JP2022163855A - Branch area exit/entry discrimination system, automated guided vehicle and branch area exit/entry discrimination method - Google Patents

Abstract

To enable entry of an automated guided vehicle into a branch path to be grasped without installing a magnetic marker separately beside a guide path and by using only a magnetic detection sensor for line trace.SOLUTION: A branch area exit/entry discrimination system 100 includes an automated guided vehicle 10 and guide paths 20 for guiding the automated guided vehicle 10. A first magnetic tape 20A magnetized with an S pole is laid on a guide path 20 for each of a first branch area A and a second branch area B, among the guide paths 20. A second magnetic tape 20B magnetized with an N pole is laid on guide paths 20 other than those for the first branch area A and the second branch area B. The automated guided vehicle 10 detects magnetism from each of the first magnetic tape 20A and the second magnetic tape 20B by means of a sensor unit 15, causes a control unit 11 to derive the amount of change in magnetism with time, detected by the sensor unit 15, and discriminates exit/entry of a self-vehicle from/into each of the first branch area A and the second branch area B, based on the derived amount of change in magnetism with time.SELECTED DRAWING: Figure 6

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a branch area entry/exit determination system, an automatic guided vehicle, and a branch area entry/exit determination method.

Conventionally, an automated guided vehicle (AGV) has been known that has a line tracing function that automatically travels along the route of the magnetic tape by detecting the magnetism of the magnetic tape laid on the floor. . As for this automatic guided vehicle, for example, an automatic guided vehicle capable of controlling traveling in a predetermined direction on a branch road has been put into practical use.

Here, in order to guide an automatic guided vehicle in a desired direction on a forked road, it is necessary first to make the automatic guided vehicle recognize that its own vehicle has entered the forked road. As a method for making the automatic guided vehicle recognize that it has entered a fork, for example, a magnetic marker is laid on the side of the route and immediately before the fork, and the magnetism of this magnetic marker is detected. A technology is disclosed that allows an automatic guided vehicle to recognize that it has entered a branch road (see Patent Literature 1).

JP 2019-204195 A

However, the technique disclosed in Patent Document 1 has a problem that it is not possible to cope with the case where there is no space for installing the magnetic marker at an appropriate position due to, for example, the layout of the taxiway being complicated. .

The present invention has been made in view of the above-mentioned problems, and the automatic guided vehicle enters the branch road by using only the magnetic detection sensor for line tracing without installing a separate magnetic marker on the side of the taxiway. The purpose is to make it possible to grasp

In order to solve the above problems, the branch area entry/exit determination system of the present invention includes:
An unmanned guided vehicle and a guideway that guides the unmanned guided vehicle,
A first magnetic tape with magnetism of one magnetic pole is laid on the guideway in the branch area of the guideway,
A second magnetic tape having the magnetism of the other magnetic pole is laid on the guideway other than the branch area,
The automatic guided vehicle,
detection means for detecting magnetism from the first magnetic tape and the second magnetic tape;
a first derivation means for deriving the amount of time change in the magnetism detected by the detection means;
determination means for determining entry and exit of the own vehicle into the branch area based on the amount of time change in the magnetism derived by the first derivation means;
It is characterized by comprising

According to this configuration, the unmanned guided vehicle detects magnetism from the first magnetic tape and the second magnetic tape while traveling on the guideway, derives the amount of time change in the detected magnetism, and derives the amount of change over time. Based on the amount of time change in magnetism, it is possible to determine the entry and exit of the vehicle into and out of the branch area. can be done. In addition, in determining the entry and exit of an automatic guided vehicle to a branch area, by using the magnetic time change amount, it is possible to catch the polarity change between the S pole and the N pole while it is changing. Entry into and exit from the branch area can be determined at a relatively earlier stage than the method of determining entry and exit into the branch area based on the amount of magnetism detected by . In addition, in the case of the determination method based on the amount of magnetism described above, the amount of magnetism detected by the detection means fluctuates greatly even if the floor surface constituting the guideway has some unevenness, so the determination It is difficult to set a threshold value for discrimination, and it is not possible to accurately determine entry into and exit from the branch area. Since it is easy to set the threshold value, it is possible to accurately determine whether the vehicle enters or exits the branch area.

