Automated guided vehicle and method for controlling an automated guided vehicle

Abstract

To provide an automated guided vehicle and a control method thereof with a high-degree of freedom against restrictions on a placement position of a guide sensor on the automated guided vehicle.SOLUTION: An automated guided vehicle 100 includes a vehicle body 10 having a plurality of wheels 1 to 3, a drive unit 20 capable of rotationally driving at least one wheel among the plurality of wheels 1 to 3, a guide sensor 30 that can detect magnetic guide wires laid on the floor, and a control unit 40 that can control the drive unit 20 based on a detection result of the guide sensor 30. The guide sensor 30 includes a plurality of magnetic sensors arranged in one direction. When at least one of the plurality of magnetic sensors detects a magnetic guide wire, the control unit 40 controls the drive unit 20 so that the magnetic sensors that have detected the magnetic guide wire move away from the magnetic guide wire in the direction where there are many magnetic sensors that have not detected the magnetic guide wire.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an automatic guided vehicle that transports an object to be transported by automatic driving, and a method for controlling the automatic guided vehicle.

Background Art

[0002] There is known an automatic guided vehicle (AGV) that can transport an object to be transported unmanned by detecting a magnetic guide wire laid on the floor surface with a guide sensor and automatically traveling along the detected magnetic guide wire.

[0003] As one such automatic guided vehicle, Patent Document 1 discloses an automatic guided vehicle 200 in which guide sensors 210a and 210c for forward travel guidance and guide sensors 210b and 210d for reverse travel guidance are provided at different positions, as shown in FIG. 16. This automatic guided vehicle 200 includes a pair of front wheels 221 and a pair of rear wheels 222, and the four guide sensors 210a to 210d are provided at positions that do not overlap with the pair of front wheels 221 and the pair of rear wheels 222 in the straight-ahead direction of the vehicle. More specifically, the four guide sensors 210a to 210d are provided at the center position in the width direction orthogonal to the straight-ahead direction of the automatic guided vehicle 200.

[0004] The automatic guided vehicle 200 detects a magnetic guide wire 230 provided along the travel path with the guide sensors 210a to 210d, and is configured to be able to automatically travel unmanned along the magnetic guide wire 230. Specifically, each of the guide sensors 210a to 210d includes 16 Hall elements, and based on the detection signals of the 16 Hall elements, the traveling of the automatic guided vehicle 200 is controlled so that the center line 240 of the vehicle body (the center line of the guide sensors 210a to 210d) of the automatic guided vehicle 200 coincides with the center line of the magnetic guide wire 230.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0006] Here, in a configuration in which, like the automatic guided vehicle 200 described above, control is performed so that the center lines of the guide sensors 210a to 210d coincide with the center line of the magnetic guide line 230, in the straight traveling direction of the automatic guided vehicle 200, if the guide sensors 210a to 210d are arranged at positions overlapping at least one of the plurality of wheels 221 and 222, the magnetic guide line 230 will be continuously stepped on by the wheels and deteriorate.

[0007] That is, the automatic guided vehicle 200 described in Patent Document 1 has a limitation on the arrangement position of the guide sensor.

[0008] The present invention solves the above problems, and an object thereof is to provide an automatic guided vehicle with a high degree of freedom in the arrangement position of a guide sensor and a control method for the automatic guided vehicle.

MEANS FOR SOLVING THE PROBLEMS

[0009] The automatic guided vehicle of the present invention includes: a vehicle body having a plurality of wheels; a drive unit capable of rotationally driving at least one of the plurality of wheels; a guide sensor capable of detecting a magnetic guide line laid on the floor surface; a control unit capable of controlling the drive unit based on a detection result of the guide sensor; and is characterized in that the guide sensor has a plurality of magnetic sensors arranged side by side in one direction, and when at least one of the plurality of magnetic sensors detects the magnetic guide line, the control unit controls the drive unit to move away from the magnetic guide line in a direction in which there are more magnetic sensors that do not detect the magnetic guide line than the magnetic sensor that has detected the magnetic guide line.

[0010] The control method of the automatic guided vehicle of the present invention is a control method of an automatic guided vehicle including a vehicle body having a plurality of wheels and a guide sensor capable of detecting a magnetic guide line laid on the floor surface, characterized in that the running of the automatic guided vehicle is controlled so that at least one of the plurality of wheels is positioned between the two magnetic guide lines.

Advantages of the Invention

[0011] According to the automatic guided vehicle of the present invention, when at least one of the plurality of magnetic sensors detects a magnetic guide line, the control unit controls the drive unit to move away from the magnetic guide line in the direction where there are more magnetic sensors that have not detected the magnetic guide line than the magnetic sensor that has detected the magnetic guide line. Therefore, in the straight-ahead direction of the automatic guided vehicle, even when the guide sensor is provided at a position overlapping with the wheel, it is possible to control the wheel overlapping with the guide sensor to move away from the magnetic guide line, so that it is possible to suppress the magnetic guide line from being continuously stepped on by the wheel. That is, in the straight-ahead direction of the automatic guided vehicle, it is possible to provide a guide sensor at a position overlapping with the wheel, so that the degree of freedom in the arrangement position of the guide sensor is high.

[0012] According to the control method of the automatic guided vehicle of the present invention, since the running of the automatic guided vehicle is controlled so that at least one wheel is positioned between the two magnetic guide lines, it is possible to suppress the magnetic guide line from being continuously stepped on by the wheel. That is, in the straight-ahead direction of the automatic guided vehicle, it is possible to provide a guide sensor at a position overlapping with the wheel, so that the degree of freedom in the arrangement position of the guide sensor is high.

Brief Description of the Drawings

[0013]

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Embodiments for Carrying out the Invention

[0014] Embodiments of the present invention are shown below to specifically explain the features of the present invention.

[0015] <First Embodiment> FIG. 1 is a side view schematically showing the configuration of the automatic guided vehicle 100 in the first embodiment. FIG. 2 is a plan view schematically showing the configuration of the automatic guided vehicle 100 as viewed from above in the first embodiment. However, in FIG. 2 and FIGS. 3 and 10 described later, for reasons of visibility, the arm portions 12 (12a, 12b) described later are omitted.

