JP2018194937A - Travel control device and travel control method of unmanned carrier - Google Patents

Abstract

To provide a travel control device of an unmanned carrier capable of carrying a transporting object while maintaining relative positions and attitudes of a plurality of unmanned carriers in an optimal state, and a travel control method thereof.SOLUTION: In order to cooperate a master AGV1 and a slave AGV2 for transporting a long load 3, the slave AGV2 is provided with an LRF27 for measuring a distance to the master AGV1, the position and attitude of the master AGV1 is obtained on the basis of the scan data acquired by the LRF27, and by comparing this with a preset relative position and attitude between the master AGV1 and the slave AGV2, error of the position and attitude of the slave AGV2 to the master AGV1 is obtained. The movement of the slave AGV2 is controlled so as to correct the position and attitude of the slave AGV2 on the basis of the obtained error.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a travel control device and a travel control method for an automatic guided vehicle, and more particularly to a travel control device and a travel control method for an automatic guided vehicle that transports a long object in synchronization with a plurality of automatic guided vehicles.

  For example, in a production line for a particularly large product such as an aircraft, when a large and long heavy object such as an aircraft body or main wing is transported by an automated guided vehicle (AGV), it is transported as a single unit. If you try to do so, the automated guided vehicle will become very large, making it difficult to handle and costly. On the other hand, if a plurality of small AGVs are used for transportation, each AGV can be handled easily and flexibly, and the manufacturing cost can be reduced. The transportation of a long object by the cooperation of multiple AGVs is performed by using one AGV as a master AGV, while maintaining a predetermined relative position and posture with respect to the master AGV in accordance with the movement of the master AGV. This is done by moving the AGV (slave AGV).

  Conventionally, for example, the following Patent Documents 1 to 3 are well-known as transporting a transported object in cooperation with a plurality of automatic guided vehicles.

  In the following Patent Document 1, the movement command value of two robots is determined from each other's odometry information, the external force received by the robot from the conveyed object, and the distance between the robots acquired by a range sensor (Laser Range Finder: LRF). Is calculated, and a cooperative transfer robot system is disclosed in which drive control of the moving unit of each robot is performed.

  In Patent Document 2, a plurality of robots are operated in accordance with an instruction under a system that collects the entire movement route, and SLAM (Simultaneous) is obtained from environmental shapes such as surrounding walls based on distance data measured by a laser distance sensor. A robot system is disclosed in which the position and posture of each other are obtained by a method similar to Localization And Mapping, and the posture and movement of the robot are controlled.

  Further, Patent Document 3 discloses a transport cart system that uses a transport cart that can move in all directions using omnidirectional wheels, and that transports a large transported object in cooperation with one as a master and the other as a slave. . In this transport cart system, each transport cart measures its own speed, travel distance, and the like based on odometry information such as the number of rotations of wheels, and autonomously controls itself by sharing that information.

JP2015-99524A JP 2010-55415 A JP 2011-216007 A

  However, the technique described in Patent Document 1 described above has a problem that the cost is increased by providing an external force sensor and an LRF for each robot, and a relative posture (for example, for one robot). There was a problem that the direction of the other robot) was not considered.

  Further, the technique described in Patent Document 2 has a problem that each robot may not be able to estimate its own position and orientation when there is no wall or the like nearby.

  In addition, the technique described in Patent Document 3 has a problem in that an accurate relative position / posture may not be maintained if a measurement error or wheel slip occurs in each transport carriage.

  For this reason, the present invention provides a travel control for an automated guided vehicle that can transport a conveyed product while maintaining the relative positions and postures of the plurality of automated guided vehicles in an optimal state while suppressing costs. An object is to provide an apparatus and a traveling control method.

