Automatic travel vehicle operation system and automatic travel vehicle operation method

Abstract

To provide an automatic travel vehicle operation system and an automatic travel vehicle operation method for improving controllability of an operation.SOLUTION: An automatic travel vehicle operation system includes a plurality of tracks, an information presentation section, and an automatic travel vehicle. The plurality of tracks include a first track and a second track. The information presentation section presents information attached to the plurality of tracks. The automatic travel vehicle reads positions of the plurality of tracks so as to travel along the read tracks. The automatic travel vehicle includes an information acquisition section. The information acquisition section can acquire the information from the information presentation section when coming within a readable range from the information presentation section. The automatic travel vehicle is switched from a state for traveling along the first track by reading the first track to a state for traveling along the second track by reading the second track based on the information acquired by the information acquisition section.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to an autonomous vehicle operation system and an autonomous vehicle operation method. [Background technology]

[0002] In factories and the like, a navigation system that controls an automatic guided vehicle (AGV) such as an unmanned transport vehicle is sometimes used. The automatic driving vehicle reads, for example, a pre-established track and drives along the track that has been read. Checkpoints such as RFID tags are installed on the track, and the automatic driving vehicle acquires information from the checkpoint in response to passing through the checkpoint. The navigation system controls the operation of the automatic driving vehicle, etc. (an automatic driving vehicle, or a system including an automatic driving vehicle and other devices) based on the information.

[0003] For example, if an autonomous vehicle cannot obtain appropriate information when passing through a checkpoint, the intended control may not be executed, which may result in malfunction. Therefore, it is desirable to improve the controllability of autonomous vehicle operation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-154978 A Summary of the Invention [Problem to be solved by the invention]

[0005] An embodiment of the present invention provides an autonomous vehicle operation system and an autonomous vehicle operation method that can improve the controllability of operation. [Means for solving the problem]

[0006] According to an embodiment of the present invention, an autonomous vehicle operation system includes a plurality of tracks, an information presentation unit, and an autonomous vehicle. The plurality of tracks include a first track and a second track. The information presentation unit is attached to the plurality of tracks and presents information. The autonomous vehicle reads the positions of the plurality of tracks and travels along the read tracks. The autonomous vehicle includes an information acquisition unit. The information acquisition unit is capable of acquiring the information from the information presentation unit when the autonomous vehicle is within a reading range of the information presentation unit. The autonomous vehicle switches from a state in which the autonomous vehicle reads the first track and travels along the first track to a state in which the autonomous vehicle reads the second track and travels along the second track based on the information acquired by the information acquisition unit. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic plan view illustrating an autonomous vehicle operation system according to an embodiment. [Diagram 2] FIG. 2 is a flowchart illustrating the operation of an autonomous vehicle in the navigation system according to the embodiment. [Diagram 3] FIG. 3 is a schematic plan view illustrating a part of the operation system according to the embodiment. [Figure 4] FIG. 4 is a schematic plan view illustrating another example of the operation system according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as those in reality. Even when the same part is shown, the dimensions and ratios of each part may be different depending on the drawing. In this specification and each drawing, elements similar to those described above with reference to the previous drawings are given the same reference numerals and detailed descriptions thereof will be omitted as appropriate.

[0009] FIG. 1 is a schematic plan view illustrating an autonomous vehicle operation system according to an embodiment. As shown in FIG. 1, a navigation system 100 according to the embodiment includes an autonomous vehicle 1, a plurality of tracks L, and an information presentation unit 9.

[0010] The multiple tracks L are lines laid in advance on the floor of a building such as a factory. The autonomous vehicle 1 reads the positions of the multiple tracks L with a sensor, and automatically travels along the track L that has been read out of the multiple tracks L. The autonomous vehicle 1 is, for example, an unmanned guided vehicle capable of transporting materials and the like unmanned. Note that the autonomous vehicle may be one whose travel can be controlled by an operator as necessary.

[0011] The multiple orbits L include a first orbit 5, a second orbit 6, and a third orbit 7. The first track 5 includes a first main line 5a and an escape line 5b. The first main line 5a extends along the first direction D1 and is, for example, linear. The escape line 5b is connected to the first main line 5a. The escape line 5b is a track for the autonomous vehicle 1 to escape from the main lines (the first main line 5a and the second main line 7a), and is provided at a position offset from the first main line 5a in the second direction D2 intersecting with the first direction D1. The escape line 5b is a track that deviates to the opposite side from the second track 6 as seen from the main line.

[0012] The evacuation line 5b extends, for example, along the first direction D1 and is a straight line parallel to the first main line 5a. In this example, the evacuation line 5b is connected to the first main line 5a by a connection line 5c including a curved line. However, the evacuation line 5b may extend in a direction different from the first direction D1 or may include a curved track. The evacuation line 5b may also be directly connected to the first main line 5a.