[0016] In addition, in FIGS. 1 and 2, the X-axis direction is the straight-ahead direction of the automatic guided vehicle 100, the Y-axis direction is the width direction of the automatic guided vehicle 100, and the Z-axis direction is the height direction. Any two of the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other. In this specification, when describing the automatic guided vehicle 100, the term "upward" may be used, which is based on the state in which the automatic guided vehicle 100 is placed so that a plurality of wheels 1 to 3 described later are in contact with a horizontal floor surface.

[0017] The automatic guided vehicle 100 in the first embodiment includes a vehicle body 10 having a plurality of wheels 1 to 3, a drive unit 20, a guide sensor 30, and a control unit 40.

[0018] As shown in FIG. 2, the vehicle body 10 has three wheels 1 to 3. However, the number of wheels is not limited to three. The plurality of wheels 1 to 3 provided on the vehicle body 10 include drive wheels that are rotationally driven by the drive unit 20 and driven wheels that are not driven by the drive unit 20. In the example shown in FIG. 2, wheels 1 and 2 are driven wheels, and wheel 3 is a drive wheel.

[0019] However, the number of driven wheels is not limited to two, and the number of drive wheels is not limited to one. For example, two drive wheels may be provided side by side in the width direction of the automatic guided vehicle 100. In that case, it is possible to control the left-right direction of the automatic guided vehicle 100 by utilizing the speed difference between the two drive wheels. Also, two independently rotatable drive wheels may be provided. In that case, the two drive wheels can be provided, for example, at overlapping positions in the straight-ahead direction of the automatic guided vehicle 100.

[0020] In this embodiment, the vehicle body 10 includes a long portion 11 extending in the straight-ahead direction of the automatic guided vehicle 100 and an arm portion 12 extending in the straight-ahead direction of the automatic guided vehicle 100 and supporting an object to be conveyed. The long portion 11 includes a first long portion 11a and a second long portion 11b. The arm portion 12 includes a first arm portion 12a and a second arm portion 12b. In FIG. 1, the first long portion 11a is provided at a position overlapping the second long portion 11b, and the first arm portion 12a is provided at a position overlapping the second arm portion 12b.

[0021] As shown in FIG. 2, the first long portion 11a is located on one end side of the vehicle body 10 in the width direction of the automatic guided vehicle 100, and the second long portion 11b is located on the other end side. A space is provided between the first long portion 11a and the second long portion 11b.

[0022] In this embodiment, the first arm portion 12a is located at a position where at least a part thereof overlaps the first long portion 11a in the vertical direction and above the first long portion 11a. The second arm portion 12b is located at a position where at least a part thereof overlaps the second long portion 11b in the vertical direction and above the second long portion 11b. However, in the vertical direction, the first arm portion 12a may be provided at a position where it does not overlap the first long portion 11a at all, and the second arm portion 12b may be provided at a position where it does not overlap the second long portion 11b at all. A space is provided between the first arm portion 12a and the second arm portion 12b.

[0023] At least one of the plurality of wheels 1 to 3 may be provided on the elongated portion 11. In the automatic transport vehicle 100 of the present embodiment, as shown in FIG. 2, the central portion of the vehicle body 10 is a space, and the wheels 1 and 2, which are driven wheels, are provided on the elongated portion 11. Specifically, the wheel 1 is provided on the first elongated portion 11a, and the wheel 2 is provided on the second elongated portion 11b. Further, the wheel 3, which is a driving wheel, is provided at a position on the vehicle body 10 that is not the elongated portion 11. In the configuration example shown in FIG. 2, the wheel 3 is provided on the first elongated portion 11a side with respect to the center line La in the width direction of the automatic transport vehicle 100.

[0024] In the present embodiment, the widths of the wheels 1 and 2 are shorter than the width of the elongated portion 11 and shorter than the width of the guide sensor 30. Note that the widths of the wheels 1, 2, the elongated portion 11, and the guide sensor 30 each mean the dimension in the width direction of the automatic transport vehicle 100.

[0025] The automatic transport vehicle 100 in the present embodiment can move forward and backward. Among the plurality of wheels 1 to 3, moving toward the wheel 3 side is forward movement, and moving toward the wheels 1 and 2 sides is backward movement. However, it is also possible to define moving toward the wheel 3 side as backward movement and moving toward the wheels 1 and 2 sides as forward movement.

[0026] The drive unit 20 is mounted on the vehicle body 10 and can rotationally drive at least one of the plurality of wheels 1 to 3. In the present embodiment, as described above, among the plurality of wheels 1 to 3, since the wheel 3 is a driving wheel, the drive unit 20 can rotationally drive the wheel 3. The rotational drive control of the wheel 3 includes control for moving the vehicle body 10 forward, backward, and turning.

[0027] The guide sensor 30 can detect the magnetic guide wire 50 laid on the floor surface. FIG. 3 is a plan view showing an example of the positional relationship between the magnetic guide wire 50 laid on the floor surface and the automatic guided vehicle 100. Here, it will be described assuming that two magnetic guide wires 50, i.e., a first magnetic guide wire 50a and a second magnetic guide wire 50b, are laid in parallel on the floor surface. The magnetic guide wire 50 is, for example, a magnetic tape. However, the number of magnetic guide wires 50 may be one or three or more.

[0028] The guide sensor 30 may be provided at a position where at least a part thereof overlaps at least one wheel in the straight-ahead direction of the automatic guided vehicle 100. In the present embodiment, the guide sensor 30 is provided on the elongated portion 11, and at least a part thereof overlaps the wheel 2 provided on the elongated portion 11 in the straight-ahead direction. More specifically, as shown in FIGS. 1 and 2, the guide sensor 30 is provided at the tip of the second elongated portion 11b in the straight-ahead direction. In the present embodiment, in the width direction of the automatic guided vehicle 100, the dimension of the second elongated portion 11b is smaller than the sum of the dimension of the guide sensor 30 and the width of the wheel 2. That is, in the straight-ahead direction of the automatic guided vehicle 100, a part of the guide sensor 30 overlaps the wheel 2.