Further, preferably, the automatic guided vehicle is
As the detection means, a plurality of magnetic detection sensors arranged in a direction perpendicular to the traveling direction of the vehicle,
A deviation amount corresponding to each predetermined traveling direction pattern based on the detected amount of magnetism detected by each of the plurality of magnetic detection sensors and coordinate information corresponding to each arrangement of the plurality of magnetic detection sensors. a second derivation means for deriving
traveling direction control means for controlling the traveling direction of the own vehicle based on a deviation amount corresponding to a traveling direction pattern designated in advance when the judgment means judges that the own vehicle has entered the branch area;
should be provided.
According to this configuration, the automatic guided vehicle can be appropriately guided in the desired traveling direction in the branch area without providing a separate detection means or magnetic marker for controlling the traveling direction of the automatic guided vehicle.

Further, preferably, the automatic guided vehicle is
Equipped with a traveling speed control means for controlling the traveling speed of the own vehicle,
The traveling speed control means controls the traveling speed of the own vehicle to a predetermined speed that is lower than normal when the determining means determines that the own vehicle has entered the branch area, and the vehicle exits the branch area. When it is determined that the vehicle has left the vehicle, the running speed of the own vehicle may be controlled to the normal speed.
According to this configuration, by controlling the traveling speed of the automatic guided vehicle to a predetermined speed that is lower than normal in the branching area, when the traveling direction of the own vehicle is changed due to the branching, the magnetic field detected by the detection means is detected. Since it is possible to suppress that the detection of .

Further, preferably, a plurality of types of second magnetic tapes having magnetism of the other magnetic pole and having different amounts of magnetism are laid on the guideway other than the branch area,
The unmanned guided vehicle comprises an operation control means for performing a command operation corresponding to the threshold when the amount of magnetism detected by the detection means exceeds a predetermined threshold corresponding to the amount of magnetism of the second magnetic tape. It is better to
According to this configuration, the automatic guided vehicle can perform an operation corresponding to a desired command at a predetermined position where the amount of magnetism of the second magnetic tape changes without installing a separate command magnetic marker on the side of the guideway. can let

Further, in order to solve the above problems, the automatic guided vehicle of the present invention is
It travels on the taxiway in the branch area where the first magnetic tape with the magnetism of one magnetic pole is laid and the taxiway other than the branch area where the second magnetic tape with the magnetism of the other magnetic pole is laid. An unmanned guided vehicle,
detection means for detecting magnetism from the first magnetic tape and the second magnetic tape;
Derivation means for deriving the amount of time change in magnetism detected by the detection means;
determining means for determining whether the vehicle enters or exits the branch area based on the amount of time change in the magnetism derived by the deriving means;
It is characterized by comprising

Further, in order to solve the above problems, the branch area entry/exit determination method of the present invention includes:
It travels on the taxiway in the branch area where the first magnetic tape with the magnetism of one magnetic pole is laid and the taxiway other than the branch area where the second magnetic tape with the magnetism of the other magnetic pole is laid. a detection step of detecting magnetism from the first magnetic tape and the second magnetic tape by a detection means provided in an unmanned guided vehicle;
a derivation step of deriving the amount of time change in magnetism detected by the detection step;
a determination step of determining entry and exit of the automatic guided vehicle to and from the branch area based on the amount of time change in the magnetism derived in the derivation step;
is characterized by including

According to the present invention, it is possible to recognize that an automatic guided vehicle has entered a branch road by using only the magnetic detection sensor for line tracing without installing a separate magnetic marker on the side of the taxiway.

