JP6707600B2 - Transport system - Google Patents

Description

The present invention relates to a transport system using an unmanned aerial vehicle and a guided vehicle for manned and unmanned use.

2. Description of the Related Art Conventionally, as a carrier used in factories and warehouses, a manned and unmanned carrier that has an attended operation mode operated by an operator and an unattended operation mode operated by a control unit is known. As a guidance system in the unmanned operation mode of this type of transport vehicle, for example, the guidance system disclosed in Patent Document 1 is known. In this guide system, the transport vehicle is provided with an image pickup unit, images the guide line laid on the road surface by the image pickup unit, and travels on the guide line based on the position of the guide line in the captured image. ..

The guide line is made of a tape attached to the road surface or a paint applied to the road surface, and is colored in a color that is clearly different from the road surface. However, since such a guide line is laid on the road surface, it is easily soiled or peeled off. For this reason, there is a problem that the transport vehicle cannot recognize the guide line due to such dirt or peeling of the guide line and stops traveling.

Therefore, as a method for solving such a problem, for example, there is a guide system for a guided vehicle by electromagnetic induction (see Patent Document 2). In this guidance system, the guided vehicle is equipped with a pickup coil, the induced magnetic field of the tow path wire buried in the road surface is detected by the pickup coil, and the steering motor is controlled based on the detected induced magnetic field, so that the tow path wire is guided. Run. Therefore, this guidance system is not easily affected by dirt and peeling of the road surface.

However, burying tow path wires in the floor is tedious. Further, this guide system has a problem that the tow path wire has to be buried in the floor again each time the layout in the factory or warehouse is changed.

On the other hand, in the manned operation mode, there is a problem that the cargo handling work by an inexperienced operator is delayed. Therefore, a system that assists an inexperienced operator is desired from the viewpoint of work efficiency.

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

Therefore, the problem to be solved by the present invention is to guide a guided vehicle in an unmanned operation mode without previously providing a guide line on the road surface, and further, in the manned operation mode, the loading and unloading work of the operator is performed. It is to provide a transport system that can assist.

In order to solve the above problems, the transport system according to the present invention is
A transport system including a transport vehicle that operates in an unmanned operation mode and a manned operation mode,
With an unmanned aerial vehicle capable of hovering,
A cargo- handling information storage unit that stores cargo-handling information including information on luggage related to cargo-handling work ;
A travel route storage unit that stores a predetermined travel route of the transport vehicle;
A guide route extraction unit that extracts a part of the traveling route corresponding to the position of the unmanned air vehicle as a guide route for guiding the guided vehicle in the unmanned operation mode,
Unmanned air vehicles
A position detecting unit for detecting the position of the own device,
A flight control unit that controls the flight of the aircraft,
In the unmanned operation mode of the guided vehicle, the image of the guide route extracted by the guide route extraction unit is projected on the road surface, and in the manned operation mode of the guided vehicle, an image showing the cargo handling information different from the image of the guided route is displayed on the road surface. A projection unit for projecting onto
The carrier is
A road surface imaging unit for imaging the road surface,
A guide route detection unit that detects a guide route by analyzing an image of the road surface captured by the road surface image capturing unit,
A steering control unit that controls steering based on the detected guide route.

The transfer system is preferably
Further comprising a reservation reception unit for receiving a vehicle allocation reservation related to a carrier from an operator,
The projection unit further projects an image indicating the vehicle allocation reservation time received by the reservation reception unit on the road surface in the manned driving mode of the transport vehicle.

In the above transfer system, preferably,
Unmanned air vehicles
An upper image pickup unit that picks up an image of the upper part of the aircraft,
A ceiling image storage unit that stores a pre-captured image of the upper side of the aircraft in association with position information,
The own position detector is
A collation unit that collates the current image of the upper side of the own device captured by the upper image capturing unit with the image of the upper side of the own device stored in the ceiling image storage unit,
The own-unit position specifying unit that specifies the position of the own device based on the result of the matching performed by the matching unit.