[0029] However, the guide sensor 30 may be provided between the tip of the second elongated portion 11b and the wheel 2 as shown in FIG. 4(a). Further, the guide sensor 30 may be provided on the second elongated portion 11b on the forward side of the wheel 2, i.e., on the side opposite to the tip of the second elongated portion 11b with respect to the wheel 2, as shown in FIG. 4(b). Furthermore, the guide sensor 30 may be provided on the first elongated portion 11a instead of the second elongated portion 11b.

[0030] As shown in Fig. 5, the guide sensor 30 has a plurality of magnetic sensors 31 arranged side by side in one direction. The magnetic sensor 31 may be any type as long as it can detect the magnetic guide line 50. For example, it can be a Hall element. In the example shown in Fig. 5, the guide sensor 30 has five magnetic sensors 31, namely, the first magnetic sensor 31a to the fifth magnetic sensor 31e. However, the number of magnetic sensors 31 is not limited to five. In the present embodiment, the one direction in which the plurality of magnetic sensors 31 are arranged is the width direction of the automatic guided vehicle 100.

[0031] In the present embodiment, as shown in Fig. 5, the dimension L1 of all the magnetic sensors 31 in the width direction of the automatic guided vehicle 100 is shorter than the distance L2 between the first magnetic guide line 50a and the second magnetic guide line 50b. Therefore, when at least one of the plurality of magnetic sensors 31 detects the first magnetic guide line 50a, the other magnetic sensors 31 will not simultaneously detect the second magnetic guide line 50b. Similarly, when at least one of the plurality of magnetic sensors 31 detects the second magnetic guide line 50b, the other magnetic sensors 31 will not simultaneously detect the first magnetic guide line 50a.

[0032] Here, the guide sensor 30 is a sensor used when the automatic guided vehicle 100 moves backward. That is, the two magnetic guide lines 50 (50a, 50b) are the guide lines detected by the guide sensor 30 when the automatic guided vehicle 100 moves backward.

[0033] As shown in Figs. 2 and 3, the automatic guided vehicle 100 may be provided with a forward guide sensor 32 separately from the guide sensor 30. The forward guide sensor 32 can detect the forward magnetic guide line 51 (see Fig. 3) laid on the floor surface. However, in the automatic guided vehicle 100 of the present invention, the forward guide sensor 32 is not an essential component, so it can be omitted.

[0034] As an example of the size, the dimension of the vehicle body 10 in the straight-ahead direction is 1500 mm, and the dimension in the width direction is 900 mm. The dimensions of the first elongated portion 11a and the second elongated portion 11b in the straight-ahead direction are 1000 mm. The dimension of the guide sensor 30 in the width direction is 80 mm, and the dimension of the forward guide sensor 32 in the width direction is 150 mm. The height of the guide sensor 30 from the floor surface is 50 mm or less. The diameters of the wheels 1 and 2, which are driven wheels, are 150 mm, and the widths are 50 mm. The diameter of the wheel 3, which is a driving wheel, is 230 mm, and the width is 90 mm. However, the above-described dimensions are merely examples, and the dimensions of the automatic guided vehicle 100 are not limited to the above-described dimensions.

[0035] The control unit 40 can control the drive unit 20 based on the detection result of the guide sensor 30. Specifically, when at least one of the plurality of magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 to move away from the magnetic guide line 50 in the direction where there are more magnetic sensors 31 that have not detected the magnetic guide line 50 than the magnetic sensor 31 that has detected the magnetic guide line 50. This control will be described with reference to FIGS. 6 to 9.

[0036] FIG. 6(a) shows a state in which the first magnetic sensor 31a, which is located on the leftmost side among the plurality of magnetic sensors 31a to 31e of the guide sensor 30, detects the first magnetic guide line 50a on the left side. In FIGS. 6 to 9, the magnetic sensors 31 that have detected the magnetic guide line 50 are hatched to distinguish them from the magnetic sensors 31 that have not detected the magnetic guide line 50. That is, in FIG. 6(a), the second magnetic sensor 31b to the fifth magnetic sensor 31e have not detected the magnetic guide line 50.

[0037] As shown in Fig. 6(a), when the first magnetic sensor 31a detects the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 to move away from the first magnetic guide line 50a in the direction where there are more magnetic sensors 31 that do not detect the first magnetic guide line 50a than the first magnetic sensor 31a that detects the first magnetic guide line 50a. The first magnetic sensor 31a is the magnetic sensor located on the leftmost side among the plurality of magnetic sensors 31a to 31e. Since the direction where there are more magnetic sensors 31 that do not detect the first magnetic guide line 50a is the right direction, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves in the right direction. The drive unit 20 rotates the wheels 3 so that the automatic guided vehicle 100 moves in the right direction.

[0038] Note that the same applies not only when the first magnetic sensor 31a but also when other magnetic sensors 31 such as the second magnetic sensor 31b detect the first magnetic guide line 50a. For example, when the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 to move away from the first magnetic guide line 50a in the direction where there are more magnetic sensors 31 that do not detect the first magnetic guide line 50a than the first magnetic sensor 31a and the second magnetic sensor 31b that detect the first magnetic guide line 50a.

[0039] When the automatic guided vehicle 100 moves in the right direction, as shown in Fig. 6(b), the first magnetic sensor 31a stops detecting the first magnetic guide line 50a. In the state shown in Fig. 6(b), none of the magnetic sensors 31a to 31e detect the first magnetic guide line 50a and the second magnetic guide line 50b. When the first magnetic sensor 31a stops detecting the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves straight ahead as it is.

[0040] Thereafter, the fifth magnetic sensor 31e detects the second magnetic guide line 50b (FIG. 7(a)). The control unit 40 controls the drive unit 20 so as to move away from the second magnetic guide line 50b in the direction where there are many magnetic sensors 31 that have not detected the second magnetic guide line 50b among the magnetic sensors 31a to 31e that have detected the second magnetic guide line 50b. The fifth magnetic sensor 31e is the magnetic sensor located on the rightmost side among the plurality of magnetic sensors 31a to 31e. Since the direction where there are many magnetic sensors 31 that have not detected the second magnetic guide line 50b is the left direction, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves in the left direction. When the fifth magnetic sensor 31e no longer detects the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 travels straight as it is.

