JPWO2015059740A1 - Misalignment correction apparatus and misalignment correction system - Google Patents

Abstract

The misalignment correction device (100) calculates a deviation between the transport vehicle (1) and the transported object when the transported object (2) is loaded, and loads the misalignment amount (6) so as to be equal to or less than a predetermined threshold. Correct the position. Further, the positional deviation correction device corrects the traveling position of the transport vehicle according to the amount of deviation so that the conveyed product does not protrude from the traveling path when the conveyed product is conveyed. In addition, the misalignment correction device acquires a change in the misalignment amount during conveyance, and sets the arrival target position of the conveyance vehicle so that the installation position of the conveyance object becomes a predetermined initial position when the conveyance object is installed. to correct.

Description

  The present invention relates to a technique for correcting a travel route of a transport vehicle when there is a position shift of a transported object placed on the transport vehicle.

  There is a technique in which a transport vehicle carries a transported object and transports it to an instructed installation target position. At that time, when the installation position of the transport object is deviated from the installation target position, the transport vehicle detects the shift amount between the installation position and the installation target position, and moves the transport object based on the shift amount, A technique for correcting a shift in the installation position of a conveyed product is disclosed (see Patent Document 1).

JP 2013-107776 A

However, the technique described in Patent Document 1 corrects the deviation of the installation position with reference to the reference mark installed at the installation target position at the installation target position of the conveyance object. It is assumed that it is always placed at the same position when it is placed on the transport vehicle.
On the other hand, in reality, when the transport vehicle places a transported object, the position on which the transported object is placed may be displaced. Then, the deviation is accumulated by vibration or the like during the conveyance, and the deviation may be further increased. In addition, when there is a shift in the relative position between the transport vehicle and the transported object, the transported object may fall or collide with other installation objects when the transported object is placed and transported to the installation target position. However, in order to place the conveyed product at a predetermined position without any deviation, there is a problem that precise control is required and it takes a lot of time to place the conveyed product.

  Accordingly, the present invention provides a positional deviation that corrects the traveling position and the arrival target position of the transport vehicle in accordance with the amount of shift when a shift occurs in the load position of the transport object when the transport object is loaded, transported, or installed. It is an object of the present invention to provide a correction device and a positional deviation correction system.

  In order to solve the above-described problems, the misalignment correction apparatus (misalignment correction system) of the present invention calculates the amount of misalignment between the position of the transport vehicle and the position of the transported object when the transported object is loaded, and the misalignment amount is determined in advance. The stacking position is corrected so as to be equal to or less than a predetermined threshold value. Further, the positional deviation correction device corrects the traveling position of the transport vehicle according to the amount of deviation so that the conveyed product does not protrude from the traveling path when the conveyed product is conveyed. In addition, the misalignment correction device acquires a change in the misalignment amount during conveyance, and sets the arrival target position of the conveyance vehicle so that the installation position of the conveyance object becomes a predetermined initial position when the conveyance object is installed. It is characterized by correcting.

  According to the present invention, when a deviation occurs in the loading position of a conveyed product during loading, conveyance, and installation of the conveyed item, the traveling position and the arrival target position of the conveyance vehicle can be corrected according to the deviation amount. it can.

It is a figure which shows the function example of the position shift correction apparatus in this embodiment. It is a figure which shows an example of the conveyance vehicle in this embodiment, and a conveyed product, (a) represents the perspective view of a conveyance vehicle and a conveyed product, (b) represents the bottom part of a conveyed product, (c) is an imaging | photography part. This represents a reference mark, an image reference point, and a deviation amount in the captured image. It is a figure which shows the example of a processing flow of 1st Embodiment. It is a figure which shows the example of a processing flow of 2nd Embodiment. It is a figure which shows the outline | summary of 3rd Embodiment, (a) represents the case where correction | amendment of a travel route is not required, (b) represents the case where correction | amendment of a travel route is required. It is a figure which shows the example of a processing flow of 3rd Embodiment. It is a figure which shows the function example of the position shift correction system containing the position shift correction apparatus in this embodiment. It is a figure which shows the outline | summary of 4th Embodiment. It is a figure which shows the example of a processing flow of 4th Embodiment. It is a figure which shows the outline | summary of 5th Embodiment. It is a figure which shows the example of a processing flow of 5th Embodiment. It is a figure which shows the outline | summary of 6th Embodiment, (a) represents the case where the angle of a conveyed product is not accept | permitted with respect to the travel path of a conveyance vehicle, (b) is a conveyed product with respect to the travel path of a conveyance vehicle. This represents the case where the angle is acceptable. It is a figure which shows the example of a processing flow of 6th Embodiment.

  A mode for carrying out the present invention (hereinafter referred to as “the present embodiment”) will be described in detail with reference to the drawings as appropriate.

<Overview>
When the transport vehicle places a transport object such as a shelf and transports it to the installation target position, there is a case where the transport object is shifted when the transport object is loaded. When there is a deviation in the way of placing the transported object, the transported object may drop or collide with other installed objects during transport. Further, during traveling of the transport vehicle, the deviation may be accumulated due to vibration or turning, and the deviation may be further increased. Also, when installing the transported object at the installation target position, even if the transport vehicle arrives at the arrival target position accurately, if there is a deviation in the way the transported object is placed, it will be transported to a position deviated from the installation target position. It will install things.

  Therefore, the misalignment correction apparatus and misregistration correction system of the present invention calculates the misalignment amount when the conveyed product is loaded, and corrects the traveling position of the transport vehicle so as to correct the misalignment amount, or according to the misalignment amount. It has a function of executing correction processing for correcting the arrival target position of the transport vehicle or setting a travel route so as to reduce the amount of deviation.

  In this embodiment, (1) as the first embodiment, a case of correcting the arrival target position of the transport vehicle according to the amount of shift of the transported object at the time of loading, (2) as the second embodiment, A case in which a change in the amount of deviation at the time of conveyance is detected and the amount of deviation at the time of installation of a conveyance object is obtained. (3) As a third embodiment, a case in which the travel route of the conveyance vehicle is corrected according to the amount of deviation. ) As a fourth embodiment, when a transported object is installed at a position deviated from an initial position previously determined as a position where the transported object is installed, the travel route of the transport vehicle that picks up the transported object (5) As a fifth embodiment, a case in which a travel route is set so as to reduce the shift amount while the conveyed product is placed, (6) As a sixth embodiment, the conveyed product is conveyed. Do not stick out of the travel path of the vehicle Case for correcting the angle of the conveyance object, will be described.

