JP7068240B2 - Self-driving car, self-driving car control system, self-driving car control method, self-driving car control program, and storage medium - Google Patents

Description

An embodiment of the present invention relates to an automatic traveling vehicle that travels in connection with a carriage on which parts or workpieces are mounted, a control system for the automatic traveling vehicle, a control method for the automatic traveling vehicle, a control program for the automatic traveling vehicle, and a storage medium . ..

Conventionally, an automatic traveling vehicle that automatically travels for transporting parts, workpieces, or the like is known in, for example, a manufacturing factory. A plurality of identification tags are installed on the track on which the autonomous vehicle travels. The identification tag stores the operation commands required for the autonomous vehicle to travel on the track. The autonomous vehicle travels on a predetermined route on the track while making a predetermined movement by operating according to an operation command from the identification tag. On the other hand, changing the route on which the autonomous vehicle travels or changing the movement of the autonomous vehicle while traveling is easy because it is necessary to rewrite the operation command stored in the identification tag or change the identification tag itself. is not. Therefore, for example, when there are a plurality of autonomous vehicles on a track, it is difficult to drive each autonomous vehicle on a different route while making different movements.

Japanese Unexamined Patent Publication No. 2014-2603

An object to be solved by the present invention is to provide an automatic traveling vehicle capable of easily changing a traveling route or a traveling movement, and a control method thereof.

The automatic traveling vehicle according to the embodiment is an automatic traveling vehicle traveling on a route , and acquires identification information from an input device that receives designation of route identification information for specifying the route and a predetermined position on the route . The route file defined for each of the route specific information for traveling on the route, the reading device, the identification information, and an operation command corresponding to the identification information and representing an execution operation at the predetermined position. A storage device that stores the information in association with the route identification information, a drive device that operates to travel on the route, and a route file associated with the route identification information designated by the input device. It has a control device that is read from the storage device and controls the operation of the drive device based on the presence or absence of an operation command corresponding to the acquired identification information in the read route file.

It is a figure which shows schematic the automatic traveling vehicle control system which concerns on embodiment. It is a perspective view which shows the mechanical structure of the appearance of the AGV (automated guided vehicle) which concerns on embodiment. (A) and (B) are schematic views showing the irradiation state of the light of the guide sensor to the orbit when the AGV according to the present embodiment is traveling on the orbit. It is a figure which shows an example of the track of AGV which concerns on embodiment, and a plurality of RFID tags (identification tags) provided along this track schematically. It is a schematic diagram which shows the path A which the AGV which concerns on embodiment travels. It is a schematic diagram which shows the path B which the AGV which concerns on embodiment travels. It is a block diagram which shows an example of the whole structure including the control structure of AGV which concerns on embodiment. It is a figure which shows typically the storage area of the storage device which stores a route file. It is a flowchart which shows an example of the control processing which a CPU performs based on a route file. (A) to (C) are schematic views for exemplifying the usage embodiment of the AGV according to the embodiment. It is a schematic diagram which shows the state which AGV is connected with a dolly.

Hereinafter, embodiments will be described with reference to the drawings. First, the automatic traveling vehicle control system according to the embodiment will be described with reference to FIG. FIG. 1 is a diagram schematically showing an automated traveling vehicle control system 1 according to an embodiment. The control system 1 shown in FIG. 1 has a host computer 11, an automatic guided vehicle (hereinafter referred to as AGV) 12, a plurality of tracks 13, and a plurality of identification tags 10R.

The host computer 11 designates a route on which the AGV 12 travels on the track 13 by, for example, wirelessly communicating with the AGV 12. In this case, the host computer 11 can change the route while the AGV 12 is traveling on the track 13 by performing wireless communication with the AGV 12, for example. For example, the route of AGV12 can be changed between the route A and the route B described later. The AGV 12 stores in advance a plurality of route files (details will be described later) for traveling on the designated route while performing a predetermined movement. The AGV 12 wirelessly communicates with a plurality of identification tags 10R while traveling on the designated route, and acquires predetermined information described later from the identification tags 10R. The AGV 12 travels on the designated predetermined route while making a predetermined movement based on the route file and the predetermined information from the identification tag 10R. The orbit 13, the identification tag 10R, and the AGV 12 will be described in detail below.

The orbit 13 will be described with reference to FIGS. 1 and 4 to 6. The track 13 is formed by, for example, a tape 14 attached to the floor surface 15. The tape 14 is a vinyl tape having a color different from that of the floor surface 15 in terms of reflectance. For example, when the color of the floor surface 15 is a white color, for example, a black vinyl tape is used as the tape 14. The tape 14 is not limited to the vinyl tape. The tape 14 may be, for example, a magnetic tape.

FIG. 4 is a diagram schematically showing an example of an orbit 13, and an example of an arrangement position of a plurality of RFID tags 10R in the orbit 13. The orbit 13 includes positions Z1 to Z11 shown in FIG. The orbit 13 has first to seventh orbits. The first orbit 13 is an orbit that linearly extends from the position Z1 through the position Z2 to the position 3 in FIG. The second orbit 13 is an orbit that linearly extends from the position Z3 to the position Z4 in FIG. In FIG. 4, the third orbit 13 is an orbit that once curves from the position Z4, then linearly passes through the position Z5, then curves again, and extends to the position Z6. The fourth orbit 13 is an orbit extending linearly from the position Z6 to the position Z7 in FIG. The fifth orbit 13 is an orbit that linearly extends from the position Z7 to the position Z9 through the position Z8 in FIG. In FIG. 4, the sixth orbit 13 is an orbit that once curves from the position Z9, then linearly passes through the position Z10 and then curves again to extend to the position Z1. In FIG. 4, the seventh orbit 13 is an orbit that curves and branches from the position Z3, then linearly passes through the position Z11 and then curves again and extends to the position Z7.

The plurality of tracks 13 form a path on which the AGV 12 travels in the track shown in FIG. FIG. 5 is a schematic diagram showing a path A on which the AGV 12 travels. FIG. 6 is a schematic diagram showing a path B on which the AGV 12 travels. The first to sixth orbitals 13 form the path A shown in FIG. That is, the route A is a route on which the AGV 12 travels in the order of the first to sixth tracks. Further, the first track 13, the seventh track 13, the fifth track 13, and the sixth track 13 form the path B shown in FIG. That is, the route B is a route in which the AGV 12 travels in the order of the first track 13, the seventh track 13, the fifth track 13, and the sixth track 13. The route on which the AGV 12 travels is determined by, for example, the host computer 11 designating the route identification information corresponding to the route A and the route B. Specifically, by designating the route specifying information, a route file to be described later corresponding to the route A or the route B is specified. The route identification information corresponding to the route A is, for example, the route number “10000” described later. The route identification information corresponding to the route B is, for example, the route number “10001” described later. Hereinafter, the route identification information may be referred to as a route number.

The identification tag 10R will be described with reference to FIGS. 4 to 6. The identification tag 10R is, for example, an RFID tag. Hereinafter, the identification tag 10R is referred to as an RFID tag. The RFID tag 10R stores predetermined information in advance. The predetermined information includes at least the unique identification information (hereinafter, may be referred to as a tag number) possessed by the RFID tag 10R. The RFID tag 10R is installed near a predetermined position on the track 13. When a plurality of the predetermined positions exist in the track 13, a plurality of RFID tags 10R storing different tag numbers are installed along the track 13.

