Unmanned conveyance vehicle, unmanned conveyance system, and method for controlling unmanned conveyance vehicle

Abstract

To suppress power consumed by an unmanned conveyance vehicle making rounds of a plurality of stations provided along a movement route.SOLUTION: An unmanned conveyance vehicle travels on a movement route, thereby making rounds of a plurality of stations provided along the movement route. The unmanned conveyance vehicle includes a control section for performing control to: shift a mode of an own vehicle from a normal mode consuming a relatively large amount of power to a sleep mode consuming a relatively small amount of power when a state where the own vehicle stops at a position different from a position of each station on the movement route, continues for a predetermined period; maintain the mode of the own vehicle in the normal mode when the own vehicle stops at the position of the station on the movement route; and shift the mode of the own vehicle from the sleep mode to the normal mode when detecting that another vehicle approaches the own vehicle or when detecting that another vehicle moves away from the own vehicle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The disclosed technology relates to an automated guided vehicle, an automated guided vehicle system, and a method for controlling an automated guided vehicle.

Background Art

[0002] As technologies related to automated guided vehicles, the following technologies are known. For example, Patent Document 1 describes a method for handling a defective vehicle in a warehouse system including a plurality of remotely operated vehicles configured to move laterally on a rail system and a control system for wirelessly monitoring and controlling the movement of the plurality of vehicles.

[0003] Patent Document 2 describes a traveling vehicle system including a traveling vehicle, a power storage device mounted on the traveling vehicle, and a charging device capable of charging the power storage device. The traveling vehicle includes a receiving unit that receives a predetermined signal, an acquisition unit that acquires the power storage amount of the power storage device, a traveling control unit that attempts to travel to the charging device when the power storage amount falls below a first threshold, a mode switching unit that switches the power consumption mode of the traveling vehicle from a first mode in which traveling of the traveling vehicle is permitted to a second mode in which power consumption other than the receiving unit in the traveling vehicle is reduced when the power storage amount falls below a second threshold smaller than the first threshold, and a power cutoff unit that cuts off power supply from the power storage device when the power storage amount falls below a third threshold smaller than the second threshold.

[0004] Patent Document 3 describes an automated warehouse having a control target device group including a stacker crane, an incoming vehicle, and an outgoing vehicle, a power switch unit provided individually for each control target device constituting the control target device group, a system management unit that monitors the operating state of the control target device group, determines whether each control target device is in a standby state, measures time from the start of standby for the control target device in the standby state, and outputs a power cutoff command signal to the power switch unit of only the control target device for which the standby time has elapsed for a certain time.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] Japanese Patent Publication No. 2021-528332 [Patent Document 2] Japanese Unexamined Patent Application Publication No. 2015-012638 [Patent Document 3] Japanese Unexamined Patent Application Publication No. 2014-201398 [Summary of the Invention] [Problems to be Solved by the Invention]

[0006] An Automated Guided Vehicle (AGV) is a vehicle that performs transportation tasks in place of humans. Due to the increasing demand for logistics and the growing interest in labor-saving efforts in recent years, its introduction in warehouses and factories has been expanding. An AGV is equipped with a battery and runs on the power supplied by the battery.

[0007]

[0008] Here, consider the case where multiple AGVs travel on a predetermined travel route to circulate through a plurality of work stations provided along the travel route. At each work station, loading of goods onto the AGV or receiving of goods from the AGV is performed. After the work at the work station is completed, the battery is charged at the charging station. If the work at any of the work stations is interrupted, all the AGVs will stop on the travel route. Since an AGV consumes power even in a stopped state, if the work is interrupted for a long time, the remaining battery level may become insufficient, and there is a risk that it will not be able to reach the charging station. [Means for Solving the Problems]

[0009] The driverless transport vehicle according to the disclosed technology travels on a travel route to circulate through a plurality of stations provided along the travel route. When the state where the vehicle itself stops at a position other than the station on the travel route continues for a predetermined period, the control unit of the vehicle itself shifts the mode of the vehicle itself from a normal mode with relatively high power consumption to a sleep mode with relatively low power consumption. When the vehicle itself stops at the position of the station on the travel route, the mode of the vehicle itself is maintained in the normal mode. When it is detected that another vehicle approaches the vehicle itself or when it is detected that another vehicle moves away from the vehicle itself, the control unit performs control to shift the mode of the vehicle itself from the sleep mode to the normal mode.