<First Embodiment>
1, 2 (a), 2 (b), 2 (c) and FIG. 3, a case where the arrival target position of the transport vehicle is corrected in accordance with the amount of deviation of the transported object during loading will be described. explain. FIG. 1 is a diagram illustrating an example of functions of the misalignment correction apparatus according to the present embodiment. 2A is a perspective view of the transport vehicle and the transported object, FIG. 2B is a view illustrating the bottom of the transported object, and FIG. 2C is a reference mark in the captured image captured by the capturing unit. FIG. 6 is a diagram illustrating image reference points and shift amounts. FIG. 3 is a diagram illustrating an example of a processing flow according to the first embodiment.

First, a function example of the misalignment correction apparatus 100 will be described with reference to FIG. However, the function example shown in FIG. 1 is a partial function of the misalignment correction apparatus 100. For example, the functions related to traveling control are not shown.
The misalignment correction apparatus 100 is provided in the transport vehicle 1 (see FIG. 2A) that transports the transported object 2 (see FIG. 2A). The positional deviation correction apparatus 100 includes at least a processing unit 101 and a storage unit 120 as functions.

The processing unit 101 includes a CPU (Central Processing Unit) and a main memory (not shown), and develops an application program stored in the storage unit 120 in the main memory, so that the self-position acquisition unit 102, the imaging unit 103, and the transported object The functions of the position calculation unit 104, the deviation measurement unit 105, the deviation determination unit 106, the correction position setting unit 107, the state determination unit 108, the travel route setting unit 109, the deviation amount angle measurement unit 110, and the angle correction unit 111 are embodied. Yes.
Note that the state determination unit 108, the travel route setting unit 109, the deviation amount angle measurement unit 110, and the angle correction unit 111 are not shown in the first embodiment, and are therefore displayed in broken rectangles.

  The self-position acquisition unit 102 has a function of acquiring the position of the transport vehicle 1 on the map. For example, the self-position acquisition unit 102 calculates the position of the transport vehicle 1 using odometry that is calculated from the traveling speed of the transport vehicle 1 and the like. In the present embodiment, the map data is represented by a grid coordinate system having xy coordinates, but the present invention is not limited to this.

  The imaging unit 103 has a function of capturing the captured image 4 (see FIG. 2C) by capturing the bottom of the loaded transported object 2 with a camera (not shown) mounted on the transport vehicle 1 or the like. The camera is installed in the transport vehicle 1 so that the bottom of the transported object 2 can be photographed.

  The transported object position calculation unit 104 has a function of calculating the position of the transported object 2 (for example, the center position of the bottom of the transported object 2) from the photographed image 4 acquired by the photographing unit 103. For example, a reference mark 3 (see FIG. 2B) is attached to the center position of the bottom of the conveyed product 2, and the conveyed product position calculation unit 104 is located at which position of the captured image 4 the reference mark 3 is. Thus, the position of the transported object 2 on the map is calculated. The position of the reference mark 3 in the captured image 4 is calculated based on an image reference point 5 (see FIG. 2C) determined in advance in the captured image 4.

  The deviation measuring unit 105 uses the position of the transported object 2 calculated by the transported object position calculating unit 104 and the position of the transport vehicle 1 acquired by the self-position acquiring unit 102 to detect a shift amount 6 ( 2 (see FIG. 2C). The deviation amount 6 may be, for example, the Euclidean distance between the position of the transported object 2 and the position of the transport vehicle 1 or may be expressed by another distance scale.

  The deviation determination unit 106 has a function of determining whether or not the deviation amount 6 calculated by the deviation measurement unit 105 is equal to or less than a predetermined threshold value.

  The correction position setting unit 107 sets a new arrival target position of the transport vehicle 1 based on the deviation amount 6 so that the installation object 2 can be installed at an initial position that is predetermined as a position where the conveyance object 2 is installed. It has the function to do. In addition, the correction position setting unit 107 has a function of calculating a travel route that causes the transport vehicle 1 to reach a new arrival target position.

The function of the state determination unit 108 will be described in the second embodiment.
The function of the travel route setting unit 109 will be described in a third embodiment.
The functions of the deviation angle measuring unit 110 and the angle correcting unit 111 will be described in a sixth embodiment.

  The storage unit 120 is a recording device such as a hard disk, and an area of the deviation information storage unit 121 is secured. The deviation information storage unit 121 stores at least identification information for identifying the conveyed product 2, an initial position determined in advance for installing the conveyed product 2, and the deviation amount 6 in association with each other. Further, the photographed image 4 may be stored in the deviation information storage unit 121 in association with the identification information.

Next, the conveyance vehicle 1 and the conveyed product 2 are demonstrated using Fig.2 (a).
The transport vehicle 1 enters directly under the transport object 2 and lifts the transport object 2 using a lifting device (not shown) provided in the transport vehicle 1 to transport the transport object 2. In addition, the conveyed product 2 is an object like a shelf with legs, for example. The transport vehicle 1 transports the transported object 2 and lowers the transported object 2 at the arrival target position, thereby setting the transported object 2 at the initial position.

  FIG. 2B shows the bottom of the conveyed product 2. A reference mark 3 indicating the position of the conveyed product 2 is attached to the bottom of the conveyed product 2.

  FIG. 2C shows the captured image 4 captured by the capturing unit 103. The photographed image 4 is photographed so that the reference mark 3 is included. The deviation measuring unit 105 is an amount of deviation between the image reference point 5 of the photographed image 4 indicating the position of the transport vehicle 1 (indicated by a cross in FIG. 2C) and the reference mark 3 indicating the position of the conveyed object 2. 6 is calculated.

  In the first embodiment, an example of a processing flow in a case where the arrival target position of the transport vehicle is corrected according to the shift amount of the transported object during loading will be described with reference to FIG. 3 (see FIGS. 1 and 2 as appropriate). ).

  In step S301, the self position acquisition unit 102 acquires the position of the transport vehicle 1 on the map.

  In step S <b> 302, when the transported object 2 is loaded, the photographing unit 103 captures the bottom of the transported object 2 with a camera or the like (not shown) and acquires a captured image 4 in a range including the reference mark 3.

  In step S303, the transported object position calculation unit 104 calculates the position of the transported object 2 on the map. Specifically, the transported object position calculation unit 104 obtains the position of the reference mark 3 from the captured image 4 acquired by the imaging unit 103. The position of the reference mark 3 indicates the position of the conveyed product 2.

