JP3244641B2 - Mobile body guidance equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile object guidance system which can run on a predetermined route and can run on a target or a point.

[0002]

2. Description of the Related Art Heretofore, the following systems have been known as guidance systems for mobile bodies. a. Electromagnetic induction method An electric wire is laid along the traveling path of the self-propelled transport vehicle (moving body), an alternating current flows to generate a magnetic field, and the self-propelled transport vehicle is provided with a sensor for detecting a magnetic field generated from the electric wire, It travels along the detected magnetic field.

B. Magnetic guidance system A magnetic tape is laid on the floor along the traveling path of the self-propelled transport vehicle (moving body) to generate magnetism, and the self-propelled transport vehicle has a sensor that detects the magnetism generated from this magnetic tape. , And travels along the detected magnetism.

C. Color line guidance system A tape of a color different from the floor surface is laid on the floor along the traveling path of the self-propelled transport vehicle (moving body), and a color different from the floor surface is detected on the self-propelled transport vehicle. Thus, the tape is detected, and the vehicle runs along the detected color tape.

D. GPS-based guidance system A GPS is installed on a self-propelled transport vehicle (moving body) to recognize its own position and travel while correcting the deviation from the traveling route.

E. Autonomous Guidance Method Obtains the traveling distance from the rotation of the wheels, calculates the traveling direction from the difference between the rotational speeds of the left and right wheels, calculates the own position by integrating the traveling direction and the traveling distance, and corrects the deviation from the traveling route While traveling.

F. Laser guidance system A device that irradiates a laser beam on the road along the travel route and receives the laser beam on a vehicle traveling on the road is provided.
The vehicle travels by being guided by the received laser beam.

[0008]

However, in the above-described mobile body guidance equipment, in the electromagnetic induction type, the magnetic induction type, and the color line induction type, the traveling route is fixed, and it is difficult to change the traveling route. However, there has been a problem that it is not possible to cope with the change of the floor surface, and further, it is affected by the material and properties of the floor surface. Further, it has not been possible to transfer a load to and from a truck stopped at an arbitrary position away from the traveling route. Further, in the magnetic induction method and the color line induction method, the moving body sometimes runs on a magnetic tape or a color tape, and there is a risk that these tapes may be damaged by the moving body.

[0009] Further, there is a problem that the guide method using the GPS cannot be used when the traveling route of the moving object enters the shadow of the satellite. Further, in the autonomous guidance system, there is a problem that some position correction means must be provided because an accumulated error occurs.

[0010] In the laser guidance system, the traveling path guided by the laser beam is fixed, and there is a problem that when the destination of the vehicle is misaligned, it cannot be easily corrected.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a guidance apparatus for a moving body which does not require a guide wire or tape, can provide accurate guidance even indoors, and can change a route. .

[0012]

In order to achieve the above-mentioned object, the present invention relates to a guidance system for a self-propelled moving body, and irradiates a light beam between a first set point and a second set point. The light generating means having an irradiating unit for performing the irradiation, and a rotating unit that adjusts an angle of a light irradiation surface irradiated by the irradiating unit and forms a plurality of guide paths for the moving body; To
The light receiving position detecting means for detecting the light receiving position of the light beam is disposed in the direction in which the light beams intersect before and after the moving body, and the light receiving position before and after the light receiving position detected by the light receiving position detecting device are both constant. Traveling means for moving to a set point, and a traveling means for detecting a deviation amount between the reached point and the target point where the moving object is moved, and according to the positional deviation amount detected by the traveling means. Control means for driving a rotating part of the light beam generating means, correcting a rotation angle of the light irradiation surface with respect to a moving axis of a moving body, and changing each of the guide paths is provided. Things.

With the above arrangement, the moving body travels by being guided by the light beam by traveling so that the front and rear light receiving positions detected by the light receiving position detecting means are both constant, and the moving point and the target point are moved. Is detected.
The rotating unit of the light generating means is driven in accordance with the detected positional shift amount, the rotation angle of the light irradiation surface with respect to the moving axis of the moving body is corrected, and each guide path is changed. Therefore, thereafter, the moving body can reach the target point without shifting.

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 to FIG. 3 are a plan view, a side view, and a front view of a loading / unloading area provided with a moving object guiding facility according to an embodiment of the present invention.

