JP7488016B2 - Guidance System - Google Patents

Description

The present invention relates to a guidance system that includes a manned guided vehicle and an unmanned aerial vehicle.

Manned guided vehicles (e.g., forklifts) used in facilities such as factories and warehouses are configured to operate when an operator boards and operates the vehicle. Forklifts are configured to use forks to handle the loading and unloading of cargo.

There is a known guidance system that includes a manned guided vehicle operated by an operator, an unmanned aerial vehicle that can stop in mid-air, and a management device that controls the unmanned aerial vehicle (see Patent Document 1, etc.).

In the guidance system, the unmanned aerial vehicle is equipped with a projector that projects a guidance image onto the road surface. The guidance image, for example, displays an arrow pointing in a specific direction, and is projected onto the road surface in front of the manned guided vehicle. This allows an operator operating the manned guided vehicle to be guided to the loading position by checking the guidance image.

However, in conventional guidance systems, a manned guided vehicle is guided based on a single guidance image projected by a single unmanned aerial vehicle, which creates the problem that it is difficult for the operator operating the manned guided vehicle to intuitively recognize the distance and direction to the loading position, etc.

JP 2020-52629 A

The problem that this invention aims to solve is to provide a guidance system that uses multiple unmanned aerial vehicles to guide a manned guided vehicle, allowing the operator of the manned guided vehicle to intuitively recognize the distance and direction to the loading position, etc.

In order to solve the above problems, the guidance system according to the present invention includes a manned guided vehicle operated by an operator, a plurality of unmanned aerial vehicles capable of stopping in the air, and a management device for controlling the unmanned aerial vehicles. The guidance system further includes a guide path generating unit that generates a guide path between the vehicle position of the manned guided vehicle and a loading position, a placement determining unit that determines the stopping positions of the plurality of unmanned aerial vehicles on the guide path, and a battery remaining amount detecting unit that detects the remaining amount of the battery provided in the unmanned aerial vehicles. When the remaining amount of the battery falls below a predetermined threshold, the battery remaining amount detecting unit transmits a detection signal to the placement determining unit. When the placement determining unit receives the detection signal, it determines whether to cause the unmanned aerial vehicle whose remaining amount of the battery has fallen below the predetermined threshold to leave the guide path, or to wirelessly power the unmanned aerial vehicle whose remaining amount of the battery has fallen below the predetermined threshold.

Preferably, the placement determination unit determines to relocate the aerial stopping positions of multiple unmanned aerial vehicles hovering in the air above the taxiway after an unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold leaves the taxiway.

The placement determination unit may also determine that an unmanned aerial vehicle that is not hovering in the air above the taxiway should be stopped in the air above the taxiway after an unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold leaves the taxiway.

The unmanned aerial vehicle may also be provided with a projection instruction unit that projects a guidance image onto the road surface when the unmanned aerial vehicle stops in the air on a taxiway, and controls the projection to stop when the unmanned aerial vehicle leaves the taxiway.

The placement determination unit may then determine that an unmanned aerial vehicle hovering in the air on a taxiway should wirelessly supply power to an unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold.

The positioning determination unit may also determine the aerial stopping position of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned at the height of the loading position.

Preferably, the placement determination unit determines an aerial stopping position for the unmanned aerial vehicle so that the unmanned aerial vehicle is placed at the height of the loading position. In addition, the management device controls the unmanned aerial vehicle to emit light when the height of the loading position corresponds to the height of the lowest shelf.

Preferably, the placement determination unit determines an aerial stopping position for the unmanned aerial vehicle so that the unmanned aerial vehicle is placed at the height of the loading position. The management device also includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward the ceiling when the height of the loading position corresponds to the height of the lowest shelf.

It is desirable for the placement determination unit to determine the aerial stopping position of the unmanned aerial vehicle on a straight line connecting the eye height of the operator operating the manned guided vehicle and the height of the loading position.

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

Preferably, the management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward the ceiling. Furthermore, the placement determination unit controls the unmanned aerial vehicle so that the distance between the manned guided vehicle and the unmanned aerial vehicle closest to the manned guided vehicle is a predetermined length.

The management device may also include a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward the road surface or ceiling, and may control the unmanned aerial vehicle to perform focus adjustment to adjust the focus of the guidance image according to the height of the unmanned aerial vehicle.