[0013] The evacuation line 5b includes a terminal end 5E of the first track 5. That is, for the autonomous vehicle 1 traveling on the first main line 5a and the evacuation line 5b along the first direction D1, the first track 5 becomes a dead end at the terminal end 5E.

[0014] The third track 7 includes a second main line 7a. The second main line 7a is, for example, a straight line extending in the first direction D1 and is parallel to the first main line 5a. For example, the second main line 7a extends on an extension of the first main line 5a.

[0015] The second track 6 is, for example, a crossover (auxiliary track) for guiding the autonomous vehicle 1 traveling along the first main line 5a to the third track 7 (second main line 7a). The second track 6 is, for example, a straight line extending in the first direction D1. The second track 6 includes a first parallel line 6a and a second parallel line 6b. The first parallel line 6a runs parallel to the first main line 5a and is aligned with the first main line 5a in the second direction D2. The second parallel line 6b runs parallel to the second main line 7a and is aligned with the second main line 7a in the second direction D2.

[0016] The autonomous vehicle 1 is, for example, an unmanned guided vehicle. The autonomous vehicle 1 includes a sensor unit S and an information acquisition unit 8. Although not shown, the autonomous vehicle 1 may also include a communication unit, a control unit, a storage unit, and the like as appropriate. The control unit is, for example, a control circuit including a CPU, and is connected to the sensor unit S, the information acquisition unit 8, and the communication unit, and controls the operation of these units. The communication unit is a communication module capable of transmitting and receiving information to and from a host computer 300 and other devices wirelessly, for example. The storage unit is a storage device such as a ROM or a RAM, and may store a program for controlling the traveling of the autonomous vehicle 1.

[0017] In this example, the sensor unit S includes a first sensor 3, a second sensor 4, and a third sensor 2. The first sensor 3 reads (detects) the position of the first track 5 or the third track 7. The second sensor 4 reads the position of the second track 6. The control unit of the autonomous vehicle 1 controls the operation of the motor, wheels, etc. according to the position of the track L read by any of the first sensor 3, the second sensor 4, and the third sensor 2. This allows the autonomous vehicle 1 to automatically travel along the read track L.

[0018] That is, for example, the autonomous vehicle 1 reads a first trajectory 5 with the first sensor 3 and travels along the first trajectory 5. Alternatively, the autonomous vehicle 1 reads a second trajectory 6 with the second sensor 4 and travels along the second trajectory 6. Alternatively, the autonomous vehicle 1 reads a third trajectory 7 with the first sensor 3 and travels along the third trajectory 7. The autonomous vehicle 1 can switch the trajectory it reads (i.e., the trajectory it travels along) by switching the active sensor.

[0019] The first sensor 3 is located above the first track 5 when the autonomous vehicle 1 travels along the first track 5, and is located above the third track 7 when the autonomous vehicle 1 travels along the third track 7. The second sensor 4 is located above the second track 6 when the autonomous vehicle 1 travels along the second track 6.

[0020] The first sensor 3, the second sensor 4, and the third sensor 2 are disposed on a line perpendicular to the track in front of the body of the autonomous vehicle 1. For example, in a width direction WD perpendicular to the traveling direction TD of the autonomous vehicle 1, the first sensor 3 is located closer to the center of the autonomous vehicle 1 than the second sensor 4. The second sensor 4 and the third sensor 2 are aligned with the first sensor 3 in the width direction WD. The first sensor 3 is located between the second sensor 4 and the third sensor 2. In other words, the first sensor 3 is located in the center of the width direction WD of the autonomous vehicle 1, and the second sensor 4 and the third sensor 2 are disposed on the left and right of the first sensor 3, respectively.

[0021] Specifically, each sensor may be, for example, a line sensor capable of distinguishing light and dark in the detection range. For example, the sensor may include a reflective photosensor capable of detecting the reflectance of light. In such a case, the track L may be a tape attached to the floor surface and having a color different from that of the floor surface. The position of the track L can be detected from the difference in color (difference in brightness) of the floor surface. However, in the embodiment, the sensor and the track L are not limited to the above, and the autonomous vehicle 1 may be any type capable of tracing a line and traveling, such as an optical type or a magnetic type. It is desirable that one track L is a continuous single line, but there may be a broken part to the extent that the practicality of the autonomous vehicle 1 is not impaired. For example, a magnetic tape attached to the floor may be used as the track L, and a sensor capable of detecting the magnetism of the magnetic tape may be used as the sensor. In addition, for example, it is also possible to obtain an image of the surroundings of the autonomous vehicle 1 with a camera and detect the track L by image recognition.

[0022] The information presentation unit 9 is provided on a plurality of tracks L, and presents information to the information acquisition unit 8 of the autonomous vehicle 1. For example, the information presentation unit 9 is provided on the floor surface on which the tracks L are provided.

