vehicle capable of hovering,
An own position detection unit for detecting the position of the own device,
A flight control unit for controlling the flight of the aircraft,
A projecting unit that projects an image of the guide route for an unmanned guided vehicle traveling along the guide route on a road surface,
A first imaging unit that captures an image of a lower side of the own device,
A traveling route storage unit that stores a predetermined traveling route of the automatic guided vehicle,
Detecting a position of the automatic guided vehicle based on an image captured by the first imaging unit, and a part of the travel route corresponding to the detected position of the automatic guided vehicle and the detected position of the own device; A guidance route extraction unit that extracts the as the guidance route,
An unmanned aerial vehicle that projects an image of the extracted guidance route while following the unmanned carrier. A correction coefficient calculator,
A correction processing unit,
The first imaging unit captures an image of the guidance route projected on the road surface,
The correction coefficient calculation unit is configured to calculate each luminance of each color component of each pixel of the captured guidance route image and each luminance of each color component of each pixel of the guidance route image determined by the guidance route extraction unit. Calculating a correction coefficient for each color component of each pixel of the image of the guidance route based on the
The correction processing unit corrects each luminance of each color component of each pixel of the image of the guidance route determined using the correction coefficient,
The unmanned aerial vehicle according to claim 1, wherein the projection unit projects the corrected image of the guidance route. A second imaging unit for imaging an upper part of the own device,
An upper image storage unit that stores an image of the own device captured in advance in association with position information, and an upper image storage unit,
The own device position detection unit,
A current image captured by the second imaging unit and a collation unit configured to collate the upper image of the own device stored in the upper image storage unit,
The unmanned aerial vehicle according to claim 1, further comprising: an own-device position specifying unit configured to specify a position of the own device based on a result of the comparison performed by the comparing unit. The unmanned aerial vehicle according to claim 3, wherein an image of the guidance route is projected in an indoor space provided with a ceiling marker on a ceiling,
The upper image storage unit stores an image of the ceiling including the ceiling marker captured in advance in association with position information,
The unmanned aerial vehicle, wherein the matching unit matches an image of the ceiling captured by the second imaging unit with an image of the ceiling stored in the upper image storage unit. Further comprising an infrared irradiator that irradiates the ceiling marker with infrared light,
The ceiling marker is a retroreflective material,
The unmanned aerial vehicle according to claim 4, wherein the second imaging unit is an infrared camera, and captures an image of the ceiling including the ceiling marker irradiated with the infrared light. An unmanned aerial vehicle according to any one of claims 1 to 5,
Including the automatic guided vehicle including a third imaging unit, a guidance route detection unit, and a steering control unit,
The third imaging unit captures an image of a range of the road surface including the guidance route projected on the road surface by the projection unit,
The guidance route detection unit detects the guidance route based on an image of the road surface captured by the third imaging unit,
The unmanned transport system, wherein the steering control unit performs steering control based on the detected guidance route.

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