1 is a schematic configuration diagram of a branch area entry/exit determination system of the present embodiment; FIG. 2 is an enlarged view of a first branch area shown in FIG. 1; FIG. It is a block diagram which shows the functional structure of an automatic guided vehicle. It is a front view which shows the installation location of the sensor unit in an automatic guided vehicle. FIG. 10 is a flow chart showing a control procedure of branch area entry/exit determination processing; FIG. It is explanatory drawing which shows the method of discriminating|determining the entry/exit to a branch area. 4 is a flowchart showing a control procedure of travel control processing;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to the illustrated examples.

[Configuration of branch area entry/exit determination system]
First, the configuration of this embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a branching area entry/exit determination system 100 of the present embodiment.

As shown in FIG. 1 , the branch area entrance/exit determination system 100 includes an automatic guided vehicle 10 and a guideway 20 .

The unmanned guided vehicle 10 is, for example, an unmanned trolley robot that transports packages and the like in factories and warehouses.

The guideway 20 is a course for guiding the automatic guided vehicle 10 . The guideway 20 is constructed by laying a magnetic tape on the floor so as to form a desired course. As shown in FIG. 1, the taxiway 20 of the present embodiment is provided with a first branch area A and a second branch area B in which the taxiway 20 is divided into two branches.

FIG. 2 is an enlarged view of the first branch area A shown in FIG.
As shown in FIG. 2, the guideway 20 in the first branch area A is composed of a first magnetic tape 20A magnetized with an S pole. Although illustration is omitted, the guideway 20 in the second branch area B is also composed of the first magnetic tape 20A magnetized with the S pole.
On the other hand, the taxiways 20 other than the first branching area A and the second branching area B, that is, the single-way taxiways 20 that are not branched, are composed of a second magnetic tape 20B having N-pole magnetism. .

[Configuration of automatic guided vehicle]
Next, a functional configuration of the automatic guided vehicle 10 will be described with reference to FIG. 3 . FIG. 3 is a block diagram showing the functional configuration of the automatic guided vehicle 10. As shown in FIG.

As shown in FIG. 3, the automatic guided vehicle 10 includes a control section 11, a storage section 12, an operation section 13, a communication section 14, a sensor unit 15, a driving section 16, and the like.

The control unit (first derivation means, determination means, second derivation means, traveling direction control means, traveling speed control means) 11 executes various programs stored in the storage unit 12 to perform predetermined calculations, It has a CPU (Central Processing Unit) that controls each part and a memory that serves as a work area during program execution (not shown). The control unit 11 cooperates with programs stored in the storage unit 12 to execute various processes.

The storage unit 12 is configured by a nonvolatile semiconductor memory or the like. The storage unit 12 stores system programs and application programs executed by the control unit 11, data necessary for executing these programs, and the like.

The operation unit 13 has various function keys, receives input by pressing each key by the user, and outputs the operation information to the control unit 11 .

The communication unit 14 wirelessly connects to a communication network and communicates with external devices connected to the communication network.

The sensor unit (detection means) 15 includes a plurality of (for example, six) magnetic detection sensors 151 capable of detecting magnetism emitted from the magnetic tapes (the first magnetic tape 20A and the second magnetic tape 20B) forming the guideway 20. 156, and outputs the magnetic flux density (magnetism detection amount) detected by each of the magnetic detection sensors 151 to 156 to the control unit 11. FIG.

FIG. 4 is a front view showing an installation location of the sensor unit 15 in the automatic guided vehicle 10. As shown in FIG.
As shown in FIG. 4 , the sensor unit 15 is the front portion of the automatic guided vehicle 10 (see FIG. 1 ) and is provided under the housing portion of the automatic guided vehicle 10 . The six magnetic detection sensors 151 to 156 described above are provided on the lower surface of the sensor unit 15 so as to face the floor surface. These six magnetic detection sensors 151 to 156 are, for example, arranged in a line in a direction (X direction) perpendicular to the running direction of the automatic guided vehicle 10 (Y direction in FIG. 4 (front direction of the paper surface)) at equal intervals. It is It should be noted that the location of the sensor unit 15 and the arrangement of the magnetic detection sensors 151 to 156 are merely examples, and can be changed as appropriate according to the width of the taxiway 20, for example. Also, the number of magnetic detection sensors is not limited to six.

