Automated guided vehicle route guidance system, automated guided vehicle route guidance method

Abstract

To provide an unmanned carrier route guidance system that does not require a permanent magnet buried under, either magnetic tape or reflection tape attached on a floor along a route, enables easy route change without forcing large scale construction when changing the route, and can suppress an introduction cost to relatively cheap.SOLUTION: An unmanned carrier route guidance system X is configured that a display machine W is installed at a prescribed location on a route so that an unmanned carrier Z equipped with an imaging means Z3 that can do imaging and read a display content displayed on the display machine W reads out the display content of the display machine W imaged with the imaging means Z3 while running toward the display machine W, thereby performing automatic travel according to the display content.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a route guidance system for an automated guided vehicle (AGV) and a method for guiding an AGV route.

Background Art

[0002] An automated guided vehicle (AGV) that automatically transports a predetermined load to a destination without direct operation by a driver has been introduced and widely used in production sites, logistics centers for product storage and shipping, etc. In order to realize a system that automatically runs such an AGV along a target travel route, a system for guiding the AGV to the destination is required, and various guiding methods for the target travel route have been developed and put into practical use.

[0003] For example, in the magnetic induction method, the magnetism of a magnetic tape attached to the floor surface or a permanent magnet embedded in the floor is detected by a magnetic sensor mounted on the AGV, and the running speed control and steering control of the AGV are performed to perform autonomous running following the target travel route (for example, Patent Document 1).

[0004] Also, in the optical method, the reflected light from a reflection tape attached to the floor surface is detected by an optical sensor mounted on the AGV, and the running speed control and steering control of the AGV are performed to perform autonomous running following the target travel route.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when actually introducing the above-described various conventional methods, it is necessary to embed permanent magnets in the floor along the target travel route (route) or attach magnetic tapes or reflective tapes. Therefore, when changing the route, large-scale construction work such as re-embedding permanent magnets along the changed route or re-attaching magnetic tapes etc. is required, which has the problem of taking time, cost, and labor.

[0007] Also, when actually introducing the above-described various conventional methods, in order to make the automated guided vehicle travel along the route, it is necessary to install magnetic sensors or optical sensors on all automated guided vehicles, which directly leads to a significant increase in the introduction cost.

[0008] The present invention has been made paying attention to such points, and the main object is to provide an automated guided vehicle route guidance system that does not require embedding permanent magnets in the floor along the route or attaching magnetic tapes or reflective tapes, can easily change the route without being forced to perform major construction work even when changing the route, and can keep the introduction cost relatively low.

Means for Solving the Problem

[0009] That is, the automated guided vehicle route guidance system of the present invention is an automated guided vehicle route guidance system that automatically runs an automated guided vehicle along a route, and a display device is installed at a predetermined location on the route. The display device is configured to display the ID number of the automated guided vehicle, and further display at least one piece of information among the identification ID, traveling speed, traveling direction, traveling distance, traveling command, and stop command of the display device. An automated guided vehicle equipped with imaging means capable of imaging and reading the display content, which is the information displayed on the display device, reads the display content of the display device imaged by the imaging means when traveling toward the display device, and when the display content is related to the automated guided vehicle, it is configured to perform automatic running according to the display content.

[0010] In the case of such an unmanned transport vehicle route guidance system according to the present invention, when traveling toward a display device installed at a predetermined location on the route, the display content of the display device imaged by the imaging means is read, and since it is configured to perform automatic driving according to the display content, there is no need to embed permanent magnets in the floor along the route or attach magnetic tapes or reflective tapes. Also, even when changing the route, it can be dealt with by changing the display content of the display device or changing the installation position of the display device, so major construction work such as re-embedding permanent magnets or re-attaching magnetic tapes, etc. does not need to be carried out and the route can be easily changed. Also, na when the display content is related to the unmanned transport vehicle that reads it, in order to perform automatic driving according to the display content, it becomes possible to automatically drive different travel routes for each unmanned transport vehicle. Also, in the unmanned transport vehicle route guidance system according to the present invention, any unmanned transport vehicle equipped with imaging means capable of imaging and reading the display content of the display device can be used in this system. Therefore, compared with the mode of mounting magnetic sensors or optical sensors on all unmanned transport vehicles, the introduction cost can be kept relatively low. The display device is configured to display the ID number of the automated guided vehicle, and further display at least one piece of information among the identification ID, traveling speed, traveling direction, traveling distance, traveling command, and stop command of the display device.