In FIG. 1, reference numerals 1 and 2 denote a first laser scanner and a second laser scanner for scanning the X1 course and the X2 course, which are two routes of the automatic forklift (moving body) 3 set in advance on the floor FL, with laser beams. These are laser scanners, and these laser scanners 1 and 2 are installed on the ceiling U above the X1 course and the X2 course. The X1 course and the X2 course are parallel routes along the storage space S. A pallet 5 loaded with a total of eight loads 4 (two in four stages) is stacked in the loading place S (in the embodiment, 2 pallets 5 are stacked).
Dan).

A stop position (frame) 7 of the truck 6 for carrying out the load 4 (pallet 5) is set opposite the load storage space S with the X1 course and the X2 course interposed therebetween. Track 6
Has a loading platform 8 on which five pallets 5 can be loaded in order from the front to the rear. The loading positions Z1, Z2, Z3 of the five pallets 5 on the loading platform 8 of the truck 6 stopped on the stop frame 7.
, Z4, Z5 and their loading positions Z1, Z2, Z3,
A third laser scanner 9 that scans five routes of the pallet 5 of the storage space S facing the Z4 and Z5, Y1, C2, Y3, Y4, and Y5 courses with a laser beam is installed on the ceiling U. I have.

Further, on both sides of the Y1 course and the Y5 course, a laser beam generator 10 for irradiating a light beam (plane beam) intersecting at right angles to the X1 course and the X2 course is arranged on the ceiling portion U. The laser beam generator 10 irradiates the course change position of the forklift 3.

As shown in FIG. 4A, the first laser scanner 1 and the second laser scanner 2 are constituted by laser beam scanning means for irradiating a laser beam downward at a predetermined angle Θ.

This laser beam scanning means is a laser light source.
11, a collimator lens 12 for collimating the laser beam emitted from the laser light source 11, and a collimator lens 12
And a motor (not shown) for driving the rotating mirror 13 to scan the laser beam emitted downward from the laser beam over a predetermined angle Θ.

With this configuration, the first laser scanner 1 and the second laser scanner 2 convert the laser beam emitted from the laser light source 11 into a parallel laser beam by the collimator lens 12, and the rotating mirror 13 lowers the laser beam by a predetermined angle Θ. Irradiation.

As shown in FIG. 4B, the third laser scanner 9 irradiates a laser beam downward at a predetermined angle Θ, and rotates the laser beam scanning device to rotate the laser beam scanning surface. It is composed of a rotating unit that adjusts the angle.

[0027] The laser beam scanning means is a laser beam source.
11, a collimator lens 12, a rotating mirror 13, and a motor (not shown) for driving the rotating mirror 13, further provided between the collimator lens 12 and the rotating mirror 13,
A half mirror 14 that refracts the reflected light incident from 13, a phototransistor 15 that detects the reflected light guided by the half mirror 14, and a box body 16 that houses these devices and also has a laser light scanning port on the bottom surface. Is configured. The box 16 is provided with rotating shafts 17 at the front and rear. The rotation center of the rotating mirror 13 is located on a line connecting the rotating shafts 17.

The rotating section is constituted by a servomotor 18 connected to one rotating shaft 17 of the box 16. By driving the servomotor 18, the angle of the box 16, that is, the vertical position of the laser beam scanning surface is set. The angle from is adjusted.

The third laser scanner 9 has this configuration,
The laser beam emitted from the laser light source 11 is converted into a parallel laser beam by the collimator lens 12, and is rotated by a rotating mirror.
By 13, the laser beam is irradiated downward over a predetermined angle Θ, and the angle of the scanning plane is adjusted by the servomotor 18. By adjusting this angle, the Y1 course, Y2 course
The course, Y3 course, Y4 course, and Y5 course can be scanned by a laser beam. Also rotating mirror 1
3. The reflected light enters the phototransistor 15 via the half mirror 14, and is detected by the phototransistor 15.

As shown in FIG. 6, the two laser beam generators 10, the phototransistor 15 of the laser scanners 1, 2 and 9, the laser light source 11, the drive motor of the rotating mirror 13, and the servo motor 18 Is connected to a main controller 19 composed of a microcomputer described later.

FIG. 5 shows the structure of the forklift 3. A fork with a side shift mechanism 22 that can move up and down is mounted on the front of the forklift body 21 that can move freely.
A sensor array 24 is provided on the upper surface of the forklift main body 21 at two locations in front and rear of the forklift body 21 to receive laser beams by arranging photodiodes in a horizontal direction (a direction in which laser beams intersect). A retroreflective sheet (or corner cube) 25 having a function of feeding back in the set direction is provided. The side shift mechanism 22 includes a right end limit switch 22A for detecting that the fork 23 has been shifted to the right end, and a left end limit switch 22 for detecting that the fork 23 has been shifted to the left end.
B is provided.