  The reference mark 3 may be any symbol of symbols, characters, images, and barcodes. The reference mark 3 may be composed of a plurality of symbols, and the position of the conveyed product 2 can be calculated from the plurality of symbols. The position of the reference mark 3 may be extracted by binarizing the captured image 4 or the position of the reference mark 3 may be extracted by a pattern matching method for searching for a shape pattern of the reference mark 3. Further, the position of the reference mark 3 may be calculated by extracting the color of the reference mark 3. In addition, the transported object position calculation unit 104 extracts the shape of the transported object 2 from the captured image 4 photographed by a camera (not shown) without using the reference mark 3, and extracts the shape of the transported object 2 from the extracted shape of the transported object 2. The position of the conveyed product 2 may be calculated.

  In step S <b> 304, the deviation measuring unit 105 calculates a deviation amount 6 between the position of the transport vehicle 1 and the position of the transported object 2.

  In step S <b> 305, the deviation measuring unit 105 stores, in the deviation information storage unit 121, information that associates the deviation amount 6 calculated in step S <b> 304 with the identification information that identifies the conveyed object 2.

  The shift amount 6 uses the captured image 4 and represents the x-axis direction by Δx and the y-axis direction by Δy, taking the direction of the xy coordinate system into consideration. The shift amounts Δx and Δy are the respective shift distances in the axial direction, but the shift angle may be calculated using Δx and Δy and added as shift amount information.

  In step S306, the deviation determination unit 106 determines whether or not the deviation amount 6 calculated by the deviation measurement unit 105 is equal to or less than a predetermined threshold value. If it is determined that the amount of deviation 6 is less than or equal to the threshold (Yes in step S306), the process proceeds to step S307. If it is determined that the amount of deviation 6 is greater than the threshold (No in step S306), the process ends. If it is determined that the deviation amount 6 is larger than the threshold, the deviation determination unit 106 may transmit a notification that the deviation amount 6 is large to the controller 200 described later. Or when it determines with deviation | shift amount 6 being larger than a threshold value, the conveyance vehicle 1 may not drive | work but it may load again and may perform a process from step S301.

  In step S <b> 307, the transport vehicle 1 travels (transports) with the transported object 2 placed on it shifted.

In step S308, the correction position setting unit 107 calculates a new arrival target position of the transport vehicle 1 based on the deviation amount 6 before arriving at a predetermined arrival target position. Specifically, the correction position setting unit 107 acquires the deviation amount 6 of the conveyed object 2 from the deviation information storage unit 121 using the identification information of the conveyed object 2 being conveyed, The current position (absolute coordinate position) of the transport vehicle 1 is acquired. Then, the correction position setting unit 107 calculates a new arrival target position of the transport vehicle 1 in order to place the transported object 2 at a predetermined initial position (absolute coordinate position) based on the deviation amount 6. . For example, assuming that the coordinates of the initial position are (x1, y1) and the shift amount 6 is Δx, Δy, the coordinates (x2, y2) of the new arrival target position of the transport vehicle 1 can be obtained by the following equation (1).
x2 = x1 + Δx, y2 = y1 + Δy (1)

  In step S309, when the transport vehicle 1 approaches a new arrival target position, the correction position setting unit 107 calculates a travel route that reaches the new arrival target position. The travel route is calculated based on the travel performance of the transport vehicle 1 so that the route distance is shortened. Here, the traveling performance is a curvature of a route on which the transport vehicle 1 can travel.

  In step S310, the transport vehicle 1 travels along the travel route calculated in step S309. When the transport vehicle 1 arrives at a new arrival target position, the transport object 2 is lowered and the transport object 2 is installed. After the process of step S310, this process flow ends.

  As described above, in the first embodiment, when the transport vehicle 1 loads the transported object 2, the misalignment correction apparatus 100 acquires the shift amount 6 on how to place the transported object 2 and sets the transported object 2 to the initial position. In order to install, the arrival target position of the conveyance vehicle 1 can be corrected according to the shift amount 6. Thereby, the positional deviation correction apparatus 100 can correct | amend so that the installation position of the conveyed product 2 may not shift | deviate. Further, the misalignment correction apparatus 100 can prevent the transport vehicle 1 from traveling unnecessarily in order to correct a shift when the transported object 2 is loaded.

  The transport vehicle 1 transports the transported object 2 to the initial position, but if the transported object 2 is installed at a position deviated from the initial position, the same transport vehicle 1 determines the installation position of the transported object 2. You may perform the conveyance for correction | amendment. As a result, the conveyed product 2 is placed at a correct position.

  Further, the self-position acquisition unit 102 may estimate the position of the transport vehicle 1 by photographing the marker set in the region where the transport vehicle 1 travels with a camera or the like. Accordingly, the self position can be determined based on the photographed marker image, and accumulation of self position estimation errors can be prevented.

  The self-position acquisition unit 102 may estimate the self-position by collating with map data obtained in advance using a distance sensor or the like. Thereby, the position of the conveyance vehicle 1 can be estimated more robustly.

  In addition, the self-position acquisition unit 102 estimates the self-position by comparing the environmental data obtained by photographing the arrangement of the installed objects by the camera and the map data, instead of obtaining the distance from the photographed image 4. Also good. Thereby, it is possible to realize a lower-cost and more robust self-position estimation.

  Further, the self-position acquisition unit 102 may estimate the self-position using communication data received from a satellite by GPS (Global Positioning System) or the like, or may use communication data received from a plurality of radio base stations. The self position may be estimated. Thereby, it is not necessary to install a marker in advance, and it is not necessary to acquire environmental data in advance, so that the initial introduction is simple.

  Note that the map data used by the self-position acquisition unit 102 may be a map expressed by some projection method such as latitude and longitude information instead of grid coordinates. This eliminates the need to create a grid coordinate map in advance. Moreover, the map which expressed only the reference point may be sufficient. Thereby, the setting of a map becomes simple. Furthermore, it may be image data or three-dimensional data instead of a map. Thereby, since image data and three-dimensional data acquired from a camera or a distance sensor can be used, a more detailed map can be used.

  Further, the photographing unit 103 may use the reference mark 3 as a barcode, and the photographing may be performed by a barcode reader. Thereby, the reference mark 3 can be easily recognized, and the information related to the transported object 2 can be easily acquired from the storage unit 120 by acquiring the identification information of the transported object 2.

  Further, the reference mark 3 may be a mark that reflects infrared rays, and photographing may be performed with an infrared sensor. Thereby, the erroneous recognition of the reference mark 3 can be reduced. Further, a sensor using another wavelength band may be used. Thereby, erroneous recognition of the reference mark 3 can be reduced, and more information can be expressed by changing the information displayed in the wavelength band.

  Further, the deviation determination unit 106 draws a circle centered on the image reference point 5 of the captured image 4 shown in FIG. 2C, and the deviation amount is equal to or less than the threshold value because the reference mark 3 exists in the circle. You may determine that there is.

