To provide an unmanned guided vehicle capable of suppressing a height of a shelf and suppressing a manufacturing cost of the shelf.SOLUTION: There is provided an unmanned guided vehicle including: a vehicle body; a cargo handling device that is provided on the vehicle body and loads and unloads a cargo W with respect to a shelf 20 for storing cargoes; a laser sensor 50 that is provided on the vehicle body and scans a predetermined range around the vehicle body with a laser beam to detect obstacles; and a controller that estimates a self-position based on a laser point detected by the laser sensor 50, wherein the laser sensor 50 is provided at a height at which a laser beam L passes through a dead space Sd of a storage space of the shelf 20, and a height of the laser sensor 50 is the same as a height at which a plurality of reflectors 13 provided separately from the shelf 50 are installed, and when the cargo W loaded and unloaded by the cargo handling device passes through the dead space Sd and shields the laser beam L for detecting a specific reflector 13, the controller estimates a self-location based on the plurality of detectable reflectors 13, excluding the specific reflector 13.SELECTED DRAWING: Figure 2

    【課題】棚の高さを抑制するとともに棚の製作コストを抑制することが可能な無人搬送車の提供にある。【解決手段】車体と、車体に設けられ、荷を収容する棚20に対して荷Wを出入させる荷役装置と、車体に設けられ、車体の周囲の所定範囲にレーザ光を走査し、障害物を検出するレーザセンサ50と、レーザセンサ50により検出されるレーザ点に基づいて自己位置を推定する制御装置と、を備えたに無人搬送車において、レーザセンサ50は、レーザ光Lが棚20の収容空間のデッドスペースSdを通過する高さに設けられ、レーザセンサ50の高さは棚50と別に設けた複数の反射材13が設置される高さと同じ高さであり、荷役装置により出入される荷WがデッドスペースSdを通過して特定の反射材13を検出するレーザ光Lを遮蔽するとき、制御装置は、特定の反射材13を除く、検出可能な複数の反射材13に基づいて自己位置を推定する。【選択図】 図2


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    Title :

    UNMANNED GUIDED VEHICLE


    Additional title:

    無人搬送車


    Contributors:
    ESAKA EMIKA (author)

    Publication date :

    2023-04-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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