[0010] When the vehicle itself stops at the position of a specific station among the plurality of stations on the travel route, the control unit may maintain the mode of the vehicle itself in the normal mode. When the state where the vehicle itself stops at a position of a station other than the specific station on the travel route continues for a predetermined period, the control unit may shift the mode of the vehicle itself to the sleep mode.

[0011] The driverless transport vehicle may further include a proximity sensor that outputs a signal according to the distance from another vehicle. The control unit may detect that another vehicle approaches the vehicle itself and that another vehicle moves away from the vehicle itself based on the output signal of the proximity sensor.

[0012] When the control unit detects the completion of work at the station where the host vehicle has stopped, the control unit may perform control to cause the host vehicle to travel forward along the movement path. The control unit may detect the completion of the work based on the load of a battery that supplies power for the host vehicle to travel. The automated guided vehicle may further include a weight sensor that outputs a signal indicating the weight of an article loaded on the host vehicle, and the control unit may detect the completion of the work based on the output signal of the weight sensor. The control unit may detect the completion of the work based on an image captured by a camera mounted on the host vehicle. The control unit may detect the completion of the work based on an operation of a switch provided on the host vehicle.

[0013] After the control unit shifts the mode of the host vehicle from the sleep mode to the normal mode, the control unit may perform control to cause the host vehicle to travel forward along the movement path.

[0014] The automated guided vehicle system according to the disclosed technology includes a plurality of automated guided vehicles that each travel along a movement path to tour a plurality of stations provided along the movement path. Each of the automated guided vehicles has a control unit that, when a state in which the host vehicle has stopped at a position other than the station on the movement path continues for a predetermined period, shifts the mode of the host vehicle from a normal mode with relatively high power consumption to a sleep mode with relatively low power consumption, maintains the mode of the host vehicle in the normal mode when the host vehicle has stopped at the position of the station on the movement path, and performs control to shift the mode of the host vehicle from the sleep mode to the normal mode when it is detected that another vehicle has approached the host vehicle or when it is detected that another vehicle has moved away from the host vehicle.

[0015] The control method according to the disclosed technology is a control method for an automated guided vehicle that travels along a travel path and circulates through a plurality of stations provided along the travel path. When the state where the own vehicle is stopped at a position other than the station on the travel path continues for a predetermined period, the mode of the own vehicle is shifted from a normal mode with relatively high power consumption to a sleep mode with relatively low power consumption. When the own vehicle is stopped at the position of the station on the travel path, the mode of the own vehicle is maintained in the normal mode. When it is detected that another vehicle has approached the own vehicle or when it is detected that another vehicle has moved away from the own vehicle, the control unit of the automated guided vehicle executes control to shift the mode of the own vehicle from the sleep mode to the normal mode.

Advantages of the Invention

[0016] According to the disclosed technology, it is possible to suppress the power consumption of an automated guided vehicle that circulates through a plurality of stations provided along a travel path.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 6D

Embodiments for Carrying out the Invention

[0018] Hereinafter, an example of an embodiment of the disclosed technology will be described with reference to the drawings. In each drawing, the same or equivalent components and parts are given the same reference numerals, and duplicate descriptions are omitted.

[0019] FIG. 1 is a diagram showing an example of the layout of a work floor 50 to which an unmanned transport system 1 according to an embodiment of the disclosed technology is applied. The work floor 50 may be provided, for example, in a product manufacturing factory or a logistics warehouse.

[0020] A plurality of work stations 20 and at least one charging station 30 are installed on the work floor 50, and a plurality of unmanned transport vehicles 10 are deployed. In FIG. 1, four work stations 20 installed side by side in a straight line are illustrated. The work stations 20 and the charging station 30 are provided along the movement path 60 of the unmanned transport vehicle 10. The unmanned transport vehicle 10 travels along the movement path to sequentially circulate through the work stations 20.

[0021] The automated guided vehicle 10 travels on the movement path 60 and stops at the positions of the respective work stations 20. An operator or a robot is deployed at each work station 20, and at each work station 20, an operation of loading an article (for example, a product, a part, or a package) onto the automated guided vehicle 10 or an operation of receiving an article from the automated guided vehicle 10 is performed. After the operation at the work station 20 is completed, the automated guided vehicle 10 moves to the next work station 20. A waiting queue of the automated guided vehicle 10 may occur on the movement path 60. After the operations at all the work stations 20 are completed, the automated guided vehicle 10 stops at the position of the charging station 30. At the charging station 30, the battery 40 (see FIG. 2) provided in the automated guided vehicle 10 is charged. Thereafter, the automated guided vehicle 10 tours the work stations 20 again. The movement path of the automated guided vehicle 10 may be, for example, loop-shaped as illustrated in FIG. 1.

