Automated guided vehicle system, method, program, and automated guided vehicle

Abstract

To improve the reliability of traveling by controlling an automated guided vehicle in a traveling direction excluding information different from the traveling direction, in the traveling control of the automated guided vehicle.SOLUTION: An automated guided vehicle system includes: an automated guided vehicle (6) that travels along a guide line; a guide line information acquisition unit (a camera 18) that acquires guide line information including a branch portion (10) where a traveling direction of the automated guided vehicle is to be selected; and a control unit (24) that causes the automated guided vehicle to acquire instruction information for specifying the traveling direction before the automated guided vehicle enters the branch portion, masks information different from the traveling direction included in the guide line information, and controls the automated guided vehicle in the traveling direction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automated guided vehicle system in which an automated guided vehicle travels along a guideline, a method and a program for the system. [Background technology]

[0002] Automated guided vehicles (AGVs) are becoming increasingly common in factories and warehouses that handle large quantities of goods. A common method for these systems is to install guidelines along the AGV's travel path, and have the AGV follow these guidelines.

[0003] With regard to automated guided vehicles using such guidelines, it is known that guideline information is acquired as an image and the travel direction of the automated guided vehicle is identified based on the angle formed by the outline of the guideline (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-210761 Summary of the Invention [Problem to be solved by the invention]

[0005] When an automated guided vehicle is transporting to a wide range of destinations, the driving route becomes complex and requires branching points such as Y-junctions, T-junctions, and crossroads where the direction of travel must be selected. The selection and control of the driving direction at these branching points affects the reliability of the automated guided vehicle. If the instructions and control of the driving direction are slow, the practicality and convenience of the automated guided vehicle will be impaired, such as the automated guided vehicle getting stuck.

[0006] Furthermore, if error information is included in the control process for the travel direction, there is a problem that inconveniences such as the automatic guided vehicle becoming stuck may occur.

[0007] In response to this, the inventor of the present invention has found that, as long as information that differs from the traveling direction is removed, there is no inconvenience in driving an unmanned guided vehicle in a direction that differs from the traveling direction, and that even if correct information is mistakenly deleted, no significant inconvenience will arise.

[0008] Therefore, an object of the present disclosure is to improve the reliability of travel by controlling the travel of an automated guided vehicle in the travel direction, excluding information that differs from the travel direction. [Means for solving the problem]

[0009] In order to achieve the above object, according to one aspect of the automated guided vehicle system of the present disclosure, the automated guided vehicle includes an automated guided vehicle that travels along guidelines, a guideline information acquisition unit that acquires guideline information including a branching section where the driving direction of the automated guided vehicle should be selected, and a control unit that causes the automated guided vehicle to acquire instruction information that specifies the driving direction before the automated guided vehicle enters the branching section, masks information that is different from the driving direction included in the guideline information, and controls the automated guided vehicle in the driving direction.

[0010] In this automated guided vehicle system, the automated guided vehicle may be equipped with a camera that captures an image of the guideline including the branching section to acquire the guideline information, and the control unit may calculate an identification value that identifies the multiple guidelines specified by the guideline information, and determine information that is different from the traveling direction and that should be masked using each identification value.

[0011] In this automated guided vehicle system, a sign may be installed in front of the branching point of the guideline to present instruction information instructing the automated guided vehicle on the traveling direction, and the control unit may mask information different from the traveling direction using the instruction information obtained from the sign.

[0012] This automated guided vehicle system may include a host device that sends out route information indicating a travel route of the automated guided vehicle, and the control unit may acquire the guideline information in accordance with the route information, mask information that is different from the travel direction included in the instruction information, and control the automated guided vehicle in the travel direction indicated by the instruction information.

[0013] In order to achieve the above object, according to one aspect of the automated guided vehicle method disclosed herein, the method includes the steps of: causing an automated guided vehicle to travel along guidelines; a guideline information acquisition unit acquiring guideline information including a branching section at which the automated guided vehicle should select a travel direction; and a control unit acquiring instruction information that specifies the travel direction, masking information that is different from the travel direction and included in the guideline information, and controlling the automated guided vehicle in the travel direction before the automated guided vehicle enters the branching section.