The guidance system of the present invention suspends multiple unmanned aerial vehicles in mid-air on a guideway created between the vehicle position of the manned guided vehicle and the loading position, allowing the operator operating the manned guided vehicle to intuitively recognize the distance, position, direction, etc. to the loading position.

Furthermore, when the remaining battery charge of the unmanned aerial vehicle falls below a predetermined threshold, the guidance system can prevent the unmanned aerial vehicle from falling onto the taxiway by either leaving the unmanned aerial vehicle on the taxiway or wirelessly supplying power to the unmanned aerial vehicle. As a result, the unmanned aerial vehicle will not be hindered from traveling, and the effort and cost of repairing and replacing the unmanned aerial vehicle can be reduced.

FIG. FIG. FIG. FIG. 2 is a block diagram showing a guidance system. FIG. 4 is a side view showing a guidance system according to another embodiment 1. FIG. 11 is a side view showing a guidance system according to another embodiment 2. FIG. 13 is a side view showing a guidance system according to another embodiment 3. FIG. 13 is a side view showing a guidance system according to another embodiment 4. FIG. 13 is a side view showing a guidance system according to another embodiment 5. FIG. 13 is a side view showing a guidance system according to another embodiment 6.

The following describes an embodiment of the guidance system according to the present invention based on the drawings.

First Embodiment
1 to 4, the guidance system S includes a manned guided vehicle 1 operated by an operator O. The manned guided vehicle 1 is configured to operate when operated by the operator O. In this embodiment, the manned guided vehicle 1 is a counterbalance type forklift, and is configured to be able to travel the vehicle body and raise and lower the forks when operated by the operator O.

The guidance system S comprises a number of shelves R installed in a facility such as a factory or warehouse. The shelves R have a number of steps in the height direction and are configured so that luggage L can be stored at a predetermined position on the steps. The manned guided vehicle 1 loads and unloads luggage L by placing and retrieving luggage L at a predetermined position on the shelves R. The shelves R are spaced apart at a predetermined width so that the manned guided vehicle 1 can travel and load and unload luggage, and an aisle P is formed between each shelf R (Figure 3).

The guidance system S is equipped with multiple unmanned aerial vehicles 2 that can stop in the air. The unmanned aerial vehicles 2 are called drones, and are configured to fly to a predetermined stopping position in the air by rotating rotors attached to the tip of each of multiple arms, and to hover at the predetermined stopping position.

The guidance system S includes a management device 3 for controlling the unmanned aerial vehicle 2 (Figure 4). The management device 3 includes a memory unit 30. The memory unit 30 stores a map M that includes shelves R and aisles P installed within the facility, luggage L placed within the facility, and the like.

Furthermore, the memory unit 30 stores tasks T to be performed by the manned guided vehicle 1 as a loading and unloading schedule J. That is, the loading and unloading schedule J includes a number of tasks T, such as task T1 to pick up luggage L from a specified location on a specified shelf R, task T2 to place luggage L at a specified location on a specified shelf R, task T3 to place luggage L at a shipping location, and task T4 to pick up luggage L from a receiving location, which are set in a specified order. Furthermore, the loading and unloading tasks T include position information of luggage L and loading and unloading (picking up or placing) information for luggage L.

The management device 3 includes a loading/unloading instruction unit 34, which is configured to display the tasks T of the loading/unloading schedule J transmitted from the memory unit 30 on a display unit 11 provided in the driver's seat of the manned guided vehicle 1.

The display unit 11 is configured, for example, as a touch panel display. The loading/unloading instruction unit 34 displays the task T to be performed by the manned guided vehicle 1 on the display unit 11. The operator O operates the manned guided vehicle 1 to perform loading/unloading in accordance with the task T displayed on the display unit 11. When the task T is completed, the operator O presses the end button displayed on the display unit 11, and an end signal is sent to the loading/unloading instruction unit 34. When the loading/unloading instruction unit 34 receives the end signal, it is configured to display the task T to be performed next by the manned guided vehicle 1 on the display unit 11.

The manned guided vehicle 1 is equipped with a position detection unit 10. The position detection unit 10 is composed of a laser sensor, a GPS sensor, an electromagnetic induction sensor, etc. The position detection unit 10 is configured to detect the vehicle position D1 of the manned guided vehicle 1.