[0022] FIG. 2 is a diagram showing an example of a system configuration related to the travel control of the automated guided vehicle 10. The automated guided vehicle 10 includes a control unit 11, a battery 40, a BMS (Battery Management System) 12, a motor 13, a vehicle speed sensor 14, a proximity sensor 15, a weight sensor 16, a magnetic sensor 17, a camera 18, and a switch 19.

[0023] The motor 13 is a power source of the automated guided vehicle 10. The battery 40 supplies electric power to each of the above-described components including the motor 13 and the control unit 11. The BMS 12 manages the battery 40. The BMS 12 has, for example, a function of preventing overcharging and over-discharging of the battery 40, a function of preventing overcurrent of the battery 40, a function of performing temperature management of the battery 40, a function of calculating the remaining amount of the battery 40, and a function of equalizing the cell voltages of the battery 40.

[0024] The vehicle speed sensor 14 outputs a signal indicating the vehicle speed of the host vehicle. The proximity sensor 15 is a sensor for detecting the approach of other vehicles from the front and rear of the host vehicle, and outputs a signal according to the distance to other vehicles. The proximity sensor 15 may be provided on both the front part and the rear part of the automated guided vehicle 10. The weight sensor 16 outputs a signal indicating the weight of the articles loaded on the host vehicle. The magnetic sensor 17 is a sensor for reading a magnetic tape provided along the travel path 60 on the work floor 50. The automated guided vehicle 10 can travel on the travel path 60 without deviation by traveling while tracing the magnetic tape using the magnetic sensor 17. The camera 18 reads a QR code (registered trademark) indicating the management information of the articles transported by the automated guided vehicle 10. The switch 19 is operated by an operator or a robot when the work at each work station 20 is completed.

[0025] The control unit 11 is a microcomputer that controls the travel of the host vehicle. The control unit 11 controls the motor 13 based on the information supplied from the BMS 12, the camera 18, the switch 19, and various sensors.

[0026] Here, when the work at any one of the work stations 20 is interrupted, all the automated guided vehicles 10 will stop on the travel path 60. Since the automated guided vehicle 10 consumes power even in the stopped state, if the work is interrupted for a long time, the remaining amount of the battery 40 may become insufficient and it may not be possible to reach the charging station 30. The control unit 11 performs switching control of the power consumption mode of the host vehicle in order to suppress the power consumption of the host vehicle. That is, the control unit 11 selectively applies two power consumption modes: a normal mode in which power consumption is relatively high and a sleep mode in which power consumption is relatively low. In the sleep mode, the power supply from the battery 40 to the motor 13, the camera 18, the switch 19, and various sensors (excluding the proximity sensor 15) is stopped, and furthermore, some functions of the control unit 11 are stopped, thereby suppressing the power consumption.

[0027] FIG. 3 is a flowchart showing an example of the flow of processing when the control unit 11 shifts the power consumption mode of the host vehicle from the normal mode to the sleep mode. In the initial state, it is assumed that the power consumption modes of all the automated guided vehicles 10 are in the normal mode.

[0028] In step S1, the control unit 11 determines whether or not the host vehicle has stopped based on the output signal of the vehicle speed sensor 14. If it is determined that the host vehicle has stopped, the process proceeds to step S2.

[0029] In step S2, the control unit 11 determines whether or not the stop position of the host vehicle is at the position of any of the work stations 20 (the position at the head of the waiting line) based on the output signal of the magnetic sensor 17. Information indicating the station position is recorded on the magnetic tape, and it is possible to determine whether or not the stop position is at the position of the work station 20 based on the output signal of the magnetic sensor 17. If it is determined that the stop position is at the position of the work station 20, the process proceeds to step S3, and if it is determined that the stop position is at a position other than the work station 20 (the second and subsequent positions in the waiting line), the process proceeds to step S4.

[0030] In step S3, the control unit 11 maintains the power consumption mode of the host vehicle in the normal mode. That is, when the host vehicle has stopped at the position of the work station 20 (the position at the head of the waiting line), the control unit 11 maintains the power consumption mode of the host vehicle in the normal mode regardless of whether or not the work has been interrupted.