A travel control device for an automatic guided vehicle according to the first invention for solving the above-described problems is as follows.
One first automatic guided vehicle, one or more second automatic guided vehicles, a first control unit that controls the operation of the first automatic guided vehicle, and the second automatic guided vehicle And a second control unit for controlling the operation, wherein the first automatic guided vehicle and the second automatic guided vehicle cooperate with each other to transport the conveyed product. ,
The second automatic guided vehicle includes a range sensor for measuring a distance to at least the first automatic guided vehicle,
The second control unit obtains the position and orientation of the first automatic guided vehicle based on the scan data acquired by the range sensor, and sets the first automatic guided vehicle and the second automatic guided vehicle in advance. An error in the position and orientation of the second automatic guided vehicle relative to the first automatic guided vehicle is obtained in comparison with the position and posture between the automatic guided vehicle and the second automatic unmanned vehicle. The operation of the second automatic guided vehicle is controlled so as to correct the position and orientation of the transport vehicle.

In addition, in the first invention, the traveling control device for the automatic guided vehicle according to the second invention for solving the above-described problems is as follows.
The second control unit detects a line segment corresponding to the first automatic guided vehicle from the scan data acquired from the range sensor, and determines the first automatic guided vehicle from the position and angle of the line segment. The position and orientation are obtained.

In addition, in the first invention, a travel control device for an automatic guided vehicle according to a third invention for solving the above-described problems,
Said 2nd control part calculates | requires the position and attitude | position of said 1st automatic guided vehicle by scan matching from the scan data acquired from the said range sensor.

Moreover, the traveling control device of the automatic guided vehicle according to the fourth invention for solving the above-described problems is any one of the first to third inventions,
The second control unit obtains a control command value of the second automatic guided vehicle using geometric calculation based on the control information of the first automatic guided vehicle acquired from the first control unit. To do.

A travel control device for an automatic guided vehicle according to a fifth aspect of the present invention for solving the above-described problems is the fourth aspect of the invention,
The second control unit adds the error to the control command value as a correction value.

A traveling control method for an automatic guided vehicle according to a sixth aspect of the present invention for solving the above problem is as follows.
It is a traveling control method for an automatic guided vehicle that transports a transported object in cooperation with one first automatic guided vehicle and one or more second automatic guided vehicles,
A range sensor for measuring a distance to at least the first automatic guided vehicle is provided in the second automatic guided vehicle,
Based on the scan data acquired by the range sensor, the position and orientation of the first automatic guided vehicle are obtained, and this is preset between the first automatic guided vehicle and the second automatic guided vehicle. An error in the position and orientation of the second automatic guided vehicle with respect to the first automatic guided vehicle is obtained in comparison with the position and orientation, and the position and orientation of the second automatic guided vehicle are corrected based on the obtained error. The operation control method of the automatic guided vehicle is characterized by controlling the operation of the second automatic guided vehicle.

A travel control method for an automatic guided vehicle according to a seventh aspect of the invention for solving the above-described problems is the sixth aspect of the invention,
A line segment corresponding to the first automatic guided vehicle is detected from scan data acquired from the range sensor, and a position and an attitude of the first automatic guided vehicle are obtained from a position and an angle of the line segment. And

A traveling control method for an automatic guided vehicle according to an eighth aspect of the invention for solving the above-described problems is the sixth aspect of the invention,
The position and orientation of the first automatic guided vehicle are obtained by scan matching from scan data acquired from the range sensor.

A travel control method for an automatic guided vehicle according to a ninth invention for solving the above-described problems is any one of the sixth to eighth inventions,
A control command value for the second automatic guided vehicle is obtained using geometric calculation based on the control information of the first automatic guided vehicle acquired from the first control unit.

A travel control method for an automatic guided vehicle according to a tenth aspect of the invention for solving the above-described problems is the ninth aspect of the invention,
The error is added as a correction value to the control command value.

  According to the traveling control device and the traveling control method of the automatic guided vehicle according to the present invention, the transported object is transported while maintaining the relative positions and postures of the plurality of automatic guided vehicles in an optimal state while suppressing the cost. Can do.

