JP7452938B2 - guidance system - Google Patents

Description

The present invention relates to a guidance system including a manned guided vehicle and an unmanned flying vehicle.

2. Description of the Related Art Manned guided vehicles (for example, forklifts) used in facilities such as factories and warehouses are configured to operate when an operator rides on and operates them. A forklift is configured to use its forks to pick up and store cargo.

By the way, a guidance system is known that includes a manned guided vehicle operated by an operator, an unmanned flying vehicle that can be stopped in the air, and a management device that controls the unmanned flying vehicle (see Patent Document 1, etc.).

In a guidance system, an unmanned flying vehicle is equipped with a projector that projects a guidance image onto a road surface. The guidance image displays, for example, an arrow pointing in the specified direction, and is projected onto the road surface in front of the manned guided vehicle. Thereby, the operator who is operating the manned guided vehicle is configured to be guided to the cargo handling position by checking the guidance image.

By the way, in conventional guidance systems, the manned guided vehicle is guided based on one guidance image projected by one unmanned flying vehicle, so the operator operating the manned guided vehicle can intuitively know the distance and direction to the cargo handling position. The problem is that it is difficult to recognize the

Japanese Patent Application Publication No. 2020-52629

Therefore, the problem to be solved by the present invention is to use a plurality of unmanned flying vehicles to guide a manned guided vehicle so that an operator operating the manned guided vehicle can intuitively determine the distance and direction to the cargo handling position. The objective is to provide a guidance system that can be recognized.

In order to solve the above problems, a guidance system according to the present invention includes a manned carrier operated by an operator, a plurality of unmanned flying vehicles that can be stopped in the air, and a management device that controls the unmanned flying vehicles. . The management device includes a guideway generation unit that generates a guideway between the vehicle position of the manned guided vehicle and the cargo handling position. The management device further includes a placement determining unit that determines the number of unmanned aerial vehicles to be suspended in the air on the taxiway according to the distance of the taxiway, and determines the position of the unmanned aerial vehicles to be suspended in the air on the taxiway. There is.

It is preferable that the placement determining unit determines the number of unmanned aerial vehicles and their mid-air stopping positions so that the unmanned aerial vehicles are arranged at equal intervals on the taxiway.

Preferably, the placement determining unit determines the number of unmanned aerial vehicles and their mid-air stopping positions so that the unmanned aerial vehicles are positioned at least at a cargo handling position on the taxiway and at a bending position of the taxiway.

Further, the placement determining unit may determine the aerial stop position of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned at the height of the cargo handling position.

Preferably, the placement determining unit determines the aerial stop position of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned at the height of the cargo handling position. Further, the management device controls the unmanned flying vehicle to emit light when the height of the cargo handling position corresponds to the height of the lowest shelf.

Preferably, the placement determining unit determines the aerial stop position of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned at the height of the cargo handling position. The management device also includes a projection instruction unit that controls the unmanned flying vehicle to project the guidance image toward the ceiling when the height of the cargo handling position corresponds to the height of the lowest shelf.

It is preferable that the placement determining unit determines the aerial stopping position of the unmanned flying vehicle on a straight line connecting the eye level of the operator operating the manned guided vehicle and the height of the cargo handling position.

The placement determining unit may determine the aerial stopping position of the unmanned aerial vehicle on a straight line connecting a height corresponding to the eyes of an operator operating the manned guided vehicle and a height of the cargo handling position. Furthermore, the management device includes a projection instruction unit that controls the unmanned flying vehicle to project the guidance image toward the road surface.

Preferably, the management device includes a projection instruction unit that controls the unmanned flying vehicle to project the guidance image toward the ceiling. Further, the placement determining unit controls the unmanned flying object so that the distance between the manned guided vehicle and the unmanned flying object closest to the manned guided vehicle becomes a predetermined length.

The management device also includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward the road surface or ceiling, and a focus that adjusts the focus of the guidance image according to the height of the unmanned aerial vehicle. It may also be controlled to make adjustments.

