DEVICE FOR DETECTING DEVIATION OF STOP POSITION OF MOBILE OBJECT AND UNMANNED CARRIER

摘要

PROBLEM TO BE SOLVED: To provide a mobile object stop position deviation detecting device capable of finding out an accurate positional deviation even when positional relation between a vehicle body and a floor surface is three-dimensionally changed between teaching time and working time and an unmanned carrier capable of executing always accurate work by utilizing the detecting device. SOLUTION: When a mobile object 1 such as an unmanned carrier is moved while photographing featured points such as punched poles 32 of a floor surface 31 by an image pickup means 23 such as a camera loaded on the mobile object 1 and stopped on a prescribed reference position to carry a baggage by a moving arm 22 previously teached at its operation on the reference stop position, a deviation detection means 2 in the mobile object stop position deviation detecting device A1 finds out the deviation of a three-dimensional(3D) stop position of the mobile object 1 only from the relation of respective featured point positions in an image picked up at working obtained when the mobile object 1 is stopped and a reference pickup image obtained when the mobile object is stopped on the reference stop position to correct the teaching data of a working device such as the moving arm 22.