It is explanatory drawing which shows the traveling arrangement example of AGV in Example 1 of this invention. It is explanatory drawing which shows the other traveling arrangement example of AGV in Example 1 of this invention. It is a structural diagram which shows the drive structure of the automatic guided vehicle applied to Example 1 of this invention. It is a block diagram which shows the structure of the control apparatus in Example 1 of this invention. It is a flowchart which shows the flow of the master AGV detection process in Example 1 of this invention. It is a flowchart which shows the flow of the slave AGV command value calculation process in Example 1 of this invention. It is explanatory drawing which shows the example of the turning center of the drive wheel of master AGV in Example 1 of this invention, a speed, and an angle. It is explanatory drawing which shows the driving example of the automatic guided vehicle in Example 2 of this invention. It is a flowchart which shows the flow of the master AGV detection process in Example 2 of this invention. It is explanatory drawing which shows the driving example of the automatic guided vehicle in Example 3 of this invention. It is explanatory drawing which shows the other running example of the automatic guided vehicle in Example 3 of this invention.

  Hereinafter, a traveling control device and a traveling control method for an automatic guided vehicle according to the present invention will be described with reference to the drawings. A traveling control device and a traveling control method for an automatic guided vehicle according to the present invention are, for example, long heavy objects such as an aircraft body and a main wing in a production line of a particularly large product such as an aircraft (hereinafter, referred to as a transport object). In order to synchronously convey a long object) by a plurality of AGVs, traveling control of each automatic guided vehicle is performed.

  The details of the traveling control device and the traveling control method for the automatic guided vehicle according to the first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIGS. 1 and 2, in this embodiment, a synchronous parallel transfer of a long object 3 as a transfer object by a master AGV1 as a first automatic guided vehicle and a slave AGV2 as a second automatic transfer vehicle. I do. The slave AGV2 is equipped with a range sensor (hereinafter referred to as LRF) 27 as a distance sensor, and the slave AGV2 travels while sensing the master AGV1 by the LRF27.

Specifically, as shown in FIGS. 3 and 4, the master AGV 1 has two drive wheels 11 and 12 that can be steered in all horizontal directions on its bottom surface, and can turn in all horizontal directions. Two free wheels 13 and 14 are provided, and all horizontal directions, for example, forward and backward, left and right traversing, etc. are possible. In addition, a control board 15 and a drive motor driver 16 are mounted on the master AGV1.
The control board 15 outputs an operation command to the drive motor driver 16. Further, the control board 15 acquires the operation state of the slave AGV2 from the control board 25 described later by wireless communication.
The drive motor driver 16 adjusts the rotation and steering angle of the drive wheels 11 and 12 based on the operation command output from the control board 15.

  The slave AGV2 has two drive wheels 21 and 22 that can be steered in all directions in the horizontal direction, and two free wheels 23 and 24 that can turn in all directions in the horizontal direction, on the bottom surface thereof. All directions in the horizontal direction, for example, forward / backward movement, left / right traversing, and the like are possible. In addition, a control board 25, a drive motor driver 26, an LRF 27, and a control PC 28 are mounted on the slave AGV2.

The control board 25 outputs a control command to the drive motor driver 26. In addition, the control board 25 acquires control information of the master AGV1 and an operation state of the master AGV1 from the control board 15 by wireless communication.
The drive motor driver 26 adjusts the rotation and steering angle of the drive wheels 21 and 22 based on a control command output from the control board 25.

The LRF 27 acquires distance data (scan data) to surrounding structures. In this embodiment, the LRF 27 is provided to measure at least the distance from the slave AGV2 to the master AGV1 (position and posture of the master AGV1).
The control PC 28 acquires the control information (operation command value and odometry information) of the master AGV1, and calculates the control command value of the slave AGV2 based on this information. The master AGV detection unit 281 and the slave AGV command value And a calculation unit 282.