<Second Embodiment>
In the second embodiment, a case in which a change in the deviation amount at the time of conveyance is detected and the deviation amount 6 at the time of installation of the conveyance object 2 is obtained will be described with reference to FIG. 4 (see FIGS. 1 and 2 as appropriate). . FIG. 4 is a diagram illustrating an example of a processing flow according to the second embodiment.

  In the second embodiment, as a new function example of the misalignment correction apparatus 100, the state determination unit 108 illustrated in FIG. 1 has a possibility that the misalignment amount 6 may change based on the traveling state of the transport vehicle 1. It has a function to determine whether or not. If the deviation amount 6 between the conveyance object 2 being conveyed and the conveyance vehicle 1 changes while the conveyance vehicle 1 is traveling, the deviation amount 6 cannot be updated when the conveyance vehicle 1 installs the conveyance object 2. The place where the object 2 is installed may deviate from the position where the object 2 is originally scheduled to be installed, and damage such as contact with other installation objects may occur. Here, the change of the shift amount 6 means that the position of the transported object 2 with respect to the transporting vehicle 1 shifts between when the transporting vehicle 1 lifts the transported object 2 and when it is running. Further, the change amount of the deviation may indicate a positional deviation after a certain time has elapsed, or may indicate a deviation per unit time. Moreover, you may show the shift | offset | difference before and behind some operations, such as the conveyance vehicle 1 rotating.

  In step S <b> 401, the state determination unit 108 determines whether or not the deviation amount 6 is likely to change based on the traveling state of the transport vehicle 1. Here, the traveling state includes, for example, slow stop, low speed travel, sudden turn, high speed travel, sudden stop, collision with an obstacle, and the like. The traveling state is determined by the processing unit 101 from traveling control information indicating information for controlling traveling of the transport vehicle 1. Further, the state determination unit 108 may receive the travel control information of the transport vehicle 1 from the controller 200 (described later) that controls the travel of the transport vehicle 1. When the state determination unit 108 determines that there is a possibility that the deviation amount 6 is changed (Yes in step S <b> 401), the state determination unit 108 transmits deviation measurement instruction information for measuring the deviation amount 6 to the imaging unit 103.

The traveling state when it is determined that there is a possibility of change is, for example, high speed traveling above a preset threshold, sudden turning, sudden stopping, collision, or the like. In addition, the traveling state when it is determined that there is no possibility of change is, for example, during a stop, slowly stopped, or traveled at a low speed. When determining that there is no possibility of change, the state determination unit 108 does not transmit the deviation measurement instruction information to the imaging unit 103.
If it is determined that there is a possibility of change (Yes in step S401), the process proceeds to step S402. If it is determined that there is no possibility of change (No in step S401), the process returns to step S401.

  In step S <b> 402, when the imaging unit 103 receives the deviation measurement instruction information from the state determination unit 108, the imaging unit 103 captures the bottom of the transported object 2 with a camera (not illustrated) and acquires a captured image 4 in a range including the reference mark 3. To do.

  In step S <b> 403, the transported object position calculation unit 104 calculates the position of the transported object 2. Specifically, the transported object position calculation unit 104 obtains the position of the reference mark 3 from the captured image 4 acquired by the imaging unit 103. The position of the reference mark 3 indicates the position of the conveyed product 2.

  In step S <b> 404, the deviation measuring unit 105 calculates a deviation amount 6 between the position of the transport vehicle 1 and the position of the transported object 2. Specifically, the deviation measuring unit 105 uses the position of the transported object 2 calculated by the transported object position calculating unit 104 and the position of the transported vehicle 1 acquired by the self-position acquiring unit 102 to use the transported object 2. A deviation amount 6 is calculated.

In step S405, the correction position setting unit 107 determines whether or not the transport vehicle 1 has arrived at the arrival target position. Specifically, the correction position setting unit 107, when the distance between the position of the transport vehicle 1 acquired by the self-position acquisition unit 102 and the arrival target position of the transport vehicle 1 is equal to or less than a predetermined threshold value, Judge that it has arrived.
If it is determined that it has arrived (Yes in step S405), the process ends. If it is determined that it has not arrived (No in step S405), the process proceeds to step S406.

In step S406, the deviation determination unit 106 determines whether the deviation amount 6 has changed. Specifically, the deviation determination unit 106 compares the deviation amount 6 calculated in step S404 with the deviation amount 6 acquired from the deviation information storage unit 121, and the absolute value of the difference between the two is larger than a predetermined threshold value. In this case, it is determined that the shift amount 6 has changed. The shift determination unit 106 may determine whether or not there is a change by superimposing the captured image 4 captured in step S402 and the captured image 4 stored in the shift information storage unit 121. .
If it is determined that the amount of deviation 6 has changed (Yes in step S406), the process proceeds to step S407. If it is determined that the amount of deviation 6 has not changed (No in step S406), the process returns to step S401.

  In step S <b> 407, the deviation measuring unit 105 overwrites and updates the deviation information storage unit 121 with information that associates the deviation amount 6 calculated in step S <b> 404 with identification information that identifies the conveyed object.

  As described above, in the second embodiment, the misalignment correction apparatus 100 detects a change in the misalignment amount 6 at the time of conveyance, and obtains the misalignment amount 6 at the time of arrival (when the conveyance object 2 is installed) at the arrival target position. it can. Thereby, the misalignment correction apparatus 100 detects the change when the misalignment amount 6 when the transported object 2 is loaded changes due to high-speed traveling, sudden turn, or the like, and at the time of arrival at the arrival target position. The deviation amount 6 can be acquired.

<Third Embodiment>
In the third embodiment, a case where the travel route of the transport vehicle 1 is corrected according to the deviation amount 6 will be described with reference to FIGS. 5A, 5B, and 6 (FIGS. (See FIG. 2). FIG. 5A shows a case where the travel route need not be corrected, and FIG. 5B shows a case where the travel route needs to be corrected. FIG. 6 is a diagram illustrating an example of a processing flow according to the third embodiment.

First, the outline of the third embodiment will be described.
In FIG. 5A, it is assumed that the transport vehicle 1 carries the transported object 2 and travels in a travel path designated in advance by a broken line 7 in the travel direction (vertical direction). At that time, the center of the transport vehicle 1 is controlled so as to pass on the travel route indicated by the solid line 8 in the center of the travel path. At this time, when the conveyed product 2 is placed at a position shifted from the conveyance vehicle 1, if the conveyed product 2 protrudes from the traveling path, it comes into contact with the installed object beside the traveling path. Therefore, in the third embodiment, as shown in FIG. 5B, the center of the transport vehicle 1 passes on the travel route indicated by the alternate long and short dash line 9 so that the transported object 2 does not protrude from the travel path. It is corrected to. Thereby, even if the conveyed product 2 is shifted and loaded, it is possible to prevent the conveyed product 2 being conveyed from protruding from the travel path. In addition, the range surrounded by the broken line 7 and the horizontal broken line in FIG. 5A represents the range of addresses on the map.