[0041] With the control up to this point, the wheel 2 may be caught between the first magnetic guide line 50a and the second magnetic guide line 50b. In some cases, the first magnetic sensor 31a detects the first magnetic guide line 50a again (FIG. 7(b)). When the first magnetic sensor 31a detects the first magnetic guide line 50a again, the control unit 40 controls to move away from the first magnetic guide line 50a in the direction where there are many magnetic sensors 31 that have not detected the first magnetic guide line 50a. By repeating such control, the wheel 2 is caught between the first magnetic guide line 50a and the second magnetic guide line 50b. Thereby, it is possible to suppress the first magnetic guide line 50a and the second magnetic guide line 50b from being continuously stepped on by the wheel 2 provided on the second elongated portion 11b.

[0042] FIG. 8(a) shows a state in which the fifth magnetic sensor 31e, which is located on the rightmost side among the plurality of magnetic sensors 31a to 31e of the guide sensor 30, detects the second magnetic guide line 50b on the right side. As shown in FIG. 8(a), the first magnetic sensor 31a to the fourth magnetic sensor 31d do not detect the magnetic guide line 50.

[0043] As shown in FIG. 8(a), when the fifth magnetic sensor 31e detects the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 to move away from the second magnetic guide line 50b in the direction where there are more magnetic sensors 31 that do not detect the second magnetic guide line 50b than the fifth magnetic sensor 31e that detects the second magnetic guide line 50b. As described above, the second magnetic sensor 31b is the magnetic sensor located on the rightmost side among the plurality of magnetic sensors 31a to 31e, and since the direction where there are more magnetic sensors 31 that do not detect the second magnetic guide line 50b is the left direction, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves in the left direction. The drive unit 20 rotates the wheels 3 so that the automatic guided vehicle 100 moves in the left direction.

[0044] In addition, not only the fifth magnetic sensor 31e, but also the same applies when other magnetic sensors 31 such as the fourth magnetic sensor 31d detect the second magnetic guide line 50b. For example, when the fourth magnetic sensor 31d and the fifth magnetic sensor 31e detect the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 to move away from the second magnetic guide line 50b in the direction where there are more magnetic sensors 31 that do not detect the second magnetic guide line 50b than the fourth magnetic sensor 31d and the fifth magnetic sensor 31e that detect the second magnetic guide line 50b.

[0045] Also, when only the third magnetic sensor 31c detects the first magnetic guide line 50a or the second magnetic guide line 50b, the control unit 40 does not perform control to turn the vehicle body 10. On the other hand, for example, when the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 to move away from the first magnetic guide line 50a in the direction where there are more magnetic sensors 31 that do not detect the first magnetic guide line 50a than the second magnetic sensor 31b and the third magnetic sensor 31c that detect the first magnetic guide line 50a.

[0046] When the automatic guided vehicle 100 moves leftward, as shown in Fig. 8(b), the fifth magnetic sensor 31e stops detecting the second magnetic guide line 50b. In the state shown in Fig. 8(b), none of the magnetic sensors 31a - 31e detect the first magnetic guide line 50a and the second magnetic guide line 50b. When the fifth magnetic sensor 31e stops detecting the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves straight ahead as it is.

[0047] After that, the first magnetic sensor 31a detects the first magnetic guide line 50a (Fig. 9(a)). The control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 that do not detect the second magnetic guide line 50b among the magnetic sensors 31 where the first magnetic sensor 31a that has detected the first magnetic guide line 50a is located. That is, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves rightward. When the first magnetic sensor 31a stops detecting the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves straight ahead as it is.

[0048] With the control up to this point, the wheel 2 may get stuck between the first magnetic guide line 50a and the second magnetic guide line 50b, and in some cases, the fifth magnetic sensor 31e detects the second magnetic guide line 50b again (Fig. 9(b)). When the fifth magnetic sensor 31e detects the second magnetic guide line 50b again, the control unit 40 controls it to move away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 that do not detect the second magnetic guide line 50b. By repeating such control, the wheel 2 gets stuck between the first magnetic guide line 50a and the second magnetic guide line 50b. Thereby, it is possible to suppress the first magnetic guide line 50a and the second magnetic guide line 50b from being continuously stepped on by the wheel 2 provided on the second elongated portion 11b.

[0049] That is, in the automatic guided vehicle 100 according to the present embodiment, when the guide sensor 30 detects the first magnetic guide line 50a on the left side, the automatic guided vehicle 100 is moved to the right, and when the guide sensor 30 detects the second magnetic guide line 50b on the right side, the automatic guided vehicle 100 is moved to the left. By performing such control, the control unit 40 can control the drive unit 20 so that the wheels 2, at least a part of which overlaps with the guide sensor 30 in the straight-ahead direction of the automatic guided vehicle 100, are positioned between the two magnetic guide lines 50, that is, between the first magnetic guide line 50a and the second magnetic guide line 50b. Thereby, when the automatic guided vehicle 100 is traveling, it is possible to suppress the first magnetic guide line 50a and the second magnetic guide line 50b from being continuously stepped on by the wheels 2.

[0050] As described above, in the automatic guided vehicle 100 according to the present embodiment, when at least one of the plurality of magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 to move away from the magnetic guide line 50 in the direction in which there are more magnetic sensors 31 that have not detected the magnetic guide line 50 than the magnetic sensor 31 that has detected the magnetic guide line 50. Therefore, even when the guide sensor 30 is provided at a position overlapping the wheel 2 in the straight-ahead direction of the automatic guided vehicle 100, it is possible to control the wheel 2 to move away from the magnetic guide line 50, so that it is possible to suppress the magnetic guide line 50 from being continuously stepped on by the wheel 2. That is, in the straight-ahead direction of the automatic guided vehicle 100, it is possible to provide the guide sensor 30 at a position overlapping the wheel, so the degree of freedom in the arrangement position of the guide sensor 30 is high.