In the forklift body 21, there is provided a signal processing device 26 for detecting respective light receiving positions (irradiation positions of laser beams) from the light receiving signals of the two sensor arrays 24. These sensor array 24 and signal processing device 26
In this method, the front and rear light receiving positions are detected by the method disclosed in, for example, Japanese Patent Application Laid-Open No. 7-198326.

The fork 23 is provided with a pressure sensor 27 for detecting front, rear, left and right pressure applied to the fork 23, and a proximity sensor 28 is provided on a front surface of the forklift main body 21. A steering traveling drive unit 30 that steers and drives the wheels 29, a movement amount detection unit 32 that is connected to the front wheels 31 and detects the movement amount of the forklift body 21 from the number of revolutions thereof, and a lifting drive unit that moves the fork 23 up and down. 33 are provided.

As shown in FIG. 6, the control device 35
Detection data of the limit switches 22A and 22B of the side shift mechanism 22, light receiving position data of the signal processing device 26, front and rear pressure detection data and left and right pressure detection data of the pressure sensor 27,
Detection data of the track 6 of the proximity sensor 28, the movement amount detection unit
The movement amount data is input to the side shift mechanism 22, and the forward /
Reverse / stop / reversal / turnback / left / right direction command data and up / down command data are output to the up / down drive unit 33.

The operation of the main control device 19 and the control device 35 of the forklift 3 will be described in detail with reference to the flowcharts of FIGS. In addition, forklift 3
Moves on X2 course, Y1 course, Y2 course, Y3
The pallet 5 is transferred to the truck 6 in the order of course, Y4 course, and Y5 course.

The main control unit 19 first drives the laser beam generator 10 to irradiate the course change position of the forklift 3 (step-A1), and the first laser scanner 1 and the second laser scanner
The laser light source 11 of the laser scanner 2 and the rotating mirror drive motor 20 are driven to irradiate a laser beam, and X1 course and X
Two courses are formed (Step-A2). Next, the laser light source 11 of the third laser scanner 9 and the rotating mirror driving motor
20 is driven (step-A3), and the course number K of the courses Y1 to Y5 is set to 1 (step-A4),
A pulse signal is output to the servo motor 18 to adjust the angle of the box 16 to an angle corresponding to the Y (K) course (step-
A5). Initially, a Y1 (K = 1) course is formed.

The control device 35 of the forklift 3 includes Y1
The course number K of the course of Y5 is set to 1 (step-B1), and the light receiving position data of the signal processing device 26 by the laser beam emitted by the second laser scanner 2 becomes a predetermined fixed position, for example, a center position. As described above, the forward and left / right direction command data are output to the steering traveling drive unit 30 to travel the X2 course (step-B2), and the forklift 3 that has moved the X2 course
When the sensor array 24 detects a light beam emitted by the laser beam generator 10, that is, when a course change position to the Y (K) course is detected (step-B 3), the rightward command data is sent to the steering drive unit 30. Is output (step-B4), and the movement amount data M of the movement amount detection unit 32 is stored (step-B5).

By this operation, the forklift 3 is moved to X2
Change course from course to Y (K) course, and place to store cargo S
Move in the direction. The forward and left / right direction command data is output to the steering drive 30 so that the light receiving position data of the signal processing device 26 by the laser beam emitted by the third laser scanner 9 becomes the center position, and Y (K) is output.
Run on the course (Step-B6), and
The ascending / descending command data corresponding to the height of the pallet 5 at the level is output (step-B7). Then, when the movement amount data becomes (M + α), that is, the pallet 5
Is reached (step-B8), stop command data is output to the steering traveling drive unit 30 (step-B9), and scoop command data is output to the elevation drive unit 33 (step-B10).

By this operation, the forklift 3 is moved to Y
(K) Move to the storage area S according to the course, and
To fork 23. Next, the reverse and reverse command data is output to the steering drive unit 30 (step-
B11), lifting / lowering command data corresponding to the loading height of the truck 6 is output to the lifting / lowering drive unit 33 (step-B12), and rightward movement command data (backward movement command data of the track 6) is sent to the side shift mechanism 22. Is output (step-B13), and when the detection data of the right end limit switch 22A is input (step-B14), stop command data is output to the side shift mechanism 22 (step-B15). Subsequently, forward and left / right direction command data are output to the steering traveling drive unit 30 so that the light receiving position data of the signal processing device 26 by the laser beam emitted by the third laser scanner 9 becomes the center position, and Y (K ) Running on the course (Step-B
16).