[0011] The automated guided vehicle route guidance system according to the present invention may include a position estimation unit that estimates the current position of the automated guided vehicle. In this case, by applying a position estimation unit that estimates the current position of the automated guided vehicle based on the position of the display device when the automated guided vehicle arrives at the display device, the position management of the automated guided vehicle can be appropriately performed.

[0012] In the present invention, an automated guided vehicle route guidance system includes a route management unit that manages the travel route of the automated guided vehicle, a display device processing unit that executes processing for each display device, and an automated guided vehicle processing unit that executes processing for each automated guided vehicle. The display device is preferably configured to be able to switch the display content of the display device for each of a plurality of automated guided vehicles by the display device processing unit. And, if the automated guided vehicle route guidance system according to the present invention further includes a travel route generation unit that generates a travel route for each automated guided vehicle in the route management unit, and a display timing determination unit that determines the display content and display timing to be displayed on the display device based on the travel route generated by the travel route generation unit, and the automated guided vehicle processing unit includes a display content reading unit that reads the display content on the display device imaged by the imaging means, a display content specifying unit that specifies the read display content, and a number determination unit that determines whether the ID number among the specified display content relates to the automated guided vehicle, it becomes possible to automatically drive different travel routes for each automated guided vehicle, and compared with a mode in which all automated guided vehicles can only be automatically driven on the same route, the conveyance efficiency can be improved, which also leads to energy saving of the automated guided vehicle. 。

[0013] In the present invention, An automated guided vehicle route guidance system including a route management unit that manages the travel route of the automated guided vehicle, a display device processing unit that executes processing for each display device, and an automated guided vehicle processing unit that executes processing for each automated guided vehicle. the display device is By the display device processing unit preferably configured such that the display content of the display device can be switched for each of a plurality of unmanned transport vehicles. And the unmanned transport vehicle route guidance system according to the present invention further In the route management unit includes a travel route generation unit that generates a travel route for each unmanned transport vehicle, and a display timing determination unit that determines the display content and display timing to be displayed on the display device based on the travel route generated by the travel route generation unit. and is provided with a display content reading unit that reads the display content on the display device imaged by the imaging means in the unmanned carrier vehicle processing unit, a display content specifying unit that specifies the read display content, and a number determination unit that determines whether or not the ID number among the specified display content pertains to the unmanned carrier vehicleIf so, it becomes possible to automatically drive different travel routes for each automated guided vehicle, and compared with a mode in which all automated guided vehicles can only be automatically driven on the same route, the transport efficiency can be improved, leading to energy savings for the automated guided vehicles.

[0014] In addition, in the present invention, if the automated guided vehicle is set to stop when it cannot image and read the display content of the display device, it is possible to prevent a situation where the automated guided vehicle wanders or runs wild due to its inability to image and read the display content of the display device, and an excellent automated guided vehicle route guidance system can be realized in terms of safety.

[0015] The automated guided vehicle route guidance method according to the present invention is a method of automatically driving an automated guided vehicle along a route using a display device whose display content is switchable, and includes a travel route generation step of generating a travel route of the automated guided vehicle, a display timing determination step of determining the display content and display timing to be displayed on the display device based on the travel route generated in the travel route generation step, a display switching step of switching the display content of the display device based on the display timing determined in the display timing determination step, including the ID number of the unmanned carrier vehicle a display content reading step of the automated guided vehicle reading the display content of the display device , a display content specifying step of specifying the read display content, and a number determination step of determining whether or not the display content pertains to the unmanned carrier vehicle based on the ID number among the specified display content and is characterized by passing through these steps.

Effects of the Invention

[0016] As described above, according to the present invention, it is not necessary to embed permanent magnets in the floor along the route or attach magnetic tapes or reflective tapes, and even when changing the route, the route can be easily changed without being forced to carry out major construction work, and the introduction cost can be kept relatively low. and it is possible to automatically drive different travel routes for each unmanned carrier vehicle An automated guided vehicle route guidance system and an automated guided vehicle route guidance method can be provided.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

MODE FOR CARRYING OUT THE INVENTION

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] As shown in FIG. 1, the unmanned transport vehicle route guidance system X according to the present embodiment includes, for example, a display device W installed in a predetermined area (transport area) indoors, and an unmanned transport vehicle Z capable of automatically traveling in the transport area according to the display content of the display device W. Note that this system can also be used outdoors.