The predetermined position is, for example, a position where the operation of the AGV 12 on the track 13 changes. Specifically, the predetermined position is a position on the track 13 where, for example, a stopped AGV starts traveling. The predetermined position is a position on the track 13 where, for example, the traveling AGV 12 stops. The predetermined position is a position on the track 13 where, for example, the traveling AGV 12 makes a right turn or a left turn. The predetermined position is a position on the track 13 where, for example, the traveling AGV 12 decelerates or accelerates. The predetermined position is a position on the track 13 where, for example, the AGV 12 raises or lowers the connecting pin 33b of the connecting device 33 described later.

In the track 13 shown in FIG. 4, the predetermined positions are, for example, position Z2, position Z3, position Z5, position Z8, position Z10, and position Z11. That is, the track 13 shown in FIG. 4 has six predetermined positions. Therefore, six RFID tags 10R (100R, 101R, 102R, 103R, 106R, 107R) are provided on the track 13 shown in FIG.

The RFID tag 100R is provided near the position Z2. The RFID tag 100R stores the tag number "100". The RFID tag 101R is provided near the position Z3. The RFID tag 101R stores the tag number "101". The RFID tag 102R is provided near the position Z5. The RFID tag 102R stores the tag number "102". The RFID tag 103R is provided near the position Z11. The RFID tag 103R stores the tag number "103". RFID tag 106R is provided near position Z8. The RFID tag 106R stores the tag number "106". RFID tag 107R is provided near position Z10. The RFID tag 107R stores the tag number "107".

The RFID tag 10R transmits its own tag number to the AGV 12 by communicating with the AGV 12. The AGV12 makes a predetermined movement (for example, route A or route B) on the designated predetermined route (route A or route B) based on the tag number acquired from the RFID tag 10R and the route file for traveling on the route A or the route B. Travel while moving the connecting bin 33b up and down, etc.).

Hereinafter, AGV12 will be described in detail. First, the mechanical configuration of the AGV 12 will be described with reference to FIG. FIG. 2 is a perspective view showing the mechanical configuration of the AGV 12. As shown in FIG. 2, the AGV 12 has a housing 21, a bumper 22, an ultrasonic sensor 23, a speaker 24, a front wheel 28, a drive device 29, a battery cover 31a, and an elevating port 33a. Further, the AGV 12 has a display 25, an operation button 26, and an indicator light 27 as a man-machine interface.

The housing 21 has a rectangular parallelepiped shape having, for example, a front surface, a rear surface, both side surfaces, an upper surface, and a bottom surface. The front surface of the housing 21 is the surface on which the AGV 12 travels forward. The rear surface is the surface on the side where the AGV travels backward.

The bumper 22 is provided on the front surface of the housing 21 at the lower side in FIG. The bumper 22 operates by being pushed by the obstacle when the AGV 12 collides with the obstacle in the forward traveling of the AGV 12. When the bumper operates, the AGV 12 stops traveling as described later. The AGV 12 maintains a stopped state until, for example, the start button 26a described later is operated.

The ultrasonic sensor 23 is provided on the front surface of the housing 21 and above the bumper 22 in FIG. The ultrasonic sensor 23 detects the presence or absence of an obstacle existing in the front direction. The ultrasonic sensor 23 outputs obstacle detection information to the CPU 35a, which will be described later, according to the detection result of the presence or absence of an obstacle. When the ultrasonic sensor 23 detects an obstacle, the AGV 12 stops traveling, as will be described later. When the ultrasonic sensor 23 no longer detects an obstacle, the AGV 12 automatically resumes traveling without operating the start button 26a. The obstacle includes a person, an object, or the like on the orbit 13.

The speaker 24 is provided adjacent to the ultrasonic sensor 23 on the front surface of the housing 21. The speaker 24 notifies the state of the AGV 12 by voice output. The speaker 24 outputs predetermined music, for example, while the AGV 12 is running. The speaker 24 outputs predetermined music different from the music, for example, in a state where the AGV is abnormally stopped.

The display 25 is provided on the upper surface of the housing 21 in FIG. The display 25 displays the state of the AGV 12. The state of the AGV 12 includes, for example, the designated path number, the battery voltage, the amount of light received by the guide sensor, and the like. The battery voltage is the output voltage of the battery 31, which will be described later. The light receiving amount of the guide sensor is the light receiving amount of the guide sensor 41 described later.

The operation button 26 is provided on the upper surface of the housing 21 adjacent to the display 25. The operation button 26 includes a start button 26a, a stop button 26b, a power button 26c, and the like.

The power button 26c is a button that accepts an operator's operation for turning the power of the AGV 12 on and off.

The start button 26a is a button that accepts an operator's operation for starting the traveling of the AGV 12.

The stop button 26b is a button that accepts an operator's operation for stopping the traveling of the AGV 12.

The indicator light 27 is provided adjacent to the operation button 26 on the upper surface of the housing 21. The indicator lamp 27 lights up in a predetermined color (for example, green) when the power button 26c is turned on, and turns off when the power button 26c is turned off. The indicator lamp 27 blinks in a predetermined color (for example, red) when the AGV 12 is in an abnormal state, for example. The abnormal state of the AGV12 includes, for example, a state in which the AGV12 is stopped due to a collision with an obstacle by the bumper 22. The abnormal state of the AGV 12 may include, for example, a state in which the battery voltage displayed by the display 25 is less than a predetermined voltage. The abnormal state of the AGV 12 may include, for example, a state in which the light receiving amount of the guide sensor displayed by the display 25 is less than the predetermined light amount. The indicator lamp 27 may change the blinking color according to the abnormal state of the AGV 12.

The front wheel 28 is provided on the bottom surface of the housing 21 on the front side of the housing 21 and at the center portion on a straight line orthogonal to both side surfaces of the housing 21. The front wheel 28 is a driven wheel that rotates driven according to the straight running or the left turn running / right turn running of the AGV 12. Hereinafter, the front wheel 28 may be referred to as a driven wheel. The driven wheel 28 is, for example, a free caster.

The drive device 29 operates for the AGV 12 to travel on the plurality of paths. The drive device 29 includes a rear wheel drive motor 29a described later, a rear wheel 29b shown in FIG. 2, and the like. The rear wheels 29b are two drive wheels provided on both side surfaces of the housing 21. Hereinafter, the rear wheel 29b may be referred to as a driving wheel. The AGV 12 travels forward and backward by driving the drive wheels 29b. The drive wheels 29b are separately rotated at a constant speed by two rear wheel drive motors 29a, which will be described later, or the rotation difference is controlled at different speeds. The AGV 12 travels left turn / right turn by controlling the rotation difference of the drive wheels 29b.

The battery cover 31a is provided on the upper surface of the housing 21 so as to be openable and closable. When the battery cover 31a is opened, the battery 31 described later in the housing 21 is exposed. The operator can replace the battery 31 in the housing 21 by opening the battery cover 31a.

The elevating port 33a is formed on the upper surface of the housing 21. The elevating port 33a is an opening through which the connecting pin 33b of the connecting device 33, which will be described later, passes when the connecting pin 33b rises and protrudes from the upper surface of the housing 21 to the outside of the housing 21. Further, the elevating port 33a is an opening through which the connecting pin 33b, which will be described later, passes when the connecting pin 33b is lowered and accommodated in the housing 21 from the outside of the housing 21. FIG. 2 shows a state in which the connecting pin 33b, which will be described later, is housed in the housing 21.