By this operation, the forklift 3 moves to Y
(K) The truck 23 is reversed according to the course, and then the fork 23 is shifted to the rearward position of the truck 6 and moves from the loading place S to the truck 3 according to the Y (K) course.

Next, 0 is set to the number of times N and J of the switching to be described later (step-B17), and it is confirmed whether the pressure sensor 27 has inputted detection data for detecting that the fork 23 has contacted forward. If it cannot be confirmed (step-B18), it is confirmed whether or not the detection data of the proximity sensor 28 has been input (step-B19). When the detection data of the proximity sensor 28 is confirmed, stop command data is output to the steering traveling drive unit 30 (Step-B20), and the side shift mechanism is output.
The left movement command data (forward movement data of the track 6 in the forward direction) is output to 22 (step-B21), and the counting of the time t is started (step-B22).

Then, it is confirmed whether or not the detection data of the left end limit switch 22B has been inputted (step B23).
If it cannot be confirmed, it is confirmed whether the leftward detection data of the pressure sensor 27 has been inputted (step-B24). When this left detection data is confirmed, stop command data is output to the side shift mechanism 22 (step-B25), the time t is stopped, and the time is measured (step-B26). L (step-B27), a deviation LE from the shift Lc of the center position of the fork 23 is detected (step-B28), and the deviation LE is calculated as "N * Ls-J".
* Ls ”(Ls is the fork 23 by the side shift mechanism 22)
The total shift amount is calculated to calculate the stop deviation amount ER, output it to the main controller 19 (step-B29), and output wholesale command data to the lifting / lowering drive unit 33 (step-B30).

In step B23, when the detection data of the left end limit switch 22B is confirmed, that is, when the track 6 is not contacted even if the fork 23 is shifted,
Output stop command data to the side shift mechanism 22 (Step-B31), reset the time t (Step-B32),
The left turn command data is output to the steering drive unit 30 (step-B33), the number of times of left turn "N = N + 1" is counted (step-B34), and the process returns to step-B18.

In step B18, a pressure sensor
When the input of the detection data for detecting that the fork 23 has contacted forward with the 27 is confirmed, that is, when the tip of the fork 23 contacts the truck 6, the steering drive unit
The stop command data is output to 30 (Step-B35), the right turn command data is output to the steering drive unit 30 (Step-B36), and the number of times of right turn "J = J + 1" is counted (Step-B37). Return to Step-B18.

By this operation, as shown in FIG. 10, the forklift 3 is turned over according to the Y1 course, and
To the truck 6, the pallet 5 further shifted to the rearward position of the truck 6 is carried onto the carrier 8 of the truck 6, and the fork 23 is shifted to the forward position of the truck 6 to move the pallet 5 to the carrier 8. Load.

Also, as shown in FIG.
11C, when the fork 23 shifts to the left and does not come into contact with the truck 6 as shown in FIG. 11C, the left turn is performed and the fork 23 is shifted to the left to shift the pallet 5 to the left. Until it touches track 6,
The pallet 5 is loaded on the carrier 8. Also, the number of times of switching is counted, and the stop deviation amount ER of the track 6 (= LE + N *)
Ls−J * Ls) is output to the main control device 19.

Also, as shown in FIG.
When the fork 23 comes into contact with the truck 6 as shown in FIG. 12 (b), it turns to the right, and repeats until the fork 23 stops contacting the truck 6 until the pallet 5 stops. Is loaded on the loading platform 8. Also, the number of times of switching is counted, and the stop deviation amount E of the track 6 is calculated.
R is output to the main control device 19.

Subsequently, reverse and reverse command data are output to the steering drive 30 (step-B38), and the light receiving position data of the signal processor 26 by the laser beam irradiated by the third laser scanner 9 becomes the center position. As described above, the forward and left / right direction command data is output to the steering drive unit 30, and the vehicle travels on the Y (K) course (step-B39). Then, the movement amount data M of the movement amount detection unit 32 is stored (step-B40), and when the movement amount data becomes (M + β) (step-B41), the left-hand command data is output to the steering drive unit 30 (step-B41). −
B42). Then, the forward and left / right direction command data is output to the steering traveling drive unit 30 so that the light receiving position data of the signal processing device 26 by the laser beam emitted by the second laser scanner 2 becomes the center position, and the X2 course is performed. The vehicle travels (step-B43).

