Article conveyance apparatus

Patent metadata

Field	Value
Publication number	US-11027927-B2
Application number	US-202016738045-A
Country	US
Kind code	B2
Filing date	Jan 9, 2020
Priority date	Jan 10, 2019
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

Abstract

An article conveyance apparatus including a front imaging device, a left-side imaging device, and a right-side imaging device. The front imaging device determines the presence or absence of an obstacle ahead of the imaging device and calculates a distance from the obstacle based on a comparison between images captured by a plurality of cameras. In a transition region from a linear section to a curved section, the left-side imaging device and the right-side imaging device capture images ahead of the left or the right side and determine the presence or absence of an obstacle ahead of the left or the right side. If a distance from a front obstacle is at most a predetermined threshold value and if it is determined that an obstacle is present ahead of the left or the right side, a controller avoids a collision between the article conveyance apparatus and the obstacle.

First claim

What is claimed is:

1. An article conveyance apparatus that travels along a predetermined transportation path and conveys an article, the transportation path including a linear section and a curved section, the article conveyance apparatus comprising:
a conveyance body that holds the article,
a front imaging device that captures an image in front of the conveyance body,
a left-side imaging device that captures an image in left front of the conveyance body, the left-side imaging device inclined toward a left side of the conveyance body with respect to the front of the conveyance body, and
a right-side imaging device that captures an image in right front of the conveyance body, the right-side imaging device inclined toward a right-side of the conveyance body with respect to the front of the conveyance body,
wherein the front imaging device includes a plurality of cameras, and determines presence or absence of an obstacle ahead of the conveyance body and calculates a distance between the obstacle and the conveyance body, based on a comparison between images captured by the plurality of cameras;
in a region where the conveyance body enters from the linear section to the curved section, the left-side imaging device and the right-side imaging device determine presence or absence of an obstacle ahead of a left or a right side of the conveyance body based on an image captured in left front or right front of the conveyance body according to a turning direction of the curved section;
the article conveyance apparatus avoid a collision with an obstacle by at least reducing a traveling speed if the distance from the front obstacle is at most a predetermined threshold value, the distance being calculated by the front imaging device, and if one of the left-side imaging device and the right-side imaging device determines presence of an obstacle ahead of the left or the right side of the conveyance body, and
wherein the left-side imaging device and the right-side imaging device capture images only in a curve transition region determined in advance in the transportation path.

2. The article conveyance apparatus according to claim 1 , wherein if an image captured by any one of the plurality of cameras includes a predetermined specific shape, the front imaging device determines that an obstacle is present ahead of the conveyance body regardless of a comparison with an image captured by the other camera, and the front imaging device calculates a distance between the obstacle and the conveyance body based on a size of the specific shape in the captured image.

3. The article conveyance apparatus according to claim 2 , wherein the specific shape is a shape of a detection marker provided in advance on a back side of the conveyance body of the other article conveyance apparatus.

4. The article conveyance apparatus according to claim 3 , wherein the left-side imaging device and the right-side imaging device capture images only in a curve transition region determined in advance in the transportation path.

5. The article conveyance apparatus according to claim 3 , wherein the front imaging device, the left-side imaging device, and the right-side imaging device are mounted at predetermined angles in a predetermined layout on a common mounting plate.

6. The article conveyance apparatus according to claim 2 , wherein the left-side imaging device and the right-side imaging device capture images only in a curve transition region determined in advance in the transportation path.

7. The article conveyance apparatus according to claim 2 , wherein the front imaging device, the left-side imaging device, and the right-side imaging device are mounted at predetermined angles in a predetermined layout on a common mounting plate.

8. The article conveyance apparatus according to claim 1 , wherein the front imaging device, the left-side imaging device, and the right-side imaging device are mounted at predetermined angles in a predetermined layout on a common mounting plate.

Assignees

• Daifuku Kk

Inventors

• Shin Takeshi
• Nakae Tetsuji

Classifications

• B65G2203/041

  Camera · CPC title

• B65G2203/0283

  Position of the load carrier · CPC title

• B65G2203/0216

  Codes or marks on the article · CPC title

• B65G1/137

  with arrangements or automatic control means for selecting which articles are to be removed · CPC title

• B65G1/0457 Primary

  with suspended load carriers · CPC title