As shown in FIG. 7, the AGV 12 further includes a battery 31, a bumper sensor 22a, a coupling device 33, an input device (interface board) 34, a rear wheel drive motor 29a of the drive device 29, a guide sensor 41, a reading device 42, and a reading device 42. It has a control device 35. FIG. 7 is a block diagram showing an example of an overall configuration including a control configuration of AGV12.

The battery 31 is replaceably mounted at a predetermined position inside the housing 21 shown in FIG. The battery 31 is a power source for supplying electric power for driving to each part of the AGV 12. The battery 31 is, for example, a Ni-MH battery.

The bumper operation detection sensor 22a is provided in the vicinity of the bumper 22 inside the housing 22a shown in FIG. The bumper motion detection sensor 22a detects the motion of the bumper 22 being pushed by an obstacle. When the bumper motion detection sensor 22a detects the motion of the bumper 22, the bumper motion detection sensor 22a outputs collision detection information to the CPU 35a described later. The bumper motion detection sensor 22a is, for example, a photomicro sensor.

The connecting device 33 is provided at a predetermined position inside the housing 21 shown in FIG. The connecting device 33 operates to connect the carriage 92 (see FIG. 11) on which the transported object, for example, a part, a work, or the like is mounted. The connecting device 33 has a connecting pin 33b, an elevating motor 33c, and an elevating mechanism (not shown).

The connecting pin 33b is provided on the housing 21 shown in FIG. 2 so as to be able to move up and down. The connecting pin 33b rises from the state shown in FIG. 2 and protrudes from the elevating port 33a to the outside of the housing 21 (see FIG. 11). FIG. 11 is a schematic view showing a state in which the AGV 12 is connected to the carriage 92. The connecting pin 33b has, for example, a connecting portion 33f shown in FIG. 11 provided near the tip in the ascending direction. As shown in FIG. 11, the connecting pin 33b is connected to the connected portion 92a of the carriage 92 at the connecting portion 33f in a state of being raised and protruding to the outside of the housing 21. The connecting pin 33b descends and is housed in the housing 21 from the elevating port 33a as shown in FIG.

The elevating mechanism raises and lowers the connecting pin 33b. The elevating mechanism is a well-known mechanism including, for example, a rack and a pinion.

The elevating motor 33c is a motor that can rotate forward and reverse to drive the elevating mechanism. The connecting pin 33b is moved up and down by an elevating mechanism driven by the forward and reverse rotation of the elevating motor 33c. For the elevating motor 33c, for example, a DC motor, a servo motor, or the like can be used. Here, as an example, a DC motor is used for the elevating motor 33c. Hereinafter, the elevating motor 33c may be referred to as a DC motor.

The coupling device 33 further has a coupling pin elevation detection sensor 33d (see FIG. 7). The connecting pin elevating / lowering detection sensor 33d detects the elevating / lowering of the connecting pin 33b. The connection pin elevating detection sensor 33d outputs information on the elevating state of the connecting pin 33b to the CPU 35a based on the detection result. The connection pin elevation detection sensor 33d is, for example, a photomicro sensor.

The input device 34 is provided inside the housing 21 shown in FIG. The input device 34 receives the designation of any one of the plurality of route numbers (route identification information) corresponding to each of the plurality of routes A and B. In other words, the input device 34 receives the designation of the route number in order to specify the route file described later. The input device 34 has, for example, an interface (I / F) board. The I / F board is a board on which an interface circuit is mounted. The I / F board is an interface that communicates with an external device (for example, a host computer 11) by wire or wirelessly.

The rear wheel drive motor 29a is provided inside the housing 21 shown in FIG. The rear wheel drive motor 29a includes two motors for individually driving the drive wheels 29b on both side surfaces of the housing 21. The two rear wheel drive motors 29a are, for example, motors capable of forward and reverse rotation and having a speed reducer. For the rear wheel drive motor 29a, for example, a servo motor, a DC motor, or the like can be used. Here, as an example, a servomotor is used for the rear wheel drive motor 29a. Hereinafter, the rear wheel drive motor 29a is referred to as a servo motor. As the two servomotors 29a rotate at a constant speed, the two drive wheels 29b rotate at a constant speed. The AGV 12 travels straight by rotating the two drive wheels 29b at a constant speed. Further, the two servomotors 29a rotate in the forward and reverse directions with a speed difference, so that the two drive wheels 29b rotate with a speed difference. The AGV 12 travels in a right turn or a left turn by rotating the two drive wheels 29b with a speed difference.

The guide sensor 41 is provided on the bottom surface of the housing 21 shown in FIG. 2 on the rear surface side of the housing 21 and at the center portion on a straight line orthogonal to both side surfaces of the housing 21. Therefore, the position of the guide sensor 41 and the position of the front wheel 28 described above are located on the same straight line orthogonal to the front surface and the rear surface of the housing 21. Further, the guide sensor 41 includes, for example, two sensors.

The two guide sensors 41 are provided symmetrically with respect to the same straight line orthogonal to the front surface and the rear surface of the housing 21, for example. As shown in FIGS. 3A and 3B, the two guide sensors 41 irradiate light L1 and L2 toward the floor surface 15 to which the tape 14 forming the trajectory 13 of the AGV 12 is attached. do. The two guide sensors 41 receive the reflected light from the tape 14 and the floor surface 15 with respect to the irradiation lights L1 and L2. 3A and 3B are schematic views showing how the light L1 and L2 are irradiated by the two guide sensors 41.

FIG. 3A shows the irradiation state of the light L1 and L2 of the two sensors on the track 13 of the tape 14 when the AGV 12 travels without deviating from the track 13 of the tape 14. When the AGV 12 travels without deviating from the trajectory of the tape 14, the light L1 and L2 of the two guide sensors 41 irradiate the tape 14. Therefore, the two guide sensors 41 receive the reflected light from the tape 14. That is, the two guide sensors 41 receive the same amount of reflected light.

FIG. 3B shows irradiation of the light L1 and L2 of the two guide sensors 41 on the track 13 of the tape 14 when the AGV 12 travels off the track 13 of the tape 14 to the right in the figure. It shows the state. When the AGV 12 travels out of the track 13 of the tape 14, the light L1 of one of the two guide sensors 41 is irradiated to the tape 14. On the other hand, the light L2 of the other guide sensor 41 of the two guide sensors 41 irradiates the floor surface 15. Therefore, the one guide sensor 41 receives the reflected light from the tape 14, and the other guide sensor 41 receives the reflected light from the floor surface 15. That is, the two guide sensors 41 receive different amounts of reflected light.

The two guide sensors 41 output track tracking information indicating whether or not the track 13 deviates from the track 13 to the CPU 35a, which will be described later, depending on the amount of light received.

The guide sensor 41 is not limited to the above-mentioned optical sensor. For example, an image may be acquired by an optical sensor or a camera. Further, for example, the guide sensor 41 may be a magnetic sensor. In this case, for example, a magnetic tape is used as the tape 14 forming the orbit 13 of the AGV 12.

The reading device 42 is provided at a predetermined position on the bottom surface of the housing 21 shown in FIG. The reading device 42 is, for example, an RFID reader. Hereinafter, the reading device 42 is referred to as an RFID reader. The RFID reader 42 communicates with the RFID tag 10R provided near the predetermined position on the track 13 of the AGV 12. The RFID reader 42 acquires the tag number from the RFID tag 10R by communicating with the RFID tag 10R.