[0031] In step S4, the control unit 11 determines whether a predetermined period has elapsed since the host vehicle stopped. The predetermined period is set to a period during which it is possible to determine whether work interruption has occurred at the work station 20. That is, if it is determined that the predetermined period has elapsed since the host vehicle stopped, it can be presumed that work interruption has occurred at any of the work stations 20. If it is determined that the predetermined period has elapsed since the host vehicle stopped, the process proceeds to step S5. If the host vehicle resumes running before the predetermined period has elapsed since it stopped, the process returns to step S1.

[0032] In step S5, the control unit 11 shifts the power consumption mode of the host vehicle from the normal mode to the sleep mode. In the sleep mode, the power supply from the battery 40 to the motor 13, the camera 18, the switch 19, and various sensors (excluding the proximity sensor 15) is stopped, and further, some functions of the control unit 11 are stopped, thereby suppressing power consumption.

[0033] Note that when the host vehicle stops at the position of a specific work station 20 among a plurality of work stations 20 on the movement path 60, the control unit 11 may maintain the power consumption mode of the host vehicle in the normal mode. In this case, when the state in which the host vehicle stops at the position of a work station 20 other than the specific work station 20 on the movement path 60 continues for a predetermined period, the control unit 11 shifts the power consumption mode of the host vehicle to the sleep mode. The specific work station 20 may be fixed or may be changed each time work interruption occurs.

[0034] FIG. 4 is a flowchart showing an example of the processing flow executed by the control unit 11 of the driverless transport vehicle 10 maintained in the normal mode. The driverless transport vehicle 10 maintained in the normal mode is a vehicle that stops at the position of the work station 20 (the position at the head of the waiting line).

[0035] In step S11, the control unit 11 determines whether the work at the work station 20 where the host vehicle has stopped has been completed. That is, it is a situation where the work interrupted at any of the work stations 20 has been resumed.

[0036] The control unit may detect the completion of the work based on the load of the battery 40. The load of the battery 40 can be obtained from the power consumption of the battery 40 when the host vehicle is slightly moved. The current value and voltage value for calculating the power consumption of the battery 40 can be obtained from the BMS 12. Since the load of the battery 40 changes depending on whether an article is loaded on the host vehicle, it is possible to determine whether the work of loading an article on the host vehicle or receiving an article from the host vehicle has been completed based on the load of the battery 40.

[0037] Also, the control unit 11 may detect the completion of the work based on the output signal of the weight sensor 16. Since the weight detected by the weight sensor 16 changes depending on whether an article is loaded on the host vehicle, it is possible to determine whether the work of loading an article on the host vehicle or receiving an article from the host vehicle has been completed based on the output signal of the weight sensor 16.

[0038] Also, the control unit may detect the completion of the work based on the image captured by the camera 18 mounted on the host vehicle. By capturing the loading status of the article in the host vehicle with the camera 18, it is possible to determine whether the work of loading an article on the host vehicle or receiving an article from the host vehicle has been completed.

[0039] Also, the control unit 11 may detect the completion of the work based on, for example, the operation of the switch 19 provided on the host vehicle. The switch 19 is operated by an operator or a robot when the work at each work station 20 is completed.

[0040] When it is determined that the work at the work station 20 where the own vehicle has stopped has been completed, the process proceeds to step S12. In step S12, the control unit 11 causes the own vehicle to travel forward on the travel route 60 in order to move the own vehicle to the next work station 20. At this time, the automated guided vehicle 10 stopped at a position other than the work station 20 (the second and subsequent positions in the waiting line) is maintained in the sleep state.

[0041] FIG. 5 is a flowchart showing an example of the flow of processing when the control unit 11 shifts the power consumption mode of the own vehicle from the sleep mode to the normal mode in a situation where the work interrupted at any of the work stations 20 is resumed.

[0042] In step S21, the control unit 11 determines whether another vehicle has approached the own vehicle based on the output signal of the proximity sensor 15. The other vehicle is a vehicle that maintains the normal mode or a vehicle that has shifted to the normal mode earlier than the own vehicle. Even in the sleep mode, the power supply to the proximity sensor 15 is continued, and the proximity sensor 15 functions effectively.

