JP7687803B2 - 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 that have a projection unit for projecting a guidance image onto a road surface and can stop in the air, and a management device for controlling the unmanned aerial vehicles. The guidance system includes a guide path generation unit that generates a guide path between the vehicle position of the manned guided vehicle and a loading position, a placement determination unit that determines positions on the guide path for the plurality of unmanned aerial vehicles to stop in the air, and a projection instruction unit that determines a guidance image to be projected onto the road surface based on the distance between the unmanned aerial vehicles stopping in the air on the guide path and sends instructions to the projection unit.

Preferably, the projection instruction unit decides to project a first guidance image when the distance between the unmanned aerial vehicles is shorter than a predetermined distance, and to project a second guidance image when the distance between the unmanned aerial vehicles is longer than the predetermined distance.

It is also desirable that the second guidance image be projected over a wider area than the first guidance image.

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 the 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, the guidance system determines the guidance image to be projected onto the road surface based on the distance between unmanned aerial vehicles hovering in the air on the taxiway. As a result, even if there are only a few unmanned aerial vehicles hovering in the air on the taxiway and the distance between them is long, the guidance image is projected over a wide area, making it easier for the operator operating the manned guided vehicle to recognize the distance, position, and direction to the loading position, etc.

FIG. FIG. FIG. FIG. 2 is a block diagram showing a guidance system. 11A and 11B are diagrams for explaining a second guide image, in which FIG. 13A and 13B are diagrams for explaining another second guide image, in which FIG. 13A is a side view and FIG. FIG. 11 is a flowchart illustrating a procedure for determining a guidance image. 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. 11 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.

Below, an embodiment of the guidance system according to the present invention will be described with reference to 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, and an aisle P is formed between each shelf R (Figs. 1 and 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 provided at 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, with 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 configured to determine the aerial stopping position at which the unmanned aerial vehicle 2 hovers on the taxiway 4. As shown in Figures 2 and 3, in this embodiment, multiple unmanned aerial vehicles 2 stop and hover in the air at intervals X on the first straight section 41 and the second straight section 42 of the taxiway 4, and also stop and hover in the air at a bend position D3 located on the bend section 40 of the taxiway 4 and at a 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 guidance images (first guidance image 200, second guidance image 201). The guidance images 200, 201 are configured, for example, with an arrow drawn inside a frame to easily guide the manned guided vehicle 1 to the loading position D2, and the direction of the arrow is configured to differ depending on the loading position D2 (Figures 3, 5, and 6). As a result, the operator O is guided to the loading position D2, which is the loading location, by driving the manned guided vehicle 1 along the direction of the arrow drawn on the guidance images 200, 201.

The unmanned aerial vehicle 2 is equipped with a projection unit 23. The projection unit 23 is composed of, for example, a projector, and can project a guidance image 200 stored in the memory unit 22 onto the passage P (Figures 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 images 200, 201 to be projected onto the road surface P based on the interval X between the unmanned aerial vehicles 2 that are suspended in the air on the taxiway 4, and to send a projection instruction to the projection unit 23 of the unmanned aerial vehicles 2.

As shown in FIG. 7, the projection instruction unit 33 determines to project the first guidance image 200 onto the road surface P when the distance X between the unmanned aerial vehicles 2 parked in the air on the taxiway 4 is shorter than a preset distance F. In this embodiment, as shown in FIG. 2 and FIG. 3, the first guidance image 200 is configured with one arrow drawn inside a circular frame. The first guidance image 200 is configured to be projected into the first range W1.

Also, as shown in FIG. 7, the projection instruction unit 33 determines to project the second guidance image 201 onto the road surface P when the distance X between the unmanned aerial vehicles 2 parked in the air on the taxiway 4 is longer than a predetermined distance F. In this embodiment, as shown in FIG. 5, the second guidance image 201 is configured with two arrows drawn inside one oval frame. The second guidance image 201 is projected into a second range W2 that is wider than the first range W1. Also, as shown in FIG. 6, the second guidance image 201 may be configured with, for example, two circular frames arranged in the second range W2 and one arrow drawn inside each circular frame.