Based on the tag number acquired by the RFID reader 42 and the route file described later, the AGV 12 starts running, goes straight, turns left, turns right, accelerates, decelerates, stops, and stops running at the predetermined position. It performs operations such as raising and lowering the connecting pin 33b.

The control device 35 of FIG. 7 controls the operation of each part of the AGV 12 described above in order to allow the AGV 12 to travel along the route A (see FIG. 5) or the route B (see FIG. 6). The control device 35 will be described with reference to FIG. As shown in FIG. 7, the control device 35 is, for example, a one-board microcomputer including a CPU 35a, a ROM 35b, and a RAM 35c.

Two servomotors 29a of the drive device 29, an ultrasonic sensor 23, a guide sensor 41, a bumper operation detection sensor 22a, and a connecting pin elevation detection sensor 33d are connected to the control device 35. Further, the DC motor 33c for raising and lowering the connecting pin is connected to the control device 35 via the motor driver 33e, and the RFID reader 42 is connected via the serial converter 42a. In addition to the above, the control device 35 is connected to the storage device 91, the input device 34, the operation button 26, the display 25, the indicator light 27, the speaker 24, and the battery 31.

The CPU 35a shown in FIG. 7 acquires the following various information. For example, the CPU 35a acquires the tag number of the RFID tag 10R from the RFID reader 42 via the serial converter 42a. Further, the CPU 35a acquires the route file of the route A or the route B from the storage device 91, for example. Further, the CPU 35a acquires obstacle detection information from the ultrasonic sensor 23. Further, the CPU 35a acquires the trajectory tracking information from the guide sensor 41. Further, the CPU 35a acquires collision detection information with an obstacle from the bumper motion detection sensor 22a. Further, the CPU 35a acquires information on the ascending / descending state of the connecting pin 33b from the connecting pin elevating / lowering detection sensor 33d. The CPU controls the rotation of the two drive wheels 29b and the raising and lowering of the connecting pin 33b by driving the servomotor 29a, the DC motor 33c, and the like according to the control program based on the acquired information and the like.

The ROM 35b shown in FIG. 7 stores in advance various control programs for driving the servomotor 29a and the DC motor 33c in order to control the rotation of the two drive wheels 29b and the raising and lowering of the connecting pin 33b.

The RAM 35c shown in FIG. 7 functions as, for example, an area for temporarily storing the control program read from the ROM 35b, or an area for temporarily storing the route file read from the storage device 91.

The storage device 91 is, for example, a hard disk drive device. The storage device 91 stores the route file of the route A or the route B in advance. FIG. 8 is a diagram schematically showing a storage area of the storage device 91 that stores the route file. As shown in FIG. 8, the storage device 91 stores the route file in association with the route number (route identification information).

As shown in FIG. 8, the route file includes an operation command for each tag number (identification information).

The operation command is a command indicating an operation executed by the AGV 12 at the predetermined position of the track 13 forming the route A or the route B. Specifically, the operation command is a command for the CPU 35a to drive and control the servomotor 29a at the predetermined position to rotate or stop the two drive wheels 29b and to drive or stop the AGV 12. .. Further, the operation command is a command for the CPU 35a to raise and lower the connecting pin 33b by driving and controlling the DC motor 33c at the predetermined position.

More specifically, as shown in FIG. 8, the storage device 91 stores the route file of the route A in association with the route number “10000”. The route file of route A includes operation commands for each of the tag numbers "102", "106", and "100".

Here, the tag number "102" is the tag number of the RFID tag 102R provided at the predetermined position Z5 as described above. Therefore, the operation command corresponding to the tag number “102” is a command indicating the operation executed by the AGV 12 at the predetermined position Z5. That is, when the route A is designated and travels, the AGV 12 stops traveling at a predetermined position Z5 and raises the connecting pin 33b. Further, at the predetermined position Z5, the AGV 12 restarts the running after the connecting pin 33b rises.

Further, the tag number "106" is a tag number of the RFID tag 106R provided at the predetermined position Z8 as described above. Therefore, the operation command corresponding to the tag number “106” is a command indicating the operation executed by the AGV 12 at the predetermined position Z8. That is, when the route A is designated and travels, the AGV 12 stops traveling at a predetermined position Z8 and lowers the connecting pin 33b. Further, at the predetermined position Z8, the AGV 12 restarts the running after the connecting pin 10 is lowered.

Further, the tag number "100" is a tag number of the RFID tag 100R provided at the predetermined position Z2 as described above. Therefore, the operation command corresponding to the tag number "100" is a command indicating the operation executed by the AGV 12 at the predetermined position Z2. That is, when the route A is designated and the AGV12 travels, the AGV12 stops traveling at the predetermined position Z2.

Further, as shown in FIG. 8, the storage device 91 stores the route file of the route B in association with the route number “10000”. The route file of route B includes operation commands for each tag number "101", "103", "107", and "100".

The tag number "101" is a tag number of the RFID tag 101R provided at the predetermined position Z3 as described above. Therefore, the operation command corresponding to the tag number "101" is a command indicating the operation executed by the AGV 12 at the predetermined position Z3. That is, when the route B is designated and the AGV 12 travels, the AGV 12 travels by turning left at the predetermined position Z3.

Further, the tag number "103" is a tag number of the RFID tag 103R provided at the predetermined position Z11 as described above. Therefore, the operation command corresponding to the tag number “103” is a command indicating the operation executed by the AGV 12 at the predetermined position Z11. That is, when the route B is designated and travels, the AGV 12 stops traveling at a predetermined position Z11 and raises the connecting pin 33b. Further, at the predetermined position Z11, the AGV 12 restarts the running after the connecting pin 33b rises.

Further, the tag number "107" is a tag number of the RFID tag 107R provided at the predetermined position Z10 as described above. Therefore, the operation command corresponding to the tag number “107” is a command indicating the operation executed by the AGV 12 at the predetermined position Z10. That is, when the route B is designated and travels, the AGV 12 stops traveling at a predetermined position Z10 and lowers the connecting pin 33b. Further, at the predetermined position Z10, the AGV 12 restarts the traveling after the connecting pin 33b is lowered.

Further, the tag number "100" is a tag number of the RFID tag 100R provided at the predetermined position Z2 as described above. Therefore, the operation command corresponding to the tag number "100" is a command indicating the operation executed by the AGV 12 at the predetermined position Z2. That is, when the route B is designated and the AGV12 travels, the AGV12 stops traveling at the predetermined position Z2.

In FIG. 8, the storage device 91 stores only the route file corresponding to the route A and the route B, but it is also possible to store a new route file corresponding to the other route. The new route file is stored in the storage device 91, for example, via the input device 34. Further, the operation command included in the route file stored in the storage device 91 can be rewritten. Further, the operation command included in the route file stored in the storage device 91 can be newly added together with the tag number. Further, when the storage device 91 includes an operation command different from the route file of the route A shown in FIG. 8 even if the route file of the route formed by the same orbit 13 (for example, the route A shown in FIG. 5) is included. The route file can be newly stored in association with the new route number.

