# US 11,027,927 B2 · Article conveyance apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,927 B2 - Document ID: US11027927B2 - Status: Granted - Kind: B2 - Application number: 16/738,045 - Filed: 2020-01-09 - Published: 2020-07-16 - Granted: 2021-06-08 - Earliest claimed: 2019-01-10 - Assignees: Daifuku Co., Ltd. - Applicants: Daifuku Co., Ltd. - Inventors: Takeshi Shin; Tetsuji Nakae - Web page: https://patentgrep.com/patent/US11027927B2 ## CPC - B65G 43/02: detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating - B61L 23/005: {Automatic control or safety means for points for operator-less railway, e.g. transportation systems} - B61L 23/041: {Obstacle detection} - B65G 35/00: Mechanical conveyors not otherwise provided for - B65G 35/06: comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path (effecting drive at two or more points spaced along the length of an endless conveyor B65G23/32) - B65G 2203/0283: Position of the load carrier - B65G 2203/041: Camera - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B) ## 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 2) 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. ### Claim 4 (depends on 3) 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. ### Claim 5 (depends on 3) 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. ### Claim 6 (depends on 2) 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. ### Claim 7 (depends on 2) 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. ### Claim 8 (depends on 1) 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.