The guidance system according to the present invention suspends a plurality of unmanned flying vehicles in the air on a taxiway generated between the vehicle position of the manned guided vehicle and the cargo handling position, so that an operator operating the manned guided vehicle can move to the cargo handling position. You can intuitively recognize the distance, position, direction, etc. Furthermore, the guidance system can use a necessary and sufficient number of unmanned aerial vehicles by determining the number of unmanned aerial vehicles according to the distance of the taxiway.

FIG. 2 is a perspective view showing the guidance system. FIG. 3 is a side view showing the guidance system. FIG. 2 is a plan view showing the guidance system. A block diagram showing a guidance system. FIG. 7 is a side view showing another guidance system of Embodiment 1; FIG. 7 is a side view showing a guidance system according to another embodiment 2; FIG. 7 is a side view showing a guidance system according to another embodiment 3; FIG. 7 is a side view showing a guidance system according to another embodiment 4; FIG. 7 is a side view showing a guidance system according to another embodiment 5; FIG. 7 is a side view showing a guidance system according to another embodiment 6;

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a guidance system according to the present invention will be described based on the drawings.

<First embodiment>
As shown in FIGS. 1 to 4, the guidance system S includes a manned guided vehicle 1 operated by an operator O. The manned guided vehicle 1 is configured to operate when an operator O operates it. In this embodiment, the manned guided vehicle 1 is a counterbalance type forklift, and is configured so that the vehicle body can travel and the fork can be raised and lowered by operation by the operator O.

The guidance system S includes a plurality of shelves R installed in a facility such as a factory or warehouse. The shelf R includes a plurality of steps in the height direction, and is configured such that the luggage L can be stored at a predetermined position on the steps. The manned guided vehicle 1 performs cargo handling by loading and unloading the cargo L at a predetermined position on the shelf R. The shelves R are arranged at intervals of a predetermined width so that the manned guided vehicle 1 can travel and handle cargo, and a passage P is formed between each shelf R (FIG. 3).

The guidance system S includes a plurality of unmanned flying objects 2 that can be stopped in the air. The unmanned flying object 2 is called a drone, and is capable of flying to a predetermined aerial stopping position and hovering at a predetermined aerial stopping position by rotating rotary wings provided at the tips of each of a plurality of arms. It is configured as follows.

The guidance system S includes a management device 3 for controlling the unmanned flying vehicle 2 (FIG. 4). The management device 3 includes a storage section 30. The storage unit 30 stores a map M including shelves R and passages P installed within the facility, luggage L placed within the facility, and the like.

Furthermore, the storage unit 30 stores the tasks to be performed by the manned guided vehicle 1 as a cargo handling schedule J. That is, the cargo handling schedule J includes a task T1 for picking up the cargo L from a predetermined location on a predetermined shelf R, a task T2 for depositing the cargo L at a predetermined location on the predetermined shelf R, and a task T2 for depositing the cargo L at a shipping location. A plurality of tasks T, such as task T3 and task T4 for picking up the cargo L from the receiving location, are set in a predetermined order. Further, the cargo handling task T includes position information of the cargo L and cargo handling (pickup or storage) information for the cargo L.

The management device 3 includes a cargo handling instruction section 34, and the cargo handling instruction section 34 displays the task T of the cargo handling schedule J transmitted from the storage section 30 on the display section 11 provided at the driver's seat of the manned guided vehicle 1. is configured to do so.

The display unit 11 includes, for example, a touch panel display. The cargo handling instruction section 34 displays the task T to be performed by the manned guided vehicle 1 on the display section 11. The operator O operates the manned guided vehicle 1 to handle cargo according to the task T displayed on the display unit 11. When the task T is completed, the operator O presses the end button displayed on the display section 11, and an end signal is sent to the cargo handling instruction section 34. The cargo handling instruction unit 34 is configured to display the next task T to be performed by the manned guided vehicle 1 on the display unit 11 upon receiving the end signal.