Next, a specific example of the control operation performed by the CPU 35 based on the control configuration shown in FIG. 7 will be described. The CPU 35a controls the power supply to each part of the AGV 12 based on the output voltage of the battery 31 when the power button 26c is turned on. The CPU 35a stops the power supply to each part of the AGV 12 as the power button 26c is turned off.

The CPU 35a drives two servomotors 29a as the start button 26a is operated. By driving the two servomotors 29a, the two drive wheels 29b rotate. By driving the two servomotors 29a at a constant speed, the two drive wheels 29b rotate at a constant speed. As the two drive wheels 29b rotate at a constant speed, the AGV 12 travels straight. By driving the two servomotors 29a at different speeds, the AGV 12 rotates the two drive wheels 29b at different speeds. By rotating the two drive wheels b29 at different speeds, the vehicle makes a left turn / right turn.

The CPU 35a stops driving the two servomotors 29a as the stop button 26a is operated. When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped.

As described above, the CPU 35a acquires the trajectory tracking information from the guide sensor 41 while the AGV 12 is traveling. The CPU 35a controls the difference in rotational speed between the two servomotors 29a based on the track tracking information so that the AGV 12 does not deviate from the track 13.

As described above, the CPU 35a acquires obstacle detection information from the ultrasonic sensor 23 while the AGV 12 is traveling. When the CPU 35a determines that there is an obstacle based on the obstacle detection information, the CPU 35a stops driving the two servomotors 29a. Therefore, the AGV 12 stops traveling. When the CPU 35a determines that there is no obstacle based on the obstacle detection information, the CPU 35a restarts the driving of the two servomotors 29a. Therefore, the AGV 12 resumes running.

As described above, the CPU 35a acquires collision detection information from the bumper operation detection sensor 22a while the AGV 12 is traveling. When the CPU 35a determines that it has collided with an obstacle based on the collision detection information, the CPU 35a stops driving the two servomotors 29a. Therefore, the AGV 12 stops traveling. In this case, the CPU 35a continues to stop driving the two servomotors 29a until, for example, the start button 26a is operated.

Further, the CPU 35a confirms the elevating state on the connecting pin 33b based on the information on the elevating state from the connecting pin elevating detection sensor 33d.

The CPU 35a causes the display 25 to display the output voltage of the battery 31 while the power button 26c is turned on. Further, the CPU 35a causes the display 25 to display the received light amount of the guide sensor 41. Further, the CPU 35a causes the display 25 to display the designated route number.

The CPU 35a controls the speaker 24 during the normal running of the AGV 12 to output a voice (for example, predetermined music) indicating the normal running as described above. Further, the CPU 35a controls the speaker 24 in the abnormal state of the AGV 12 to output a sound indicating the abnormal state as described above.

The CPU 35a controls the lighting of the indicator lamp 27 as described above according to the on / off operation of the power button 26c. The CPU 35a controls the indicator lamp 27 to blink as described above in the abnormal state of the AGV 12.

Next, the traveling control of the AGV 12 and the elevating control of the connecting pin 33b performed by the CPU 35a based on the above-mentioned route file will be described with reference to FIG. FIG. 9 is a flowchart showing an example of the control process performed by the CPU 35a based on the route file. In FIG. 9, it is assumed that the AGV 12 is located in advance at a predetermined position Z2 (hereinafter, may be referred to as a start position Z2) shown in FIG. 4 in advance, and the power button 26c is turned on.

In step S1, the CPU 35a receives the designation of the route number from, for example, the external host computer 11 via the input device 34. The CPU 35a reads a route file from the storage device 91 based on the designated route number, and temporarily stores the route file in the RAM 35c.

In step S2, the CPU 35a confirms whether or not the start instruction has been accepted by the start button 26a. When the start instruction is not received by the start button 26a (NO in step S2), the CPU 35a waits for the start instruction to be received by the start button 26a. When the start instruction is received by the start button 26a (YES in step S2), the process of the CPU 35a proceeds to step S3.

In step S3, the CPU 35a drives the two servomotors 29a and rotates the two drive wheels 29b at a constant speed. As a result, the AGV 12 starts traveling straight, for example, in the direction of the arrow shown in FIG.

In step S4, the CPU 35a confirms whether or not the tag number has been acquired by the RFID reader 42. If the tag number has not been acquired by the RFID reader 42 (NO in step S4), the CPU 35a waits for the RFID reader 42 to acquire the tag number. When the tag number is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5, the CPU 35a confirms the operation command corresponding to the acquired tag number in the route file of the designated route number (see step S1). As a result of the confirmation, when the operation command corresponding to the acquired tag number does not exist in the route file of the designated route, the CPU 35a drives and controls the servomotor 29a so as to maintain the traveling state of the AGV 12.

As a result of the above confirmation, when the operation command corresponding to the acquired tag number exists in the route file of the designated route, the CPU 35a drives and controls the servomotor 29a according to the operation command corresponding to the acquired tag number. And / or drive and control the DC motor 33c.

Next, in step S6, the CPU 35a confirms whether or not to end the traveling of the AGV 12. Specifically, the CPU 35a confirms whether or not the travel stop instruction has been received by, for example, the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4. After that, the CPU 35a repeats the processes of steps S4 to S6. On the other hand, when the travel stop instruction is received by the stop button 26b (NO in step S6), the CPU 35a ends the travel of the AGV 12.

The designation of the route number in step S1 may be obtained from an RFID tag (for example, the RFID tag 100R shown in FIG. 5) provided at the travel start position of the AGV 12. In this case, it is assumed that the RFID tag at the start position stores the tag number and the predetermined route number.

As described above, the AGV 12 according to the embodiment has, for example, as shown in FIG. 8, a storage device 91 that stores a route file in advance in association with a route number (route identification information). Further, the route file includes an operation command for each tag number (identification information) acquired from the RFID tag (identification tag) 10R. Then, as shown in FIG. 9, for example, the AGV 12 travels on a predetermined route and performs a predetermined movement according to an operation command for each tag number included in the route file of the designated route number. Therefore, according to the AGV 12 according to the embodiment, it is possible to easily change the traveling route or the movement during traveling.

Next, specifically, the control process by the CPU 35a when the AGV 12 travels on the route A (see FIG. 5) will be described with reference to FIG. It is assumed that the dolly 92 (see FIG. 11) is waiting at the predetermined position Z5 of the route A. First, in step S1, the CPU 35a receives the designation of the route number "10000" of the route A from, for example, the external host computer 11 via the input device 34. The CPU 35a reads the route file of the route A shown in FIG. 8 from the storage device 91 based on the designated route number “10000”, and temporarily stores the route file in the RAM 35c.

In step S2, the CPU 35a waits for the start instruction to be received by the start button 26a. When the start instruction is received by the start button 26a (YES in step S2), the process of the CPU 35a proceeds to step S3.

In step S3, the CPU 35a drives two servomotors 29a. By driving the two servomotors 29a, the two drive wheels 29b rotate at a constant speed. As a result, the AGV 12 starts traveling straight from the start position Z2 in the direction of the arrow shown in FIG.

