To provide an unmanned carrier with improved reliability in coupling the unmanned carrier with a towed object by stabilizing the recognition of a marker of the towed object by a camera of the unmanned carrier.SOLUTION: An unmanned carrier 10 tows a towed object 12 having a connectable connected part 17 and a marker 19 for position recognition. An unmanned carrier body 21 of the unmanned carrier 10 travels on a traveling surface 11. A connection unit 22 is protruded outward from the unmanned carrier body 21 and is detachably connected to the connected part 17 of the towed object 12. A camera 23 has a central axis 56 of the field of view, which is made in a horizontal direction, and is arranged at a height where the marker 19 is positioned on the central axis 56 of the field of view to recognize the marker 19. A marker processing unit estimates a relative positional relation between the unmanned carrier body 21 and the towed object 12 from the marker 19 recognized by the camera 23.SELECTED DRAWING: Figure 1

    【課題】無人搬送車のカメラによる被牽引物のマーカーの認識を安定させることで、無人搬送車と被牽引物の連結の信頼性が向上した無人搬送車を提供する。【解決手段】連結可能な被連結部17および位置認識用のマーカー19を有する被牽引物12を牽引する無人搬送車10である。無人搬送車10の無人搬送車本体21は、走行面11上を走行する。連結ユニット22は、無人搬送車本体21から外側に突出され、被牽引物12の被連結部17に着脱可能に連結される。カメラ23は、視野の中心軸56を水平方向とするとともに、視野の中心軸56上にマーカー19が位置する高さに配設され、マーカー19を認識する。マーカー処理部は、カメラ23が認識したマーカー19から、無人搬送車本体21と被牽引物12との相対的な位置関係を推定する。【選択図】図1


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    Title :

    UNMANNED CARRIER


    Additional title:

    無人搬送車


    Contributors:

    Publication date :

    2024-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B61B RAILWAY SYSTEMS , Eisenbahnanlagen / B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES



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