The management device 3 includes a taxiway generating unit 31. The taxiway generating unit 31 generates a taxiway 4 between the vehicle position D1 of the manned guided vehicle 1 and a loading position D2 based on information on the vehicle position D1 of the manned guided vehicle 1 transmitted from the position detection unit 10, the facility map M transmitted from the memory unit 30, and the task T of the loading schedule J transmitted from the memory unit 30. The loading position D2 is a position on the passage P where the manned guided vehicle 1 picks up and places the load in the task T (FIG. 3).

As shown in FIG. 3, the taxiway generating unit 31 is configured to generate, for example, a taxiway 4 that connects the vehicle position D1 and the loading position D2 on the passage P. The taxiway 4 is set, for example, so as to minimize the travel distance of the manned guided vehicle 1. In this embodiment, as shown in FIG. 3, the taxiway 4 is composed of a first straight section 41, a bend section 40, and a second straight section 42.

The unmanned aerial vehicle 2 is equipped with a position detection unit 20. The position detection unit 20 is composed of a GPS sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, an air pressure sensor, a compass, an acceleration sensor, etc., and can detect the position of the unmanned aerial vehicle 2.

The unmanned aerial vehicle 2 is equipped with a flight control unit 21. The flight control unit 21 is configured to control the rotation of the rotor blades. Based on the detection results of the position detection unit 20 and the control of the flight control unit 21, the unmanned aerial vehicle 2 can fly to a predetermined airborne stopping position on the taxiway 4 and hover so as to stop in the air at the airborne stopping position.

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

Since bending position D3 on the taxiway 4 is an important position where the manned guided vehicle 1 turns, the unmanned aerial vehicle 2 stops in the air and hovers at bending position D3, allowing the operator O to quickly grasp bending position D3, which is an important position. Also, since loading position D2 on the taxiway 4 is an important position where the manned guided vehicle 1 performs loading and unloading work, the unmanned aerial vehicle 2 stops in the air and hovers at loading position D2, allowing the operator O to quickly grasp loading position D2, which is an important position.

The unmanned aerial vehicle 2 is equipped with a memory unit 22. The memory unit 22 stores a guidance image 200. The guidance image 200 is configured, for example, with an arrow for guiding the manned guided vehicle 1 to the loading position D2, and is configured so that the direction of the arrow differs depending on the loading position D2 (Figure 3).

The unmanned aerial vehicle 2 is equipped with a projection unit 23. The projection unit 23 is, for example, composed of a projector, and is capable of projecting a guidance image 200 stored in the memory unit 22 onto the passageway P of the facility (FIGS. 1 to 3).

The management device 3 is equipped with a projection instruction unit 33. The projection instruction unit 33 is configured to determine the guidance image 200 to be projected on the road surface P according to the taxiway 4 from the taxiway generation unit 31, and to send a projection instruction to the projection unit 23 of the unmanned aerial vehicle 2.

The operator O can visually view the guidance image 200 projected onto the passage P, drive the manned guided vehicle 1 along the guidance image 200 to the loading position D2, and operate the manned guided vehicle 1 according to the task T displayed on the display unit 11 to load and unload the luggage L.

In the guidance system S, multiple unmanned aerial vehicles 2 are suspended and hovered in mid-air on a guideway 4 generated between the vehicle position D1 of the manned guided vehicle 1 and the loading position D2, allowing the operator O operating the manned guided vehicle 1 to intuitively recognize the distance and direction to the loading position D2.

The unmanned aerial vehicle 2 is equipped with a battery remaining capacity detection unit 24 that detects the remaining capacity of a battery 25 provided in the unmanned aerial vehicle 2. The battery remaining capacity detection unit 24 is configured to detect whether the remaining capacity of the battery 25 has fallen below a preset threshold value TH. If the remaining capacity of the battery 25 falls below the preset threshold value TH, the unmanned aerial vehicle 2 will be unable to stop in the air in a short period of time, and there is a risk of it falling.

The battery remaining capacity detection unit 24 is configured to transmit a detection signal to the placement determination unit 32 when the remaining capacity of the battery 25 falls below a predetermined threshold TH. When the placement determination unit 32 receives the detection signal, it determines to depart from the taxiway 4 the unmanned aerial vehicle 2 whose remaining capacity of the battery 25 has fallen below the predetermined threshold TH. The departed unmanned aerial vehicle 2 is adapted to be powered, for example, at a predetermined power supply location.

The projection instruction unit 33 is also configured to stop projection on the projection unit 23 of the unmanned aerial vehicle 2 that has left the taxiway 4. This prevents the guidance image 200 from being projected onto the road surface P from the unmanned aerial vehicle 2 that has left the taxiway 4, so guidance by other unmanned aerial vehicles 2 that are hovering in the air on the taxiway 4 is not hindered and the operator O is not confused.