  In the third embodiment, as a new function example of the misalignment correction apparatus 100, the travel route setting unit 109 shown in FIG. 1 uses the position of the transport vehicle 1 and the displacement amount 6 to travel the travel route of the transport vehicle 1. Has a function of correcting the deviation according to the deviation amount 6.

Next, a processing flow example of the third embodiment will be described with reference to FIG.
In step S601, the self position acquisition unit 102 acquires the position of the transport vehicle 1 on the map.

  In step S <b> 602, the imaging unit 103 captures the bottom of the transported object 2 with a camera (not shown) and acquires a captured image 4 in a range including the reference mark 3.

  In step S <b> 603, the transported object position calculation unit 104 calculates the position of the transported object 2. Specifically, the transported object position calculation unit 104 obtains the position of the reference mark 3 from the captured image 4 acquired by the imaging unit 103. The position of the reference mark 3 indicates the position of the conveyed product 2.

  In step S <b> 604, the deviation measuring unit 105 calculates a deviation amount 6 between the position of the transport vehicle 1 and the position of the transported object 2. Specifically, the deviation measuring unit 105 uses the position of the transported object 2 calculated by the transported object position calculating unit 104 and the position of the transported vehicle 1 acquired by the self-position acquiring unit 102 to use the transported object 2. A deviation amount 6 is calculated.

  In step S <b> 605, the deviation measurement unit 105 stores information that associates the deviation amount 6 calculated in step S <b> 604 with the identification information for identifying the conveyed object in the deviation information storage unit 121.

  In step S606, the deviation determination unit 106 determines whether the deviation amount 6 calculated by the deviation measurement unit 105 is equal to or less than a predetermined threshold value. If it is determined that the amount of deviation 6 is less than or equal to the threshold (Yes in step S606), the process proceeds to step S607. If it is determined that the amount of deviation 6 is greater than the threshold (No in step S606), the process ends. If it is determined that the deviation amount 6 is larger than the threshold, the deviation determination unit 106 may transmit a notification that the deviation amount 6 is large to the controller 200 described later.

  In step S <b> 607, the travel route setting unit 109 corrects the travel route of the transport vehicle 1 based on the deviation amount 6. Specifically, the travel route setting unit 109 uses the position of the transport vehicle 1 acquired by the self-position acquisition unit 102 and the shift amount 6 acquired from the shift information storage unit 121 to travel the travel route of the transport vehicle 1. Is corrected according to the shift amount 6.

  For example, when the displacement amount of the conveyed product 2 can be expressed by Δx in the x direction and Δy in the y direction, when the transport vehicle 1 travels in the y direction, the travel route of the transport vehicle 1 is only −Δx with respect to the center of the passage. The position is shifted. Similarly, when the transport vehicle 1 travels in the x direction, the travel route of the transport vehicle 1 is shifted by −Δy with respect to the center of the passage. Even when the transport vehicle 1 travels obliquely, travels in a curve, rotates, and the like, the correction position setting unit 107 calculates the travel route of the transport vehicle 1 according to the deviation amount 6. The transport vehicle 1 is controlled to travel on the calculated travel route.

  As described above, in the third embodiment, the misalignment correction apparatus 100 can correct the travel position of the transport vehicle 1 according to the acquired misalignment amount 6. At this time, as the deviation amount 6, it is possible to use the one obtained at the time of loading or carrying. Thereby, the positional deviation correction apparatus 100 can make the conveyed product 2 pass the center with respect to a travel path.

<Fourth Embodiment>
In the fourth embodiment, when the transported object 2 is installed at a position deviated from a predetermined initial position, the case of correcting the travel route of the transport vehicle 1 that picks up the transported object 2, This will be described with reference to FIGS. 7, 8 and 9 (see FIG. 2 as appropriate). FIG. 7 is a diagram illustrating a functional example of a misregistration correction system including the misregistration correction apparatus according to the present embodiment. FIG. 8 is a diagram showing an outline of the fourth embodiment. FIG. 9 is a diagram illustrating an example of a processing flow according to the fourth embodiment.

First, a function example of the misregistration correction system 300 in the present embodiment will be described with reference to FIG.
A misregistration correction system 300 illustrated in FIG. 7 includes a misregistration correction apparatus 100a and a controller 200. The conveyance vehicle 1 enters directly under the conveyance object 2 and conveys the conveyance object 2 by lifting it with a lifting device (not shown). At this time, the transported object 2 is installed with a deviation from a predetermined initial position, and the transport vehicle 1 on which the transported object 2 is installed has an installation deviation amount indicating a deviation amount between the initial position and the actual installation position. 6a is measured, and the identification information and the installation position of the conveyed product 2 are transmitted to the controller 200. The controller 200 stores the identification information and the installation position of the conveyed product 2. Next, the controller 200 transmits the installation position of the transported object 2 to the transport vehicle 1 that is picking up the transported object 2. Then, the transport vehicle 1 corrects the travel route so as to enter the center of the transported object 2 based on the installation position of the transported object 2 received from the controller 200.

  The function of the misalignment correction apparatus 100a is different from the function of the misalignment correction apparatus 100 shown in FIG. 1 in that a transported object position transmitting unit 112, a transported object position receiving unit 113, and a communication unit 130 are provided. Therefore, the functions of the transported object position transmitting unit 112, the transported object position receiving unit 113, and the communication unit 130 will be described here.

  The transported object position transmitting unit 112 sends the position of the transport vehicle 1 acquired from the self-position acquiring unit 102, the identification information of the transport unit 2, and the installation position of the transported object 2 to the controller 200 via the communication unit 130. It has a function to transmit.

  The transported object position receiving unit 113 has a function of receiving the installation position of the transported object 2 to be picked up and the identification information of the transported object 2 from the controller 200 via the communication unit 130. The conveyed product position receiving unit 113 may store the information received from the controller 200 in the misalignment information storage unit 121.

  The communication unit 130 is a communication interface and has a function of transmitting / receiving information to / from the controller 200. Note that transmission / reception of information may be either wireless or wired.

  The controller 200 has a function of transmitting conveyance instruction information that is an instruction to convey the conveyance object 2 to the conveyance vehicle 1, and includes a control unit 201, a conveyance object position storage unit 202, and a communication unit 203 as functions.