[0023] The information acquisition unit 8 of the autonomous vehicle 1 can acquire information presented by the information presentation unit 9 by approaching the information presentation unit 9. That is, the information acquisition unit 8 can acquire information presented by the information presentation unit 9 when the autonomous vehicle 1 travels along the track L and the information acquisition unit 8 comes within the reading range of the information presentation unit 9. By the information acquisition unit 8 acquiring information from the information presentation unit 9, it can be determined that the autonomous vehicle 1 has arrived at the position of the information presentation unit 9 (a position where information can be acquired from the information presentation unit 9).

[0024] Specifically, the information presentation unit 9 is an IC tag such as an RFID (radio frequency identification) tag, and the information acquisition unit 8 is an IC reader such as an RFID reader corresponding to the information presentation unit 9. For example, the IC tag is attached and fixed to the floor surface on which the track L is installed with an adhesive (adhesive tape or the like). However, the method of installing the information presentation unit 9 is not limited to adhesion or bonding, and is arbitrary. For example, one or more IC readers are installed on the underside of the body of the autonomous vehicle 1.

[0025] A plurality of information presentation units 9 may be provided along the track L. The autonomous vehicle 1 acquires information from each information presentation unit 9 while traveling along the track L. The information presentation units 9 can function as checkpoints for grasping the position of the autonomous vehicle 1.

[0026] When the information presentation unit 9 is an IC tag, the information presented by the information presentation unit 9 is information for identifying the IC tag, i.e., ID information assigned to each IC tag. The ID information is information indicating from which information presentation unit 9 the information was obtained, and corresponds to the location of the autonomous vehicle 1.

[0027] For example, the autonomous vehicle 1 transmits information (ID information) acquired from the information presentation unit 9 to the host computer 300. On the host computer 300 side, a control command instructing the driving operation of the autonomous vehicle 1 is set corresponding to each piece of ID information, for example. The driving operation to be instructed includes, for example, at least one of driving speed (acceleration / deceleration), stopping (pausing), starting, sensor switching (on / off), and the timing thereof.

[0028] The host computer 300 transmits a control command corresponding to the received information (ID information) to the autonomous vehicle 1. The autonomous vehicle 1 operates based on the control command received from the host computer 300. In this manner, the operation of the autonomous vehicle 1 can be controlled according to each checkpoint.

[0029] When viewed from above as in FIG. 1, the information presentation unit 9 is aligned with each of the first main line 5a and the first parallel line 6a in the second direction D2. When viewed from above, the information presentation unit 9 is located between the first main line 5a and the first parallel line 6a. When passing over the first parallel line 6a, the information acquisition unit 8 of the autonomous vehicle 1 passes over the information presentation unit 9 and acquires the information presented by the information presentation unit 9. Based on the acquired information, it can be determined that the autonomous vehicle 1 has reached the first parallel line 6a.

[0030] FIG. 2 is a flowchart illustrating the operation of an autonomous vehicle in the navigation system according to the embodiment. The autonomous vehicle 1 reads the position of the first track 5 (first main line 5a) by the first sensor 3, and travels along the first track 5 (step S101). The autonomous vehicle 1 arrives on the first parallel line 6a.

[0031] Then, the information acquisition unit 8 of the autonomous vehicle 1 starts reading the information presentation unit 9 provided on the first parallel line 6a, that is, starts acquiring IC tag information (for example, ID information) (step S102).

[0032] If the information acquisition unit 8 succeeds in reading the information presentation unit 9 (step S103: YES), the autonomous vehicle 1 executes the operations of steps S104 to S107. For example, the autonomous vehicle 1 may receive a control command from the host computer 300 by transmitting IC tag information of the information presentation unit 9 to the host computer 300, and execute steps S104 to S107 based on the control command.

[0033] The autonomous vehicle 1 activates the second sensor 4 in response to acquisition of the IC tag information, and reads the position of the second track 6 by the second sensor 4 (step S104). Then, the autonomous vehicle 1 proceeds along the second track 6 read by the second sensor 4 (step S105). That is, the autonomous vehicle 1 switches from a state in which the first sensor 3 reads the first main line 5a and travels along the first main line 5a to a state in which the second sensor 4 reads the first parallel line 6a and travels along the second parallel line 6b.

[0034] When a predetermined time has elapsed since the second sensor 4 was enabled, i.e., since the start of reading the second track 6, the autonomous vehicle 1 arrives on the second parallel line 6b and the second main line 7a. The control unit of the autonomous vehicle 1 measures a predetermined time with a timer, and when the predetermined time has elapsed since the second sensor 4 was enabled, it enables the first sensor 3 and reads the position of the third track 7 (step S106). Then, the autonomous vehicle 1 proceeds along the third track 7 read by the first sensor 3 (step S107). That is, the autonomous vehicle 1 switches from a state in which the second sensor 4 reads the second parallel line 6b and the autonomous vehicle 1 travels along the second parallel line 6b to a state in which the first sensor 3 reads the second main line 7a and the autonomous vehicle 1 proceeds along the second main line 7a.

