To solve the problem that a conventional automatic conveying vehicle which controls a travel direction by detecting a tape stuck on a floor surface fails in detection of the tape in some cases.
A direction inclination detecting device is provided with: an optical sensor section having an optical sensor unit 12 which includes a first optical sensor 30, a second optical sensors 31 and 32, and a third optical sensor 33 arranged at different heights and is attached to a side surface of the vehicle; and a plurality of solid markers 20 which have a plurality of first linear grooves 21 irradiated with light of the first optical sensor and arranged at equal intervals, second linear grooves 22 and 23 irradiated with light of the second optical sensors and arranged at positions on an extension of at least one first groove, and reflective surfaces 24 irradiated with light of the third optical sensor and are arranged at predetermined intervals along a conveyance path. The second grooves represent positions of the solid markers in the conveyance path. The optical sensor section has a position detecting section for detecting a position of the vehicle in the conveyance path and an inclination detecting section for detecting an inclination of the vehicle with respect to the reflective surface.
SHUTO HARUO
SATO KAZUNORI
TANAKA YOSHISHIGE
FUJI LOGISTICS CO LTD