In the indoor where the ceiling marker is provided on the ceiling, in the above-mentioned transfer system, preferably,
The ceiling image storage unit stores the image of the ceiling including the ceiling marker captured in advance in association with the position information,
The matching unit matches the ceiling image captured by the upper imaging unit with the ceiling image stored in the ceiling image storage unit.

In the above transfer system, preferably,
Unmanned air vehicles
Further has an infrared irradiation unit for irradiating the ceiling marker with infrared rays,
The ceiling marker is a retroreflective material,
The upper imaging unit is an infrared camera, and captures an image of the ceiling including the ceiling marker illuminated with infrared light.

In the above transfer system, preferably,
The cargo handling information further includes one or both of a pickup position and a pickup position,
The transfer system is
Based on the pickup position or the loading position and the position of the unmanned air vehicle, further comprising a direction specifying unit for specifying the direction from the unmanned air vehicle to the pickup position or the loading position,
Unmanned air vehicles
A lower imaging unit that images the lower part,
A vehicle detection unit that detects a transportation vehicle based on an image captured by the lower imaging unit,
In the manned driving mode of the carrier,
The flight control unit controls the flight of the unmanned aerial vehicle to cause the unmanned aerial vehicle to follow the carrier vehicle detected by the vehicle detection unit,
The projection unit further projects an image indicating the direction specified by the direction specifying unit on the road surface together with the cargo handling information.

The transfer system is preferably
In the manned operation mode of the transport vehicle, based on the image captured by the lower imaging unit, a person presence determination unit that determines whether or not a person is present around the traveling direction of the transport vehicle,
When it is determined by the person presence determination section that a person is present around the traveling direction of the transport vehicle, a color changing section that changes the color of the image indicating the direction to a predetermined color is further provided.
The projection unit projects an image indicating the direction of the color changed by the color changing unit.

INDUSTRIAL APPLICABILITY The transport system according to the present invention can guide a transport vehicle in an unmanned operation mode without previously providing a guide line on the road surface, and further, in the manned operation mode, projects an image showing cargo handling information. As a result, the operator's cargo handling work can be assisted.

It is a schematic diagram of the conveyance system which concerns on this invention. It is a figure which shows the ceiling marker provided in the ceiling of FIG. It is a figure which shows the structure of the unmanned air vehicle of FIG. 1, (a) is a perspective view seen from the bottom, (b) is a perspective view seen from the top. It is a perspective view which shows the structure of the upper unit of FIG. It is a figure which shows the structure of the gimbal and lower unit of FIG. 3, (a) is a perspective view seen from the bottom, (b) is a perspective view seen from the top. It is a functional block diagram of each structure with which the main body of the unmanned air vehicle of FIG. 3 is equipped. (A) is a figure which shows an example of the guidance image projected on the road surface, (b) is a figure which shows the guidance image before correction, (c) is a top view which shows the guidance image after correction. Is. It is a top view which shows the conveyance vehicle of FIG. 1 in a manned driving mode, and the road surface on which the cargo handling information image was projected. It is a top view which shows the conveyance vehicle of FIG. 1 at the time of an unmanned driving mode, and the road surface where the guidance image was projected.

An embodiment of a transport system including an unmanned air vehicle and a guided vehicle for manned and unmanned vehicles according to the present invention will be described below with reference to the accompanying drawings. The front-rear, left-right, and up-down directions X, Y, and Z are based on the traveling direction of the transport vehicle as described in the accompanying drawings.

<Outline of transport system>
FIG. 1 is a schematic diagram of a transport system S according to the present invention. In this transport system S, the unmanned aerial vehicle 1 captures an image of the ceiling C, analyzes the captured image to detect its own position, and an image of a guide route for guiding the transport vehicle 3 (hereinafter referred to as “guide image”). )) GI is projected on the road surface R. The transport vehicle 3 is a forklift that operates in a manned driving mode and an unmanned driving mode. In the unmanned driving mode, the guided vehicle 3 is guided along the guidance line L in the guidance image GI projected by the unmanned aerial vehicle 1. The vehicle travels along the specified travel route.