In step S4, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z3 shown in FIG. 5 after starting the traveling in step S3. As described above, the RFID tag 101R is provided at the predetermined position Z3. The CPU 35a acquires the tag number "101" from the RFID tag 101R via the RFID reader 42 in the vicinity of the predetermined position Z3. When the tag number "101" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5, the CPU 35a confirms the operation command corresponding to the acquired tag number "101" in the route file of the designated route number "10000" (route file of route A). The CPU 35a confirms that the operation command corresponding to the acquired tag number "101" does not exist in the route file of the route number "10000" (see FIG. 8). Therefore, the CPU 35a continues to drive the two servomotors 29a. As the two servomotors 29a continue to be driven, the two drive wheels 29b continue to rotate at a constant speed. As a result, the AGV 12 continues to travel straight along the track in the direction of the arrow in FIG.

Next, in step S6, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z5 shown in FIG. 5 after continuing to travel in step S5. As described above, the RFID tag 102R is provided at the predetermined position Z5. The CPU 35a acquires the tag number "102" from the RFID tag 102R via the RFID reader 42 in the vicinity of the predetermined position Z5. When the tag number "102" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "102" in the route file of the designated route number "10000" (route file of route A). The CPU 35a confirms that the operation command corresponding to the acquired tag number "102" exists in the route file of the route number "10000" (see FIG. 8).

The CPU 35a first stops driving the two servomotors 29a according to the operation command corresponding to the tag number "102". When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped. As a result, the AGV 12 stops traveling at the predetermined position Z5 shown in FIG.

Next, the CPU 35a drives the DC motor 33c according to the operation command corresponding to the tag number "102". By driving the DC motor 33c, the connecting pin 33b rises. The connecting pin 33b is connected to the above-mentioned trolley by ascending.

After the connecting pin 33b is raised, that is, after the connecting pin 33b is connected to the carriage, the CPU 35a redrives the two servomotors 29a according to the operation command corresponding to the tag number "102". By redriving the two servomotors 29a, the two drive wheels 29b resume rotation at a constant speed. As a result, the AGV 12 starts traveling straight along the track from the predetermined position Z5 shown in FIG. 5 with the bogie connected.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z8 shown in FIG. 5 after continuing to travel in step S5. As described above, the RFID tag 106R is provided at the predetermined position Z8. The CPU 35a acquires the tag number "106" from the RFID tag 106R via the RFID reader 42 in the vicinity of the predetermined position Z8. When the tag number "106" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "106" in the route file of the designated route number "10000" (route file of route A). The CPU 35a confirms that the operation command corresponding to the acquired tag number "102" exists in the route file of the route number "10000" (see FIG. 8).

The CPU 35a first stops driving the two servomotors 29a according to the operation command corresponding to the tag number "106". When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped. As a result, the AGV 12 stops traveling at the predetermined position Z8 shown in FIG.

Next, the CPU 35a drives the DC motor 33c according to the operation command corresponding to the tag number "106". By driving the DC motor 33c, the connecting pin 33b is lowered. By lowering the connecting pin 33b, the connecting pin 33b is disconnected from the above-mentioned trolley.

After the connecting pin 33b is lowered, that is, after the connecting pin 33b is disconnected from the carriage, the CPU 35a redrives the two servomotors 29a according to the operation command corresponding to the tag number "106". By redriving the two servomotors 29a, the two drive wheels 29b resume rotation at a constant speed. As a result, the AGV 12 starts traveling straight along the track from the predetermined position Z8 shown in FIG. 5, with the bogie left.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z10 shown in FIG. 5 after continuing to travel in step S5. As described above, the RFID tag 107R is provided at the predetermined position Z10. The CPU 35a acquires the tag number "107" from the RFID tag 106R via the RFID reader 42 in the vicinity of the predetermined position Z10. When the tag number "107" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "107" in the route file of the designated route number "10000" (route file of route A). The CPU 35a confirms that the operation command corresponding to the acquired tag number "107" does not exist in the route file of the route number "10000" (see FIG. 8). Therefore, the CPU 35a continues to drive the two servomotors 29a. As the two servomotors 29a continue to be driven, the two drive wheels 29b continue to rotate at a constant speed. As a result, the AGV 12 continues to travel straight along the track in the direction of the arrow in FIG.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z2 shown in FIG. 5 after continuing to travel in step S5. The RFID tag 100R is provided at the predetermined position Z2 as described above. The CPU 35a acquires the tag number "100" from the RFID tag 100R via the RFID reader 42 in the vicinity of the predetermined position Z2. When the tag number "100" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "100" in the route file of the designated route number "10000" (route file of route A). The CPU 35a confirms that the operation command corresponding to the acquired tag number "100" exists in the route file of the route number "10000" (see FIG. 8).

The CPU 35a stops driving the two servomotors 29a according to the operation command corresponding to the tag number "100". When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped. As a result, the AGV 12 stops traveling at the predetermined position Z2 shown in FIG.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is received by the stop button 26b (NO in step S6), the CPU 35a ends the travel on the route A of the AGV 12.

Next, the control process by the CPU 35a when the AGV 12 travels on the route B (see FIG. 6) will be described with reference to FIG. It is assumed that the dolly 92 (see FIG. 11) is waiting at the predetermined position Z11 of the route B. First, in step S1, the CPU 35a receives the designation of the route number "10001" of the route B from, for example, the external host computer 11 via the I / F device. The CPU 35a reads the route file of the route B shown in FIG. 8 from the storage device 91 based on the designated route number “10001”, and temporarily stores the route file in the RAM 35c.

In step S2, the CPU 35a waits for the start instruction to be received by the start button 26a. When the start instruction is received by the start button 26a (YES in step S2), the process of the CPU 35a proceeds to step S3.

In step S3, the CPU 35a drives two servomotors 29a. By driving the two servomotors 29a, the two drive wheels 29b rotate at a constant speed. As a result, the AGV 12 starts traveling straight from the start position Z2 in the direction of the arrow shown in FIG.

In step S4, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z3 shown in FIG. 6 after starting the traveling in step S3. As described above, the RFID tag 101R is provided at the predetermined position Z3. The CPU 35a acquires the tag number "101" from the RFID tag 101R via the RFID reader 42 in the vicinity of the predetermined position Z3. When the tag number "101" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5, the CPU 35a confirms the operation command corresponding to the acquired tag number "101" in the route file (route file of route B) of the designated route number "10001". The CPU 35a confirms that the operation command corresponding to the acquired tag number "101" exists in the route file of the route number "10001" (see FIG. 8). The CPU 35a drives the two servomotors 29a so that the two drive wheels 29b are rotated at different speeds according to the operation command corresponding to the tag number "101". By driving the two servomotors 29a, the two drive wheels 29b rotate at different speeds. As a result, the AGV 12 makes a left turn at the predetermined position Z3 in FIG.

Next, in step S6, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z11 shown in FIG. 6 after traveling left in step S5. As described above, the RFID tag 103R is provided at the predetermined position Z11. The CPU 35a acquires the tag number "103" from the RFID tag 103R via the RFID reader 42 in the vicinity of the predetermined position Z11. When the tag number "103" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "103" in the route file (route file of route B) of the designated route number "10001". The CPU 35a confirms that the operation command corresponding to the acquired tag number "103" exists in the route file of the route number "10001" (see FIG. 8).

The CPU 35a first stops driving the two servomotors 29a according to the operation command corresponding to the tag number "103". When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped. As a result, the AGV 12 stops traveling at the predetermined position Z11 shown in FIG.

Next, the CPU 35a drives the DC motor 33c according to the operation command corresponding to the tag number "103". By driving the DC motor 33c, the connecting pin 33b rises. The connecting pin 33b is connected to the above-mentioned trolley by ascending.