[0051] In particular, in a configuration such as the automatic guided vehicle 100 according to the present embodiment, in which the vehicle body 10 has the long portion 11 and at least one of the plurality of wheels, the wheel 2, is provided on the long portion 11, there may be a case where, due to design, the guide sensor 30 has to be provided on the long portion 11. However, even in such a case, as described above, it is possible to control the wheel 2 provided on the long portion 11 to move away from the magnetic guide line 50, so that it is possible to effectively suppress the magnetic guide line 50 from being continuously stepped on by the wheel 2.

[0052] Further, the control unit 40 controls the drive unit 20 so that the wheels 2, which at least partially overlap with the guide sensor 30 in the straight-ahead direction of the automatic guided vehicle 100, are positioned between the two magnetic guide lines 50 (50a, 50b). In this way, while suppressing the two magnetic guide lines 50 (50a, 50b) from being continuously stepped on by the wheels 2, the running of the automatic guided vehicle 100 can be accurately controlled.

[0053] FIG. 10 is a flowchart showing the above-described control flow. The control from step S1 to step S4 is performed by the control unit 40 when the automatic guided vehicle 100 is running.

[0054] When the automatic guided vehicle 100 starts straight running, the control unit 40 performs the control of step S1. In step S1, it is determined whether there is a magnetic sensor 31 that detects the magnetic guide line 50 among the plurality of magnetic sensors 31a to 31e of the guide sensor 30. If it is determined that there is a magnetic sensor 31 that detects the magnetic guide line 50, the process proceeds to step S2. If it is determined that there is no magnetic sensor 31 that detects the magnetic guide line 50, the determination of step S1 is performed again.

[0055] In step S2, the drive unit 20 is controlled so that the magnetic sensor 31 that detects the magnetic guide line 50 moves away from the magnetic guide line 50 toward the direction where there are more magnetic sensors 31 that do not detect the magnetic guide line 50.

[0056] In step S3, it is determined whether the magnetic sensor 31 that detected the magnetic guide line 50 has stopped detecting the magnetic guide line 50. If it is determined that the magnetic sensor 31 that detected the magnetic guide line 50 is still detecting the magnetic guide line 50, the determination of step S3 is performed again. For example, if in step S2, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves to the right direction, the control for the automatic guided vehicle 100 to move to the right direction is continuously performed while the determination of step S3 is being made.

[0057] On the other hand, in step S3, when it is determined that the magnetic sensor 31 that has detected the magnetic guide line 50 no longer detects the magnetic guide line 50, the process proceeds to step S4.

[0058] In step S4, the drive unit 20 is controlled so that the automatic guided vehicle 100 travels straight.

[0059] The processes of steps S1 to S4 described above are repeatedly performed while the automatic guided vehicle 100 is running.

[0060] By the above-described control, the traveling of the automatic guided vehicle 100 can be controlled so that the wheels 2 are positioned between the two magnetic guide lines 50 (50a, 50b). That is, the control method of the automatic guided vehicle of the present invention controls the traveling of the automatic guided vehicle so that at least one of the plurality of wheels 1 to 3 is positioned between the two magnetic guide lines 50 (50a, 50b).

[0061] Here, the control unit 40 may change the control of the drive unit 20 according to the number of magnetic sensors 31 that have detected the magnetic guide line 50. For example, the control unit 40 may control the drive unit 20 so that the turning amount when turning the vehicle body 10 becomes larger as the number of magnetic sensors 31 that have detected the magnetic guide line 50 is larger.

[0062] FIG. 11(a) is a diagram for explaining the turning amount when the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a, and FIG. 11(b) is a diagram for explaining the turning amount when only the first magnetic sensor 31a detects the first magnetic guide line 50a. As shown in FIGS. 11(a) and 11(b), when the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the turning amount of the vehicle body 10 becomes larger than when only the first magnetic sensor 31a detects the first magnetic guide line 50a. That is, the turning angle θ1 (FIG. 11(a)) during turning when the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a is larger than the turning angle θ2 (FIG. 11(b)) during turning when only the first magnetic sensor 31a detects the first magnetic guide line 50a.

[0063] In this way, the more magnetic sensors 31 detect the magnetic guide line 50, the more the control unit 40 controls the drive unit 20 so that the turning amount when turning the vehicle body 10 becomes larger, and thus it is possible to control the magnetic sensors 31 that detect the magnetic guide line 50 to leave the magnetic guide line 50 more quickly. Thereby, even when the magnetic guide line 50 is being stepped on by the wheel 2, it is possible to more quickly separate the wheel 2 from the magnetic guide line 50.

[0064] Here, the two magnetic guide lines 50, that is, the first magnetic guide line 50a and the second magnetic guide line 50b, have been described as being laid parallel. However, each of the two magnetic guide lines 50 may be laid such that one end side spreads outward. By laying each of the two magnetic guide lines 50 such that one end side spreads outward, even when the automatic transport vehicle 100 starts running in an inclined state, it becomes possible to control the running of the automatic transport vehicle 100 so that the wheel 2 is more surely positioned between the first magnetic guide line 50a and the second magnetic guide line 50b. This will be described with reference to FIG. 12.

[0065] FIG. 12(a) is a diagram for explaining the control of the automatic guided vehicle 100 when the automatic guided vehicle 100 starts reverse traveling in a tilted state when two magnetic guide lines 50 (50a, 50b) are laid such that one end side thereof spreads outward. FIG. 12(b) is a diagram for explaining the control of the automatic guided vehicle 100 when the automatic guided vehicle 100 starts reverse traveling in a tilted state when two magnetic guide lines 50 (50a, 50b) are laid in parallel. As shown in FIGS. 12(a) and 12(b), the state where the automatic guided vehicle 100 is tilted means a state where the extending direction of the portion where the two magnetic guide lines 50 extend in parallel does not match the straight-ahead direction of the automatic guided vehicle 100.