[0035] On the other hand, if the information acquisition unit 8 does not succeed in reading the information presentation unit 9 (step S103: NO), for example, if the information presentation unit 9 is not recognized by the information acquisition unit 8, the operations according to the IC tag information of the information presentation unit 9 (steps S104 to S107) are not performed, and steps S108 and S109 are executed.

[0036] In this case, the first sensor 3 is valid, and the autonomous vehicle 1 continues to read the position of the first track 5 by the first sensor 3 and travel along the first track 5 (step S108). Therefore, the autonomous vehicle 1 travels along the first main line 5a and the connecting line 5c of the first track 5, and reaches the evacuation line 5b.

[0037] Furthermore, the autonomous vehicle 1 reads the evacuation line 5b with the first sensor 3, travels along the evacuation line 5b, and arrives at the terminal end 5E of the first track 5 and stops (step S109).

[0038] The effects of the embodiment will be described. If the information acquisition unit 8 cannot correctly acquire information from the information presentation unit 9, a malfunction may occur in the operation system. For example, as described above, an RFID tag may be used for the information presentation unit 9. RFID tags are small, lightweight, and inexpensive, and therefore are widely used not only in factories but also in retail sites. However, RFID tags are weak against repeated loads and may break down if carts or pedestrians pass over them frequently. When an RFID tag is attached to a floor surface with adhesive tape or the like and used to control the operation of a line tracing AGV, the tag may break down due to repeated loads and not function properly, causing the AGV to mistakenly pass through a checkpoint. For example, the AGV may enter the main line beyond the checkpoint at the wrong time.

[0039] In response to this, as described above, the autonomous vehicle 1 of the operation system 100 according to the embodiment can change the track to be read by switching between active sensors based on information from the information presentation unit 9, such as an IC tag installed on the floor. The track L of the autonomous vehicle 1 includes, for example, a first main line 5a that changes direction to the left or right without interruption near the IC tag to become an evacuation track 5b, a crossover line (second track 6) laid parallel to the first main line 5a, and a second main line 7a laid parallel to the crossover line.

[0040] Based on the information of the information presentation unit 9 acquired by the information acquisition unit 8, the autonomous vehicle 1 switches from a state of reading the first track 5 (first main line 5a) and traveling along the first track 5 to a state of reading the second track 6 (first parallel line 6a) and traveling along the second track 6, for example, as in steps S104 and S105. In other words, if the information acquisition unit 8 can acquire information, the traveling track is changed from the first track 5 to the second track 6. If the information acquisition unit 8 cannot acquire information, the autonomous vehicle 1 does not read the second track 6 and does not travel. This makes it possible to suppress problems that occur when the information acquisition unit 8 cannot acquire information. If the information acquisition unit 8 cannot acquire information, an operation is assumed in advance not to read the second track 6 and not to travel, and unintended traveling operations are suppressed. It is possible to improve the controllability of the operation of the autonomous vehicle.

[0041] More specifically, for example, like steps S108 and S109, when the information acquisition unit 8 cannot acquire information from the information presentation unit 9, the autonomous vehicle 1 travels along the evacuation line 5b from the first main line 5a of the first track 5, rather than the second track 6. In other words, when the information acquisition unit cannot acquire information, the autonomous vehicle 1 can be guided to and evacuated to the evacuation line 5b provided at a position deviated from the first main line 5a. This makes it possible to prevent the autonomous vehicle 1 from erroneously entering an extension of the first main line 5a (for example, the second main line 7a).

[0042] Thus, according to the embodiment, for example, in the operation control of a line tracing type automated guided vehicle that uses an IC tag, such as an RFID tag, as a marker, the possibility that the IC tag will malfunction due to repeated load or the like and not function properly, causing the automated guided vehicle to erroneously pass through a checkpoint, can be reduced. Even in the event of an IC tag malfunction, the line tracing type automated guided vehicle can be safely evacuated. In addition, since it is possible to introduce the line tracing type automated guided vehicle by simply expanding its basic functions without using complex functions, it can be introduced at low cost.

[0043] Although the example described above is for preventing an automated guided vehicle using an IC tag as a marker from passing through a checkpoint by mistake, the invention is not limited to this example, and since the automated guided vehicle 1 can read a plurality of lines, it is also possible to more smoothly control, for example, the direction of travel of the automated guided vehicle 1. In this way, according to the embodiment, it is possible to improve the controllability of operation.