[0014] This automated guided vehicle method may include a step in which a host device sends route information indicating a travel route of the automated guided vehicle, and a step in which the control unit acquires the guideline information in accordance with the route information, masks information that is different from the travel direction included in the instruction information, and controls the automated guided vehicle in the travel direction indicated by the instruction information.

[0015] In order to achieve the above object, according to one aspect of the program of the present disclosure, there is provided a program to be executed by a computer, the program causing the computer to execute the following functions: a function of running an automated guided vehicle along guidelines; a function of acquiring guideline information including a branching section where the driving direction of the automated guided vehicle should be selected; and a function of causing the automated guided vehicle to acquire instruction information that specifies the driving direction before entering the branching section, masking information that is different from the driving direction included in the guideline information, and controlling the automated guided vehicle in the driving direction.

[0016] The program may include a function of calculating an identification value for identifying the plurality of guidelines included in the guideline information, and determining information different from the traveling direction to be masked based on the position of each identification value.

[0017] This program may include a function in which a host device sends route information indicating a travel route of the automated guided vehicle, and a function in which the host device acquires the guideline information in accordance with the route information acquired from the host device, masks information that differs from the travel direction included in the instruction information, and controls the automated guided vehicle in the travel direction indicated by the instruction information.

[0018] In order to achieve the above object, according to one aspect of an automated guided vehicle of the present disclosure, the automated guided vehicle travels along guidelines, and includes: a guideline information acquisition unit that acquires guideline information including a branching section where a travel direction should be selected; and a control unit that acquires instruction information that specifies the travel direction before entering the branching section, masks information that is different from the travel direction included in the guideline information, and controls the travel direction.

[0019] The automated guided vehicle may be equipped with a camera that captures an image of the guideline including the branching section to acquire the guideline information, and the control unit may calculate an identification value that identifies the multiple guidelines specified in the guideline information, and determine the information that should be masked based on each identification value.

[0020] In this automated guided vehicle, the control unit may acquire the guideline information along the route information sent from the host device that sends the instruction information, mask information that differs from the driving direction included in the instruction information, and control the driving direction to the direction indicated by the instruction information. [Effects of the Invention]

[0021] According to the present disclosure, any of the following effects can be obtained. (1) Before an automated guided vehicle enters a branching section of the travel path, guideline information including the branching section is acquired, and information that differs from the travel direction of the automated guided vehicle is masked from this guideline information. This allows the automated guided vehicle to be controlled in the instructed travel direction, thereby increasing the reliability of the travel direction.

[0022] (2) Information that differs from the driving direction is removed from the guideline information, so the influence of information that differs from the driving direction can be avoided.

[0023] (3) By masking information that differs from the driving direction from the guideline information, even if information that matches the driving direction is removed, the driving direction is not instructed to the automated guided vehicle, so it is possible to avoid unexpected situations such as the automated guided vehicle being driven in an unexpected direction.

[0024] (4) When an automated guided vehicle is traveling, it can obtain guideline information before entering a branching section of the travel path and mask information that differs from the direction of travel, thereby avoiding unforeseen circumstances such as traveling in a direction different from the planned route and improving travel accuracy. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 1 is a diagram showing an embodiment of an automated guided vehicle system, a method therefor, a program, and an automated guided vehicle according to the present disclosure. [Figure 2] Figure 2 shows lane selection at a Y-junction. [Figure 3] FIG. 3 is a diagram showing a processing procedure for calculating the median of the guideline. [Figure 4] Figure 4 shows lane selection at a crossroads. [Figure 5] FIG. 5A is a diagram showing a transport route of an automatic guided vehicle, and FIG. 5B is a diagram showing a transport route map of the automatic guided vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0026] [Automated transport system] Fig. 1 shows an embodiment of an automated guided vehicle system, a method therefor, a program, and an automated guided vehicle according to the present disclosure. The configuration shown in Fig. 1 is an example, and the present disclosure is not limited to such a configuration.