[0066] Note that the fact that the two magnetic guide lines 50 (50a, 50b) are each laid such that one end side spreads outward means a state where, as shown in FIG. 12(a), one end side of the first magnetic guide line 50a extends away from the second magnetic guide line 50b and one end side of the second magnetic guide line 50b extends away from the first magnetic guide line 50a. That is, the first magnetic guide line 50a and the second magnetic guide line 50b are laid in parallel from the other end side to a certain position, but from a certain position, the interval between the first magnetic guide line 50a and the second magnetic guide line 50b becomes wider toward one end side.

[0067] First, as shown in Fig. 12(b), the case where two magnetic guide lines 50 (50a, 50b) are laid in parallel will be described. When the automatic guided vehicle 100 approaches one end side of the second magnetic guide line 50b in a tilted state, as shown in Fig. 12(b), among the plurality of magnetic sensors 31 of the guide sensor 30, the first magnetic sensor 31a located on the leftmost side may detect the second magnetic guide line 50b located on the right side. In this case, the control unit 40 controls the drive unit 20 so as to move away from the second magnetic guide line 50b in the direction where there are many magnetic sensors 31 that the first magnetic sensor 31a does not detect the magnetic guide line 50, that is, so that the automatic guided vehicle 100 moves in the right direction. Therefore, the automatic guided vehicle 100 moves away from the first magnetic guide line 50a and the second magnetic guide line 50b. In this case, since the guide sensor 30 cannot detect the first magnetic guide line 50a and the second magnetic guide line 50b, the automatic guided vehicle 100 cannot perform automatic driving.

[0068] On the other hand, as shown in Fig. 12(a), when the two magnetic guide lines 50 (50a, 50b) are laid such that one end side spreads outward, even when the automatic guided vehicle 100 is in a tilted state, the guide sensor 30 is located between the first magnetic guide line 50a and the second magnetic guide line 50b. Therefore, when the automatic guided vehicle 100 moves straight, the fifth magnetic sensor 31e on the rightmost side among the plurality of magnetic sensors 31a to 31e of the guide sensor 30 can detect the second magnetic guide line 50b located on the right side. In this case, the control unit 40 controls the drive unit 20 so as to move away from the second magnetic guide line 50b in the direction where there are many magnetic sensors 31 that the fifth magnetic sensor 31e does not detect the magnetic guide line 50, that is, so that the automatic guided vehicle 100 moves in the left direction. Thereby, it is possible to prevent the automatic guided vehicle 100 from moving away from both the first magnetic guide line 50a and the second magnetic guide line 50b, and to control the running of the automatic guided vehicle 100 so that the wheels 2 of the automatic guided vehicle 100 are located between the first magnetic guide line 50a and the second magnetic guide line 50b.

[0069] In a portion where the distance between the first magnetic guide line 50a and the second magnetic guide line 50b is widened, the angle θ3 (FIG. 12(a)) between the first magnetic guide line 50a and the second magnetic guide line 50b is preferably 5.5° or less. When the angle θ3 between the first magnetic guide line 50a and the second magnetic guide line 50b is 5.5° or less, the magnetic guide line 50 can be detected more reliably by the guide sensor 30.

[0070] As described above, when the two magnetic guide lines 50 (50a, 50b) are each laid such that one end side spreads outward, the control method of the automatic guided vehicle of the present invention can control the traveling of the automatic guided vehicle 100 so that at least one wheel is positioned between the two magnetic guide lines 50 (50a, 50b) from one end side of the two magnetic guide lines 50 (50a, 50b).

[0071] <Second Embodiment> The automatic guided vehicle 100 in the second embodiment is different from the automatic guided vehicle 100 in the first embodiment in the configuration of the guide sensor 30. Specifically, in the automatic guided vehicle 100 in the second embodiment, the guide sensor 30 can detect the two magnetic guide lines 50 (50a, 50b) simultaneously.

[0072] FIG. 13 is a plan view schematically showing a detailed configuration of the guide sensor 30 of the automatic guided vehicle 100 in the second embodiment. The guide sensor 30 has seven magnetic sensors 31, namely, the first magnetic sensor 31a to the seventh magnetic sensor 31g. However, the number of the magnetic sensors 31 is not limited to seven. The plurality of magnetic sensors 31 are arranged side by side in the width direction of the automatic guided vehicle 100.

[0073] In this embodiment, as shown in FIG. 13, the dimension L1 of all the magnetic sensors 31 in the width direction of the automatic guided vehicle 100 is longer than the distance L2 between the first magnetic guide line 50a and the second magnetic guide line 50b. Therefore, as shown in FIG. 13, when the leftmost first magnetic sensor 31a detects the left first magnetic guide line 50a, the rightmost seventh magnetic sensor 31g can simultaneously detect the right second magnetic guide line 50b.

[0074] Also in the automatic guided vehicle 100 in this embodiment, when at least one of the plurality of magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 to move away from the magnetic guide line 50 in the direction where there are more magnetic sensors 31 that have not detected the magnetic guide line 50 among the magnetic sensors 31 that have detected the magnetic guide line 50. This control will be described with reference to FIG. 14.

[0075] FIG. 14(a) shows a state in which only the leftmost first magnetic sensor 31a among the plurality of magnetic sensors 31a to 31g of the guide sensor 30 detects the left first magnetic guide line 50a, and the magnetic sensors 31b to 31g other than the first magnetic sensor 31a do not detect the first magnetic guide line 50a and the second magnetic guide line 50b.

[0076] As shown in FIG. 14(a), when the first magnetic sensor 31a detects the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 to move away from the first magnetic guide line 50a in the direction where there are more magnetic sensors 31 that have not detected the first magnetic guide line 50a among the magnetic sensors 31 that have detected the first magnetic guide line 50a. The first magnetic sensor 31a is a magnetic sensor located on the left among the plurality of magnetic sensors 31a to 31g, and the direction where there are more magnetic sensors 31 that have not detected the first magnetic guide line 50a is the right direction. Therefore, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves in the right direction. The drive unit 20 rotates the wheels 3 so that the automatic guided vehicle 100 moves in the right direction.