[0043] For example, as shown in FIG. 6A, when the work at the work station 20A is completed after the resumption of the interrupted work, the vehicle 10A that maintains the normal mode moves toward the next work station 20B. The vehicle 10B in the sleep mode stopped at the rearmost position of the work station 20B detects the approach of the vehicle 10A moving toward the work station 20B. From this, the resumption of the interrupted work is detected in the vehicle 10B.

[0044] Also, as shown in FIG. 6B, the vehicle 10C that has shifted to the normal mode in the waiting line moves slightly forward by the process of step S24 described later. In the waiting line, the vehicle 10D in the sleep mode stopped in front of the vehicle 10C detects the approach of the vehicle 10C that has shifted to the normal mode earlier than the own vehicle. From this, the resumption of the interrupted work is detected in the vehicle 10D.

[0045] In step S21, if it is determined that another vehicle has approached the host vehicle, the process proceeds to step S23; otherwise, the process proceeds to step S22.

[0046] In step S22, the control unit 11 determines, based on the output signal of the proximity sensor 15, whether the other vehicle has moved away from the host vehicle. The other vehicle is a vehicle that maintains the normal mode or a vehicle that has shifted to the normal mode earlier than the host vehicle.

[0047] For example, as shown in FIG. 6C, when the work at the work station 20 is completed after resuming the interrupted work, the vehicle 10E that maintains the normal mode moves to the next work station 20. The vehicle 10F in the sleep mode that stops at the second position in the waiting queue of the work station 20 detects that the vehicle 10E has moved away from the host vehicle. From this, in the vehicle 10F, the resumption of the interrupted work is detected.

[0048] Also, as shown in FIG. 6D, the vehicle 10G that has shifted to the normal mode in the waiting queue moves slightly forward by the process of step S24 described later. In the waiting queue, the vehicle 10H in the sleep mode that stops behind the vehicle 10G detects that the vehicle 10G that has shifted to the normal mode earlier than the host vehicle has moved away from the host vehicle. From this, in the vehicle 10H, the resumption of the interrupted work is detected.

[0049] In step S22, if it is determined that the other vehicle has moved away from the host vehicle, the process proceeds to step S23; otherwise, the process returns to step S21. In step S23, the control unit 11 presumes that the interrupted work has been resumed and shifts the power consumption mode of the host vehicle from the sleep mode to the normal mode.

[0050] As described above, when the control unit 11 of the driverless transport vehicle 10 is in a state where the vehicle has stopped at a position other than the work station 20 on the movement route 60 for a predetermined period, the power consumption mode of the vehicle is shifted from the normal mode to the sleep mode. The control unit 11 maintains the power consumption mode of the vehicle in the normal mode when the vehicle has stopped at the position of the work station 20 on the movement route 60. When the control unit 11 detects that another vehicle has approached the vehicle or has moved away from the vehicle, the control unit 11 shifts the power consumption mode of the vehicle from the sleep mode to the normal mode.

[0051] According to the driverless transport vehicle 10 according to the present embodiment, in a situation where the work at any of the work stations 20 is interrupted, when the vehicle has stopped at a position other than the work station 20, the power consumption mode is shifted from the normal mode to the sleep mode. Thereby, it is possible to suppress the power consumption during the period until the work is resumed. By suppressing the power consumption, it is possible to suppress the risk that the driverless transport vehicle 10 cannot reach the charging station 30, and thereby, it is possible to increase the operation rate of the process. In addition, since the frequency of manually charging the driverless transport vehicle 10 that cannot reach the charging station 30 also decreases, it is possible to suppress the man-hours. Further, since the power consumption is suppressed, it is possible to suppress the amount of charge when charging the battery 40 at the charging station 30. Thereby, since the charging rate can be lowered, it is possible to suppress the deterioration of the battery 40.

[0052] Moreover, according to the automated guided vehicle 10 according to the present embodiment, in a situation where the work at any of the work stations 20 is interrupted, when the own vehicle is stopped at the position of the work station 20, the power consumption mode is maintained in the normal mode. The vehicle maintained in the normal mode is used to shift a vehicle in the sleep mode to the normal mode when the interrupted work is resumed. For example, it is conceivable to notify the automated guided vehicle of the resumption of work by transmitting a control signal from the outside to the automated guided vehicle. In this case, however, it is necessary to provide each automated guided vehicle with a communication function. According to the automated guided vehicle 10 according to the present embodiment, since the vehicle maintained in the normal mode is used to shift a vehicle in the sleep mode to the normal mode when the interrupted work is resumed, it is not necessary to provide each automated guided vehicle with a communication function. Thereby, it is possible to suppress the facility investment cost. In a situation where work interruptions occur intermittently, it is assumed that the vehicles stopped at the position of the work station 20, that is, the vehicles maintained in the normal mode, are sequentially replaced. Therefore, the vehicles maintained in the normal mode do not bias towards specific vehicles, and the power consumption does not bias towards specific vehicles.