By controlling the unmanned aerial vehicle 2 to depart from the taxiway 4, it is possible to reduce the effort and costs involved in repairing and replacing the unmanned aerial vehicle 2, which may occur if the unmanned aerial vehicle 2 falls.

Then, the placement determination unit 32 determines to rearrange the aerial stopping positions of the other multiple unmanned aerial vehicles 2 that are hovering in the air on the taxiway 4 after the unmanned aerial vehicle 2 whose remaining battery charge 25 has fallen below a predetermined threshold TH leaves the taxiway 4.

For example, after an unmanned aerial vehicle 2 that had been hovering in the air on the taxiway 4 leaves, the placement determination unit 32 determines that the other unmanned aerial vehicles 2 that are hovering in the air on the taxiway 4 are repositioned at equal intervals. By placing the unmanned aerial vehicles 2 at equal intervals, the operator O driving the manned transport vehicle 1 can properly and quickly confirm and grasp the unmanned aerial vehicles 2.

In addition, if an unmanned aerial vehicle 2 that has been suspended in the air at loading position D2 or bend position D3 of the taxiway 4 leaves, since loading position D2 and bend position D3 are important positions when guiding the manned guided vehicle 1, it is desirable to determine that other unmanned aerial vehicles 2 suspended in the air on the taxiway 4 are repositioned to loading position D2 or bend position D3.

Then, after the unmanned aerial vehicle 2 that had been hovering in the air on the taxiway 4 leaves, the placement determination unit 32 may determine that a new unmanned aerial vehicle 2 waiting at the waiting position will be placed in the position from which the unmanned aerial vehicle 2 left, by hovering in the air on the taxiway 4. This allows the unmanned aerial vehicle 2 to be suspended in the air at an appropriate position on the taxiway 4, so that the manned transport vehicle 1 can be reliably guided.

The projection instruction unit 33 is also configured to stop projection on the projection unit 23 of the new unmanned aerial vehicle 2 during flight until it is positioned on the taxiway 4. This prevents the guidance image 200 from being projected onto the road surface P from the unmanned aerial vehicle 2 during flight until the new unmanned aerial vehicle 2 is positioned on the taxiway 4, so guidance by other unmanned aerial vehicles 2 hovering in the air on the taxiway 4 is not hindered and the operator O is not confused.

Second Embodiment
In the guidance system of the second embodiment, when the placement determination unit 32 receives a detection signal from the battery remaining capacity detection unit 24, it determines that an unmanned aerial vehicle 2 whose remaining battery capacity 25 has fallen below a predetermined threshold value TH should be wirelessly powered.

For example, the placement determination unit 32 determines that an unmanned aerial vehicle 2 hovering in the air on the taxiway 4 wirelessly supplies power to an unmanned aerial vehicle 2 whose remaining battery charge 25 has fallen below a predetermined threshold TH. This allows power to be supplied quickly to an unmanned aerial vehicle 2 whose remaining battery charge 25 has fallen below the predetermined threshold TH.

The placement determination unit 32 may also determine that an unmanned aerial vehicle 2 waiting at a waiting location should fly close to an unmanned aerial vehicle 2 whose remaining battery 25 charge has fallen below a predetermined threshold TH and wirelessly supply power to the unmanned aerial vehicle 2. This allows an unmanned aerial vehicle 2 that is not in use to reliably supply power to an unmanned aerial vehicle 2 whose remaining battery 25 charge has fallen below a predetermined threshold TH.

Also, for example, multiple antennas (not shown) of a wireless power supply device may be attached to multiple locations on the shelf R, and the placement determination unit 32 may determine that an unmanned aerial vehicle 2 whose remaining battery charge 25 has fallen below a predetermined threshold TH should be wirelessly powered, and power may be supplied wirelessly through the antenna of a wireless power supply device located close to the unmanned aerial vehicle 2. This prevents the unmanned aerial vehicle 2 from departing from the taxiway 4, and allows the manned transport vehicle 1 to be reliably guided.

<Other embodiments>
Another embodiment of the guidance system S will be described with reference to FIGS.
It should be noted that configurations similar to those of the first embodiment described above may be omitted to avoid duplication of description.