[0027] This automatic guided vehicle system 2 transports an automatic guided vehicle (hereinafter referred to as "AGV") 6 along a transport path 4 provided in a warehouse or the like.

[0028] <Transport path 4> The conveying path 4 is a passageway along which the AGV 6 travels, and multiple guidelines 8 are installed on this conveying path 4 as travel lines that continuously or intermittently guide the travel of the AGV 6. Each guideline 8 is a rectangular, for example, colored line, and is configured as a discontinuous line that has, for example, a specific outline and is distinguished from the conveying path 4. This conveying path 4 includes a branching section 10 where the travel direction of the AGV 6 changes. Branching sections 10 include Y-junctions, crossroads, T-junctions, etc., and the branching section 10 shown in Figure 1 is an example of a Y-junction.

[0029] At the branch point 10, the travel direction of the AGV 6 must be selected. Near the branch point 10, a sign 12 is placed to instruct the travel direction of the AGV 6. For example, a QR code (registered trademark) may be used as the sign 12.

[0030] <agv6> The AGV 6 is equipped with a plurality of wheels 14, including front and rear wheels, a line tracer 16, a camera 18, a steering unit 20, a drive unit 22, a control unit 24, and a power supply unit (not shown), which includes a rechargeable battery.

[0031] The wheels 14 include drive wheels and driven wheels. If the front wheels are drive wheels and the rear wheels are driven wheels, it is a front-wheel drive vehicle; if the rear wheels are drive wheels, if the front wheels are driven wheels, it is a rear-wheel drive vehicle; and if the front wheels and rear wheels are drive wheels, it is a four-wheel drive vehicle.

[0032] The drive unit 22 includes a motor for rotating the drive wheels, and is controlled by the control unit 24 to rotate the motor, which rotates the drive wheels with its torque. A gear mechanism (not shown) is installed between the motor and the drive wheels.

[0033] The line tracer 16 detects the guide line 8 from the AGV 6 when it is stopped or running, and provides tracking information of the guide line 8 to the control unit 24 .

[0034] The camera 18 is an example of a guideline information acquisition unit of the present disclosure. The camera 18 acquires guideline information including the branch section 10 where the traveling direction of the AGV 6 should be selected by capturing an image, and provides this guideline information to the control unit 24.

[0035] The steering unit 20 is controlled by the control unit 24 and includes, for example, a steering mechanism that turns the angle of the steering wheels in the direction of tracking the guideline 8 or in a specified driving direction.

[0036] The drive unit 22 is controlled by a control unit 24 and includes, for example, a steering mechanism that turns the angle of the steering wheels in the direction of tracking the guideline 8 or in a specified traveling direction.

[0037] The control unit 24 is equipped with a computer and performs information processing such as driving, stopping, and steering of the AGV 6. This information processing includes the following processing procedure. This processing procedure is an example of the unmanned transport method and program disclosed herein.

[0038] (1) Obtaining guideline information using camera 18 (2) Before the AGV 6 enters the branch section 10, it obtains information indicating the direction of travel from the sign 12. (3) Calculation of the median value of Guideline 8 from guideline information (4) Masking unnecessary information These include:

[0039] In this process, the instruction information may include information instructing the travel route of the AGV 6. This instruction information including the travel route may be received by the AGV 6 from a host device (not shown) instead of from the sign 12. In addition, the median of the guideline 8, such as the travel route, is an example of an identification value for identifying the guideline 8. This identification value is identification information for identifying the guideline 8, and may include, for example, lines connecting points for identifying the guideline 8 and surfaces connecting these lines, as well as information including a focus point or median calculated from the surfaces.

[0040] Masking of unnecessary information is a process in which the control unit 24 removes information that differs from the driving direction included in the guideline information by masking it. Masking is, for example, information processing that makes data inaccessible without making any changes to the original data.

[0041] According to this automated guided vehicle system and method, before the AGV 6 enters the junction 10, the AGV 6 acquires instruction information specifying the travel direction from the sign 12, and also acquires guideline information from the camera 18. Then, the control unit 24 masks information that differs from the travel direction contained in the guideline information, and can control the AGV 6 to travel in the specified travel direction.