[0044] After reading the second track 6 and traveling along the second track 6, the autonomous vehicle 1 switches to a state of reading the third track 7 and traveling along the third track 7, as in steps S105 to S107, for example. In this manner, if the information acquisition unit 8 can acquire information from the information presentation unit 9, the autonomous vehicle can temporarily travel along the second track 6, and then return to the main line (the second main line 7a which is an extension of the first main line 5a).

[0045] Also, in the above example, the track to be read is changed by switching the active sensor. That is, the autonomous vehicle 1 switches from a state in which the first sensor 3 reads the first track 5 and travels along the first track 5 to a state in which the second sensor 4 reads the second track 6 and travels along the second track 6, based on the information acquired by the information acquisition unit 8. By providing sensors corresponding to each track in this way, for example, the autonomous vehicle 1 can easily travel along each track.

[0046] At this time, the first sensor 3 is disposed more centrally in the width direction WD of the autonomous vehicle 1 than the second sensor 4. By reading the main line with the first sensor 3 located more centrally, for example, traveling along the main line becomes stable. For example, even if the main line includes a curve, the autonomous vehicle 1 can travel more stably. For example, as in steps S105 to S107, the autonomous vehicle 1 switches from a state in which the second sensor 4 reads the second track 6 to a state in which the first sensor 3 reads the third track 7. In this way, by re-enabling the first sensor 3 located more centrally, the autonomous vehicle 1 can travel more stably.

[0047] Further, the second sensor 4 is arranged alongside the first sensor 3 in the width direction WD (that is, the direction perpendicular to the direction in which the main line extends). This makes it easy to control travel even when the sensor is switched, for example.

[0048] In the above, an example was given in which the driving operation of the autonomous vehicle is controlled by communication with a host computer that stores a program for controlling the driving operation, but the operation system according to the embodiment does not necessarily have to be controlled by a host computer. For example, the autonomous vehicle 1 does not have to transmit ID information to the host computer, and the control unit of the autonomous vehicle 1 may determine and execute the driving operation based on the acquired ID information. For example, a combination of information presented by the information presentation unit 9 and a corresponding predetermined driving operation may be stored in advance in a host computer or a storage device of the autonomous vehicle 1, or the information presented by the information presentation unit 9 may include information on a control command. The control command may be changed as appropriate depending on the timing. The autonomous vehicle 1 may perform a driving operation according to the information presented by the information presentation unit 9. Also, for example, multiple autonomous vehicles or other devices may transmit and receive their status (acquired ID information, etc.) to each other. The control unit of autonomous vehicle 1 may determine and execute driving operations based on the status of autonomous vehicle 1 and other devices. In a driving system, the operations of other autonomous vehicles and devices may be controlled based on the ID information acquired by autonomous vehicle 1.

[0049] The reading range in which the information acquisition unit 8 acquires information from the information presentation unit 9 is, for example, within a distance (for example, about 0 cm to 1 m) in which an RFID tag and an RFID reader can communicate with each other. The size of the reading range may be a predetermined range determined appropriately so that the traveling of the autonomous vehicle 1 on the track L can be controlled. For example, when the autonomous vehicle 1 (information acquisition unit 8) passes over the information presentation unit 9 (when it overlaps with the information presentation unit 9 in a direction perpendicular to the traveling direction), the information acquisition unit 8 can acquire information presented by the information presentation unit 9. The position at which the information presentation unit 9 is attached to the track L is determined appropriately so that the information acquisition unit 8 of the autonomous vehicle 1 traveling on the track L can acquire information from the information presentation unit 9. The information presentation unit 9 may be in a position that contacts (or overlaps) the track L, or may not be in contact with the track L.

[0050] The information presentation unit 9 and the information acquisition unit 8 are not limited to an RFID tag and an RFID reader. For example, the information presentation unit 9 may be any transmitter that transmits ID information, and the information acquisition unit 8 may be any receiver that can receive the transmitted information. For example, the information presentation unit 9 may be a display or printed matter that displays ID information (code), and the information acquisition unit 8 may be a sensor (camera, scanner, etc.) that can read the displayed information. That is, the scope of the presentation of information includes the transmission or display of information. The scope of the acquisition of information includes the reception or reading of information. The information presentation unit 9 and the information acquisition unit 8 may be any method that can transmit information from the information presentation unit 9 to the information acquisition unit 8. The information presented by the information presentation unit 9 may be, for example, information corresponding to the arrival of the autonomous vehicle 1 at a predetermined position (checkpoint).

[0051] FIG. 3 is a schematic plan view illustrating a part of the operation system according to the embodiment. In the operation system 100, a plurality of autonomous vehicles 1 may operate simultaneously. In the example of FIG. 3, two tracks L (track L1 and track L2) run parallel to each other, and each autonomous vehicle 1 runs along each track L. Tracks L1 and L2 correspond to main lines (first main line 5a or second main line 7a), respectively. For example, the traveling direction of the autonomous vehicle 1 running on track L1 is opposite to the traveling direction of the autonomous vehicle 1 running on track L2. In the operation system, autonomous vehicles 1 may run in opposite directions and pass each other in a narrow passage or the like.