The operator O can visually check the guidance images 200, 201 projected onto the passage P, drive the manned guided vehicle 1 along the guidance images 200, 201 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 addition, the distance between the unmanned aerial vehicles 2, X, is determined according to the number of unmanned aerial vehicles 2 suspended in the air on the taxiway 4. However, if the same guidance image is projected onto the road surface P regardless of the distance between the unmanned aerial vehicles 2, the operator O driving the manned guided vehicle 1 may lose sight of the guidance image, and may not be able to properly guide the manned guided vehicle 1 to the loading position D2. Therefore, by determining the guidance images 200, 201 to be projected onto the road surface P based on the distance X between the unmanned aerial vehicles 2, the manned guided vehicle 1 can be properly guided to the loading position D2.

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.

<Other embodiments>
Other embodiments 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)
As shown in Fig. 8, 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 (201) 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)
9, 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 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.

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 (201) 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)
10, 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 projection unit 23, and the projection unit 23 is configured to be able to project a guidance image 200 (201) 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 (201) 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 (201) 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 (201) 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)
11 , 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)
12, 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 (201) 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 (201) 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)
13, 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 projection unit 23, and the projection unit 23 is configured to be able to project a guidance image 200 (201) 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 (201) 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 (201) onto the ceiling C.

Furthermore, if the distance Y 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 directed upward at a large angle, which is dangerous. Therefore, the placement determination unit 32 controls the distance Y between the manned guided vehicle 1 and the guidance image 200 (201) 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 Y 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 being longer when the speed of the manned guided vehicle 1 is faster than a predetermined speed and 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 (201) 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 (201) is clearly projected onto the road surface P or ceiling C when the unmanned aerial vehicle 2 projects the guidance image 200 (201) 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 (201) is clearly projected onto the road surface P or the ceiling C, allowing the operator O to reliably recognize the guidance image 200 (201), thereby enabling the manned guided vehicle 1 to travel and operate appropriately.

Although the preferred embodiments of the present invention have been described above, the configuration of the present invention is not limited to these embodiments. For example, the following modifications are also possible.

In the above embodiment, the unmanned aerial vehicle 2 is configured to project guidance images 200, 201 onto the passage P or 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 distance X between the unmanned aerial vehicles 2 does not have to be a constant distance on the taxiway 4, and may be determined, for example, according to the distances of the first straight section 41, the second straight section 42, etc.

In this embodiment, the guidance images 200, 201 are of two types, a first guidance image 200 and a second guidance image 201, but there may be three or more types, such as adding a third guidance image. The guidance image to be projected onto the road surface P, etc., may be determined from among the multiple guidance images depending on the distance X between the unmanned aerial vehicles 2.

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 determines the guidance images 200, 201 to be projected onto the road surface P based on the interval X between the unmanned aerial vehicles 2 that are suspended in the air on the taxiway 4. Even if the interval X changes according to the number of unmanned aerial vehicles 2 that are suspended in the air on the taxiway 4, the guidance system S projects the guidance images 200, 201 according to the interval X. This allows the operator O driving the manned transport vehicle 1 to easily recognize the distance, position, direction, etc. to the loading position D2.

O Operator 1 Manned guided vehicle 2 Unmanned aerial vehicle 3 Management device 4 Guideway S Guidance system 22 Memory unit 23 Projection unit 31 Guideway generation unit 32 Layout determination unit 33 Photography instruction unit D1 Vehicle position D2 Loading position D3 Bend position R Shelf P Road surface C Ceiling 200 First guidance image 201 Second guidance image

Claims (4)

A manned transport vehicle operated by an operator;
A plurality of unmanned aerial vehicles having a projection unit for projecting a guidance image onto a road surface and capable of stopping 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 guidance system comprising: a projection instruction unit that determines the guidance image to be projected onto the road surface based on the spacing distance between the unmanned aerial vehicles parked in the air on the taxiway and sends instructions to the projection unit. The projection instruction unit is
When the distance between the unmanned aerial vehicles is shorter than a predetermined distance, a first guidance image is projected;
The guidance system of claim 1 , further comprising: determining to project a second guidance image when the separation distance between the unmanned aerial vehicles is longer than the predetermined distance. The guidance system according to claim 2 , wherein the second guidance image is projected over a wider area than the first guidance image. 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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