[0042] [Automated Transport System 2] The automatic guided vehicle system 2 includes a control system (not shown), which includes a control unit 24 and a host device (not shown).

[0043] The control unit 24 is configured by a computer and includes an input / output unit (I / O), a processor, a memory, a communication unit, and the like.

[0044] The I / O is connected to the line tracer 16, camera 18, drive unit 22, drive control unit of steering unit 20, etc. Under the control of the processor, the I / O acquires tracking information of the guideline 8 that the AGV 6 follows from the line tracer 16 and provides it to the processor. The processor controls the steering unit 20 using the tracking information acquired from the line tracer 16.

[0045] As described above, the camera 18 is mounted on the AGV 6, and captures an image of the guideline 8 under the control of the processor to acquire guideline information. In other words, the camera 18 is an example of a guideline information acquisition unit, and acquires guideline information including the junction 10. Before the AGV 6 enters the junction 10, the guideline information acquired by the camera 18 includes an image of the sign 12. The sign 12 includes instruction information that specifies the traveling direction of the AGV 6. Therefore, the processor processes the information to recognize traveling direction information that indicates the traveling direction of the AGV 6 at the specific junction 10 from the instruction information acquired from the sign 12. The drive unit 22 and steering unit 20 have already been described, so their explanation will be omitted.

[0046] The processor executes the OS (Operating System) and control programs stored in the memory to perform the information processing described above. The memory is an example of a recording medium in the present disclosure and includes storage elements such as ROM (Read-Only Memory) and RAM (Random-Access Memory). The ROM stores the OS and control programs, and the RAM constitutes a task area for information processing.

[0047] The communication unit is controlled by the processor and wirelessly connected to the communication unit of the host device. The communication unit provides the host device with travel information, including the travel trajectory of the AGV 6. In response, the host device sends instruction information, such as the travel route and navigation information, to the AGV 6 from the communication unit.

[0048] <Drive control> The processing procedure for controlling the travel of the AGV 6 is an example of the disclosed unmanned transport method and program for the AGV 6. This processing procedure includes obtaining guideline information, obtaining instruction information, calculating the median N(x, y) of the guideline 8, masking, and selecting the travel direction.

[0049] Acquisition of guideline information: Before the AGV 6 enters the junction 10, an image is captured by the camera 18 of the AGV 6, and the processor acquires guideline information including the junction 10 and the signs 12 from the captured image information. In other words, the guideline information includes branch information acquired from the junction 10 and line information representing the multiple guidelines 8 that make up the junction 10.

[0050] Obtaining instruction information: Before entering the junction 10, the processor obtains instruction information from the sign 12 indicating the travel direction of the AGV 6.

[0051] Calculation of median N(x,y) of guideline 8: The processor calculates the median N(x,y) of each guideline 8 present at the branching point 10. Because the branching point 10 shown in FIG. 1 is a Y-shaped intersection, if a reference line is set in the straight-ahead direction, the median NL(x,y) can be obtained from the guideline 8L of the left branching road and the median NR(x,y) can be obtained from the guideline 8R of the right branching road relative to this reference line. In other words, using the median NL(x,y) or median NR(x,y) as a reference line, it is possible to clearly distinguish whether the guideline 8L is a left-turn direction or a right-turn direction.

[0052] Masking: The processor masks information that differs from the driving direction contained in the acquired guideline information to avoid the influence of information that is unnecessary for selecting the driving direction.

[0053] Selection of travel direction: After masking information different from the specified travel direction, the specified travel direction is selected, and the AGV 6 is controlled in the selected travel direction.

[0054] <Direction selection and masking at branch 10 (= Y-junction)> FIG. 2 shows direction selection and masking at a branching point 10 (=Y-junction). 2A shows guideline information 40 acquired by the AGV 6 before entering the junction 10. This guideline information 40 is an example of image information captured by the camera 18. Reference numeral 42 denotes a reference line.