The manned guided vehicle 1 includes a position detection section 10. The position detection unit 10 includes a laser sensor, a GPS sensor, an electromagnetic induction sensor, and the like. The position detection unit 10 is configured to detect the vehicle position D1 of the manned guided vehicle 1.

The management device 3 includes a guideway generation section 31. The taxiway generation unit 31 generates information on the vehicle position D1 of the manned guided vehicle 1 transmitted from the position detection unit 10, the facility map M transmitted from the storage unit 30, and the cargo handling schedule J transmitted from the storage unit 30. Based on the task T, a guide path 4 between the vehicle position D1 of the manned guided vehicle 1 and the cargo handling position D2 is generated. The cargo handling position D2 is a position on the path P where the manned guided vehicle 1 picks up and deposits cargo in the task T (FIG. 3).

As shown in FIG. 3, the guideway generation unit 31 is configured to generate, for example, a guideway 4 that connects the vehicle position D1 and the cargo handling position D2 on the passage P. The guideway 4 is set, for example, so that the travel distance of the manned guided vehicle 1 is the shortest. In this embodiment, as shown in FIG. 3, the guideway 4 includes a first straight section 41, a bent section 40, and a second straight section 42.

The unmanned aerial vehicle 2 includes a position detection section 20. The position detection unit 20 includes a GPS sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, an atmospheric pressure sensor, a compass, an acceleration sensor, etc., and can detect the position of the unmanned flying vehicle 2.

The unmanned flying vehicle 2 includes a flight control section 21. The flight control unit 21 is configured to control the rotation of the rotor. Based on the detection result of the position detection unit 20 and the control of the flight control unit 21, the unmanned flying object 2 flies to a predetermined aerial stop position on the taxiway 4 and hovers so as to stop in the air at the air stop position. can do.

The management device 3 includes a placement determining section 32. The arrangement determining unit 32 is configured to determine the number of unmanned flying objects 2 according to the distance of the taxiway 4.

For example, when the unmanned aerial vehicles 2 are arranged at equal intervals on the taxiway 4, when the taxiway 4 is long distance, the arrangement determining unit 32 determines that a large number of unmanned aerial vehicles 2 are arranged at equal intervals on the taxiway 4. On the other hand, when the taxiway 4 is short, it is determined that a small number of unmanned flying vehicles 2 are arranged.

That is, for example, when the unmanned flying objects 2 are to be arranged at 2 m intervals on the taxiway 4, when the taxiway 4 is 50 m long, the arrangement determining unit 32 determines that 25 unmanned flying objects 2 are arranged on the taxiway 4 at intervals of 2 m. On the other hand, when the taxiway 4 is 20 m long, it is determined that 10 unmanned aerial vehicles 2 will be arranged.

By arranging the unmanned flying vehicles 2 at equal intervals on the taxiway 4, the operator O can quickly grasp the distance of the taxiway 4 just by checking the number of unmanned flying vehicles 2. Thereby, the operator O can adjust the speed of the manned guided vehicle 1 and quickly prepare for cargo handling work.

Further, the unmanned aerial vehicles 2 do not need to be arranged at regular intervals; for example, the unmanned aerial vehicles 2 may be arranged at long intervals on the first straight section 41 of the taxiway 4 far from the cargo handling position D2, and on the first straight section 41 of the taxiway 4 near the cargo handling position D2. The number of unmanned aerial vehicles 2 may be determined so that they are arranged at short intervals in the second straight section 42 . The first reason for this is that by arranging the unmanned flying vehicles 2 at short intervals on the second straight section 42 of the taxiway 4 near the cargo handling position D2, the operator O intuitively knows that the cargo handling position D2 is near. This is to make it easier to prepare for cargo handling work, such as slowing down the speed of the manned guided vehicle 1. The second reason is that when the manned guided vehicle 1 approaches the cargo handling position D2, the operator O gradually reduces the speed of the manned guided vehicle 1. This is to make it easier to check the guided image 200 up close.