(Embodiment 1)
5, the placement determination unit 32 of the management device 3 may be configured to determine the airborne stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is placed at the height of the loading position D2. That is, the memory unit 30 of the management device 3 stores the height position of the loading position D2 of each task T of the loading schedule J. The height position of the loading position D2 is the height of the luggage L to be loaded in each task T. The manned guided vehicle 1 loads and places the luggage L at the height position of the loading position D2. The placement determination unit 32 is configured to cause the unmanned aerial vehicle 2 to hover and stop in the air at a height equivalent to the height position of the loading position D2 of each task T.

An operator O who operates the manned guided vehicle 1 drives the manned guided vehicle 1 along a guidance image 200 projected onto the passage P from the unmanned aerial vehicle 2, and can intuitively recognize the height of the cargo L to be loaded simply by visually checking the aerial stopping position of the unmanned aerial vehicle 2.

(Embodiment 2)
6, the placement determination unit 32 of the management device 3 may be configured to determine the aerial stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is placed at the height position of the loading position D2. The unmanned aerial vehicle 2 is equipped with a light-emitting device (not shown) and is configured to emit light so that the operator O can easily recognize the position of the unmanned aerial vehicle 2.

The placement determination unit 32 of the management device 3 determines the aerial stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is placed at the height of the lowest shelf R when the height position of the loading position D2 corresponds to the height of the lowest shelf R. Therefore, since the unmanned aerial vehicle 2 is stopped in the air at a low position close to the aisle P, even if the guidance image 200 is projected onto the aisle P, it is difficult for the operator O to recognize it, so the unmanned aerial vehicle 2 emits light, and as a result, the operator O can reliably recognize the taxiway 4.

When the manned guided vehicle 1 travels and approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 is configured to fly in an evasive manner to avoid colliding with the manned guided vehicle 1.

An operator O who operates the manned guided vehicle 1 can reach the loading position D2 by driving the manned guided vehicle 1 along the unmanned aerial vehicle 2, and can intuitively recognize the height of the cargo L to be loaded simply by visually checking the aerial stopping position of the unmanned aerial vehicle 2.

(Embodiment 3)
7, the placement determination unit 32 of the management device 3 may be configured to determine an aerial stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is placed at the height position of the loading position D2. The unmanned aerial vehicle 2 is equipped with a projection unit 23, and the projection unit 23 is configured to be able to project a guidance image 200 onto the ceiling C of the facility.

When the height position of the loading position D2 corresponds to the height of the lowest shelf R, the placement determination unit 32 of the management device 3 determines the aerial stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is positioned at the height of the lowest shelf R. Therefore, since the unmanned aerial vehicle 2 is stopped in the air at a low position close to the aisle P, even if the guidance image 200 is projected onto the aisle P, it is difficult for the operator O to recognize it. Therefore, by having the unmanned aerial vehicle 2 project the guidance image 200 onto the ceiling C, the operator O can reliably recognize the taxiway 4.

When the manned guided vehicle 1 travels and approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 is configured to fly in an evasive manner to avoid colliding with the manned guided vehicle 1.

An operator O who operates the manned guided vehicle 1 can reach the loading position D2 by driving the manned guided vehicle 1 along the guidance image 200 projected from the unmanned aerial vehicle 2 onto the ceiling C, and can intuitively recognize the height of the cargo L to be loaded simply by visually checking the aerial stopping position of the unmanned aerial vehicle 2.

(Embodiment 4)
8, the placement determination unit 32 of the management device 3 may be configured to determine the aerial stopping position of the unmanned aerial vehicle 2 on a straight line OS connecting the eye height of the operator O who operates the manned guided vehicle 1 and the height position of the loading position D2. The unmanned aerial vehicle 2 is equipped with a light-emitting device (not shown) and is configured to emit light so that the operator O can easily recognize the position of the unmanned aerial vehicle 2.

An operator O who operates the manned guided vehicle 1 can reach the loading position D2 by driving the manned guided vehicle 1 along the unmanned aerial vehicle 2, and can intuitively recognize the height of the cargo L to be loaded simply by visually checking the aerial stopping position of the unmanned aerial vehicle 2.

(Embodiment 5)
9, the placement determination unit 32 of the management device 3 may be configured to determine the aerial stopping position of the unmanned aerial vehicle 2 on a straight line OS connecting the eye height of the operator O who operates the manned guided vehicle 1 and the height position of the loading position D2. The unmanned aerial vehicle 2 is equipped with a projection unit 23, and the projection unit 23 is configured to be able to project a guidance image 200 onto an aisle P of the facility.