[0055] This guideline information 40 includes the guidelines 8L, 8R and the signs 12. In the control unit 24, the processor processes information to obtain information indicating the travel direction of the AGV 6 from the signs 12, and calculates the median value NL(xL, yL) of the guideline 8L and the median value NR(xR, yR) of the guideline 8R from the images of the guidelines 8L and 8R.

[0056] In this case, if the instruction information acquired from the sign 12 indicates a right turn (R), unnecessary information indicating a left turn specified by the median NL(xL, yL) is identified and masked based on the magnitude relationship of the coordinate values, as shown in FIG. 2B. Specifically, unnecessary information such as the guideline 8L, whose X coordinate of the median is the smallest, is masked. In this case, the unmasked guideline 8R for the right turn (R) is selected as the traveling direction of the AGV 6.

[0057] If the instruction information acquired from the sign 12 indicates a left turn (L), information representing the guideline 8 for the right turn, identified by the median NR(xR, yR), is identified and masked based on the magnitude relationship of the coordinate values, as shown in Figure 2C. Specifically, unnecessary information such as the guideline 8R whose X coordinate of the median is the maximum value is masked. In this case, the unmasked guideline 8L for the left turn (L) is selected as the traveling direction of the AGV 6.

[0058] Therefore, unnecessary information unrelated to the traveling direction of the AGV 6 is masked, so that it is possible to avoid the influence of unnecessary information on the selection of the traveling direction.

[0059] <Calculation of median N> 3 shows the procedure for calculating the median N of the guide lines 8, 8L, and 8R. This procedure is an example of the automated guided vehicle system, method, and program disclosed herein. This procedure includes detecting the coordinates of the guide line image 44 and calculating the median N.

[0060] Coordinate detection of guideline image 44: Detect the coordinates of the edge lines 44L and 44R of the acquired guideline image 44. In this case, the guideline image 44 can be identified by (x1, y1) and (x3, y1) on the y1 coordinate system, and (x2, y2) and (x4, y2) on the y2 coordinate system.

[0061] Calculation of median N: Using the identified coordinates (x1, y1), (x3, y1), (x2, y2), and (x4, y2), the coordinates x and y representing the median N(x, y) of the guideline image 44 can be calculated using equations 1 and 2.

[0062] x=(x4+x1) / 2 (Formula 1) y=(y2+y1) / 2 (Equation 2)

[0063] Then, guideline information to be treated as unnecessary information is identified based on the magnitude relationship of the median value N with reference to the reference line 42 described above, and this guideline information is selected as the target for masking.

[0064] <Direction selection and masking at branching point 10 (=crossroads)> 4 shows direction selection and masking at a branching point 10 (=crossroads). In FIG. 4, the same parts as in FIG. 2 are given the same reference numerals.

[0065] In this case, as shown in A of FIG. 4, the guideline information 40 acquired by the AGV 6 before entering the branching section 10 (=intersection) includes the guidelines 8L, 8R, 8F and the sign 12.

[0066] The control unit 24 uses information processing by the processor to obtain information indicating the direction of travel of the AGV 6 from the sign 12, and calculates the median value NL(xL, yL) of the guideline 8L, the median value NR(xR, yR) of the guideline 8R, and the median value NF(xF, yF) of the guideline 8F from each image of the guideline 8L and 8R.

[0067] If the instruction information acquired from the sign 12 is a left turn (L), as shown in FIG. 4B, information regarding the guideline 8R in the right turn direction specified by the median value NR(xR, yR) is unnecessary information, and information regarding the guideline 8F in the straight ahead direction specified by the median value NF(xF, yF) is unnecessary information, so these are identified and masked based on the magnitude relationship of their coordinate values. Specifically, the X coordinate of the median is the maximum value, and unnecessary information such as the guideline 8R whose Y coordinate of the median is also the maximum value is selected and masked. In this case, the unmasked guideline 8L in the left turn (L) direction is selected as the traveling direction of the AGV 6.