The placement determining unit 32 is further configured to determine an aerial stop position at which the unmanned aerial vehicle 2 hovers on the taxiway 4 . As shown in FIG. 3, in this embodiment, the unmanned aerial vehicle 2 hovers in the air at equal intervals on the first straight section 41 and the second straight section 42 of the taxiway 4, and also hovers at the bending section of the taxiway 4. It stops in the air and hovers at the bending position D3 located on the taxiway 40 and the cargo handling position D2 located on the taxiway 4.

Since the bending position D3 on the taxiway 4 is an important position where the manned guided vehicle 1 turns, the unmanned flying vehicle 2 stops in the air and hovers at the bending position D3, so that the operator O can move the vehicle at the important position. A certain bending position D3 can be quickly grasped. In addition, since the cargo handling position D2 on the taxiway 4 is an important position where the manned guided vehicle 1 performs cargo handling work, the unmanned flying vehicle 2 is suspended in the air and hovering at the cargo handling position D2, so that the operator O can , the cargo handling position D2, which is an important position, can be quickly grasped.

The unmanned aerial vehicle 2 includes a storage section 22. The storage unit 22 stores the guidance image 200. The guidance image 200 is composed of, for example, an arrow for guiding the manned guided vehicle 1 to the cargo handling position D2, and is configured so that the direction of the arrow differs depending on the cargo handling position D2 (FIG. 3).

The unmanned aerial vehicle 2 includes a projection section 23. The projection unit 23 is composed of, for example, a projector, and can project the guidance image 200 stored in the storage unit 22 onto the passageway P of the facility (FIGS. 2 and 3).

The management device 3 includes a projection instruction section 33. The projection instruction unit 33 is configured to determine the guidance image 200 to be projected onto the road surface P according to the taxiway 4 from the taxiway generation unit 31 and send a projection instruction to the projection unit 23 of the unmanned aerial vehicle 2. has been done.

The operator O visually observes the guidance image 200 projected on the passageway P, drives the manned guided vehicle 1 along the guided image 200 to the cargo handling position D2, and moves the manned guided vehicle 1 according to the task T displayed on the display unit 11. 1 can be operated to carry out cargo handling work on the cargo L.

In the guidance system S, the manned guided vehicle 1 The operator O who operates the cargo handling position D2 can intuitively recognize the distance and direction to the cargo handling position D2. Furthermore, the guidance system S can use a necessary and sufficient number of unmanned aerial vehicles 2 by determining the number of unmanned aerial vehicles 2 according to the distance of the taxiway 4.

<Other embodiments>
Other embodiments of the guidance system S will be described based on FIGS. 5 to 10.
Note that configurations similar to those in the first embodiment may be omitted to avoid redundant explanation.

(Embodiment 1)
As shown in FIG. 5, the placement determining unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned flying vehicle 2 so that the unmanned flying vehicle 2 is located at the height of the cargo handling position D2. That is, the storage unit 30 of the management device 3 stores the height position of the cargo handling position D2 of each task T of the cargo handling schedule J. The height position of the cargo handling position D2 is the height of the cargo L to be handled in each task T. The manned guided vehicle 1 performs loading and unloading operations on the luggage L at the height of the loading position D2. The arrangement determining unit 32 is configured so that the unmanned flying object 2 hovers and stops in the air at a height corresponding to the height position of the cargo handling position D2 of each task T.

The operator O who operates the manned guided vehicle 1 drives the manned guided vehicle 1 along the guidance image 200 projected from the unmanned flying vehicle 2 onto the path P, but visually confirms the mid-air stopping position of the unmanned flying vehicle 2. By simply doing this, the height of the cargo L to be handled can be intuitively recognized.