An operator O who operates the manned guided vehicle 1 can reach the loading position D2 by driving the manned guided vehicle 1 along the unmanned aerial vehicle 2, and can intuitively recognize the height of the cargo L to be loaded simply by visually checking the aerial stopping position of the unmanned aerial vehicle 2.

In addition, since the operator O can drive the manned guided vehicle 1 along the unmanned aerial vehicle 2, the guidance image 200 does not need to be configured with an arrow pointing in the direction of the loading position D2, and can display other information, such as the type of luggage L to be loaded. Therefore, the operator O can prepare to pick up and place the luggage according to the type of luggage L, etc.

(Embodiment 6)
10, the placement determination unit 32 of the management device 3 may be configured to determine an aerial stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is placed at the height position of the loading position D2. The unmanned aerial vehicle 2 is equipped with a projection unit 23, and the projection unit 23 is configured to be able to project a guidance image 200 onto the ceiling C of the facility.

The placement determination unit 32 of the management device 3 determines the aerial stopping position of the unmanned aerial vehicle 2 so that the unmanned aerial vehicle 2 is positioned at the height of the lowest shelf R when the height position of the loading position D2 corresponds to the height of the lowest shelf R. Since the unmanned aerial vehicle 2 is in a low position close to the aisle P, even if the guidance image 200 is projected onto the aisle P, it is difficult for the operator O to recognize it, and therefore the projection instruction unit 33 controls the unmanned aerial vehicle 2 to project the guidance image 200 onto the ceiling C.

Furthermore, if the distance X between the manned guided vehicle 1 and the unmanned aerial vehicle 2 closest to the manned guided vehicle 1 is short, the line of sight of the operator O operating the manned guided vehicle 1 will be dangerously directed upward at a large angle. Therefore, the placement determination unit 32 controls the distance X between the manned guided vehicle 1 and the guidance image 200 closest to the manned guided vehicle 1 to be a predetermined length so that the line of sight of the operator O will not be directed upward at a large angle.

The distance X may be a fixed length that is set in advance, or may be changed according to the speed of the manned guided vehicle 1, for example, by becoming longer when the speed of the manned guided vehicle 1 is faster than a predetermined speed and becoming shorter when the speed is slower than the predetermined speed. This causes the line of sight of the operator O who operates the manned guided vehicle 1 to be directed upward at a small angle, allowing the manned guided vehicle 1 to travel safely.

When the manned guided vehicle 1 travels and approaches the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 is configured to fly in an evasive manner to avoid colliding with the manned guided vehicle 1.

An operator O who operates the manned guided vehicle 1 drives the manned guided vehicle 1 along a guidance image 200 projected from the unmanned aerial vehicle 2 onto the ceiling C, and can intuitively recognize the height of the cargo L to be unloaded simply by visually checking the aerial stopping position of the unmanned aerial vehicle 2.

(Embodiment 7)
The projection instruction unit 33 of the management device 3 may control the unmanned aerial vehicle 2 to perform focus adjustment to adjust the focus so that the guidance image 200 is clearly projected onto the road surface P or ceiling C when the unmanned aerial vehicle 2 projects the guidance image 200 toward the road surface P or ceiling C, depending on the height of the aerial stopping position of the unmanned aerial vehicle 2.

By adjusting the focus, the guidance image 200 is clearly projected onto the road surface P or the ceiling C, allowing the operator O to reliably recognize the guidance image 200 and thus to properly navigate and operate the manned guided vehicle 1.

The above describes preferred embodiments of the present invention, but the configuration of the present invention is not limited to these embodiments. For example, the following modifications are possible.

In the above embodiment, the unmanned aerial vehicle 2 is configured to project a guidance image 200 onto the passage P or the ceiling C, or to illuminate its own aircraft, so that the taxiway 4 is recognized by the operator O's vision, but it may also be configured to have a voice generating unit (not shown) that emits sounds such as voice, buzzer, and chime, so that the taxiway 4 is recognized by the operator O's hearing. The voice generating unit is configured to emit sounds such as, for example, "Turn left 15 m ahead," "Destination 30 m ahead," and "There is an obstacle ahead. Please be careful."

The effects of the present invention will be explained.

In the guidance system S, multiple unmanned aerial vehicles 2 are suspended in mid-air on a guideway 4 generated between the vehicle position D1 of the manned guided vehicle 1 and the loading position D2, allowing the operator O operating the manned guided vehicle 1 to intuitively recognize the distance, position, direction, etc. to the loading position D2.