[0020] The display device W is configured to display instructions for the automated guided vehicle Z on a predetermined screen W1. In this embodiment, the display device W is installed in a state of standing independently on the floor using a support column or the like. On the screen W1 of the display device W, information such as the display device No., the ID number of the automated guided vehicle Z, the traveling speed, the traveling direction (right turn, left turn, U-turn, straight ahead), the traveling distance, and stop is displayed. Note that any one of the information to be displayed may be used, or several pieces of information may be combined for display. In particular, for the ID number of the automated guided vehicle Z, the instruction of the traveling direction or stop, these are the information that is preferably displayed in this embodiment. The display format can include two-dimensional codes, characters, arrows, etc., and different types of display formats can be listed together (for example, a two-dimensional code and characters are listed together). When the display format includes characters, it is convenient for the personnel managing the system to understand the display content. The information displayed on the display device W is the "display content" in the present invention. Each display device W is equipped with an appropriate controller and is configured to control the timing of displaying the display content on the screen W1 and the like.

[0021] The automated guided vehicle Z includes a vehicle body Z1, driving means Z2 such as tires provided on the vehicle body Z1, and imaging means Z3 mounted on the vehicle body Z1. By imaging and reading the display content of the display device W installed at a predetermined location by the imaging means Z3, the automated guided vehicle Z performs autonomous driving according to the display content. Note that in FIG. 1, the imaging range Z31 by the imaging means Z3 is schematically shown with a pattern. Each automated guided vehicle Z is assigned a unique ID. Each automated guided vehicle Z is equipped with an appropriate controller and is configured to control the operations of the driving means Z2 and the imaging means Z3 and the like.

[0022] As shown in FIG. 2, the automated guided vehicle route guidance system X according to this embodiment includes a transportation management unit X1, a route management unit X2, a display device processing unit X3, and an automated guided vehicle processing unit X4.

[0023] The transportation management unit X1 manages the entire automated guided vehicle route guidance system X and mainly performs management of luggage (which luggage is transported to which location).

[0024] The route management unit X2 generates the route of the automated guided vehicle Z, and mainly generates the luggage transportation route for each automated guided vehicle Z (which luggage is transported to which location by which automated guided vehicle Z).

[0025] The display unit processing unit X3 executes the processing for each display unit W. The display content displayed on the screen W1 of each display unit W can be switched by the display unit processing unit X3. The automated guided vehicle Z that has entered the intersection can be identified by the IC tag, and the display content corresponding to the traveling route (route) of the automated guided vehicle Z can be displayed.

[0026] The automated guided vehicle processing unit X4 executes the processing for each automated guided vehicle Z. The processing content by the automated guided vehicle processing unit X4 will be referred to in the description of the operation flow of the automated guided vehicle Z described later.

[0027] The automated guided vehicle route guidance system X according to this embodiment guides the luggage transportation route of the automated guided vehicle Z in a predetermined transportation area by the processing of each part as described below with reference to FIGS. 3 and 4 and the like.

[0028] In the case of the system introduction example shown in FIG. 3, a plurality of bases (A, B, C, D) are determined within the conveyance area, and a plurality of display devices W are installed at predetermined points. Specifically, as shown in the same figure, display device 1 is installed at base A, display device 5 is installed at base B that faces base A in a straight line, and display devices 2, 3, and 4 are installed at the intermediate points between base A and base B. Further, when the direction in which base A and base B face each other is defined as the vertical direction in the plane, one display device 11 and one display device 12 are respectively installed at bases C and D that are arranged at a predetermined distance interval in the horizontal direction with respect to base B. Display devices 6, 7, and 8 are installed at the intersection that faces base C in the vertical direction and is substantially aligned horizontally with respect to the intermediate point between base A and base B, and display devices 9 and 10 are installed at the intersection that faces base D in the vertical direction and is substantially aligned horizontally with respect to the intermediate point between base A and base B. Also, in the same figure, the route of the automated guided vehicle Z represented by the gray-filled portion is a two-way lane, and it is set to travel only in the direction of the arrow shown on the route. And each display device W shown in a substantially rectangular shape in the same figure is set to display on the screen the display content that can be imaged and read by the imaging means Z3 of the automated guided vehicle Z coming in the direction of the arrow on the route with respect to the straight portion (the long side of the figure showing the display device W in the figure) without a cutout portion at the corner.