[0052] For example, when the autonomous vehicle 1 reaches the end of the track L, the sensor is unable to trace the line, and so the operation of the autonomous vehicle 1 may become temporarily unstable at the end. For example, at the end, the autonomous vehicle 1 may wander for a short period of time before stopping. Here, if the position of the end of a track L is close to an adjacent track L on the opposite side, the autonomous vehicle 1 whose operation has become unstable may affect the traveling of the other autonomous vehicle 1. For example, there is a possibility that oncoming vehicles may come into contact with each other.

[0053] 1, the evacuation track 5b has a terminal end 5E of the first track 5. The terminal end 5E is located away from the main line. This makes it possible to suppress the impact on other autonomous vehicles 1, for example, even if the operation of the autonomous vehicle 1 becomes unstable at the terminal end 5E.

[0054] FIG. 4 is a schematic plan view illustrating another example of the operation system according to the embodiment. In this example, the positions of the second track 6 and the evacuation track 5b are different from those of the operation system described with reference to Fig. 1. Specifically, in the example of Fig. 1, the second track 6 is provided on the right side as viewed from the main line, and the evacuation track 5b is provided on the left side, but in the example of Fig. 4, the evacuation track 5b is provided on the right side as viewed from the main line, and the second track 6 is provided on the left side.

[0055] When the track L is arranged as shown in Fig. 4, the third sensor 2 may be used instead of the second sensor 4 in a driving method similar to that of Figs. 1 and 2. That is, the autonomous vehicle 1 reads the second track 6 with the third sensor 2 and travels along the second track 6. The third sensor 2 is located above the second track 6 when the autonomous vehicle 1 travels along the second track 6.

[0056] For example, when the information acquisition unit 8 acquires information from the information presentation unit 9, the autonomous vehicle 1 activates the third sensor 2 and travels while reading the second track 6 with the third sensor 2. That is, the autonomous vehicle 1 switches from a state in which the first sensor 3 reads the first track 5 (first main line 5a) and travels along the first track 5 to a state in which the third sensor 2 reads the second track 6 (first parallel line 6a) and travels along the second track 6. Thereafter, the autonomous vehicle 1 activates the first sensor 3, and travels along the third track 7 by reading it with the first sensor 3. That is, the autonomous vehicle 1 switches from a state in which the third sensor 2 reads the second track 6 (second parallel line 6b) and travels along the second track 6 to a state in which the first sensor 3 reads the third track (second main line 7a) and travels along the third track 7. On the other hand, if the information acquisition unit 8 cannot acquire information from the information presentation unit 9, the first sensor 3 remains enabled, and the autonomous vehicle 1 reads the first track 5 with the first sensor 3 and travels along the first track 5. As a result, the autonomous vehicle 1 is guided from the first main line 5a of the first track 5 to the evacuation line 5b.

[0057] In this way, the autonomous vehicle 1 may include a third sensor 2 capable of reading the position of one of the multiple tracks L. For example, the first sensor 3 is located between the second sensor 4 and the third sensor 2. Even if the position of the second track 6 is changed to the opposite side, either left or right, as viewed from the main line, the autonomous vehicle 1 can read the second track 6 with the third sensor 2 and travel along the second track 6.

[0058] In the above example, a plurality of sensors are used corresponding to the positions of the tracks L, but the embodiment is not limited thereto. For example, one sensor may be capable of reading the positions of the tracks L arranged in the width direction WD. For example, the position of one sensor may be appropriately changed to change the track L read by the sensor.

[0059] That is to say, for example, the first sensor 3 is able to read the position of the first track 5 in a first position and the first sensor 3 is able to read the position of the second track 6 in a second position. The first sensor 3 may also be able to read the position of the third track 7 in the first position.

[0060] The first position and the second position are the positions of the first sensor 3 in the autonomous vehicle 1. For example, the first position is a position where the first sensor overlaps with the first track 5 in a direction perpendicular to the direction of travel when the autonomous vehicle 1 travels along the first track 5, specifically, a position above the first track 5. For example, the second position is a position where the first sensor overlaps with the second track 6 in a direction perpendicular to the direction of travel when the autonomous vehicle 1 travels along the second track 6, specifically, a position above the second track 6. For example, the first position is a position where the first sensor overlaps with the third track 7 in a direction perpendicular to the direction of travel when the autonomous vehicle 1 travels along the third track 7, specifically, a position above the third track 7.