Here, the storage unit 12 stores the position coordinates x1 to x6 (see FIG. 4) of the magnetic detection sensors 151 to 156 in the X direction, and the position coordinate xc (see FIG. 4) of the central position of the sensor unit 15 in the X direction. ) are stored. The control unit 11 adjusts the sensor unit 15 so that the difference between the center position xc in the X direction of the sensor unit 15 and the center position in the width direction of the guideway 20 becomes 0 when the automatic guided vehicle 10 travels. Running control is performed so that the center position xc in the X direction and the center position in the width direction of the taxiway 20 match, and instruction information related to the running control is output to the drive unit 16 .

The drive unit 16 controls the operation of the wheels and the like based on instruction information relating to travel control output from the control unit 11 .

[Automated Guided Vehicle Operation]
Next, referring to FIGS. 5 and 6, the branch area entry/exit determination processing of the automatic guided vehicle 10 will be described. FIG. 5 is a flow chart showing the control procedure of branch area entry/exit determination processing. This branch area entry/exit determination process is a process executed when the automatic guided vehicle 10 is traveling on the taxiway 20 . FIG. 6 is an explanatory diagram showing a method of determining entry/exit to a branch area. More specifically, the upper part of FIG. 6 is a diagram schematically showing each advancing process (state 1 to state 4) when the automatic guided vehicle 10 advances through the first branch area A in the direction of the arrow in the figure. is. The middle graph in FIG. 6 is detected by the magnetic detection sensor (third magnetic detection sensor) 153 at the position coordinate x3 and the magnetic detection sensor (fourth magnetic detection sensor) 154 at the position coordinate x4 shown in FIG. 4 is a graph showing the magnetic flux density (magnetism detection amount) of the applied magnetism over time in correspondence with the traveling process of the automatic guided vehicle 10. FIG. The lower graph in FIG. 6 is a graph showing over time the amount of change in the magnetic flux density (the amount of change in the magnetic flux density per unit time) shown in the middle graph in FIG.

As shown in FIG. 5 , when the branch area entry/exit determination process is started, first, the control unit 11 of the automatic guided vehicle 10 detects magnetic fields detected by the third magnetic detection sensor 153 and the fourth magnetic detection sensor 154 . The magnetic flux density (magnetism detection amount) of is sequentially obtained (step S1).

Next, the control unit 11 derives the amount of change in the magnetic flux density per unit time (the amount of change over time [G/s]) based on the magnetic flux densities sequentially obtained in step S1 (step S2).

Next, the control unit 11 determines whether or not the change amount of the magnetic flux density per unit time (time change amount [G/s]) derived in step S2 is equal to or less than the first threshold (step S3). . Here, it is assumed that the first threshold is a negative value that is smaller than the normal time when the amount of change with time is 0.

In step S3, if it is determined that the amount of change in the magnetic flux density per unit time (the amount of change over time [G/s]) derived in step S2 is not equal to or less than the first threshold (step S3; NO), control The unit 11 skips the process of step S4 and advances the process to step S5.

For example, as shown in the upper part of FIG. 6, when the sensor unit 15 of the automatic guided vehicle 10 is passing over the second magnetic tape 20B having the N pole magnetism, the middle part of FIG. As shown in the graph, the magnetic flux densities detected by the third magnetic detection sensor 153 and the fourth magnetic detection sensor 154 are generally positive constant values. Therefore, as shown in the lower graph of FIG. 6, in state 1, the amount of change in magnetic flux density per unit time (the amount of change over time [G/s]) is approximately zero. As a result, in state 1, the control unit 11 determines that it is not equal to or less than the first threshold, and does not determine that the branch area (for example, the first branch area A) has been entered.