(Embodiment 2)
As shown in FIG. 6, the placement determining unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned flying vehicle 2 so that the unmanned flying vehicle 2 is located at the height of the cargo handling position D2. The unmanned flying object 2 is equipped with a light emitting device (not shown) and is configured to emit light so that the operator O can easily recognize the position of the unmanned flying object 2.

When the height position of the cargo handling position D2 corresponds to the height of the lowest stage of the shelf R, the arrangement determining unit 32 of the management device 3 arranges the unmanned aircraft 2 so that it is located at the height of the lowest stage of the shelf R. The aerial stopping position of the flying object 2 is determined. Therefore, since the unmanned aerial vehicle 2 is suspended in the air at a low position close to the passage P, even if the guidance image 200 is projected onto the passage P, it is difficult for the operator O to recognize the unmanned aerial vehicle 2. emits light, and as a result, the operator O can reliably recognize the guideway 4.

When the manned guided vehicle 1 travels and approaches the unmanned flying vehicle 2, the unmanned flying vehicle 2 is configured to take an evasive flight so as not to collide with the manned guided vehicle 1.

The operator O who operates the manned guided vehicle 1 can reach the cargo handling position D2 by driving the manned guided vehicle 1 along the unmanned flying vehicle 2, but only by visually confirming the mid-air stop position of the unmanned flying vehicle 2. , the height of the cargo L to be handled can be intuitively recognized.

(Embodiment 3)
As shown in FIG. 7, the placement determining unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is positioned at the height of the cargo handling position D2. The unmanned aerial vehicle 2 is equipped with a projection section 23, and the projection section 23 is configured to be able to project the guidance image 200 onto the ceiling C of the facility.

When the height position of the cargo handling position D2 corresponds to the height of the lowest stage of the shelf R, the arrangement determining unit 32 of the management device 3 arranges the unmanned aircraft 2 so that it is located at the height of the lowest stage of the shelf R. The aerial stopping position of the flying object 2 is determined. Therefore, since the unmanned aerial vehicle 2 is suspended in the air at a low position close to the passage P, even if the guidance image 200 is projected onto the passage P, it is difficult for the operator O to recognize the unmanned aerial vehicle 2. By projecting the guidance image 200 onto the ceiling C, the operator O can reliably recognize the guidance path 4.

When the manned guided vehicle 1 travels and approaches the unmanned flying vehicle 2, the unmanned flying vehicle 2 is configured to take an evasive flight so as not to collide with the manned guided vehicle 1.

The operator O who operates the manned guided vehicle 1 can reach the cargo handling position D2 by driving the manned guided vehicle 1 along the guidance image 200 projected onto the ceiling C from the unmanned aerial vehicle 2. The height of the cargo L to be handled can be intuitively recognized by simply visually checking the mid-air stopping position of the cargo L.

(Embodiment 4)
As shown in FIG. 8, the placement determining unit 32 of the management device 3 stops the unmanned flying vehicle 2 in the air on a straight line OS connecting the eye level of the operator O who operates the manned guided vehicle 1 and the height position of the cargo handling position D2. It may be configured to determine a position. The unmanned flying object 2 is equipped with a light emitting device (not shown) and is configured to emit light so that the operator O can easily recognize the position of the unmanned flying object 2.

The operator O who operates the manned guided vehicle 1 can reach the cargo handling position D2 by driving the manned guided vehicle 1 along the unmanned flying vehicle 2, but only by visually confirming the mid-air stopping position of the unmanned flying vehicle 2. , the height of the cargo L to be handled can be intuitively recognized.

(Embodiment 5)
As shown in FIG. 9, the placement determining unit 32 of the management device 3 stops the unmanned flying vehicle 2 in the air on a straight line OS connecting the eye level of the operator O who operates the manned guided vehicle 1 and the height position of the cargo handling position D2. It may be configured to determine a position. The unmanned aerial vehicle 2 includes a projection section 23, and the projection section 23 is configured to be able to project the guidance image 200 onto the passageway P of the facility.