[0061] In the case where the second sensor 4 and / or the third sensor 2 are not provided and the first sensor 3 whose position can be changed is provided, the first sensor 3 located at the first position may be used as the first sensor 3 and the first sensor 3 located at the second position may be used instead of the second sensor 4 in the same operation method as that of FIG. 1 and FIG. 2. That is, for example, the autonomous vehicle 1 changes the position of the first sensor 3 from the first position to the second position based on the information acquired by the information acquisition unit 8, thereby switching from a state in which the first sensor 3 at the first position reads the first track 5 and travels along the first track 5 to a state in which the first sensor 3 at the second position reads the second track 6 and travels along the second track 6. In addition, for example, the autonomous vehicle 1 changes the position of the first sensor 3 from the second position to the first position again, thereby switching from a state in which the autonomous vehicle 1 travels along the second track 6 to a state in which the first sensor 3 at the first position reads the third track 7 and travels along the third track. In this way, since the track can be changed with one sensor, the number of sensors can be reduced. In order to change the position of the sensor, any means, such as an actuator controlled by the control unit, may be provided in the autonomous vehicle 1 as appropriate.

[0062] The embodiment may include the following features. (Configuration 1) A plurality of orbits including a first orbit and a second orbit; An information presenting unit provided on each of the tracks for presenting information; an autonomous vehicle that reads the positions of the plurality of tracks and travels along the read tracks, the autonomous vehicle including an information acquisition unit that can acquire the information from the information presentation unit when the autonomous vehicle is within a reading range of the information presentation unit; Equipped with The autonomous vehicle switches from a state of reading the first track and traveling along the first track to a state of reading the second track and traveling along the second track based on the information acquired by the information acquisition unit. (Configuration 2) The first orbit is A first main line extending along a first direction; an evacuation line connected to the first main line and disposed at a position offset from the first main line in a direction intersecting the first direction; Including, 2. The autonomous vehicle operation system according to claim 1, wherein the autonomous vehicle runs from the first main line along the evacuation line when the information acquisition unit does not acquire the information from the information presentation unit. (Configuration 3) 3. The autonomous vehicle operation system of claim 2, wherein the evacuation line has a terminal end of the first track. (Configuration 4) the plurality of trajectories includes a third trajectory; The autonomous vehicle operation system of any one of configurations 1 to 3, wherein the autonomous vehicle switches to a state of reading the third track and running along the third track after reading the second track and running along the second track. (Configuration 5) The autonomous vehicle includes: a first sensor for reading a position of the first track; A second sensor for reading a position of the second track; Including, 5. The autonomous vehicle operation system of any one of configurations 1 to 4, wherein, based on the information acquired by the information acquisition unit, a state in which the first sensor reads the first track and the vehicle travels along the first track is switched to a state in which the second sensor reads the second track and the vehicle travels along the second track. (Configuration 6) The autonomous vehicle operation system of configuration 5, wherein the first sensor is located more centrally of the autonomous vehicle than the second sensor in a width direction perpendicular to the direction of travel of the autonomous vehicle. (Configuration 7) The autonomous vehicle operation system of configuration 5 or 6, wherein the second sensor is aligned with the first sensor in a width direction perpendicular to the direction of travel of the autonomous vehicle. (Configuration 8) the automated vehicle includes a third sensor capable of reading a position of a track; 8. The autonomous vehicle operation system according to any one of configurations 5 to 7, wherein the first sensor is located between the second sensor and the third sensor. (Configuration 9) the plurality of trajectories includes a third trajectory; The autonomous vehicle operation system of any one of configurations 5 to 8, wherein the autonomous vehicle switches from a state in which the second sensor reads the second track and drives along the second track to a state in which the first sensor reads the third track and drives along the third track. (Configuration 10) The autonomous vehicle includes: a sensor capable of reading the position of the first track at a first location and the position of the second track at a second location; 5. The autonomous vehicle operation system of any one of configurations 1 to 4, wherein the autonomous vehicle switches from a state of traveling along the first track to a state of traveling along the second track by changing the position of the sensor based on the information acquired by the information acquisition unit. (Configuration 11) A method for operating an autonomous vehicle that reads the positions of a plurality of tracks including a first track and a second track and travels along the read tracks, An information presenting unit that presents information is attached to the plurality of tracks, The autonomous vehicle includes: an information acquisition unit capable of acquiring the information from the information presentation unit when the information presentation unit is within a reading range of the information presentation unit; A method for operating an autonomous vehicle, switching from a state of reading the first track and traveling along the first track to a state of reading the second track and traveling along the second track based on the information acquired by the information acquisition unit.

[0063] According to the embodiment, an operation system for an autonomous vehicle and an operation system for an autonomous vehicle that can improve the controllability of operation are provided. For example, it is possible to suppress problems that occur when an autonomous vehicle cannot acquire information from an IC tag or the like.

[0064] In this specification, "vertical" and "parallel" do not only mean strictly vertical and strictly parallel, but also include, for example, variations in the manufacturing process, and may mean substantially vertical and substantially parallel.