Further, when it is determined in step S3 that the amount of change in the magnetic flux density per unit time (the amount of change over time [G/s]) derived in step S2 is equal to or less than the first threshold (step S3; YES). , the control unit 11 determines that the vehicle has entered the branch area, that is, determines that the vehicle has started to enter the branch area (step S4).

For example, as shown in the upper part of FIG. 6, state 2, that is, the sensor unit 15 of the unmanned guided vehicle 10 detects the difference between the second magnetic tape 20B having N-pole magnetism and the first magnetic tape 20A having S-pole magnetism. When passing over the boundary line, as shown in the graph in the middle of FIG. value gradually decreases. Therefore, as shown in the lower graph of FIG. 6, in state 2, the amount of change in magnetic flux density per unit time (the amount of change over time [G/s]) is a negative value smaller than the first threshold. As a result, in state 2, the control unit 11 determines that it is equal to or less than the first threshold, and determines that the branch area (for example, the first branch area A) has been entered.

Next, the control unit 11 determines whether or not the amount of change in the magnetic flux density per unit time (the amount of change over time [G/s]) derived in step S2 is equal to or greater than a second threshold (step S5). . Here, it is assumed that the second threshold value is a positive value that is larger than the normal time when the amount of change with time is 0.

If it is determined in step S5 that the amount of change in the magnetic flux density per unit time (the amount of change over time [G/s]) derived in step S2 is not greater than or equal to the second threshold (step S5; NO), control The unit 11 returns the process to step S1 and repeats the subsequent processes.

For example, as shown in the upper part of FIG. 6, when the sensor unit 15 of the automatic guided vehicle 10 is passing over the first magnetic tape 20A magnetized with the S pole, the middle part of FIG. As shown in the graph, the magnetic flux densities detected by the third magnetic detection sensor 153 and the fourth magnetic detection sensor 154 are generally negative constant values. Therefore, as shown in the lower graph of FIG. 6, in state 3, the amount of change in magnetic flux density per unit time (the amount of change over time [G/s]) is approximately zero. As a result, in state 3, the control unit 11 determines that it is not equal to or greater than the second threshold, and does not determine that the vehicle has exited the branch area (for example, the first branch area A).

Further, when it is determined in step S5 that the amount of change in the magnetic flux density per unit time (the amount of change over time [G/s]) derived in step S2 is greater than or equal to the second threshold (step S5; YES). , the control unit 11 determines that the vehicle has left the branch area, that is, determines that the entry into the branch area has ended (step S6). After performing the process of step S6, the control unit 11 returns the process to step S1 and repeats the process thereafter.

For example, as shown in the upper part of FIG. 6, state 4, that is, the sensor unit 15 of the unmanned guided vehicle 10 is in contact with the first magnetic tape 20A with S pole magnetism and the second magnetic tape 20B with N pole magnetism. When passing over the boundary line, as shown in the graph in the middle of FIG. value gradually increases. Therefore, as shown in the lower graph of FIG. 6, in state 4, the amount of change in magnetic flux density per unit time (the amount of change over time [G/s]) is a positive value larger than the second threshold. As a result, in state 4, the controller 11 determines that the second threshold value is exceeded, and determines that the user has left the branch area (for example, the first branch area A).

Next, travel control processing of the automatic guided vehicle 10 will be described with reference to FIG. 7 . FIG. 7 is a flow chart showing a control procedure of travel control processing. This traveling control process is a process that is executed while the automatic guided vehicle 10 is traveling on the guideway 20, like the branch area entry/exit determination process described above. The controller 11 of the unmanned guided vehicle 10 controls the magnetic flux density (magnetism detection amount) detected by the magnetic detection sensors 151 to 156 at the position coordinates x1 to x6 shown in FIG. Based on M1 to M6 and the relevant position coordinates x1 to x6, it is assumed that three types of displacement amounts e, eR, and eL of the following equations (1) to (3) are sequentially derived. The following expressions (1) to (3) are merely examples, and can be changed as appropriate according to the number of magnetic detection sensors installed, for example.