  The master AGV detection unit 281 detects the position and orientation of the master AGV 1 based on the scan data acquired by the LRF 27. The slave AGV command value calculation unit 282 controls the control command value of the slave AGV2 based on the position and orientation of the master AGV1 detected by the master AGV detection unit 281 and the control signal of the master AGV1 acquired from the control board 15 by the control board 25. And the control command value is transmitted to the drive motor driver 26 via the control board 25.

  That is, the master AGV1 and the slave AGV2 perform wireless communication between the control boards 15 and 25, and the slave AGV2 acquires control information (operation command value and odometry information) of the master AGV1 through this wireless communication, and based on this information Then, the control command value of the slave AGV2 is calculated in the control PC 28. Further, the slave AGV2 detects the position and posture of the master AGV1 based on the scan data acquired by the LRF 27, and the position and posture (should be targeted) of the slave AGV2 based on the detected position and posture of the master AGV1 ( Hereinafter, an error is obtained by calculating a target position / target posture, and this error is added as a correction term to the control command value of the slave AGV2. In this embodiment, the control board 15 constitutes a first control unit, and the control board 25 and the control PC 28 constitute a second control unit.

  Here, the master AGV1 and the slave AGV2 are ideal AGVs (no factor causing an error such as slip of the drive wheels 11, 12, 21, 22, and the free wheels 13, 14, 23, 24), and communication. Assuming that there is no delay, using the operation command value for the master AGV1 and the distance setting value between the master AGV1 and the slave AGV2 (hereinafter, the AGV distance setting value), the ideal control command value for the slave AGV2 is obtained. It can be obtained by geometric calculation. Then, if the ideal AGV is moved in an ideal environment using the operation command value of the master AGV1 and the control command value of the slave AGV2, the master AGV1 and the slave AGV2 operate while maintaining their relative positions and postures without error. Can be made.

  However, in reality, errors occur in the positions and postures of the master AGV1 and the slave AGV2 due to various factors, and a gradual deviation occurs when operated for a long time.

  Therefore, in this embodiment, in addition to calculating the control command value of the slave AGV2 using the operation command value for the master AGV1 and the distance setting value between the AGVs, the relative position of the master AGV1 detected using the LRF27 with respect to the slave AGV2 The control command value is corrected based on the posture.

  Hereinafter, processing for calculating an error between the target position / target posture of the master AGV1 and the slave AGV2 by the control PC 28 will be described with reference to FIG. In this embodiment, the master AGV1 and the slave AGV2 have the positional relationship shown in FIG. 1, and the surface scanned by the LRF 27 of the master AGV1 (side surface in the example shown in FIG. 1) is regarded as a straight line segment. An example of detecting AGV1 is shown.

  In this embodiment, first, in step S11, scan data is read from the LRF 27 by the master AGV detector 281. Subsequently, in step S12, the master AGV detector 281 detects a line segment having the same length as the side surface of the master AGV1 (hereinafter simply referred to as a line segment). By detecting a line segment having the same length as the side surface of the master AGV1, the relative position and posture of the master AGV1 with respect to the slave AGV2 can be obtained. Note that the master AGV detection unit 281 limits the detection range to a region in the vicinity of where the side surface of the master AGV1 is to be observed, assuming that the slave AGV2 is at the target position, and between the master AGV1 and the slave AGV2. The line segment corresponding to the master AGV1 is detected on the basis of the distance between the master AGV1 and the length of the side surface of the master AGV1.

  Following step S12, it is determined in step S13 whether or not a line segment has been detected by the master AGV detector 281.

  If a line segment is detected as a result of the determination in step S13 (YES), the slave AGV command value calculation unit 282 in step S14 determines the relative position and posture of the master AGV1 to the slave AGV2 and the master AGV1 set in advance. Based on the distance to the slave AGV2, the target position / target posture of the slave AGV2 is calculated.

  Subsequent to step S14, the slave AGV command value calculation unit 282 compares the target position / target posture of the slave AGV2 with the current position / posture in step S15, and calculates the position error and angle error of the slave AGV2. In step S16, the calculation result is output to the control board 25.