[0068] If the instruction information acquired from the sign 12 indicates a straight-ahead direction (F), then information regarding the guideline 8R in the right-turn direction specified by the median value NR(xR, yR) is unnecessary information, and information regarding the guideline 8L in the left-turn direction specified by the median value NL(xL, yL) is unnecessary information, as shown in C of Fig. 4. These unnecessary pieces of information are masked, and the guideline 8F in the straight-ahead direction (F) is selected as the traveling direction of the AGV 6.

[0069] Furthermore, if the instruction information acquired from the sign 12 is a right turn (R), then information relating to the guideline 8L in the left turn direction specified by the median value NL(xL, yL) is unnecessary information, and information relating to the guideline 8F in the straight ahead direction specified by the median value NF(xF, yF) is unnecessary information, as shown in D of Fig. 4. These unnecessary pieces of information are masked, and the guideline 8R in the right turn (R) direction is selected as the traveling direction of the AGV 6.

[0070] In this way, even at crossroads, unnecessary information unrelated to the traveling direction of the AGV 6 is masked, so that the influence of unnecessary information on the selection of the traveling direction can be avoided.

[0071] <Effects of the embodiment> According to this embodiment, one of the following effects can be obtained. (1) Before the AGV 6 enters the branch section 10, guideline information is acquired, and information that differs from the traveling direction of the AGV 6 is masked from this guideline information, so that the AGV 6 can be controlled to travel in the direction indicated by the sign 12, thereby increasing the reliability of the traveling direction.

[0072] (2) Information that differs from the driving direction can be removed from the guideline information by masking, thereby avoiding the influence of information that differs from the driving direction.

[0073] (3) By masking information that differs from the driving direction from the guideline information, even if information that matches the driving direction is removed, in this case, there will be no incorrect driving direction instructions given to the AGV 6, so it is possible to avoid unexpected situations such as causing the AGV 6 to drive in an unexpected direction. [Example]

[0074] This Example 1 shows an overview of the control program for the AGV 6. This control program is an example of a program disclosed herein. In this Example, it is an example of a host system that manages the running of the AGV 6 using a transport path map (B in FIG. 5) corresponding to the transport path 4 (A in FIG. 5), and the XY coordinates are managed on a gridded map.

[0075] Fig. 5A shows an example of the transport path 4 of the automated transport system 2 of the present disclosure. In Fig. 5A, the same parts as in Fig. 1 are denoted by the same reference numerals.

[0076] This conveying route 4 includes a plurality of guide lines 8 and a plurality of branching sections 10, each of which is a crossroads. A plurality of signs 12 are installed on the guide lines 8 of this conveying route 4, and each sign 12 displays a location information ID that indicates the installation position of each sign 12. The location information ID is represented by P-1, P-2, ..., P-13, and can identify the traveling position of the AGV 6. The signs 12 installed at the branching sections 10 display instruction information that indicates the traveling direction of the AGV 6.

[0077] Fig. 5B shows a transport path map 46 corresponding to the transport path 4. In Fig. 5B, the same parts as in Fig. 5A are given the same reference numerals.

[0078] This conveyance path map 46 can identify the position ID of the conveyance path 4 by the coordinates (x, y) of the X and Y axes. That is, P-1, which represents the position ID of the conveyance path 4, guideline 8, and branching point 10, is identified by (2, 8), P-2 by (6, 8), P-3 by (17, 8), ..., and P-13 by (23, 14). In this way, each position of the sign 12 on the conveyance path 4 (A in FIG. 5) corresponds to the coordinate position of the ID on the conveyance path map 46, and can be identified by its coordinate values ​​x and y. The arrows indicate the travel route of the AGV 6.

[0079] In this system, a mechanism is configured to know the positions of the transport path 4 and the AGV 6, and an ID is attached at the required position as the sign 12, for example, a QR code. This links the position of the actual sign 12 with the ID position representing the sign 12 in the host system. In other words, if the traveling AGV 6 recognizes the sign 12 ID=P-8 with the camera 18, it can recognize that its position is at coordinates (3, 4).