[0053] Regarding the above embodiments, the following additional remarks are further disclosed. (Additional Remark 1) An automated guided vehicle that travels on a travel path and tours a plurality of stations provided along the travel path, when a state in which the own vehicle is stopped at a position other than the station on the travel path continues for a predetermined period, the mode of the own vehicle is shifted from the normal mode with relatively high power consumption to the sleep mode with relatively low power consumption, when the own vehicle is stopped at the position of the station on the travel path, the mode of the own vehicle is maintained in the normal mode, when it is detected that another vehicle has approached the own vehicle or when it is detected that another vehicle has moved away from the own vehicle, the mode of the own vehicle is shifted from the sleep mode to the normal mode An automated guided vehicle having a control unit that performs control.

[0054] (Appendix 2) The control unit When the host vehicle stops at the position of a specific station among the plurality of stations on the movement route, maintains the mode of the host vehicle in the normal mode. When the state where the host vehicle stops at a station other than the specific station on the movement route continues for a predetermined period, shifts the mode of the host vehicle to the sleep mode. The unmanned transport vehicle according to Appendix 1, which performs control.

[0055] (Appendix 3) Further includes a proximity sensor that outputs a signal according to the distance from other vehicles, The control unit detects that another vehicle has approached the host vehicle and that another vehicle has moved away from the host vehicle based on the output signal of the proximity sensor. The unmanned transport vehicle according to Appendix 1 or Appendix 2.

[0056] (Appendix 4) When the control unit detects the completion of work at the station where the host vehicle has stopped, performs control to make the host vehicle travel forward on the movement route. The unmanned transport vehicle according to any one of Appendices 1 to 3.

[0057] (Appendix 5) The control unit detects the completion of the work based on the load of the battery that supplies power for the host vehicle to travel. The unmanned transport vehicle according to Appendix 4.

[0058] (Appendix 6) Further includes a weight sensor that outputs a signal indicating the weight of the article loaded on the host vehicle, The control unit detects the completion of the work based on the output signal of the weight sensor. The unmanned transport vehicle according to Appendix 4.

[0059] (Appendix 7) Based on an image captured by a camera mounted on the host vehicle, the control unit detects the completion of the work. The automated guided vehicle according to Supplementary Note 4.

[0060] (Supplementary Note 8) Based on an operation of a switch provided on the host vehicle, the control unit detects the completion of the work. The automated guided vehicle according to Supplementary Note 4.

[0061] (Supplementary Note 9) After shifting the mode of the host vehicle from the sleep mode to the normal mode, the control unit performs control to cause the host vehicle to travel forward along the travel route. The automated guided vehicle according to any one of Supplementary Notes 1 to 8.

[0062] (Supplementary Note 10) An automated guided vehicle system including a plurality of automated guided vehicles that each travel along a travel route to circulate through a plurality of stations provided along the travel route, Each of the automated guided vehicles, when a state in which the host vehicle stops at a position other than the station on the travel route continues for a predetermined period, shifts the mode of the host vehicle from the normal mode with relatively high power consumption to the sleep mode with relatively low power consumption, when the host vehicle stops at the position of the station on the travel route, maintains the mode of the host vehicle in the normal mode, when detecting that another vehicle approaches the host vehicle or detecting that another vehicle moves away from the host vehicle, shifts the mode of the host vehicle from the sleep mode to the normal mode and has a control unit that performs control. Automated guided vehicle system.

[0063] (Supplementary Note 11) A control method for an automated guided vehicle that travels along a travel route to circulate through a plurality of stations provided along the travel route, When the state in which the host vehicle is stopped at a position other than the station on the movement route continues for a predetermined period, shift the mode of the host vehicle from the normal mode with relatively high power consumption to the sleep mode with relatively low power consumption. When the host vehicle is stopped at the position of the station on the movement route, maintain the mode of the host vehicle in the normal mode. When it is detected that another vehicle has approached the host vehicle or when it is detected that another vehicle has moved away from the host vehicle, shift the mode of the host vehicle from the sleep mode to the normal mode. A control method executed by a control unit of an automated guided vehicle.