<Ceiling composition>
As shown in FIG. 2, the entire ceiling C is provided with a plurality of rectangular ceiling markers 4 used by the unmanned aerial vehicle 1 to detect its own position. The ceiling markers 4 are retroreflective materials, and are arranged at equal intervals in the same row or the same row. In other words, the ceiling markers 4 are arranged on the ceiling C at different intervals for each row. For example, the intervals P3 in the bottom row in FIG. 2 are all the same. On the other hand, the lengths of the intervals P1, P2, and P3 in the first row, the second row, and the third row are different from each other. The lengths of the intervals P4 and P5 between the first, second and third stages are also different.

<Unmanned aerial vehicle>
First, external components of the unmanned aerial vehicle 1 will be described with reference to FIGS. As shown in FIG. 3, the unmanned aerial vehicle 1 is provided with a main body 20, four arms 12 extending from the upper surface of the main body 20 in four directions in parallel with the ground, and the tip ends of the four arms 12, respectively. Motor 13, rotary blades 14 provided on the motor 13, a substantially octagonal column-shaped upper unit 15 standing on the upper side of the bases of the four arms 12, and a gimbal 16 provided on the lower side of the main body 20. And a lower unit 17 supported by the gimbal 16 and four skids 18 provided around the main body 20 and below the arm 12.

As shown in FIG. 4, the upper unit 15 includes an upper unit main body 151, an infrared camera (upper imaging unit) 152, and four infrared irradiation units 153. The infrared camera 152 is arranged upward in the center of the upper surface of the upper unit body 151. The four infrared irradiation units 153 are arranged so as to face upward and downward and left and right around the infrared camera 152, respectively. The infrared irradiation unit 153 may be, for example, an infrared LED. The four infrared irradiation units 153 irradiate the ceiling C with infrared rays, and the infrared camera 152 captures an image of the ceiling C including the ceiling marker 4 irradiated with infrared rays to generate an upper image. The infrared camera 152 outputs the generated upper image to the collating unit 231 (see FIG. 6) described later during autonomous flight of the unmanned aerial vehicle 1.

Normally, an electric light is provided on the ceiling C inside the room, but it is difficult for the light of the electric light to reach the ceiling marker 4 provided on the ceiling C. Further, when the ceiling marker 4 provided on the ceiling C is imaged, the backlight of the electric light interferes with the image pickup. Therefore, the infrared camera 152 can appropriately image the ceiling C including the ceiling marker 4 by irradiating the ceiling C with infrared rays by the infrared irradiation unit 153. Further, since the ceiling marker 4 is a retroreflective material, the infrared camera 152 can properly capture the image of the ceiling marker 4 even if the incident angle of the infrared rays with which the ceiling marker 4 is irradiated is large.

As shown in FIG. 5, the gimbal 16 includes a first rotation shaft 161 rotatably connected to the main body 20, a disc-shaped rotation base 162 connected to the first rotation shaft 161, and a rotation base 162. A pair of left and right support pillars 163 extending downward from the pair of left and right second support shafts 164 are rotatably connected to the center of the inside of the support pillar 163.

The lower unit 17 has a projector 171 and a lower camera 172, and is supported by the second rotating shaft 164. The projector 171 is a feature that corresponds to the “projection unit” according to this invention. The lower camera 172 is a feature that corresponds to the “lower imaging unit” according to the invention. The projector 171 and the lower camera 172 can be oriented in any direction by the gimbal 16. The projector 171 projects the image stored in the storage unit 24 (see FIG. 6) onto the road surface R. The lower camera 172 images the lower side and generates a lower image.

The internal components of the unmanned aerial vehicle 1 will be described with reference to FIG. The main body 20 includes a storage unit 24, an own-machine position detection unit 23, and a control unit 21.

The storage unit 24 includes a ceiling image storage unit 241, and the ceiling image storage unit 241 stores an entire ceiling image of the entire ceiling C in association with position information.

