PROBLEM TO BE SOLVED: To provide a mobile vehicle capable of reliably tracking a beacon even at a corner, etc. by detecting a direction and a distance of a beacon to be tracked.SOLUTION: A carrier truck 10 comprises: a main body; travel units 12 for traveling on the ground; a drive control unit 13 for controlling the drive of the traveling units 12; and a beacon detection unit. The beacon detection unit includes: a pair of imaging means 21 and 22 arranged at two positions mutually separated in a horizontal direction in the main body so as to respectively face a front side in order to capture first identification light from a beacon to be tracked on a front side; a calculation section 24 for image-processing captured screens of the first identification light captured by the respective elements of imaging means and calculating beacon position information consisting of directions and distances of a beacon from coordinate positions on the respective captured screens; and a processing section 25 for generating travel information so as to perform traveling toward a beacon on the basis of beacon position information calculated by the calculation section.SELECTED DRAWING: Figure 2

    【課題】追尾すべきビーコンの方向及び距離を検出して、曲がり角等においても確実にビーコンを追尾することができるようにした移動車両を提供する。【解決手段】搬送台車10は、本体部と、地上を走行するための走行部12と、走行部12を駆動制御する駆動制御部13と、ビーコン検出部と、を備える。ビーコン検出部が、前方の追尾すべきビーコンからの第一の識別光を撮像するための本体部の互いに横方向に離れた二箇所でそれぞれ前方に向かって配置された一対の撮像手段21、22と、各撮像手段で撮像された第一の識別光の撮像画面を画像処理して、それぞれ撮像画面上の座標位置からビーコンの方向及び距離から成るビーコン位置情報を算出する演算部24と、演算部で算出されたビーコン位置情報に基づいてビーコンに向かって走行するように走行情報を生成する処理部25とを含む。【選択図】図2


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    Title :

    MOBILE VEHICLE


    Additional title:

    移動車両


    Contributors:

    Publication date :

    2018-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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