After the connecting pin 33b is raised, that is, after the connecting pin 33b is connected to the carriage, the CPU 35a redrives the two servomotors 29a according to the operation command corresponding to the tag number "103". By redriving the two servomotors 29a, the two drive wheels 29b resume rotation at a constant speed. As a result, the AGV 12 starts traveling straight along the track from the predetermined position Z11 shown in FIG. 6 with the bogie connected.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. After continuing to travel in step S5, the AGV 12 reaches the vicinity of the predetermined position Z8 shown in FIG. As described above, the RFID tag 106R is provided at the predetermined position Z8. The CPU 35a acquires the tag number "106" from the RFID tag 106R via the RFID reader 42 in the vicinity of the predetermined position Z8. When the tag number "106" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "106" in the route file of the designated route number "10001" (route file of route B). The CPU 35a confirms that the operation command corresponding to the acquired tag number "106" does not exist in the route file of the route number "10001" (see FIG. 8). Therefore, the CPU 35a continues to drive the two servomotors 29a. As the two servomotors 29a continue to be driven, the two drive wheels 29b continue to rotate at a constant speed. As a result, the AGV 12 continues to travel straight along the track in the direction of the arrow in FIG.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z10 shown in FIG. 6 after continuing to travel in step S5. As described above, the RFID tag 107R is provided at the predetermined position Z10. The CPU 35a acquires the tag number "107" from the RFID tag 107R via the RFID reader 42 in the vicinity of the predetermined position Z10. When the tag number "107" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "107" in the route file (route file of route B) of the designated route number "10001". The CPU 35a confirms that the operation command corresponding to the acquired tag number "107" exists in the route file of the route number "10001" (see FIG. 8).

The CPU 35a first stops driving the two servomotors 29a according to the operation command corresponding to the tag number "107". When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped. As a result, the AGV 12 stops traveling at the predetermined position Z10 shown in FIG.

Next, the CPU 35a drives the DC motor 33c according to the operation command corresponding to the tag number "107". By driving the DC motor 33c, the connecting pin 33b is lowered. By lowering the connecting pin 33b, the connecting pin 33b is disconnected from the above-mentioned trolley.

After the connecting pin 33b is lowered, that is, after the connecting pin 33b is disconnected from the carriage, the CPU 35a redrives the two servomotors 29a according to the operation command corresponding to the tag number "107". By redriving the two servomotors 29a, the two drive wheels 29b resume rotation at a constant speed. As a result, the AGV 12 starts traveling straight along the track from the predetermined position Z10 shown in FIG. 6, with the bogie left.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is not received by the stop button 26b (NO in step S6), the process of the CPU 35a returns to step S4.

In step S4 again, the CPU 35a waits for the RFID reader 42 to acquire the tag number. The AGV 12 reaches the vicinity of the predetermined position Z2 shown in FIG. 6 after continuing to travel in step S5. The RFID tag 100R is provided at the predetermined position Z2 as described above. The CPU 35a acquires the tag number "100" from the RFID tag 100R via the RFID reader 42 in the vicinity of the predetermined position Z2. When the tag number "100" is acquired by the RFID reader 42 (YES in step S4), the process of the CPU 35a proceeds to step S5.

In step S5 again, the CPU 35a confirms the operation command corresponding to the acquired tag number "100" in the route file (route file of route B) of the designated route number "10001". The CPU 35a confirms that the operation command corresponding to the acquired tag number "100" exists in the route file of the route number "10001" (see FIG. 8).

The CPU 35a stops driving the two servomotors 29a according to the operation command corresponding to the tag number "100". When the driving of the two servomotors 29a is stopped, the rotation of the two driving wheels 29b is stopped. As a result, the AGV 12 stops traveling at the predetermined position Z2 shown in FIG.

Next, in step S6 again, the CPU 35a confirms whether or not the travel stop instruction has been received by the stop button 26b. When the travel stop instruction is received by the stop button 26b (NO in step S6), the CPU 35a ends the travel on the route B of the AGV 12.

An example of transporting a part, a work, or the like to a work process line in a manufacturing factory or the like by using the automatic traveling vehicle control system 1 according to the embodiment will be described below. 10 (A) to 10 (C) are schematic views showing an example of a usage embodiment of the automatic traveling vehicle control system 1 according to the embodiment. In FIG. 10, the parts or workpieces are directly mounted on the AGV 12, but in reality, the AGV 12 travels in connection with the bogie as described above. The parts or workpieces are mounted on the trolley. Further, in FIG. 10, although the above-mentioned RFID tag is not shown, the RFID tag is actually located at a position where the operation of the AGV12 changes, such as a position where the AGV12 stops traveling, in the path of the AGV12, as described above. A tag is provided.

The AGV 12 transports parts from the parts station to the work process line, for example, as shown in FIG. 10 (A). Specifically, a path of AGV12 formed by a track is provided between the component station and the work process line. At the parts station, the AGV 12 is loaded with parts necessary for the work process line, for example, by a worker. The AGV 12 travels along the route from the component station toward the work process line with the component mounted. When the AGV12 arrives at the work process line, the AGV12 is stopped. For example, a worker transfers a part from AGV12 to a work process line. The AGV12 resumes running after the mounted parts are moved to the work process line. The AGV 12 travels along the path from the work process line toward the component station and returns to the component station.

Further, the AGV 12 conveys the work between a plurality of work process lines, for example, as shown in FIG. 10 (B). Specifically, a path of AGV12 formed by a track is provided between a plurality of work process lines. The AGV 12 travels between work process lines according to the above route with the work mounted. When AGV12 arrives at one of the work process lines, it stops. For example, a worker transfers the work from the AGV 12 to the work process line. Further, the work for which the predetermined work has been completed is mounted on the AGV 12 by, for example, a worker. The AGV 12 then travels to the other work process line.

Further, the AGV 12 conveys the work along one work process line, for example, as shown in FIG. 10 (C). Specifically, a predetermined track is provided along one work process line. The AGV 12 travels in a track along the work process line with the work mounted. Workers in each process of the work process line take out the work from, for example, AGV12, and perform predetermined work on the work.

Although some embodiments of the present invention have been exemplified above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, changes, and the like can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof. In addition, each of the above-described embodiments can be implemented in combination with each other.

1 Automated vehicle control system, 10R identification tag (RFID tag), 11 Host computer, 12 Automated vehicle (AGV), 13 Track, 14 Tape, 15 Floor, 21 Housing, 22 Bumper, 23 Ultrasonic sensor, 24 Speaker, 25 indicator, 26 operation button, 26a start button, 26b stop button, 26c power button, 27 indicator light, 28 front wheel (driven wheel), 29 drive device, 29a rear wheel drive motor, 29b rear wheel (drive wheel) ), 31 battery, 31a battery cover, 33 coupling device, 33a lift port, 33b coupling pin, 33c lift motor, 33d coupling pin lift detection sensor, 33e motor driver, 33f coupling part, 34 input device (I / F board) ), 35 control device, 35a CPU, 35b ROM, 35c RAM, 41 guide sensor, 42 reading device (RFID reader), 42a serial converter, 91 storage device, 92 trolley, 92a connected part, 100R, 101R, 102R, 103R, 106R, 107R Identification tag (RFID tag)

Claims (30)