As shown in FIG. 7, when the travel control process is started, first, the controller 11 of the automatic guided vehicle 10 determines whether or not the guideway 20 that is traveling is within the branch area (step S11). .

If it is determined in step S11 that the taxiway 20 that is being traveled is not in the branch area, that is, it is not in either the first branch area A or the second branch area B (step S11; NO), the controller 11 , travel control is performed at the first speed, which is the normal speed, based on the deviation amount e described above (step S12). Then, the control unit 11 returns the process to step S11 and repeats the process after that.

Further, when it is determined in step S11 that the taxiway 20 that is being traveled is within the branch area, that is, within the first branch area A or the second branch area B (step S11; YES), the controller 11 determines whether or not the advance direction specified in advance is straight ahead (step S13).

In step S13, when it is determined that the advance direction specified in advance is straight ahead (step S13; YES), the control unit 11 controls the displacement at the second speed that is lower than the first speed and the above-described deflection amount. Travel control is performed based on e (step S14). However, in such a case (when the vehicle travels straight within the branch area), it is assumed that the deviation amount e is derived by the above equation (1) in which M1 is replaced with M6 and M2 is replaced with M5. Then, the control unit 11 returns the process to step S11 and repeats the process after that.

Further, when it is determined in step S13 that the previously designated traveling direction is not straight (step S13; NO), the control unit 11 determines whether or not the previously designated traveling direction is the right direction. (Step S15).

In step S15, when it is determined that the advance direction designated in advance is the rightward direction (step S15; YES), the control unit 11 controls the displacement at the second speed lower than the first speed and the above-described deflection Running control is performed based on the amount eR (step S16). Then, the control unit 11 returns the process to step S11 and repeats the process after that.

Further, in step S15, when it is determined that the advance direction designated in advance is not the right direction, that is, the advance direction designated in advance is the left direction (step S15; NO), the control unit 11 Running control is performed at a second speed that is lower than the speed and based on the deviation amount eL described above (step S17). Then, the control unit 11 returns the process to step S11 and repeats the process after that.

As described above, the branch area entry/exit determination system 100 of the present embodiment includes the automatic guided vehicle 10 and the taxiway 20 for guiding the automatic guided vehicle 10. A first magnetic tape 20A magnetized with an S pole (one of the magnetic poles) is laid on the guideways 20 in the area A and the second branch area B), and the guideways 20 other than the branch area have an N pole ( The second magnetic tape 20B having the magnetism of the other magnetic pole) is laid, and the automatic guided vehicle 10 detects the magnetism from the first magnetic tape 20A and the second magnetic tape 20B by the sensor unit 15, and the controller 11 detects the magnetism of the sensor Derives the amount of time change in magnetism detected by the unit 15, and determines whether the vehicle enters or exits the branch area (first branch area A and second branch area B) based on the derived time change amount of magnetism. I did it.

As a result, the unmanned guided vehicle 10 detects magnetism from the first magnetic tape 20A and the second magnetic tape 20B while traveling on the guideway 20, derives the amount of time change in the detected magnetism, and derives Since the entry/exit of the own vehicle to the branch area is determined based on the time change amount of magnetism obtained, the entry/exit of the automatic guided vehicle 10 to/from the branch area can be performed without separately installing a magnetic marker on the side of the taxiway 20.例文帳に追加can grasp. In addition, when determining whether the automatic guided vehicle 10 enters or exits the branch area, by using the amount of change in magnetism over time, it is possible to detect the polarity change between the S pole and the N pole while the change is occurring. Entry/exit to the branch area can be determined at a relatively earlier stage than the method of determining entry/exit to the branch area based on the amount of magnetism detected by the unit 15 . In addition, in the case of the determination method based on the amount of magnetism, the amount of magnetism detected by the sensor unit 15 fluctuates greatly even if the floor surface constituting the guideway 20 is slightly uneven. , It is difficult to set the threshold for discrimination, and it is not possible to accurately discriminate entering and exiting the branch area. Since it is easy to set the threshold value for , it is possible to accurately determine entry into and exit from the branch area.