  The control unit 201 is configured by a microcomputer (not shown) or the like, and executes an application program stored in a memory (not shown) to realize its function. The control unit 201 receives the position of the transport vehicle 1, the identification information of the transported object 2, and the installation position of the transported object 2 from the transport vehicle 1 via the communication unit 203, and at least the identification information of the transported object 2 and the information thereof It has a function of storing the installation position of the conveyed product 2 in the conveyed product position storage unit 202. The control unit 201 may store the history of the installation position of the same transported object 2 as needed, or may overwrite and store the installation position every time the installation position is received. In addition, the control unit 201 has a function of transmitting conveyance instruction information that is an instruction to convey the conveyance object 2 to the conveyance vehicle 1. The conveyance instruction information includes identification information of the conveyance object 2 and an installation position of the conveyance object 2.

  The transported object position storage unit 202 is a recording device such as a hard disk, and stores information relating at least the identification information of the transported object 2 and the installation position of the transported object 2.

  The communication unit 203 is a communication interface and has a function of transmitting / receiving information to / from the misalignment correction apparatus 100a. Note that transmission / reception of information may be either wireless or wired.

  Next, in the fourth embodiment, an outline of correction of the travel route when the transport vehicle 1 goes to pick up the transported object 2 will be described with reference to FIG. 8 (see FIG. 7 as appropriate).

The control unit 201 of the controller 200 receives the identification information of the transported object 2 and the installation position of the transported object 2 from the unillustrated transport vehicle 1a on which the transported object 2 is installed, and stores it in the transported object position storage unit 202. Remember. The control unit 201 of the controller 200 transmits conveyance instruction information including the installation position of the conveyance object 2 to the conveyance vehicle 1b. The transport vehicle 1b that has received the transport instruction information goes to pick up the transported object 2 in accordance with the transport instruction information.
FIG. 8 shows a state where the transport vehicle 1b goes to pick up the transported object 2. The transport vehicle 1b normally travels along the solid line 8 at the center of the travel path designated in advance by the broken line 7 in the travel direction (vertical direction). However, when the installation position of the transported object 2 is deviated from the solid line 8, the transport vehicle 1b travels in the vicinity of the installation position of the transported object 2 so that the travel route is corrected to the one-dot chain line 9a.

  Next, a processing flow example of the fourth embodiment will be described with reference to FIG. Steps S <b> 901 to S <b> 905 in FIG. 9 illustrate processing of the positional deviation correction apparatus 100 a of the transport vehicle 1 a on which the transported object 2 is installed. Steps S911 to S912 indicate processing of the controller 200. And step S921-step S924 has shown the process of the position shift correction apparatus 100a of the conveyance vehicle 1b which goes to pick up the conveyed product 2. FIG. The transport vehicle 1a and the transport vehicle 1b may be different or the same.

  In step S901, when the transport vehicle 1a installs the transported object 2, the shift measuring unit 105 of the transport vehicle 1a calculates a shift amount 6 between the position of the transport vehicle 1 and the position of the transported object 2. Specifically, the deviation measuring unit 105 uses the position of the transported object 2 calculated by the transported object position calculating unit 104 and the position of the transported vehicle 1 acquired by the self-position acquiring unit 102 to use the transported object 2. A deviation amount 6 is calculated.

  In step S <b> 902, the deviation measuring unit 105 of the transport vehicle 1 a stores information that associates the deviation amount 6 calculated in step S <b> 901 with identification information for identifying a conveyed item in the deviation information storage unit 121.

  In step S903, the self position acquisition unit 102 of the transport vehicle 1a acquires the position of the transport vehicle 1.

  In step S904, the transported object position calculation unit 104 of the transport vehicle 1a calculates the position of the transported object 2. Specifically, the transported object position calculation unit 104 obtains the position of the reference mark 3 from the captured image 4 acquired by the imaging unit 103. The position of the reference mark 3 indicates the position of the conveyed product 2.

  In step S905, the transport object position transmission unit 112 of the transport vehicle 1a obtains the position of the transport vehicle 1 acquired from the self-position acquisition unit 102, the identification information of the transport unit 2, and the position of the transport object 2 on the map. And transmitted to the controller 200 via the communication unit 130.

  In step S911, the control unit 201 of the controller 200 receives and receives the position of the transport vehicle 1a, the identification information of the transport unit 2, and the position of the transported object 2 from the transport vehicle 1a via the communication unit 203. The position of the transport vehicle 1a, the identification information of the transport object 2 and the installation position of the transport object 2 are stored in the transport object position storage unit 202.

  In step S <b> 912, the control unit 201 of the controller 200 refers to the transported object position storage unit 202, and transmits the transport instruction information including the identification information of the transported object 2 and the installation position of the transported object 2 via the communication unit 203. It transmits to the conveyance vehicle 1b.

  In step S921, the transported object position receiving unit 113 of the transport vehicle 1b receives the identification information of the transported object 2 and the installation position of the transported object 2 from the controller 200.

  In step S922, the correction position setting unit 107 of the transport vehicle 1b refers to the deviation information storage unit 121 using the received identification information of the transported object 2, acquires the initial position of the transported object 2, and receives the received transport. An installation deviation amount 6a from the installation position of the object 2 is calculated.

  In step S923, the correction position setting unit 107 of the transport vehicle 1b corrects the new arrival target position of the transport vehicle 1b according to the installation deviation amount 6a.

In step S924, the correction position setting unit 107 of the transport vehicle 1b calculates a travel route to a new arrival target position based on the travel performance of the transport vehicle 1b. The correction position setting unit 107 of the transport vehicle 1b calculates a travel route that minimizes the distance or time until the transport vehicle 1b reaches a new arrival target position.
For example, as shown in FIG. 8, the traveling route draws a curve like a one-dot chain line 9 until the transport vehicle 1 b reaches the arrival target position. When the travel route is calculated, a restriction is provided so that the transport vehicle 1 does not deviate from the travel path. A travel route pattern corresponding to the installation deviation amount 6a of the conveyed product 2 may be calculated in advance, stored in the storage unit 120 of the transport vehicle 1, and the travel route pattern corresponding to the installation deviation amount 6a may be read.

  As described above, in the fourth embodiment, the misalignment correction system 300 including the misalignment correction apparatus 100a receives the installation position of the transported object 2 from the controller 200 when the transport vehicle 1b goes to pick up the transported object 2, and receives the received position. Based on the installed position, the installation deviation amount 6a from the predetermined initial position is calculated. Then, the misalignment correction apparatus 100a can calculate a new arrival target position of the transport vehicle 1 according to the installation misalignment amount 6a and correct the travel route. As a result, the misalignment correction system 300 can correct a shift when the transported object 2 is installed when the transported object 2 is loaded.