Furthermore, the guidance system S is equipped with a battery remaining amount detection unit 24 that detects the remaining amount of the battery 25 provided in the unmanned aerial vehicle 2. When the remaining amount of the battery 25 falls below a predetermined threshold TH, the battery remaining amount detection unit 24 transmits a detection signal to the placement determination unit 32. Based on the detection signal, the placement determination unit 32 is configured to either move the unmanned aerial vehicle 2 whose remaining amount of the battery 25 has fallen below the predetermined threshold TH away from the taxiway 4, or to determine that the unmanned aerial vehicle 2 whose remaining amount of the battery 25 has fallen below the predetermined threshold TH be wirelessly powered. As a result, there is no risk of the unmanned aerial vehicle 2 falling onto the taxiway 4, and the manned transport vehicle 1 is not hindered from traveling, and the effort and cost of repairing and replacing the unmanned aerial vehicle 2 can be reduced.

O Operator 1 Manned guided vehicle 2 Unmanned aerial vehicle 3 Management device 4 Guideway S Guidance system 24 Battery remaining amount detection unit 25 Battery 31 Guideway generation unit 32 Arrangement determination unit 33 Photography instruction unit D1 Vehicle position D2 Loading position D3 Bending position R Shelf P Road surface C Ceiling 200 Guidance image

Claims (12)

A manned transport vehicle operated by an operator;
Multiple unmanned aerial vehicles capable of hovering in the air;
A management device for controlling the unmanned aerial vehicle;
A guide path generating unit that generates a guide path between a vehicle position of the manned guided vehicle and a loading position;
A placement determination unit that determines positions at which the plurality of unmanned aerial vehicles will stop in the air on the taxiway;
a battery remaining capacity detection unit that detects a remaining capacity of a battery provided in the unmanned aerial vehicle and transmits a detection signal to the placement determination unit when the remaining capacity of the battery falls below a predetermined threshold;
The guidance system is characterized in that, when the placement determination unit receives the detection signal, it determines whether to cause the unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold to leave the guideway, or to wirelessly power the unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold. The guidance system described in claim 1, characterized in that the placement determination unit determines to relocate the aerial stopping positions of the multiple unmanned aerial vehicles that are hovering in the air on the taxiway after the unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold leaves the taxiway. The guidance system described in claim 2, characterized in that the placement determination unit determines that the unmanned aerial vehicle that is not hovering in the air on the taxiway will stop in the air on the taxiway after the unmanned aerial vehicle whose remaining battery charge has fallen below a predetermined threshold leaves the taxiway. The guidance system described in claim 1, characterized in that it is further equipped with a projection instruction unit that projects a guidance image toward a road surface when the unmanned aerial vehicle stops in the air on the taxiway, and controls the projection to stop when the unmanned aerial vehicle leaves the taxiway. The guidance system described in claim 1, characterized in that the placement determination unit determines that the unmanned aerial vehicle hovering in the air on the taxiway should be wirelessly powered when the remaining battery charge of the unmanned aerial vehicle falls below a predetermined threshold. A guidance system as described in any one of claims 1 to 5, characterized in that the positioning determination unit determines an aerial stopping position of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned at the height of the loading position. The guidance system according to claim 6, wherein the management device controls the unmanned aerial vehicle to emit light when the height of the loading position corresponds to the height of the lowest shelf. The guidance system described in claim 6, characterized in that the management device is provided with a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward the ceiling when the height of the loading position corresponds to the height of the lowest shelf. A guidance system as described in any one of claims 1 to 5, characterized in that the placement determination unit determines an aerial stopping position of the unmanned aerial vehicle on a straight line connecting the height corresponding to the eyes of an operator operating the manned guided vehicle and the height of the loading position. The guidance system according to claim 9 , wherein the management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward a road surface. The management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward a ceiling,
The guidance system according to claim 1, characterized in that the placement determination unit controls the unmanned aerial vehicle so that the distance between the manned guided vehicle and the unmanned aerial vehicle closest to the manned guided vehicle is a predetermined length. The management device includes a projection instruction unit that controls the unmanned aerial vehicle to project a guidance image toward a road surface or a ceiling,
The guidance system according to claim 1, further comprising control for performing focus adjustment to adjust the focus of the guidance image according to the height of the unmanned aerial vehicle.

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