On the other hand, if the line segment is not detected as a result of the determination in step S13 (NO), the result is output to the control board 25 as undetected in step S17.
The above processing is repeated until the conveyance of the long object 3 is completed.

  Next, processing for calculating control command values for the drive wheels 21 and 22 of the slave AGV2 by the slave AGV command value calculation unit 282 of the control PC 28 will be described with reference to FIGS. 6 and 7.

In this embodiment, first, in step S21, the operation command value of the master AGV1 is acquired. Note that the operation command value of the master AGV1 acquired here is
(1) Detection result flag (whether or not the master AGV detection unit 281 has detected the master AGV1),
(2) The speed and steering angle of the drive wheels 11,
(3) The speed and steering angle of the drive wheel 12.

  Following step S21, it is determined in step S22 whether the master AGV1 is turning based on the operation command value of the master AGV1.

Step S22 the result of determination in, if the master AGV1 is traveling straight (NO), the velocity vector of the drive wheels 21 and 22 of the slave AGV2 the process proceeds to step S23 (the steering angle and speed) V _21, V ₂₂ the master Same as the velocity vectors V ₁₁ and V _{12 of} AGV1. That is, when the master AGV1 travels straight, judging from the steering angles of the drive wheels 11 and 12 of the master AGV1, the steering angles and speeds of the drive wheels 11 and 12 of the master AGV1 are the same, so that the slave AGV2 The control command values (steering angle and speed) of the drive wheels 21 and 22 are the same as those of the master AGV1.

On the other hand, if the result of determination in step S22 is that the master AGV1 is turning (YES), the process moves to step S29, and the position of the turning center C is determined by geometric calculation from the steering angles of the drive wheels 11 and 12 of the master AGV1. Then, in step S30, distances (radius) R ₂₁ and R ₂₂ from the turning center C to the drive wheels 21 and 22 of the slave AGV2 are calculated.

Subsequently, in step S31, the speed vectors V ₂₁ and V ₂₂ of the drive wheels 21 and 22 of the slave AGV 2 are calculated based on the speeds of the drive wheels 11 and 12 of the master AGV 1 and the radii R ₁₁ and R ₁₂ . That is, the center of the slave AGV2 also pivoting operating while maintaining the relative position and orientation with respect to the master AGV1 is identical to the master AGV1, speed is proportional to the radius R _21, R _22, the speed of the master AGV1 and Based on the radii R ₁₁ and R ₁₂ , the speeds of the drive wheels 21 and 22 of the slave AGV 2 are calculated, and the position of the drive wheels 21 and 22 is determined from the positional relationship between the turning center C and the drive wheels 21 and 22 of the slave AGV 2. Calculate the steering angle.

  Subsequent to step S23 and step S31, in step S24, it is determined whether or not a line segment is detected by the master AGV detection process shown in FIG.

If the result of determination in step S24 is that a line segment has been detected (YES), then in step S25, information on the latest position error and angle error of the slave AGV2 obtained by the master AGV detection process is acquired. Subsequently, in step S26, correction speed vectors (speed and steering angle) U ₂₁ and U ₂₂ corresponding to the position error and angle error of the latest slave AGV2 are calculated. Subsequently, the correction speed vectors U ₂₁ and U ₂₂ are added to the speed vectors V ₂₁ and V ₂₂ of the drive wheels 21 and 22 of the slave AGV 2 already obtained in step S 27, and the process proceeds to step S 28.

On the other hand, if the line segment is not detected as a result of the determination in step S24, the process proceeds to step S28. In this case, the speed vectors V ₂₁ and V _{22 of the} drive wheels 21 and 22 of the slave AGV 2 that have already been obtained are maintained.

In step S28, the obtained speed vectors V ₂₁ + U ₂₁ and V ₂₂ + U ₂₂ or V ₂₁ and V ₂₂ of the drive wheels ₂₁ and ₂₂ of the slave AGV2 are transmitted as control command values to the drive motor driver 26 of the slave AGV2.
The above processing is repeated until the conveyance of the long object 3 is completed.