The own device position detection unit 23 has various sensors (not shown) such as a GPS sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, an atmospheric pressure sensor, a compass, and an acceleration sensor. The outdoor unit position detector 23 detects the outdoor unit position by these sensors outdoors. However, the GPS sensor cannot properly receive GPS signals indoors. Therefore, the own device position detection unit 23 further includes a matching unit 231 and an own device position specifying unit 232.

The matching unit 231 matches the input upper image with the entire ceiling image stored in the ceiling image storage unit 241, and performs template matching to search at which position in the entire ceiling image the upper image exists. I do. For template matching, for example, SSD (“Sum of Squared Difference”) or SAD (“Sum of Absolute Difference”) may be used as a similarity calculation method.

The own-vehicle position specifying unit 232 specifies the position of the unmanned aerial vehicle 1 based on the result of the template matching of the matching unit 231. The own-machine position detection unit 23 detects the altitude of the unmanned aerial vehicle 1 with an ultrasonic sensor, a laser sensor, or the like.

The storage unit 24 further includes a flight route storage unit 242. The flight path storage unit 242 stores a predetermined flight path of the unmanned aerial vehicle 1.

The control unit 21 has a flight control unit 211. The flight control unit 211 controls the number of revolutions of each motor 13 to enable hovering of the unmanned aerial vehicle 1 and controls the flight speed, flight direction, and flight altitude of the unmanned aerial vehicle 1. Further, the flight control unit 211 makes a flight while referring to the position of the unmanned aerial vehicle 1 detected by the own position detection unit 23 during the autonomous flight of the unmanned aerial vehicle 1 and during the unmanned operation mode of the carrier vehicle 3. The unmanned aerial vehicle 1 is caused to fly along the flight route stored in the route storage unit 242.

The storage unit 24 further includes a travel route storage unit 243. The travel route storage unit 243 stores a predetermined travel route of the transport vehicle 3.

The control unit 21 further includes a guide route extraction unit 212. The guide route extraction unit 212 extracts a part of the drive route corresponding to the position of the unmanned aerial vehicle 1 detected by the own-vehicle position detection unit 23 as a guide route from the drive routes stored in the drive route storage unit 243. To do. The image of the extracted guide route, that is, the guide image GI is output to the projector 171 via the correction processing unit 213 described below, and is projected onto the road surface R by the projector 171. The length of the guide route is not particularly limited. Since the unmanned aerial vehicle 1 can stably hover by the flight control unit 211 and the projector 171 can stably face a certain direction by the gimbal 16, the guidance image GI is displayed at an appropriate position on the road surface R. It is projected stably.

As shown in FIG. 7A, in the guide image GI, the guide line L having a constant width is arranged in the center, and the extending direction of the guide line L indicates the guide direction with respect to the transport vehicle 3. Further, the color of the guide line L is obviously different in lightness and saturation from the both side portions. The guide image GI is merely an example and is not limited to this. For example, only the guide line L having a color obviously different from the color of the road surface R may be used as the guide image GI.

As shown in FIG. 7B, the road surface R may be soiled or peeled off depending on the use condition. In this case, a part of the guide image GI is not properly displayed like the part A. Therefore, the control unit 21 analyzes the guide image GI projected on the road surface R, and corrects the guide image GI so as to correspond to such a road surface R. The details will be described below.

As shown in FIG. 6, the guidance image GI1 extracted by the guidance route extraction unit 212 is output to the correction coefficient calculation unit 214 and the projector 171 via the correction processing unit 213. The projector 171 projects the input guidance image GI1 on the road surface R. The lower camera 172 captures the projected guide image GI1, generates a road surface image, and outputs the road surface image to the correction coefficient calculation unit 214.

The correction coefficient calculation unit 214 normalizes each luminance of each pixel of the guide image GI1 for each color component to generate the input data D1, and also calculates each luminance of each pixel of the road surface image output from the lower camera 172 for each color component. The output data D2 is generated by normalizing the output data D2. Next, the correction coefficient calculation unit 214 collates the input data D1 and the output data D2, and calculates the correction coefficient of each color component of each pixel for matching the luminance ratio between each pixel of the output data D2 with the input data D1. Then, the calculated correction coefficient is output to the correction processing unit 213.