In addition, in the branch area entry/exit determination system 100 of the present embodiment, the automatic guided vehicle 10 has a plurality of magnetic detection sensors 151 to 156 arranged in a direction perpendicular to the traveling direction of the own vehicle as the sensor unit 15. , by the control unit 11, based on the amount of magnetism detected by each of the plurality of magnetic detection sensors 151 to 156 and the coordinate information corresponding to each arrangement of the plurality of magnetic detection sensors 151 to 156, a predetermined When it is determined that the vehicle has entered the branch area, based on the deviation amount corresponding to the previously designated traveling direction pattern , the direction of travel of the own vehicle is controlled.

Therefore, according to the branch area entry/exit determination system 100 of the present embodiment, the automatic guided vehicle 10 can be positioned in the desired branch area without providing a separate sensor unit or magnetic marker for controlling the traveling direction of the automatic guided vehicle 10. It can be appropriately guided in the direction of travel.

Further, in the branching area entrance/exit determination system 100 of the present embodiment, the automatic guided vehicle 10 controls the traveling speed of the own vehicle by the control unit 11, and when it is determined that the own vehicle has entered the branching area, the automatic guided vehicle 10 Controlling the traveling speed of the vehicle to a second speed lower than normal, and controlling the traveling speed of the own vehicle to the normal first speed when it is determined that the own vehicle has left the branch area. becomes.
Therefore, according to the bifurcation area entry/exit determination system 100 of the present embodiment, by controlling the travel speed of the automatic guided vehicle 10 to the second speed, which is lower than normal, in the bifurcation area, When the traveling direction is changed, magnetic detection by the sensor unit 15 can be suppressed from being missed, so the unmanned guided vehicle 10 can be more appropriately guided in the desired traveling direction in the branch area. .

Although the present invention has been specifically described above based on the embodiments, the present invention is not limited to the above embodiments, and can be modified without departing from the scope of the invention.

For example, in the above-described embodiment, the guideways 20 in the first branch area A and the second branch area B are each configured with the first magnetic tape 20A magnetized with the S pole, and the first branch area A and the second branch area The guidepaths 20 other than the area B are composed of the second magnetic tape 20B with N-pole magnetism, but the guidepaths 20 in the first branch area A and the second branch area B are each taped with the N-pole magnetism. 2 magnetic tapes 20B, and guideways 20 other than the first branch area A and the second branch area B may be constructed with the first magnetic tape 20A having the magnetism of the S pole.

Further, in the above-described embodiment, for example, in the taxiway 20 other than the branch area, a plurality of types of second magnetic tapes 20B having different magnetic amounts are laid, and when the automatic guided vehicle 10 is traveling on the taxiway 20, , when it is determined by the control unit 11 that the amount of magnetism detected by the sensor unit 15 exceeds a predetermined threshold value corresponding to the amount of magnetism of the second magnetic tape 20B, a command operation corresponding to the threshold value is performed. can be controlled as follows.

Further, in the above-described embodiment, the communication unit 14 of the automatic guided vehicle 10 is not limited to a configuration that wirelessly connects to a communication network and communicates with an external device connected to the communication network. (Registered Trademark) Low Energy (BLE) communication system may be configured to perform short-range wireless communication with an external device, or may have the above configurations.