[0029] In the unmanned transport vehicle route guidance system X according to this embodiment, as shown in FIG. 4, when operation is started, the display unit processing unit X3 causes the screen W1 of all the display units W to display "Stop" (start-up stop display step S1), and the transport management unit X1 creates a transport schedule for the unmanned transport vehicle Z in the transport area (transport schedule creation step S2). In the transport schedule creation step S2, the status and condition of each of the plurality of unmanned transport vehicles Z prepared are grasped, and a transport schedule is created based on this. In the example shown in FIG. 5, there are 4 unmanned transport vehicles (AGVs), and among them, the unmanned transport vehicle with ID number 2 is under failure, and the other 3 are in a usable state. Before the start of operation and at the start of operation, all the unmanned transport vehicles Z are in a standby state at the base point A. There are 3 pieces of luggage to be transported, and a transport schedule for transporting these pieces of luggage to the designated base point by 3 unmanned transport vehicles Z is created. Note that the work of loading and unloading the luggage onto and from the unmanned transport vehicle Z is not considered, and the transport priority and time limit are not considered.

[0030] In the transport schedule creation step S2, for each unmanned transport vehicle Z, the allocation of luggage, the return route (the driving route for picking up the luggage), and the delivery route are determined. In the examples shown in FIGS. 5 and 6, since the unmanned transport vehicle No. 2 is under failure, luggage i (round number 1 in FIG. 6) is assigned to the unmanned transport vehicle No. 1, luggage ii (round number 2 in the same figure) is assigned to the unmanned transport vehicle No. 3, and luggage iii (round number 3 in the same figure) is assigned to the unmanned transport vehicle No. 4. Then, the No. of the display unit W to be used (denoted as "display unit NO" in FIGS. 5 and 6), and each command and speed are determined from the return route and the delivery route, and the transport schedule shown in FIG. 6 is created by the transport management unit X1. Among this transport schedule creation step S2, the step of determining the return route (the driving route for picking up the luggage) and the delivery route for each unmanned transport vehicle Z corresponds to the "driving route generation step" in the present invention.

[0031] Here, the creation procedure and setting contents of the transport schedule for the unmanned transport vehicle No. 1 will be described with reference to FIG. 6.

[0032] First, since the return route of the unmanned transport vehicle No. 1 is the route from base A to base B, from Figure 3, display machine W uses No. 3 and No. 5. And as command number 1, it travels at a speed of 5 until display machine No. 3. Since the subsequent travel after arrival is straight ahead, the next command is "Straight ahead" and the next command speed is set to 10. Next, as command number 2, it travels at a speed of 10 until display machine No. 5. Since the subsequent travel after arrival is a U-turn, the next command is "U-turn" and the next command speed is set to 5. Since the delivery route that the unmanned transport vehicle No. 1 continues to travel on after the return route is from base B to base D, from Figure 3, display machine W uses No. 2, No. 6, No. 9, and No. 12 in this order. As command number 3, it travels at a speed of 5 until display machine No. 2. Since the subsequent travel after arrival is a right turn, the next command is "Right turn" and the next command speed is set to 5. As command number 4, it travels at a speed of 5 until display machine No. 6. Since the subsequent travel after arrival is straight ahead, the next command is "Straight ahead" and the next command speed is set to 10. As command number 5, it travels at a speed of 10 until display machine No. 9. Since the subsequent travel after arrival is a right turn, the next command is "Right turn" and the next command speed is set to 5. As command number 6, it travels at a speed of 5 until display machine No. 12. Since there is no subsequent travel (travel is completed), the next command is set to "Completed".

[0033] Also, the procedure for creating the transportation schedule and the set contents for the unmanned transport vehicle No. 2 are as follows.