According to the travel control device and the travel control method of the automatic guided vehicle according to the present embodiment, the distance data to the master AGV1 is acquired by the LRF 27 mounted on the slave AGV2, and the relative position and posture of the master AGV1 with respect to the slave AGV2 And the error in the position and orientation of the slave AGV2 with respect to the master AGV1 can be corrected.
The master AGV1 only needs to be able to transmit operation command values for the drive wheels 11 and 12 to the slave AGV2, and normal AGV hardware can be used.
Further, the slave AGV2 only needs to include the LRF 27 for detecting the master AGV1 in addition to the normal AGV hardware, and there is no need to add an external force sensor or other sensors / devices. If the LRF 27 is already mounted for obstacle detection, this can be used.
Therefore, the long object 3 can be transported while maintaining the relative position and posture of the slave AGV2 with respect to the master AGV1 in an optimal state while suppressing costs.

  Details of the traveling control device and the traveling control method for the automatic guided vehicle according to the second embodiment of the present invention will be described with reference to FIGS. 8 and 9.

  The present embodiment is different from the above-described first embodiment in the master AGV detection process. The other apparatus configuration and structure are the same as those in the first embodiment, and the members having the same functions as those shown in FIGS. .

  For example, when the outer peripheral shape of the master AGV1 has irregularities as shown in FIG. 8, the method of detecting a line segment having the same length as the side surface of the master AGV1 as described in the first embodiment accurately uses the master AGV1. It may be difficult to detect. Therefore, in this embodiment, a shape model of the master AGV1 is prepared in advance, and the master AGV1 is detected using this. The shape model of the master AGV1 is stored in the control PC 28.

  Hereinafter, the detection process of the master AGV1 by the control PC 28 will be described with reference to FIG.

  In this embodiment, first, in step S41, the slave AGV command value calculation unit 282 reads the shape model data of the master AGV1. Subsequently, scan data is read from the LRF 27 in step S42, and the position and orientation of the master AGV1 are calculated by scan matching processing in step S43. That is, by using scan matching such as ICP, the relative position and orientation of the master AGV1 with the best superposition of the scan data acquired by the LRF 27 and the shape model of the master AGV1 (the highest matching accuracy) are calculated.

In step S44, it is determined whether the matching accuracy is equal to or higher than a preset threshold value.
If the result of determination in step S44 is that the matching accuracy is greater than or equal to a threshold value (YES), the target position / target orientation of slave AGV2 is calculated in step S45, and the position and angle errors of slave AGV2 are calculated in step S46. In step S47, the calculation result is output.
On the other hand, if the result of determination in step S44 is that the matching accuracy is less than the threshold value (NO), the detection result is output in step S48.
The above processing is repeated until the conveyance of the long object 3 is completed.

  According to the traveling control device and the traveling control method of the automatic guided vehicle according to the present embodiment configured as described above, in addition to the effects of the first embodiment, the position and posture of the master AGV1 can be changed regardless of the outer diameter shape of the master AGV1. Can be detected.

  Hereinafter, the traveling control device and the traveling control method for the automatic guided vehicle according to the third embodiment of the present invention will be described with reference to FIGS. 10 and 11.

  As shown in FIGS. 10 and 11, in this embodiment, a slave AGV2 is further arranged on the opposite side of the slave AGV2 across the master AGV1 with respect to the above-described embodiment 1 or 2, and three AGV1, This is an example in which a long object 3 as a conveyed object is conveyed by 2 and 2.

  In the present embodiment, the operation command value of the master AGV1 is transmitted to the slave AGVs 2 and 2, and each slave AGV2 and 2 performs the same processing as in the first or second embodiment. The configurations of the master AGV1 and the slave AGV2 are substantially the same as the configurations described in the first embodiment or the second embodiment, and redundant description is omitted.