In addition to applying the above-described branch area entry/exit determination system 100 in the case of transporting packages using the unmanned guided vehicle 10 in a factory or warehouse, for example, an unmanned robot equipped with a camera or the like can be used to set a predetermined course. The branch area entry/exit determination system 100 may be applied in the case of patrol monitoring.

100 branch area entrance/exit determination system 10 automatic guided vehicle 11 control unit 12 storage unit 13 operation unit 14 communication unit 15 sensor units 151 to 156 magnetic detection sensor 16 drive unit 20 guideway 20A first magnetic tape 20B second magnetic tape A first Branch area B 2nd branch area

Claims (6)

An unmanned guided vehicle and a guideway that guides the unmanned guided vehicle,
A first magnetic tape with magnetism of one magnetic pole is laid on the guideway in the branch area of the guideway,
A second magnetic tape having the magnetism of the other magnetic pole is laid on the guideway other than the branch area,
The automatic guided vehicle,
detection means for detecting magnetism from the first magnetic tape and the second magnetic tape;
a first derivation means for deriving the amount of time change in the magnetism detected by the detection means;
determination means for determining whether the vehicle enters or exits the branch area based on the amount of time change in the magnetism derived by the first derivation means;
A branch area entry/exit determination system comprising: The automatic guided vehicle,
As the detection means, a plurality of magnetic detection sensors arranged in a direction perpendicular to the traveling direction of the vehicle,
A deviation amount corresponding to each predetermined traveling direction pattern based on the detected amount of magnetism detected by each of the plurality of magnetic detection sensors and coordinate information corresponding to each arrangement of the plurality of magnetic detection sensors. a second derivation means for deriving
traveling direction control means for controlling the traveling direction of the own vehicle based on a deviation amount corresponding to a traveling direction pattern designated in advance when the judgment means judges that the own vehicle has entered the branch area;
The branch area entrance/exit determination system according to claim 1, characterized by comprising: The automatic guided vehicle,
Equipped with a traveling speed control means for controlling the traveling speed of the own vehicle,
The traveling speed control means controls the traveling speed of the own vehicle to a predetermined speed that is lower than normal when the determining means determines that the own vehicle has entered the branch area, and the vehicle exits the branch area. When it is determined that the car has left, control the running speed of the own vehicle to the normal speed;
3. The branch area entry/exit determination system according to claim 1 or 2, characterized in that: In the guideway other than the branch area, a plurality of types of second magnetic tapes having magnetism of the other magnetic pole and different magnetic amounts are laid,
The unmanned guided vehicle comprises an operation control means for performing a command operation corresponding to the threshold when the amount of magnetism detected by the detection means exceeds a predetermined threshold corresponding to the amount of magnetism of the second magnetic tape. ,
4. The branching area entry/exit determination system according to any one of claims 1 to 3, characterized in that: It travels on the taxiway in the branch area where the first magnetic tape with the magnetism of one magnetic pole is laid and the taxiway other than the branch area where the second magnetic tape with the magnetism of the other magnetic pole is laid. An unmanned guided vehicle,
detection means for detecting magnetism from the first magnetic tape and the second magnetic tape;
Derivation means for deriving the amount of time change in magnetism detected by the detection means;
determining means for determining whether the vehicle enters or exits the branch area based on the amount of time change in the magnetism derived by the deriving means;
An unmanned guided vehicle comprising: It travels on the taxiway in the branch area where the first magnetic tape with the magnetism of one magnetic pole is laid and the taxiway other than the branch area where the second magnetic tape with the magnetism of the other magnetic pole is laid. a detection step of detecting magnetism from the first magnetic tape and the second magnetic tape by a detection means provided in an unmanned guided vehicle;
a derivation step of deriving the amount of time change in magnetism detected by the detection step;
a determination step of determining entry and exit of the automatic guided vehicle to and from the branch area based on the amount of time change in the magnetism derived in the derivation step;
A branch area entry/exit determination method comprising:

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