The operator O who operates the manned guided vehicle 1 can reach the cargo handling position D2 by driving the manned guided vehicle 1 along the unmanned flying vehicle 2, but only by visually confirming the mid-air stop position of the unmanned flying vehicle 2. , the height of the cargo L to be handled can be intuitively recognized.

Further, since the operator O can drive the manned guided vehicle 1 along the unmanned flying vehicle 2, the guidance image 200 does not need to be composed of arrows pointing in the direction of the cargo handling position D2, and other information such as The type of cargo L to be handled and the like can be displayed. Therefore, the operator O can make preparations for picking up and placing the cargo L depending on the type of the cargo L and the like.

(Embodiment 6)
As shown in FIG. 10, the placement determining unit 32 of the management device 3 may be configured to determine the aerial stop position of the unmanned flying vehicle 2 so that the unmanned flying vehicle 2 is located at the height of the cargo handling position D2. The unmanned aerial vehicle 2 is equipped with a projection section 23, and the projection section 23 is configured to be able to project the guidance image 200 onto the ceiling C of the facility.

When the height position of the cargo handling position D2 corresponds to the height of the lowest stage of the shelf R, the arrangement determining unit 32 of the management device 3 arranges the unmanned aircraft 2 so that it is located at the height of the lowest stage of the shelf R. The aerial stopping position of the flying object 2 is determined. Therefore, since the unmanned flying object 2 is located at a low position close to the passage P, even if the guidance image 200 is projected onto the passage P, it is difficult for the operator O to recognize it. The body 2 is controlled to project the guidance image 200 onto the ceiling C.

Furthermore, if the distance X between the manned guided vehicle 1 and the unmanned flying object 2 closest to the manned guided vehicle 1 is short, the line of sight of the operator O operating the manned guided vehicle 1 will be directed upward at a large angle, which may be dangerous. For this reason, the arrangement determining unit 32 determines that the distance X between the manned guided vehicle 1 and the guidance image 200 closest to the manned guided vehicle 1 is a predetermined length, and the line of sight of the operator O is directed upward at a large angle. control to ensure that

The distance X may be a fixed length set in advance, and may be set depending on the speed of the manned guided vehicle 1, for example, it becomes longer when the speed of the manned guided vehicle 1 is faster than a predetermined speed, and becomes shorter when the speed is slower than the predetermined speed. may be changed. Thereby, the line of sight of the operator O who operates the manned guided vehicle 1 is directed upward at a small angle, so that the manned guided vehicle 1 can travel safely.

When the manned guided vehicle 1 travels and approaches the unmanned flying vehicle 2, the unmanned flying vehicle 2 is configured to take an evasive flight so as not to collide with the manned guided vehicle 1.

The operator O who operates the manned guided vehicle 1 drives the manned guided vehicle 1 along the guidance image 200 projected from the unmanned flying vehicle 2 onto the ceiling C, but visually confirms the mid-air stopping position of the unmanned flying vehicle 2. By simply doing this, the height of the cargo L to be handled can be intuitively recognized.

(Embodiment 7)
When the unmanned flying vehicle 2 projects the guiding image 200 toward the road surface P or the ceiling C, the projection instruction unit 33 of the management device 3 projects the guiding image 200 according to the height of the aerial stop position of the unmanned flying vehicle 2. Control may be performed to adjust the focus so that the image is clearly projected onto the road surface P or the ceiling C.

Since the guidance image 200 is clearly projected onto the road surface P or the ceiling C by focus adjustment, the operator O can reliably recognize the guidance image 200, thereby appropriately traveling and operating the manned guided vehicle 1. be able to.

Although preferred embodiments of the present invention have been described above, the configuration of the present invention is not limited to these embodiments. For example, it can be changed as follows.