The correction processing unit 213 corrects the brightness of each color component of each pixel of the projected image GI1 to be projected using the calculated correction coefficient of each color component of each pixel to generate a guided image GI2. Next, the correction processing unit 213 outputs the generated guide image GI2 to the projector 171 and the correction coefficient calculation unit 214. The projector 171 projects the input guidance image GI2 on the road surface R. The lower camera 172 captures the projected guidance image GI2, generates a road surface image, and outputs the road surface image to the correction coefficient calculation unit 214. The correction coefficient calculation unit 214 calculates the correction coefficient corresponding to the guide image GI2 as in the previous case.

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

Next, the operation of the unmanned aerial vehicle 1 when the transport vehicle 3 is in the manned operation mode will be described.

The control unit 21 further includes a vehicle detection unit 216. The vehicle detection unit 216 detects the transport vehicle 3 based on the lower image generated by the lower camera 172.

The flight control unit 211 causes the unmanned aerial vehicle 1 to follow the transport vehicle 3 detected by the vehicle detection unit 216. Specifically, in the lower image generated by the lower camera 172, the flight control unit 211 controls the flight of the unmanned aerial vehicle 1 so that the transport vehicle 3 is located at the center of the lower image.

The storage unit 24 further includes a cargo handling information storage unit 244. The cargo handling information storage unit 244 stores cargo handling information. The cargo handling information stores a luggage ID, a pickup position, a loading position, and the like related to the cargo handling work.

The control unit 21 further includes a direction specifying unit 215. The direction specifying unit 215 moves from the unmanned aerial vehicle 1 to the unloading position or the unloading position based on the unloading position or the unloading position stored in the unloading information storage unit 244 and the position of the unmanned aerial vehicle 1. Specify the direction of.

As illustrated in FIG. 8A, the projector 171 includes the image indicating the cargo handling information stored in the cargo handling information storage unit 244 (hereinafter, referred to as “cargo handling information image”) LI, and the direction specified by the direction specifying unit 215. An image (hereinafter, referred to as “direction image”) DI that points to is projected on the road surface R in front of the transport vehicle 3. As a result, the operator O who is operating the transport vehicle 3 recognizes the cargo handling information and is guided to the position related to this cargo handling information.

The transport system S further includes a reservation receiving unit 5. The reservation receiving unit 5 receives a vehicle allocation reservation for the carrier 3 used by the operator who is performing the cargo handling work in the manned operation mode. The reservation receiving unit 5 may be connected to, for example, a management server capable of mutually communicating with the unmanned air vehicle 1 and the transport vehicle 3. In this case, when the reservation receiving unit 5 receives the vehicle allocation reservation, the reservation receiving unit 5 transmits the vehicle allocation reservation time to the unmanned air vehicle 1 via the management server.

The storage unit 24 further includes a reservation information storage unit 245 that stores the vehicle allocation reservation time received by the unmanned aerial vehicle 1.

As shown in FIG. 8B, the projector 171 uses the vehicle allocation reservation time stored in the reservation information storage unit 245 to display an image (hereinafter, referred to as “vehicle allocation reservation image”) RI indicating the vehicle allocation reservation time on the road surface. Project to R. Thereby, the operator O who is operating the transport vehicle 3 can recognize the vehicle allocation reservation time from the vehicle allocation reservation image RI projected on the road surface R. As a result, the operator O can adjust the cargo handling work completion time in consideration of the vehicle allocation reservation time, so that the carrier vehicle 3 is allocated to the operator O who made the vehicle allocation reservation according to the vehicle allocation reservation time.

<Transport vehicle>
The configuration of the carrier 3 will be described with reference to FIG. 1 again. The transport vehicle 3 includes a vehicle body 31, an in-vehicle camera 32, a pair of left and right front wheels 33, a rear wheel 34, a steering control unit 35 for steering control of one or both of the front wheel 33 and the rear wheel 34, and a guide route. The detector 36, a fork 37, and a mast 38 are provided. The vehicle-mounted camera 32 is a feature that corresponds to the “road surface imaging unit” according to the invention.