The next course is set (K = K + 1) (step-B44), and it is confirmed whether K = 6 (step-B45). If K is 5 or less, the movement amount data M of the movement amount detection unit 32 is stored (step-B46), and when the movement amount data becomes (M + γ) (step-B47), the process returns to step-B4 and returns to the next step. Transfer the load of the course. When K = 6 (the Y6 course does not exist), the vehicle travels on the X2 course (step-B48).

By this operation, the forklift 3 moves to Y
(K) Return to the X2 course according to the course, move the X2 course, execute the transfer of the load of the next Y (K) course, and
When the transfer of the load on the course ends, the vehicle travels according to the X2 course.

The main control unit 19 includes a phototransistor
The transfer of the forklift 3 to the Y (K) course is confirmed by the input of the light receiving signal 15 (step-A6). When the light receiving signal is no longer input from the phototransistor 15, that is, the forklift 3 is moved from the Y (K) course. When returning to the X2 course (step-A7), the next course is set (K = K + 1) (step-A8), and it is confirmed whether K = 6 (step-A9). When K = 6 (the Y6 course does not exist), the process returns to step-A4 and repeats from the setting of the angle of the Y1 course. If K is equal to or less than 5, it is confirmed whether or not the stop deviation amount ER of the track 6 has been input (step-A10), and when it is confirmed, the correction angle γE of the box 16 corresponding to the stop deviation amount ER is calculated ( Step-A1
1). If not, γE = 0 is set (step-A12). Then, an angle obtained by adding the correction angle γE to the angle corresponding to the next Y (K) course is calculated (γS is the angle for setting the next course) (step-A13), and the process returns to step-A5 to return to the servo-motor. A pulse signal is output to 18 to adjust the angle of the box 16 to an angle obtained by adding the correction angle γE to an angle corresponding to the Y (K) course.

By this operation, the guide path is changed from the next Y (K) course to a course in which the stop deviation amount ER of the track 6 has been corrected. When the transfer of the pallet 5 in the Y5 course is completed in the forklift 3, the movement of the pallet 5 is continued according to the X2 course, and the third laser scanner 9 again adjusts the angle of the box 16 to an angle corresponding to the Y1 course.

The forklift 3 moves along the courses of X1, X2, Y1 to Y5 due to the configuration of the above-mentioned guidance equipment, and when the pallet 5 is transferred onto the truck 6 by the Y1 course, the forklift 3 stops moving. The amount is measured, and thereafter Y2 to Y5 courses are set in consideration of the deviation amount. Therefore, the transfer route to the truck 3 stopped off the frame 7 can be corrected, the transfer of the pallet 5 can be automated, and the transfer by the forklift 3 can be performed efficiently. Further, when the pallet 5 is transferred to the truck 6 in the Y1 course, the forklift 3 is repeatedly turned over, so that the pallet 5 can be reliably loaded on the truck 6 and automation can be achieved.

In the present embodiment, the detected stop position deviation ER of the track 6 is corrected by the third laser scanner 9, but may be corrected on the forklift 3 side. In other words, the forklift 3 is traveling so that the front and rear light receiving positions are at the center position, but the front and rear light receiving positions are shifted by the stop position shift amount ER, and the subsequent Y2 course to Y5
By moving the course, it is possible to move to the stop position of the truck 6 accurately.

In the present embodiment, the automatic forklift 2 is used as the moving body, but the present invention can be applied to a bogie that runs on the floor by itself. In this embodiment, a laser beam is used. However, the present invention is not limited to a laser beam, and light from a normal lighting fixture can be collected and used.

In the present embodiment, the first to third laser scanners 1, 2, and 9 scan and irradiate the light beam at a predetermined angle 、. Irradiation may be performed. Also, the first
Although the third laser scanners 1, 2, and 9 irradiate light rays from above to below, they can also irradiate from the floor surface FL side, or irradiate from the front or back of the forklift 3. It is also possible. At this time,
It goes without saying that the mounting position of the sensor array 24 changes.

Further, in the present embodiment, the course change position of the forklift 3 is irradiated by the laser beam generator 10, but the detected object made of a metal piece is placed on the floor FL in advance at the course change position of the forklift 3. Alternatively, a detector including a proximity sensor (metal sensor) for detecting an object to be detected may be provided on the bottom surface of the forklift 3 to detect the course change position of the forklift 3.