<Fifth Embodiment>
In the fifth embodiment, a case where the traveling route is set so as to reduce the shift amount 6 while the transport vehicle 1 is carrying the transported object 2 will be described with reference to FIGS. FIG. 2). FIG. 10 is a diagram showing an outline of the fifth embodiment. FIG. 11 is a diagram illustrating an example of a processing flow according to the fifth embodiment.

  First, an outline of the fifth embodiment will be described with reference to FIG. The transport vehicle 1 carries the transported object 2 in a shifted state. The transport vehicle 1 transports the transported object 2 to the shift corrector 10 and travels so as to press the transported object 2 against the shift corrector 10, thereby correcting the shift amount 6 to be reduced.

  The deviation corrector 10 has a configuration in which two planes that guide the conveyed product 2 are joined at a predetermined angle, and has a shape that matches one corner of the conveyed product 2. The deviation corrector 10 is made of a material that can withstand even if the conveyed product 2 is pressed. The height of the deviation corrector 10 may be higher or lower than the height of the conveyed product 2. The deviation corrector 10 may have a shape that matches each angle when the angle of the conveyed object 2 is different.

  It is preferable that a mark is placed on the floor surface, wall surface, or the like around the deviation corrector 10 so that the transport vehicle 1 can estimate the self-position with high accuracy. In addition, in order for the transport vehicle 1 to estimate its own position with high accuracy, it is possible to estimate its own position from satellite communication by GPS, or to estimate its own position based on data received from a plurality of radio base stations. Or you may.

Next, an example of a processing flow of the fifth embodiment will be described with reference to FIG.
In step S <b> 1101, the correction position setting unit 107 acquires the deviation amount 6 of the conveyed product 2 from the deviation information storage unit 121.

  In step S <b> 1102, the correction position setting unit 107 calculates a correction distance according to the shift amount 6 in order to shift the conveyed product 2 using the acquired shift amount 6 so that the shift amount 6 is reduced.

  In step S1103, the correction position setting unit 107 calculates a travel route based on the correction distance calculated in step S1102 and the travel performance of the transport vehicle 1.

  In step S <b> 1104, the transport vehicle 1 travels so as to reduce the shift amount 6 while pressing the transported object 2 against the shift corrector 10 based on the travel route calculated by the correction position setting unit 107. The speed may be a predetermined speed, or may be calculated based on the weight of the conveyed product 2 and the friction coefficient of the ground contact surface between the conveyed product 2 and the conveyance vehicle 1.

  In step S <b> 1105, when traveling is completed, the self-position acquisition unit 102 acquires the position of the transport vehicle 1.

  In step S <b> 1106, the imaging unit 103 captures the bottom of the conveyed product 2 with a camera (not shown) and acquires a captured image 4 in a range including the reference mark 3.

  In step S <b> 1107, the transported object position calculation unit 104 calculates the position of the transported object 2. Specifically, the transported object position calculation unit 104 obtains the position of the reference mark 3 from the captured image 4 acquired by the imaging unit 103. The position of the reference mark 3 indicates the position of the conveyed product 2.

  In step S1108, the deviation measuring unit 105 calculates a deviation amount 6 between the position of the transport vehicle 1 and the position of the transported object 2. Specifically, the deviation measuring unit 105 uses the position of the transported object 2 calculated by the transported object position calculating unit 104 and the position of the transported vehicle 1 acquired by the self-position acquiring unit 102 to use the transported object 2. A deviation amount 6 is calculated.

  In step S1109, the deviation determination unit 106 determines whether the calculated deviation amount 6 is equal to or less than a predetermined threshold value. If it is determined that the deviation amount 6 is equal to or smaller than the threshold value (Yes in step S1109), the process ends. If it is determined that the deviation amount 6 is greater than the threshold value (No in step S1109), the process returns to step S1102.

  As described above, in the fifth embodiment, the misalignment correction apparatus 100 performs correction so as to reduce the shift amount 6 of the transported object 2 without lowering the transported object 2 in a state where the transport vehicle 1 places the transported object 2 thereon. be able to.

<Sixth Embodiment>
In the sixth embodiment, a case where the angle of the transported object 2 with respect to the travel route of the transport vehicle 1 is corrected so that the transported object 2 does not protrude from the travel path of the transport vehicle 1 is shown in FIGS. This will be described with reference to b) and FIG. 13 (see FIGS. 1 and 2 as appropriate). FIG. 12A shows a case where the angle of the conveyed product 2 is not allowed with respect to the travel path of the transport vehicle 1. FIG. 12B shows a case where the angle of the conveyed product 2 is allowable with respect to the travel path of the transport vehicle 1. FIG. 13 is a diagram illustrating an example of a processing flow according to the sixth embodiment.

The outline of the sixth embodiment will be described with reference to FIGS. 12 (a) and 12 (b).
FIG. 12A shows a case where the transported object 2 protrudes from the travel path because the transported object 2 has an angle with respect to the travel path. When the transport vehicle 1 travels in this state, since the transported object 2 protrudes from the travel path, there is a high risk of contacting other installation objects (not shown). Therefore, the transport vehicle 1 acquires the angle of the transport object 2 with respect to the travel path when the transport object 2 is loaded, and in a direction that does not protrude from the travel path (for example, the side surface of the transport object 2 is parallel to the travel path). The conveyed product 2 is rotated so that it becomes. As a result, as shown in FIG. 12B, the conveyed product 2 is corrected so as not to protrude from the travel path.

  In the sixth embodiment, as a new function example of the positional deviation correction apparatus 100 shown in FIG. 1, a deviation amount angle measurement unit 110 and an angle correction unit 111 are further provided.

  The deviation amount angle measurement unit 110 calculates the position of the conveyance object 2, the angle of the conveyance object 2 with respect to the travel path of the conveyance vehicle 1, and the deviation amount 6 from the captured image 4 acquired by the imaging unit 103, and deviates the calculation result. It has a function of storing in the information storage unit 121.

  The angle correction unit 111 has a function of acquiring the angle of the conveyed product 2 from the deviation information storage unit 121 and rotating the conveyed product 2 so as not to protrude from the travel path according to the angle.

  Next, a processing flow example of the sixth embodiment will be described with reference to FIG. 13 (see FIGS. 1 and 2 as appropriate).

  In step S <b> 1301, the imaging unit 103 captures the bottom of the conveyed product 2 with a camera or the like (not shown) and acquires a captured image 4 in a range including the reference mark 3.

  In step S <b> 1302, the deviation amount angle measurement unit 110 extracts the reference mark 3 from the captured image 4 acquired by the imaging unit 103.