In an autonomous vehicle traveling on a route formed by a track
An input device that receives the designation of route identification information that identifies the route, and
A reading device that acquires identification information from a predetermined position on the route, and
The route identification information includes a route file defined for each route identification information for traveling on the route and including the identification information and an operation command corresponding to the identification information and representing an execution operation at the predetermined position. A storage device that stores information in association with
A drive device that operates to travel on the route, and
The route file associated with the route identification information designated by the input device is read from the storage device.
A control device that controls the operation of the drive device based on the presence or absence of an operation command corresponding to the acquired identification information in the read route file.
Self-driving car with. The autonomous vehicle according to claim 1, wherein the route identification information is designated by input from the outside. The autonomous vehicle according to claim 1 or 2, wherein the route identification information can be changed by input from the outside. The automatic traveling vehicle according to any one of claims 1 to 3, wherein the route specifying information can be changed while traveling. The control device is
Upon receiving the designation of the route identification information via the input device,
The route file associated with the route identification information designated by the input device is read from the storage device.
In order to start the running of the self-driving car, the operation of the drive device is started, and the operation is started.
The first determination for determining whether or not the identification information has been acquired by the reading device during the traveling is executed.
When it is determined that the identification information has been acquired by the first determination, the second determination for determining whether or not the identification information acquired by the reading device is included in the read route file is executed. ,
When it is determined by the second determination that the identification information is not included in the route file, the operation of the drive device is not changed.
When it is determined by the second determination that the identification information is included in the route file, the operation of the drive device is performed based on the operation command corresponding to the identification information included in the read route file. The automatic traveling vehicle according to any one of claims 1 to 4, which is controlled to be changed. When the control device determines that the identification information is not included in the route file by the second determination, the control device makes the first determination and the second determination again without changing the operation of the driving device. The self-driving car according to claim 5 to be executed. The reading device acquires the identification information and the route identification information from the start position where the autonomous vehicle starts automatic traveling among the predetermined positions on the route.
The automatic traveling vehicle according to any one of claims 1 to 6, wherein the control device reads the route file associated with the route identification information acquired by the reading device from the storage device. The automatic traveling vehicle according to any one of claims 1 to 7, wherein the information of the operation command can be changed. The automatic traveling vehicle according to any one of claims 1 to 6, wherein the input device receives designation of the route identification information in order to specify the route file. The automatic traveling vehicle according to any one of claims 1 to 9, wherein the reading device acquires identification information possessed by each identification tag from an identification tag installed at the predetermined position on the route. The automatic traveling vehicle according to any one of claims 1 to 10, wherein the control device controls the operation of the drive device according to the operation command for each identification information included in the route file. The self-driving car further has a coupling device that operates to connect a trolley on which the object to be transported is mounted.
The automatic traveling vehicle according to any one of claims 1 to 11, wherein the control device controls the operation of the connected device according to the operation command for each identification information included in the route file. The autonomous vehicle according to any one of claims 1 to 12 and
A computer that communicates with the autonomous vehicle
The route on which the autonomous vehicle travels and
An identification tag provided at a predetermined position on the route and storing identification information acquired by the autonomous vehicle, and an identification tag.
Self-driving car control system with. It travels on a route formed by an orbit and has identification information arranged at a predetermined position, is defined for each route specific information corresponding to the route, corresponds to the identification information and the identification information, and is executed at the predetermined position. In an autonomous vehicle that stores a route file including an operation command indicating an operation in association with the route identification information.
In response to the designation of the route identification information
Acquire the identification information and
Read the route file associated with the route identification information that received the designation,
Controlling the operation of traveling on the route based on the presence or absence of the operation command corresponding to the acquired identification information in the read route file.
How to control self-driving cars. The method for controlling an autonomous vehicle according to claim 14, wherein the route identification information is designated by input from the outside. The method for controlling an autonomous vehicle according to claim 14 or 15, wherein the route identification information can be changed by input from the outside. The method for controlling an autonomous vehicle according to any one of claims 14 to 16, wherein the route identification information can be changed while traveling. An input device that receives the designation of the route identification information, a reading device that acquires the identification information, a storage device that stores the route file in association with the route identification information, and an operation for traveling on the route. In an autonomous vehicle with a drive device,
After reading the route file from the storage device,
In order to start the running of the self-driving car, the operation of the drive device is started, and the operation is started.
The first determination for determining whether or not the identification information has been acquired by the reading device during the traveling is executed.
When it is determined that the identification information has been acquired by the first determination, the second determination for determining whether or not the identification information acquired by the reading device is included in the read route file is executed. ,
When it is determined by the second determination that the identification information is not included in the route file, the operation of the drive device is not changed.
When it is determined by the second determination that the identification information is included in the route file, the operation of the drive device is performed based on the operation command corresponding to the identification information included in the read route file. The method for controlling an autonomous vehicle according to any one of claims 14 to 17, wherein the automatic traveling vehicle is controlled so as to be changed. 18. Claim 18 in which, when it is determined by the second determination that the identification information is not included in the route file, the first determination and the second determination are executed again without changing the operation of the driving device. The method for controlling an autonomous vehicle described in. The method for controlling an autonomous vehicle according to claim 14 or 19, further comprising changing the information of the operation command. The method for controlling an autonomous vehicle according to any one of claims 14 to 20, wherein in order to specify the route file in receiving the designation of the route specifying information, the designation of the route specifying information is received. The control of an autonomous vehicle according to any one of claims 14 to 21, wherein in the acquisition of the identification information, the identification information possessed by each identification tag is acquired from the identification tags installed at a plurality of predetermined positions on the route. Method. The method for controlling an autonomous vehicle according to claim 18, wherein in controlling the operation of the drive device, the operation of the drive device is controlled according to the operation command for each identification information included in the route file. The self-driving car further has a coupling device that operates to connect a trolley on which the object to be transported is mounted.
The method for controlling an autonomous vehicle according to any one of claims 14 to 23, wherein the operation of the connected device is controlled according to the operation command for each identification information included in the route file. It is a route file formed by an orbit and associated with route identification information that identifies a route in which identification information is arranged at a predetermined position, and corresponds to the identification information and the identification information, and at the predetermined position. A function to read the route file when the route identification information is specified from a storage device that stores the route file including an operation command indicating an execution operation.
A function to acquire the identification information from a predetermined position on the route, and
The operation of traveling on the route is controlled based on the presence or absence of the operation command corresponding to the identification information included in the route file read by the reading function and acquired from a predetermined position on the route by the acquiring function. Functions and
A control program for self-driving cars that causes a computer to execute. The automatic traveling vehicle control program according to claim 25, wherein the route identification information is designated by input from the outside. The control program for an autonomous vehicle according to claim 25 or 26, wherein the route identification information can be changed by input from the outside. The control program for an autonomous vehicle according to any one of claims 25 to 27, wherein the route identification information can be changed while traveling. The input device receives the designation of the route identification information, the reading device acquires the identification information, and the route file is defined for each route identification information, corresponds to the identification information and the identification information, and is described. The storage device stores the information in association with the route identification information, including an operation command indicating an execution operation at a predetermined position.
The computer controls the input device, the reading device, and the storage device, and is based on the presence or absence of an operation command corresponding to the identification information acquired from a predetermined position on the route in the route file read by the reading function. , The control program for an autonomous vehicle according to any one of claims 25 to 28, which controls a traveling operation via a drive device. A storage medium that stores the control program according to any one of claims 25 to 29.

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