[0077] When the automatic guided vehicle 100 moves in the right direction, as shown in FIG. 14(b), the seventh magnetic sensor 31g located on the rightmost side detects the second magnetic guide line 50b on the right side. At this time, the first magnetic sensor 31a continues to detect the first magnetic guide line 50a. When the first magnetic sensor 31a detects the first magnetic guide line 50a and the seventh magnetic sensor 31g detects the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves straight ahead as it is.

[0078] After that, when the first magnetic sensor 31a stops detecting the first magnetic guide line 50a, and only the seventh magnetic sensor 31g, or both the sixth magnetic sensor 31f and the seventh magnetic sensor 31g detect the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves in the left direction. FIG. 14(c) shows a state in which the automatic guided vehicle 100 is controlled to move in the left direction and moves straight ahead in the extending direction of the first magnetic guide line 50a and the second magnetic guide line 50b. When the automatic guided vehicle 100 moves straight ahead, as shown in FIG. 14(c), the first magnetic sensor 31a continues to detect the first magnetic guide line 50a, and the seventh magnetic sensor 31g continues to detect the second magnetic guide line 50b.

[0079] In the automatic guided vehicle 100 according to the present embodiment, as described above, there are cases where the first magnetic sensor 31a detects the first magnetic guide line 50a and the seventh magnetic sensor 31g detects the second magnetic guide line 50b. In this case, the control unit 40 controls the automatic guided vehicle 100 to move in the right direction so as to move away from the first magnetic guide line 50a toward the direction where there are many magnetic sensors 31 that the first magnetic sensor 31a is not detecting the first magnetic guide line 50a, and controls the automatic guided vehicle 100 to move in the left direction so as to move away from the second magnetic guide line 50b toward the direction where there are many magnetic sensors 31 that the seventh magnetic sensor 31g is not detecting the second magnetic guide line 50b. Therefore, as a result, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves straight ahead.

[0080] However, in the content of "When at least one of the plurality of magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 to move away from the magnetic guide line 50 in the direction where there are more magnetic sensors 31 that have detected the magnetic guide line 50a but not the magnetic guide line 50 among the magnetic sensors 31 that have detected the magnetic guide line 50", for example, the magnetic sensor 31 that has detected the magnetic guide line 50 is controlled to move away from the magnetic guide line 50. However, when two magnetic guide lines 50ba and 50b are detected by the magnetic sensor 31, the above control is canceled, and the actual angle of the wheel 3 remains the same, or the case where the automatic guided vehicle 100 does not move in the direction away from the magnetic guide line 50 is also included.

[0081] In addition, not only the first magnetic sensor 31a, but also the case of the control method when the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a, but the other magnetic sensors 31c to 31g do not detect the second magnetic guide line 50b is the same.

[0082] Also, when the seventh magnetic sensor 31g located on the rightmost side detects the second magnetic guide line 50b on the right side, but the other magnetic sensors 31a to 31f do not detect the first magnetic guide line 50a and the second magnetic guide line 50b, the control is the same as the above-described control, except that the moving direction of the automatic guided vehicle 100 becomes left.

[0083] <Third Embodiment> The automatic guided vehicle 100 in the third embodiment is different from the automatic guided vehicle 100 in the first embodiment in the configuration of the guide sensor 30. Specifically, in the automatic guided vehicle 100 in the third embodiment, the guide sensor 30 can simultaneously detect two magnetic guide lines 50 (50a, 50b).

[0084] FIG. 15 is a plan view schematically showing a detailed configuration of the guide sensor 30 of the automatic guided vehicle 100 in the third embodiment. The guide sensor 30 has 13 magnetic sensors 31, namely, a first magnetic sensor 31a to a thirteenth magnetic sensor 31m. However, the number of the magnetic sensors 31 is not limited to 13. The plurality of magnetic sensors 31 are arranged side by side in the width direction of the automatic guided vehicle 100.

[0085] In the present embodiment, as shown in FIG. 15, the dimension L1 of all the magnetic sensors 31 in the width direction of the automatic guided vehicle 100 is longer than the distance L2 between the first magnetic guide line 50a and the second magnetic guide line 50b. In the example shown in FIG. 15, in a state where the center between the first magnetic guide line 50a and the second magnetic guide line 50b coincides with the center of the guide sensor 30 in the width direction, the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a, and the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b.

[0086] Also in the automatic guided vehicle 100 in the present embodiment, when at least one of the plurality of magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 to move away from the magnetic guide line 50 in the direction where there are more magnetic sensors 31 that do not detect the magnetic guide line 50 than the magnetic sensor 31 that detects the magnetic guide line 50.

[0087] The control method of the automatic guided vehicle 100 in the third embodiment is the same as that of the automatic guided vehicle 100 in the second embodiment. However, when the automatic guided vehicle 100 is moving straight, as shown in FIG. 15, the control unit 40 controls the drive unit 20 such that the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a, and the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b. When the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a while the automatic guided vehicle 100 is moving straight, the control unit 40 attempts to control the vehicle to move away from the first magnetic guide line 50a in the direction where there are more magnetic sensors 31 that do not detect the first magnetic guide line 50a. However, since the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b, the control unit 40 simultaneously attempts to control the vehicle to move away from the second magnetic guide line 50b in the direction where there are more magnetic sensors 31 that do not detect the second magnetic guide line 50b. As a result, when the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a and the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b, the above-described control is canceled, the actual angle of the wheels 3 remains unchanged, and the automatic guided vehicle 100 moves straight. As described above, by the control unit 40 controlling the drive unit 20, the center of the guide sensor 30 in the width direction can be brought closer to the center between the first magnetic guide line 50a and the second magnetic guide line 50b. Thereby, it is possible to control more precisely so that the wheels 2 provided on the second elongated portion 11b are positioned between the first magnetic guide line 50a and the second magnetic guide line 50b.

[0088] The present invention is not limited to the above embodiments, and various applications and modifications can be made within the scope of the present invention.

[0089] For example, in the above-described embodiment, the guide sensor 30 has been described as being provided at a position where at least a part thereof overlaps with at least one wheel in the straight-ahead direction of the automatic guided vehicle 100, but it may be provided at a position that does not overlap with all the wheels.