  In step S1303, the deviation amount angle measurement unit 110 calculates the position and angle of the reference mark 3. The reference mark 3 is, for example, a rectangle, and its direction matches the direction of the conveyed product 2. Therefore, the rotation angle of the reference mark 3 represents the angle of the conveyed product 2.

  In step S1304, the deviation amount angle measurement unit 110 calculates the deviation amount 6 and the angle of the conveyed product 2. The shift amount 6 is calculated by the distance between the center of the reference mark 3 and the image reference point 5 of the captured image 4. The image reference point 5 may be the center of the captured image 4 or may be a predetermined point in consideration of the installation position of a camera (not shown).

  In step S <b> 1305, the deviation amount angle measurement unit 110 stores the calculated deviation amount 6 and the angle of the conveyed product 2 in the deviation information storage unit 121.

  In step S1306, the deviation determination unit 106 determines whether or not the deviation amount 6 calculated by the deviation amount angle measurement unit 110 is within a predetermined threshold. If it is determined that the value is within the threshold (Yes in step S1306), the process ends. If it is determined that the value is greater than the threshold (No in step S1306), the process proceeds to step S1307.

  In step S <b> 1307, the angle correction unit 111 acquires the angle of the conveyed product 2 from the deviation information storage unit 121.

  In step S1308, the angle correction unit 111 rotates the transported object 2 based on the acquired angle of the transported object 2 so that the angle of the transported object 2 approaches parallel to the passage direction. Specifically, the angle correction unit 111 rotates a lifting device (not shown) that lifts the conveyed product 2. Alternatively, the transport vehicle 1 may correct the angle of the transport object 2 by rotating the transport vehicle 1 in the direction opposite to the acquired angle and then lifting the transport object 2 before lifting the transport object 2.

  As described above, in the sixth embodiment, the misalignment correction apparatus 100 can correct the angle when the conveyed product 2 protrudes at an angle with respect to the travel path. Thereby, even when the conveyed product 2 has an angle with respect to the travel path, the transport vehicle 1 can travel without the conveyed product 2 coming into contact with other installed objects.

  As described above, in the first to sixth embodiments, when the displacement between the transport vehicle 1 and the transport object 2 occurs, the transport vehicle 1 is loaded according to the amount of shift when the transport object 1 is loaded, transported, or installed. Can be corrected.

  In the present embodiment, the positional deviation correction apparatus 100 and the positional deviation correction apparatus 100a are described as being provided in the transport vehicle 1. However, each function of the conveyed product position calculation unit 104, the deviation measurement unit 105, the deviation determination unit 106, the correction position setting unit 107, the state determination unit 108, the travel route setting unit 109, the deviation amount angle measurement unit 110, and the angle correction unit 111. May be provided in the controller 200.

Further, the present invention is not limited to the above-described embodiments, and includes various modifications. For example, each of the above-described embodiments has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another modification, and the configuration of another modification can be added to the configuration of an embodiment. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.
In addition, the functions and the like of the misregistration correction apparatuses 100 and 100a and the misregistration correction system 300 may be realized by hardware by designing some or all of them with an integrated circuit, for example. Further, each function or the like of the processing unit 101 may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files for realizing each function is stored in a recording device such as a memory, a hard disk, an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD (Digital Versatile Disc). be able to.
In addition, the control lines and information lines are those that are considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. In practice, it may be considered that almost all configurations are connected to each other.

1, 1a, 1b Transport vehicle 2 Transported object 3 Reference mark 4 Captured image 5 Image reference point 6 Deviation amount 6a Installation deviation amount 7 Path boundary 8 Set travel path 9, 9a Travel path after correction 10 Deviation corrector 100, 100a Misalignment correction apparatus 101 Processing unit 102 Self-position acquisition unit 103 Imaging unit 104 Conveyed object position calculation unit 105 Deviation measurement unit 106 Deviation determination unit 107 Correction position setting unit 108 State determination unit 109 Travel path setting unit 110 Deviation amount angle measurement unit 111 Angle correction unit 112 Conveyed object position transmitting unit 113 Conveyed object position receiving unit 120 Storage unit 121 Deviation information storage unit 130 Communication unit 200 Controller 201 Control unit 202 Conveyed object position storage unit 203 Communication unit 300 Misalignment correction system

Claims (6)

A self-position acquisition unit that acquires the position of the transport vehicle that transports the transported object;
A transport object position calculation unit for calculating the position of the transport object loaded on the transport vehicle;
A deviation measuring unit for calculating a deviation amount from the position of the conveyed product and the position of the conveying vehicle;
Based on the deviation amount, a correction position setting unit that sets a new arrival target position of the transport vehicle so that the transport object can be installed at an initial position that is predetermined as a position where the transport object is installed;
A positional deviation correction device comprising: A storage unit for storing the shift amount;
A state determination unit that determines whether or not the deviation amount may change based on a traveling state of the transport vehicle,
The positional deviation correction apparatus according to claim 1, wherein when it is determined that the deviation amount is likely to change, the deviation measurement unit calculates the deviation amount and stores the deviation amount in the storage unit. . A travel route setting unit that corrects the travel route of the transport vehicle according to the shift amount using the position of the transport vehicle and the shift amount;
The positional deviation correction apparatus according to claim 1, further comprising: It is possible to communicate with a controller that transmits conveyance instruction information that is an instruction to convey the conveyance object to the conveyance vehicle,
A transported object position transmitting unit that transmits the identification information of the transported object and the position of the transported object to the controller;
From the controller, a position of the transported object to be picked up and a transported object position receiving unit that receives identification information of the transported object,
The positional deviation correction apparatus according to claim 1, further comprising: The correction position setting unit
The travel route for traveling so as to reduce the deviation amount is calculated while pressing the transported object against a shift corrector that corrects the shift of the transported object by pressing the transported object. The positional deviation correction apparatus described in 1. A self-position acquisition unit that acquires the position of the transport vehicle that transports the transported object;
A transported object position calculating unit that calculates the position of the transported object loaded on the transporting vehicle;
A deviation measuring unit that calculates a deviation amount from the position of the conveyed object and the position of the conveyance vehicle,
A correction position setting unit for setting a new arrival target position of the transport vehicle so that the transport object can be set at an initial position determined in advance as a position where the transport object is set based on the deviation amount;
A transported object position transmitting unit that transmits the identification information of the transported object and the position of the transported object to the controller;
A transport object position receiving unit for receiving the position of the transport object to be picked up and identification information of the transport object from the controller;
A misalignment correction apparatus comprising:
The controller which receives the identification information of the conveyed object and the position of the conveyed object from the conveyed object position transmitting unit, and transmits the position of the conveyed object to be picked up to the conveyance vehicle provided with the positional deviation correction device. When,
A position deviation correction system comprising:

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