  In addition, although the example which uses two slave AGV2 was shown in the present Example, it cannot be overemphasized that three or more slave AGV2 can be used according to the magnitude | size of the elongate thing 3. FIG.

  According to the traveling control device and the traveling control method of the automatic guided vehicle according to the present embodiment configured as described above, in addition to the effects of the first embodiment or the second embodiment, the length of the long object 3 is not affected. The scale 3 can be conveyed.

1 Master AGV
2 Slave AGV
3 Long object 11, 12, 21, 22 Drive wheel 13, 14, 23, 24 Free wheel 15, 25 Control board 16, 26 Drive motor driver 27 LRF
28 Control PC
281 Master AGV detection unit 282 Slave AGV command value calculation unit

Claims (10)

One first automatic guided vehicle, one or more second automatic guided vehicles, a first control unit that controls the operation of the first automatic guided vehicle, and the second automatic guided vehicle And a second control unit for controlling the operation, wherein the first automatic guided vehicle and the second automatic guided vehicle cooperate with each other to transport the conveyed product. ,
The second automatic guided vehicle includes a range sensor for measuring a distance to at least the first automatic guided vehicle,
The second control unit obtains the position and orientation of the first automatic guided vehicle based on the scan data acquired by the range sensor, and sets the first automatic guided vehicle and the second automatic guided vehicle in advance. An error in the position and orientation of the second automatic guided vehicle relative to the first automatic guided vehicle is obtained in comparison with the position and posture between the automatic guided vehicle and the second automatic unmanned vehicle. A travel control device for an automatic guided vehicle that controls the operation of the second automatic guided vehicle so as to correct the position and orientation of the guided vehicle. The second control unit detects a line segment corresponding to the first automatic guided vehicle from the scan data acquired from the range sensor, and determines the first automatic guided vehicle from the position and angle of the line segment. The travel control device for an automatic guided vehicle according to claim 1, wherein the position and orientation are obtained. 2. The travel control of the automatic guided vehicle according to claim 1, wherein the second control unit obtains the position and posture of the first automatic guided vehicle by scan matching from scan data acquired from the range sensor. apparatus. The second control unit obtains a control command value of the second automatic guided vehicle using geometric calculation based on the control information of the first automatic guided vehicle acquired from the first control unit. The traveling control device for an automatic guided vehicle according to any one of claims 1 to 3. The travel control device for an automatic guided vehicle according to claim 4, wherein the second control unit adds the error to the control command value as a correction value. It is a traveling control method for an automatic guided vehicle that transports a transported object in cooperation with one first automatic guided vehicle and one or more second automatic guided vehicles,
A range sensor for measuring a distance to at least the first automatic guided vehicle is provided in the second automatic guided vehicle,
Based on the scan data acquired by the range sensor, the position and orientation of the first automatic guided vehicle are obtained, and this is preset between the first automatic guided vehicle and the second automatic guided vehicle. An error in the position and orientation of the second automatic guided vehicle with respect to the first automatic guided vehicle is obtained in comparison with the position and orientation, and the position and orientation of the second automatic guided vehicle are corrected based on the obtained error. The operation control method of the automatic guided vehicle is characterized by controlling the operation of the second automatic guided vehicle. A line segment corresponding to the first automatic guided vehicle is detected from scan data acquired from the range sensor, and a position and an attitude of the first automatic guided vehicle are obtained from a position and an angle of the line segment. The driving control method for an automatic guided vehicle according to claim 6. The travel control method for an automatic guided vehicle according to claim 6, wherein the position and orientation of the first automatic guided vehicle are obtained from scan data acquired from the range sensor by scan matching. The control command value for the second automatic guided vehicle is obtained using geometric calculation based on the control information of the first automatic guided vehicle acquired from the first control unit. The traveling control method for an automatic guided vehicle according to any one of the above. 10. The traveling control method for an automatic guided vehicle according to claim 9, wherein the error is added as a correction value to the control command value.

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