[0065] The above describes the embodiment of the present invention with reference to specific examples. However, the present invention is not limited to these specific examples. For example, the specific configurations of each element, such as the track, the information presentation unit, and the self-driving car, included in the operation system, are included in the scope of the present invention as long as a person skilled in the art can implement the present invention in a similar manner and obtain similar effects by appropriately selecting them from the known range.

[0066] Any combination of two or more elements of each embodiment, within the scope of technical feasibility, is also included within the scope of the present invention as long as it includes the gist of the present invention.

[0067] In addition, all operation systems and operation methods that can be implemented by a person skilled in the art by appropriate design modifications based on the operation system and operation method described above as embodiments of the present invention also fall within the scope of the present invention as long as they include the gist of the present invention.

[0068] In addition, within the scope of the concept of the present invention, a person skilled in the art may think of various modifications and alterations, and it will be understood that these modifications and alterations also fall within the scope of the present invention.

[0069] Although some embodiments of the present invention have been described, 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 forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0070] 1. Self-driving cars 2. Third Sensor 3 First Sensor 4 Second Sensor 5 1st orbit 5E Termination 5a 1st Line 5b Evacuation Line 5c Connecting wire 6 Second orbit 6a 1st parallel track 6b 2nd parallel running line 7 3rd orbit 7a 2nd main line 8 Information acquisition section 9 Information presentation section 100 Operation System 300 host computer D1 1st direction D2 2nd direction L, L1, L2 orbit S Sensor section S101~S109 Steps TD direction of travel WD Width direction

Claims

1. A plurality of trajectories including a first trajectory and a second trajectory; An information presenting unit provided on each of the tracks for presenting information; an autonomous vehicle that reads the positions of the plurality of tracks and travels along the read tracks, the autonomous vehicle including an information acquisition unit that can acquire the information from the information presentation unit when the autonomous vehicle is within a reading range of the information presentation unit; Equipped with an autonomous vehicle operation system, wherein the autonomous vehicle switches from a state of reading the first track and traveling along the first track to a state of reading the second track and traveling along the second track based on the information acquired by the information acquisition unit.

2. The first orbit is A first main line extending along a first direction; an evacuation line connected to the first main line and disposed at a position shifted from the first main line in a direction intersecting the first direction; Including, 2. The autonomous vehicle operation system according to claim 1, wherein the autonomous vehicle runs from the first main line along the evacuation line when the information acquisition unit does not acquire the information from the information presentation unit.

3. The autonomous vehicle operation system according to claim 2 , wherein the evacuation line comprises a terminal end of the first track.

4. the plurality of orbits includes a third orbit; The autonomous vehicle operation system according to any one of claims 1 to 3, wherein the autonomous vehicle switches to a state of reading the third track and running along the third track after reading the second track and running along the second track.

5. The autonomous vehicle includes: a first sensor for reading a position of the first track; a second sensor for reading a position of the second track; Including, 4. The autonomous vehicle operation system of claim 1, wherein, based on the information acquired by the information acquisition unit, a state in which the first sensor reads the first track and the vehicle travels along the first track is switched to a state in which the second sensor reads the second track and the vehicle travels along the second track.

6. The autonomous vehicle operation system according to claim 5 , wherein the first sensor is located closer to the center of the autonomous vehicle than the second sensor in a width direction perpendicular to a traveling direction of the autonomous vehicle.

7. The autonomous vehicle operation system according to claim 5 , wherein the second sensor is aligned with the first sensor in a width direction perpendicular to a traveling direction of the autonomous vehicle.

8. the automated vehicle includes a third sensor capable of reading a position of a track; The autonomous vehicle operation system according to claim 5 , wherein the first sensor is located between the second sensor and the third sensor.

9. the plurality of orbits includes a third orbit; 6. The autonomous vehicle operation system of claim 5, wherein the autonomous vehicle switches from a state in which the second sensor reads the second track and travels along the second track to a state in which the first sensor reads the third track and travels along the third track.

10. The autonomous vehicle includes: a sensor capable of reading the position of the first track at a first location and the position of the second track at a second location; 4. The autonomous vehicle operation system of claim 1, wherein the autonomous vehicle switches from a state of traveling along the first track to a state of traveling along the second track by changing the position of the sensor based on the information acquired by the information acquisition unit.

11. A method for operating an autonomous vehicle that reads positions of a plurality of tracks including a first track and a second track and travels along the read tracks, comprising: An information presenting unit that presents information is attached to the plurality of tracks, The autonomous vehicle includes: an information acquisition unit capable of acquiring the information from the information presentation unit when the information presentation unit is within a reading range of the information presentation unit; A method for operating an autonomous vehicle, switching from a state of reading the first track and traveling along the first track to a state of reading the second track and traveling along the second track based on the information acquired by the information acquisition unit.

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