[0058]

As described above, according to the present invention , the moving body travels by being guided by the light beam by traveling so that the front and rear light receiving positions detected by the light receiving position detecting means are both constant. Then, the amount of displacement between the moved arrival point and the target point targeted by the moving body is detected, and the rotating unit of the light generating means is driven in accordance with the detected amount of displacement, and the moving body on the light beam scanning surface is moved. Correct the rotation angle with respect to the movement axis , and
More altering the road, thereafter, it can reach the target point without departing mobile.

[0059]

[0060]

[Brief description of the drawings]

FIG. 1 is a plan view of a loading / unloading area in which a mobile object guiding facility according to an embodiment of the present invention is arranged.

FIG. 2 is a side view of an unloading area where the guidance equipment is arranged.

FIG. 3 is a front view of a loading / unloading area where the guidance equipment is arranged.

FIG. 4 is a configuration diagram of a laser scanner of the guidance equipment.

FIG. 5 is a configuration diagram of a forklift equipped with the guidance equipment.

FIG. 6 is a control configuration diagram of the guidance equipment.

FIG. 7 is a flowchart illustrating an operation of a main control device of the guidance facility.

FIG. 8 is a flowchart illustrating an operation of a control device of a forklift of the guidance equipment.

FIG. 9 is a flowchart illustrating an operation of a control device of a forklift of the guidance equipment.

FIG. 10 is an explanatory diagram illustrating an operation of the forklift when the load is transferred to a truck by the guidance equipment.

FIG. 11 is an explanatory diagram illustrating an operation of the forklift when the load is transferred to a truck by the guidance equipment.

FIG. 12 is an explanatory diagram illustrating an operation of the forklift when the load is transferred to a truck by the guidance equipment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 1st laser scanner 2 2nd laser scanner 3 automatic forklift (moving body) 4 load 5 pallet 6 truck (target) 7 frame 8 loading platform 9 3rd laser scanner 10 laser beam generator 11 laser light source 12 collimator lens 13 rotating mirror 14 Half mirror 15 Phototransistor 16 Box 18 Servo motor 19 Main controller 21 Forklift body 22 Side shift mechanism 22A Right end limit switch 22B Left end limit switch 23 Fork 24 Sensor array (light receiving position detecting means) 25 Retroreflective sheet 26 Signal processing device (Light receiving position detecting means) 27 Pressure sensor 28 Proximity sensor 30 Steering traveling drive unit 32 Moving amount detection unit 33 Elevating drive unit 35 Control device X1, X2, Y1 to Y5 Route Z1 to Z5 Load transfer position S Load storage FL Floor U ceiling

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshihiro Tsumura 3-7-21 Abiko, Sumiyoshi-ku, Osaka-shi, Osaka (72) Inventor Hisatoshi Narasaki 1-15-110, Kyomachibori, Nishi-ku, Osaka-shi, Osaka Toyo Hakko Inside (72) Inventor Kazushi Hiraoka 5-28 Nishikujo, Konohana-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Hirotoshi Shimoda 5-3-28, Nishikujo, Konohana-ku, Osaka-shi, Osaka Within Hitachi Zosen Corporation (72) Inventor Yoshihiro Igoku 5-28 Nishikujo, Konohana-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Kazuya Kawaguchi 5 Nishikujo, Konohana-ku, Osaka-shi, Osaka No. 3-28, Hitachi Zosen Corporation (56) References JP-A-1-245311 (JP, A) JP-A-63-298412 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , (DB name) G05D 1/00-1 / 12

Claims (1)

(57) [Claims] 1. An apparatus for guiding a self-propelled moving body, comprising: an irradiating unit that irradiates a light beam between a first setting point and a second setting point; and an angle of a light irradiation surface irradiated by the irradiating unit. And a light beam generating means having a rotating portion that forms a plurality of guide paths for the moving object is provided, wherein the moving object is disposed in a direction in which the light beams intersect before and after the moving object, and A light receiving position detecting means for detecting a light receiving position, and traveling before and after the light receiving position detected by the light receiving position detecting means are both constant, moved to the set point, and the moved arrival point and the moving body are moved. And a traveling unit for detecting a deviation amount from a target point to be provided, and a rotating unit of the light beam generation unit is driven in accordance with the positional deviation amount detected by the traveling unit. correcting the rotational angle with respect to the moving axis Each of said guideway
A mobile body guidance facility, characterized by comprising a control means for changing .