Explanation of Signs

[0064] 10 Automated guided vehicle 11 Control unit 12 BMS 13 Motor 14 Vehicle speed sensor 15 Proximity sensor 15 Proximity sensor 16 Weight sensor 17 Magnetic sensor 18 Camera 19 Switch 20, 20A, 20B Work station 30 Charging station 40 Battery 50 Work floor 60 Movement route

Claims

1. An unmanned transport vehicle that circulates a plurality of stations provided along the movement path by traveling on the movement path, When the state in which the own vehicle stops at a position other than the station on the movement path continues for a predetermined period, the mode of the own vehicle is shifted from a normal mode with relatively high power consumption to a sleep mode with relatively low power consumption, When the own vehicle stops at the position of the station on the movement path, the mode of the own vehicle is maintained in the normal mode, When it is detected that another vehicle has approached the own vehicle or when it is detected that another vehicle has moved away from the own vehicle, the mode of the own vehicle is shifted from the sleep mode to the normal mode An unmanned transport vehicle having a control unit that performs control.

2. The control unit, When the own vehicle stops at the position of a specific station among the plurality of stations on the movement path, the mode of the own vehicle is maintained in the normal mode, When the state in which the own vehicle stops at a position of a station other than the specific station on the movement path continues for a predetermined period, the mode of the own vehicle is shifted to the sleep mode The unmanned transport vehicle according to claim 1, which performs control.

3. Further having a proximity sensor that outputs a signal according to the distance from another vehicle, The control unit detects that another vehicle has approached the own vehicle and that another vehicle has moved away from the own vehicle based on the output signal of the proximity sensor The unmanned transport vehicle according to claim 1 or claim 2.

4. When the control unit detects the completion of work at the station where the own vehicle has stopped, the control unit performs control to cause the own vehicle to travel forward on the movement path The unmanned transport vehicle according to claim 1 or claim 2.

5. The control unit detects the completion of the work based on the load of a battery that supplies power for the own vehicle to travel The unmanned transport vehicle according to claim 4.

6. Further having a weight sensor that outputs a signal indicating the weight of an article loaded on the own vehicle, The control unit detects the completion of the work based on the output signal of the weight sensor The unmanned transport vehicle according to claim 4.

7. The control unit detects the completion of the work based on an image captured by a camera mounted on the own vehicle The unmanned transport vehicle according to claim 4.

8. The control unit detects the completion of the work based on the operation of a switch provided on the own vehicle The unmanned transport vehicle according to claim 4.

9. After the control unit shifts the mode of the host vehicle from the sleep mode to the normal mode, the control unit performs control to cause the host vehicle to travel forward along the travel route. The automated guided vehicle according to claim 1 or claim 2.

10. An automated guided vehicle system including a plurality of automated guided vehicles that each travel along a travel route to circulate through a plurality of stations provided along the travel route, wherein each of the automated guided vehicles when a state in which the host vehicle is stopped at a position other than the station on the travel route continues for a predetermined period, shifts the mode of the host vehicle from the normal mode with relatively high power consumption to the sleep mode with relatively low power consumption, when the host vehicle is stopped at the position of the station on the travel route, maintains the mode of the host vehicle in the normal mode, and when it is detected that another vehicle has approached the host vehicle or when it is detected that another vehicle has moved away from the host vehicle, shifts the mode of the host vehicle from the sleep mode to the normal mode and has a control unit that performs control. Automated guided vehicle system.

11. A method for controlling an automated guided vehicle that travels along a travel route to circulate through a plurality of stations provided along the travel route, wherein when a state in which the host vehicle is stopped at a position other than the station on the travel route continues for a predetermined period, the mode of the host vehicle is shifted from the normal mode with relatively high power consumption to the sleep mode with relatively low power consumption, when the host vehicle is stopped at the position of the station on the travel route, the mode of the host vehicle is maintained in the normal mode, and when it is detected that another vehicle has approached the host vehicle or when it is detected that another vehicle has moved away from the host vehicle, the mode of the host vehicle is shifted from the sleep mode to the normal mode and the control is executed by a control unit of the automated guided vehicle.

Images