[0080] <Procedure for driving control including masking> The processing procedure of the travel control program of the AGV 6 will be described below, along with a transport method and program for traveling along the section from P-13 to P-10 indicated by the sign 12.

[0081] In this case, the host system can navigate any route as long as the location of the sign 12 is the destination. The AGV 6 then travels based on the route navigation data calculated by the host system. For example, if P-13 is the starting point and P-10 is the destination, the route of the AGV 6 will be P-13, P-4, P-5, and P-10. This route navigation data contains multiple pieces of route information, including the signs 12 that the AGV 6 must pass and the direction of travel at branch points. In this host system, the route information is sent from the host device to the AGV 6. This route information is sent by data transmission.

[0082] When the process starts, the AGV 6 is stopped, route navigation information, which is an example of route information, is acquired, and while the AGV 6 is stopped, it is determined whether a stop release signal has arrived from the host device.

[0083] When the stop release signal is received, AGV6 starts moving, passes through the P-13 position, executes the passed processing, and continues moving.

[0084] Before the AGV 6 enters the branching section 10, it determines whether it has passed P-4, and at P-4, it acquires right turn instruction information as driving direction instruction information from the sign 12. Based on the acquisition of this right turn instruction information, it starts masking the guideline information 40 that indicates an unnecessary route, and continues driving.

[0085] It is determined whether AGV6 has passed the P-5 position, and then masking is terminated and the AGV6 continues traveling. This traveling is terminated when AGV6 passes the P-10 position, and AGV6 is stopped at the destination position, P-10.

[0086] <Effects of Example 1> According to the first embodiment, any of the following effects can be obtained. (1) The host device can control the route and direction of the AGV 6, and the AGV 6 can provide direction instructions using signs 12, i.e., masking to avoid unnecessary information, separately, thereby improving the speed and reliability of control.

[0087] (2) The host device can acquire location information each time the AGV 6 passes a sign 12, and can manage the actual travel route of the AGV 6 along with the navigation information of the AGV 6. This makes it possible to avoid unexpected situations such as collisions or getting stuck even when multiple AGVs 6 are traveling at the same time. [Example]

[0088] In this second embodiment, the sign 12 already described stores, in place of or together with the driving direction instruction information, instruction information for instructing masking.

[0089] According to this configuration, the AGV 6 can obtain information different from the traveling direction, that is, information to be masked, before entering the junction 10, and can perform the masking described above.

[0090] <Effects of Example 2> According to the second embodiment, one of the following effects can be obtained. (1) Before entering the branch section 10, the AGV 6 can obtain information that is different from the traveling direction, that is, information that should be masked.

[0091] (2) The AGV 6 can perform the above-mentioned masking based on the masking instruction information acquired from the sign 12, thereby speeding up the processing and improving the accuracy of the travel control.

[0092] <Other embodiments> The present disclosure includes the following embodiments. (1) In the above embodiment or Example 1, one AGV 6 is illustrated, but there may be a plurality of AGVs 6.

[0093] (2) The guide line 8 and the sign 12 may be made of a detachable member such as a tape member that can be attached to the conveying path area.

[0094] As described above, the most preferred embodiment and examples of the present disclosure have been described. The present disclosure is not limited to the above description, and various modifications and changes may be made by those skilled in the art based on the gist of the present disclosure as described in the claims or disclosed in the specification. It goes without saying that such modifications and changes are included within the scope of the present disclosure. [Industrial Applicability]

[0095] According to the unmanned transport system, method, and program disclosed herein, in controlling the travel of an AGV, before the AGV enters a branching section, the AGV is made to acquire instruction information specifying the travel direction, and information that differs from the travel direction contained in the guideline information is masked, and the AGV is controlled in the travel direction. This makes it possible to control the AGV in the travel direction by excluding information that differs from the travel direction, thereby improving the reliability of AGV travel. [Explanation of symbols]