In the embodiment described above, the unmanned flying object 2 projects the guidance image 200 onto the passageway P or the ceiling C, or emits light from itself, so that the guidance path 4 is recognized visually by the operator O. However, the guideway 4 may be configured to include a sound generator (not shown) that emits sounds such as a voice, a buzzer, a chime, etc., so that the operator O can recognize the guideway 4 by hearing. The sound generating unit is configured to emit sounds such as "Turn left after 15 m", "Destination is after 30 m", "There is an obstacle ahead, please be careful", etc.

The effects of the present invention will be explained.

In the guidance system S, a plurality of unmanned flying objects 2 are stopped mid-air on a taxiway 4 generated between the vehicle position D1 of the manned guided vehicle 1 and the cargo handling position D2, and the manned guided vehicle 1 is stopped in the air. The operator O operating the cargo handling position D2 can intuitively recognize the distance, position, direction, etc. to the cargo handling position D2.

Furthermore, the guidance system S can use a necessary and sufficient number of unmanned aerial vehicles 2 by determining the number of unmanned aerial vehicles 2 according to the distance of the taxiway 4. Therefore, there is no need to use an extra unmanned flying vehicle 2, and it is possible to reduce the frequency of failures, extend the life of the machine, reduce power consumption, and reduce costs.

O Operator 1 Manned guided vehicle 2 Unmanned aircraft 3 Management device 4 Taxiway S Guidance system 31 Taxiway generation unit 32 Layout determining unit 33 Photography instruction unit D1 Vehicle position D2 Cargo handling position D3 Bend position R Shelf P Road surface C Ceiling 200 Guidance image

Claims (10)

A manned guided vehicle operated by an operator,
Multiple unmanned flying vehicles that can stop in the air,
A guidance system comprising: a management device that controls the unmanned flying vehicle;
The management device includes:
a guideway generation unit that generates a guideway between the vehicle position of the manned guided vehicle and the cargo handling position;
a placement determining unit that determines the number of the unmanned flying objects that stop mid-air on the taxiway according to the distance of the taxiway, and determines the mid-air stopping position of the unmanned flying objects on the taxiway; Features a guidance system. 2. The guidance system according to claim 1, wherein the placement determining unit determines the number of unmanned flying objects and their mid-air stopping positions so that the unmanned flying objects are arranged at equal intervals on the taxiway. The placement determining unit is characterized in that the number of unmanned aerial vehicles and the mid-air stopping position are determined so that the unmanned aerial vehicles are positioned at least at the cargo handling position on the taxiway and at a bending position of the taxiway. Guidance system according to claim 1. The guidance according to any one of claims 1 to 3, wherein the placement determining unit determines an aerial stop position of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned at the height of the cargo handling position. system. The guidance system according to claim 4, wherein the management device controls the unmanned flying vehicle to emit light when the height of the cargo handling position corresponds to the height of the lowest shelf. The management device includes a projection instruction unit that controls the unmanned flying vehicle to project a guidance image toward the ceiling when the height of the cargo handling position corresponds to the height of the lowest shelf. The guidance system according to claim 4. The position determining unit determines the aerial suspension position of the unmanned aerial vehicle on a straight line connecting a height corresponding to the eyes of an operator operating the manned guided vehicle and a height of the cargo handling position. The guidance system according to any one of 1 to 3. The guidance system according to claim 7, wherein the management device includes a projection instruction unit that controls the unmanned flying vehicle to project a guidance image toward a road surface. The management device includes a projection instruction unit that controls the unmanned flying vehicle to project a guidance image toward the ceiling,
The arrangement determining unit controls the unmanned flying object so that the distance between the manned guided vehicle and the unmanned flying object closest to the manned guided vehicle becomes a predetermined length. 1. The guidance system according to 1. The management device includes a projection instruction unit that controls the unmanned flying vehicle to project a guidance image toward a road surface or a ceiling,
The guidance system according to claim 1, wherein control is performed to perform focus adjustment to adjust the focus of the guidance image according to the height of the unmanned aerial vehicle.

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