A part of the front surface of the vehicle body 31 is made of a transparent member. The vehicle-mounted camera 32 is provided on the front upper side and the center of the vehicle body 31 so as to face the road surface R through the transparent member. The position of the vehicle-mounted camera 32 is merely an example and is not limited to this.

As shown in FIG. 9, the vehicle-mounted camera 32 images a predetermined imaging range T of the road surface R including the guide image GI to generate a road surface image, and outputs the road surface image to the guide route detection unit 36.

The guide route detection unit 36 analyzes the input road surface image based on the saturation and brightness, and detects the guide line L.

The steering control unit 35 performs steering control on one or both of the front wheels 33 and the rear wheels 34 based on the guide line L detected by the guide route detection unit 36. Specifically, the steering control unit 35 feedback-controls the steering angles of the wheels 33 and 34 so that the position of the guide line L is in the center of the imaging range T. As a result, the guided vehicle 3 can be guided along the guidance route projected by the unmanned aerial vehicle 1 in the unmanned operation mode and can travel on a predetermined traveling route.

According to the transport system S, since the unmanned aerial vehicle 1 projects the guidance image GI, it is not necessary to previously provide a guidance line to guide the transportation vehicle 3. Further, since the guide image GI projected by the projector 171 is corrected by the correction processing unit 213 as needed, the guide route can be appropriately displayed even if the road surface R, which is the projection surface, is partially soiled. Moreover, in the manned operation mode, the unmanned air vehicle 1 can project the image LI of the cargo handling information and the direction image DI to assist the cargo handling work of the operator O. Furthermore, when the vehicle 3 has a vehicle allocation reservation, the vehicle allocation reservation image RI is projected by the unmanned air vehicle 1, so that the operator O can reliably recognize the vehicle allocation reservation time.

Although the embodiment of the system for guiding the transport vehicle 3 according to the present invention has been described above, the present invention is not limited to the above embodiment.

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

(2) If the own-vehicle position detection unit 23 can recognize the ceiling marker 4 from the ceiling image captured by the upper imaging unit, the infrared irradiation unit 153 may not be provided in the unmanned aerial vehicle 1. Further, the upper imaging unit is not limited to the infrared camera 152 as long as the own device position detection unit 23 can recognize the ceiling marker 4 from the ceiling image captured by the upper imaging unit.

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

(4) The unmanned aerial vehicle 1 may be configured such that a gimbal is provided on the upper surface of the arm 12 and the upper unit 15 is connected to this gimbal. As a result, the infrared camera 152 can always image the ceiling C at a constant angle regardless of the posture of the unmanned aerial vehicle 1.

(5) The projector 171 may be composed of a plurality of projectors. In this case, a plurality of guided images GI may be simultaneously projected by a plurality of projectors to simultaneously guide a plurality of transport vehicles 3. Further, a wide range of guide routes may be displayed on the road surface R by projecting a plurality of guide images GI simultaneously by a plurality of projectors.

(6) The transport system S includes a person presence determination unit that determines whether or not a person is present around the traveling direction of the transport vehicle 3 based on the lower image captured by the projector 171 in the manned operation mode. A color changing unit that changes the color of the direction image DI to a predetermined color when the presence determining unit determines that a person is present around the traveling direction of the transport vehicle 3 may be further provided. In this case, when the person presence determining unit determines that there is a person around the traveling direction of the transport vehicle 3, the color changing unit changes the color of the direction image DI, and the lower camera 172 changes the direction of the changed color. The image DI is projected on the road surface. Thereby, the operator O can recognize the presence of a person even if the person is present in the blind spot in the traveling direction.