[0096] 2. Automated guided vehicle systems 4 Transport path 6. Automated guided vehicles (AGVs) 8, 8F, 8L, 8R Guidelines 10 Branch 12 signs 14 wheels 16 Line Tracer 18 Camera 20 Steering section 22 Drive unit 24 Control Unit 40 Guideline Information 42 Reference Line 44 Guideline images 46 Transport Route Map

Claims

1. An automated guided vehicle that follows guidelines, a guideline information acquisition unit that acquires guideline information including a branch point at which the traveling direction of the automated guided vehicle should be selected; a control unit that causes the automated guided vehicle to acquire instruction information that specifies the traveling direction before the automated guided vehicle enters the branch section, masks information that is different from the traveling direction and is included in the guideline information, and controls the automated guided vehicle in the traveling direction; and an automated guided vehicle system.

2. the automated guided vehicle includes a camera that captures an image of the guideline including the branching portion to acquire the guideline information; 2. The automated guided vehicle system according to claim 1, wherein the control unit calculates an identification value that identifies the plurality of guidelines specified by the guideline information, and determines information different from the traveling direction that should be masked based on each identification value.

3. 3. The automated guided vehicle system according to claim 1, wherein a sign presenting instruction information instructing the automated guided vehicle on the travel direction is installed in front of the branching portion of the guideline, and the control unit masks information different from the travel direction using the instruction information acquired from the sign.

4. 2. The automated guided vehicle system according to claim 1, further comprising a host device that transmits route information indicating a travel route of the automated guided vehicle, wherein the control unit acquires the guideline information in accordance with the route information, masks information that is different from the travel direction included in the instruction information, and controls the automated guided vehicle in the travel direction indicated by the instruction information.

5. A process of running an automated guided vehicle along a guideline; a step in which a guideline information acquisition unit acquires guideline information including a branch point at which a travel direction of the automated guided vehicle should be selected; a step in which, before the automated guided vehicle enters the branch section, a control unit acquires instruction information that specifies the traveling direction, masks information that is different from the traveling direction and is included in the guideline information, and controls the automated guided vehicle in the traveling direction; An unmanned transport method comprising:

6. a step of transmitting route information representing a travel route of the automated guided vehicle from a host device; a step in which the control unit acquires the guideline information along the route information, masks information that is different from the travel direction included in the instruction information, and controls the automatic guided vehicle in the travel direction indicated by the instruction information; The unmanned transport method according to claim 5 , further comprising:

7. A program to be executed by a computer, A function that allows automated guided vehicles to travel along guidelines, a function of acquiring guideline information including a branch point at which the traveling direction of the automated guided vehicle should be selected; a function of causing the automated guided vehicle to acquire instruction information specifying the travel direction before entering the branching section, masking information different from the travel direction included in the guideline information, and controlling the automated guided vehicle in the travel direction; A program for causing the computer to execute the above.

8. 8. The program according to claim 7, further comprising a function of calculating an identification value for identifying a plurality of the guidelines included in the guideline information, and determining information different from the traveling direction to be masked based on the position of each identification value.

9. a function of a host device transmitting route information representing a travel route of the automated guided vehicle; a function of acquiring the guideline information along the route information acquired from the host device, masking information that is different from the travel direction included in the instruction information, and controlling the automated guided vehicle in the travel direction indicated by the instruction information; The program according to claim 7, comprising:

10. An automated guided vehicle that travels along a guideline, a guideline information acquisition unit that acquires guideline information including a branch point where a driving direction should be selected; a control unit that, before entering the branching section, acquires instruction information that designates the traveling direction, masks information that is different from the traveling direction and is included in the guideline information, and controls the traveling direction; Including automated guided vehicles.

11. a camera for capturing an image of the guideline including the branch portion to acquire the guideline information; The automated guided vehicle according to claim 10 , wherein the control unit calculates identification values ​​that identify the plurality of guidelines specified in the guideline information, and determines the information to be masked based on each identification value.

12. 11. The automated guided vehicle according to claim 10, wherein the control unit acquires the guideline information along the route information sent from a host device that sends the instruction information, masks information that is different from the traveling direction included in the instruction information, and controls the automated guided vehicle to travel in the direction indicated by the instruction information.

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