[0090] In the above-described embodiment, the vehicle body 10 has been described as having the elongated portion 11 extending in the straight-ahead direction of the automatic guided vehicle 100, but it may not have the elongated portion 11.

[0091] The automatic guided vehicle and the method for controlling the automatic guided vehicle in the present application are as follows. <1>. A vehicle body having a plurality of wheels, A drive unit capable of rotationally driving at least one of the plurality of wheels, A guide sensor capable of detecting a magnetic guide line laid on the floor surface, A control unit capable of controlling the drive unit based on a detection result of the guide sensor, Comprising: The guide sensor has a plurality of magnetic sensors arranged side by side in one direction, When at least one of the plurality of magnetic sensors detects the magnetic guide line, the control unit controls the drive unit to move away from the magnetic guide line in the direction in which there are more magnetic sensors that have not detected the magnetic guide line than the magnetic sensor that has detected the magnetic guide line. An automatic guided vehicle characterized by this. <2>. The guide sensor is provided at a position where at least a part thereof overlaps with at least one of the wheels in the straight-ahead direction of the automatic guided vehicle. The automatic guided vehicle according to <1>. <3>. The vehicle body has an elongated portion extending in the straight-ahead direction of the automatic guided vehicle, At least one of the plurality of wheels is provided on the elongated portion, The guide sensor is provided on the elongated portion. The automatic guided vehicle according to claim <1> or <2>. <4>. The control unit can control the drive unit such that at least a part of the wheels that overlap with the guide sensor in the straight-ahead direction of the automatic guided vehicle is positioned between the two magnetic guide lines. The automatic guided vehicle according to any one of <1> to <3>. <5>. The guide sensor can simultaneously detect the two magnetic guide lines. The automatic guided vehicle according to any one of <1> to <4>. <6>. The control unit can change the control of the drive unit according to the number of the magnetic sensors that have detected the magnetic guide lines. The automatic guided vehicle according to any one of <1> to <5>. <7>. The control unit can control the drive unit such that the turning amount when turning the vehicle body becomes larger as the number of the magnetic sensors that have detected the magnetic guide lines is larger. The automatic guided vehicle according to <6>. <8>. The magnetic sensor is a Hall element. The automatic guided vehicle according to any one of <1> to <7>. <9>. A control method for an automatic guided vehicle including a vehicle body having a plurality of wheels and a guide sensor capable of detecting magnetic guide lines laid on a floor surface, Controlling the running of the automatic guided vehicle such that at least one of the plurality of wheels is positioned between the two magnetic guide lines. A control method for an automatic guided vehicle. <10>. Each of the two magnetic guide lines is laid such that one end side spreads outward, Controlling the running of the automatic guided vehicle such that at least one of the wheels is positioned between the two magnetic guide lines from the one end side of the two magnetic guide lines. The control method for an automatic guided vehicle according to <9>.

Description of Signs

[0092] 1 Wheel 2 Wheels 3 Wheels 10 Vehicle body 11 Long portion 11a First elongated part 11b Second elongated part 12 Arm part 12a First arm part 12b Second arm part 20 Driving part 30 Guide sensor 31 Magnetic sensor 32 Forward guide sensor 40 Control part 50 Magnetic guide wire 50a First magnetic guide wire 50b Second magnetic guide wire 51 Forward magnetic guide wire 100 Automatic guided vehicle

Claims

1. A vehicle body having a plurality of wheels, A drive unit capable of rotationally driving at least one of the plurality of wheels, A guide sensor capable of detecting a magnetic guide line laid on the floor surface, A control unit capable of controlling the drive unit based on the detection result of the guide sensor, and The guide sensor has a plurality of magnetic sensors arranged side by side in one direction, When at least one of the plurality of magnetic sensors detects the magnetic guide line, the control unit controls the drive unit to move away from the magnetic guide line in the direction in which there are more magnetic sensors that have not detected the magnetic guide line than the magnetic sensor that has detected the magnetic guide line. The guide sensor is characterized in that it can simultaneously detect two magnetic guide lines. An automatic guided vehicle.

2. A vehicle body having a plurality of wheels, A drive unit capable of rotationally driving at least one of the plurality of wheels, A guide sensor capable of detecting a magnetic guide line laid on the floor surface, A control unit capable of controlling the drive unit based on the detection result of the guide sensor, and The guide sensor has a plurality of magnetic sensors arranged side by side in one direction, When at least one of the plurality of magnetic sensors detects the magnetic guide line, the control unit controls the drive unit to move away from the magnetic guide line in the direction in which there are more magnetic sensors that have not detected the magnetic guide line than the magnetic sensor that has detected the magnetic guide line. The control unit is characterized in that it can control the drive unit so that the turning amount when turning the vehicle body becomes larger as the number of the magnetic sensors that have detected the magnetic guide line is larger. An automatic guided vehicle.

3. The automatic guided vehicle according to claim 1 or 2, wherein the guide sensor is provided at a position where at least a part thereof overlaps with at least one of the wheels in the straight-ahead direction of the automatic guided vehicle.

4. The vehicle body has a long portion extending in the straight-ahead direction of the automatic guided vehicle, At least one of the plurality of wheels is provided on the long portion, The automatic guided vehicle according to claim 1 or 2, wherein the guide sensor is provided on the long portion.

5. The control unit can control the drive unit so that the wheel that at least partially overlaps with the guide sensor in the straight-ahead direction of the automatic guided vehicle is positioned between the two magnetic guide lines. The automatic guided vehicle according to claim 1 or 2.

6. The automatic guided vehicle according to claim 1 or 2, wherein the magnetic sensor is a Hall element.

7. A control method for an automatic guided vehicle including a vehicle body having a plurality of wheels and a guide sensor capable of detecting a magnetic guide line laid on a floor surface, Each of the two magnetic guide lines is laid so that one end side spreads outward, A control method for an automatic guided vehicle, characterized in that the traveling of the automatic guided vehicle is controlled so that at least one of the plurality of wheels is positioned between the two magnetic guide lines from the one end side of the two magnetic guide lines.

Images