1 Unmanned aerial vehicle 152 Infrared camera (upper imaging section)
153 Infrared irradiation unit 171 Projector (projection unit)
172 Lower camera (lower imaging section)
20 Main body 3 Transport vehicle 32 In-vehicle camera (road surface imaging unit)
33 front wheel 34 rear wheel 35 steering control section 36 guide route detection section 4 ceiling marker C ceiling R road surface S transport system L guide line GI guide image RI car dispatch reservation image LI cargo handling information image O operator T imaging range

Claims (7)

A transport system including a transport vehicle that operates in an unmanned operation mode and a manned operation mode,
With an unmanned aerial vehicle capable of hovering,
A cargo- handling information storage unit that stores cargo-handling information including information on luggage related to cargo-handling work ;
A travel route storage unit that stores a predetermined travel route of the transport vehicle;
A guide route extraction unit that extracts a part of the traveling route corresponding to the position of the unmanned air vehicle as a guide route that guides the guided vehicle during the unmanned operation mode,
The unmanned aerial vehicle is
A position detecting unit for detecting the position of the own device,
A flight control unit that controls the flight of the aircraft,
In the unmanned operation mode of the transport vehicle, the image of the guide route extracted by the guide route extraction unit is projected on the road surface, and in the manned drive mode of the transport vehicle, different from the image of the guide route. A projection unit for projecting an image showing the cargo handling information onto the road surface,
The carrier is
A road surface imaging unit for imaging the road surface,
A guide route detection unit that detects the guide route by analyzing the image of the road surface imaged by the road surface imaging unit;
And a steering control unit that controls steering based on the detected guide route. Further comprising a reservation reception unit for receiving a vehicle allocation reservation related to the carrier from the operator,
The transportation system according to claim 1, wherein the projection unit further projects an image indicating a vehicle allocation reservation time received by the reservation reception unit on the road surface in the manned operation mode of the transportation vehicle. The unmanned aerial vehicle is
An upper image pickup unit for picking up an image of the upper part of the aircraft,
A ceiling image storage unit that stores a pre-captured image of the upper side of the aircraft in association with position information;
The own position detection unit,
A collation unit that collates the current upper image of the own device captured by the upper imaging unit with the upper image of the own device stored in the ceiling image storage unit,
The transport system according to claim 1 or 2, further comprising: an own-machine position identifying unit that identifies a position of the own machine based on a result of the collation performed by the collating unit. In the above-mentioned indoor transportation system provided with a ceiling marker on the ceiling,
The ceiling image storage unit stores an image of the ceiling including the ceiling marker captured in advance in association with position information,
The transport system according to claim 3, wherein the matching unit matches the image of the ceiling captured by the upper image capturing unit with the image of the ceiling stored in the ceiling image storage unit. .. The unmanned aerial vehicle is
The ceiling marker further has an infrared irradiation unit for irradiating infrared rays,
The ceiling marker is a retroreflective material,
The transport system according to claim 4, wherein the upper imaging unit is an infrared camera, and captures an image of the ceiling including the ceiling marker irradiated with the infrared light. The cargo handling information further includes one or both of a pickup position and a placement position,
The transport system is
Based on the pickup position or the loading position, and the position of the unmanned aerial vehicle, further comprising a direction specifying unit for specifying a direction from the unmanned air vehicle to the pickup position or the loading position,
The unmanned aerial vehicle is
A lower imaging unit that images the lower part,
A vehicle detection unit that detects the transport vehicle based on an image captured by the lower imaging unit,
In the manned operation mode of the carrier,
The flight control unit controls the flight of the unmanned aerial vehicle to cause the unmanned aerial vehicle to follow the carrier vehicle detected by the vehicle detection unit,
The transportation system according to any one of claims 1 to 3, wherein the projection unit further projects an image indicating a direction specified by the direction specification unit together with the cargo handling information onto the road surface. The transport system is
In the manned operation mode of the transport vehicle, based on the image captured by the lower imaging unit, a person presence determination unit that determines whether or not a person is present around the traveling direction of the transport vehicle,
When it is determined that the person exists around the traveling direction of the transport vehicle by the person presence determination unit, a color changing unit that changes the color of the image indicating the direction to a predetermined color, further comprising:
The transport system according to claim 6, wherein the projection unit projects an image indicating the direction of the color changed by the color changing unit.

Images