[0034] First, since the return route of the automated guided vehicle No. 2 is the route from base A to base D, from Figure 3, the display machine W uses No. 3, No. 6, No. 9, No. 12, No. 10, No. 8, and No. 11. And as command number 1, it travels at a speed of 5 until the display machine No. 3. Since the subsequent travel after arrival is a left turn, the next command is "left turn" and the next command speed is set to 15. Next, as command number 2, it travels at a speed of 15 until the display machine No. 6. Since the subsequent travel after arrival is straight ahead, the next command is "straight ahead" and the next command speed is set to 10. As command number 3, it travels at a speed of 10 until the display machine No. 9. Since the subsequent travel after arrival is a right turn, the next command is "right turn" and the next command speed is set to 5. As command number 4, it travels at a speed of 5 until the display machine No. 12. Since the subsequent travel after arrival is a U-turn, the next command is "U-turn" and the next command speed is set to 10. Since the delivery route that the automated guided vehicle No. 2 continues to travel on after the return route is from base D to base C, from Figure 3, the display machine W uses No. 10, No. 8, and No. 11 in this order. As command number 5, it travels at a speed of 10 until the display machine No. 10. Since the subsequent travel after arrival is a left turn, the next command is "left turn" and the next command speed is set to 5. As command number 6, it travels at a speed of 5 until the display machine No. 8. Since the subsequent travel after arrival is a left turn, the next command is "left turn" and the next command speed is set to 5. As command number 7, it travels at a speed of 5 until the display machine No. 11. Since there is no subsequent travel (the travel is completed), the next command is set to "completed".

[0035] Also, the procedure for creating the transportation schedule and the setting content for the automated guided vehicle No. 3 are as follows.

[0036] First, since the return route of the unmanned transport vehicle No. 3 is the route from base A to base C, from Figure 3, the display unit W uses No. 3, No. 6, and No. 11. And as command number 1, it travels at a speed of 5 until the display unit No. 3. Since the subsequent travel after arrival is a left turn, the next command is "left turn" and the next command speed is set to 10. Next, as command number 2, it travels at a speed of 10 until the display unit No. 6. Since the subsequent travel after arrival is a right turn, the next command is "right turn" and the next command speed is set to 5. As command number 3, it travels at a speed of 5 until the display unit No. 11. Since the subsequent travel after arrival is a U-turn, the next command is "U-turn" and the next command speed is set to 5. Since the delivery route for the unmanned transport vehicle No. 3 to continue traveling following the return route is from base C to base A, from Figure 3, the display unit W uses No. 7, No. 4, and No. 1 in this order. As command number 4, it travels at a speed of 5 until the display unit No. 7. Since the subsequent travel after arrival is a left turn, the next command is "left turn" and the next command speed is set to 10. As command number 5, it travels at a speed of 10 until the display unit No. 4. Since the subsequent travel after arrival is a right turn, the next command is "right turn" and the next command speed is set to 5. As command number 6, it travels at a speed of 5 until the display unit No. 1. Since there is no subsequent travel after arrival (travel is completed), the next command is set to "completed".

[0037] For each unmanned transport vehicle Z that can use the transportation schedule as described above, it is created and set. Here, since the route connecting certain bases is usually fixed, the display unit W used for each route and the display content (next command and speed) of the display unit W can be automatically set by defining them in advance. In this way, in this embodiment, the route management unit X2 functions as a "travel route generation unit" that generates the travel route for each unmanned transport vehicle Z.

[0038] Next, in the unmanned transport vehicle route guidance system X according to the present embodiment, the route management unit X2 creates the display timing of the display device W based on the created transport schedule (display timing creation step S3). In the display timing creation step S3, the display timing is set in order from display device No. 1. When the created transport schedule is as shown in FIG. 6, first, display device No. 1 (display device NO1 in the figure) is searched, and the vehicle number (ID number), command number, speed, next command, and next command speed of the unmanned transport vehicle Z associated with the hit display device No. 1 are set (listed). In the created transport schedule, since there is only one display device No. 1, next, display device No. 2 (display device NO2 in FIG. 6) is searched, and the vehicle number (ID number), command number, speed, next command, and next command speed of the unmanned transport vehicle Z associated with the hit display device No. 2 are set. Hereinafter, in the same procedure, the display devices W are searched in order up to the final number and listed. When there are multiple display devices No. (display device NO) that are the same, the one with the smaller command number is prioritized, and when the command numbers are the same, the one with the smaller vehicle number of the unmanned transport vehicle Z is prioritized. In the present embodiment, since it is assumed that the distances between the display devices W are all the same, the timing for switching the display content of the display device W is set to every n minutes. When the distances between the display devices W are different, the display switching timing of the display device W can be appropriately scheduled according to the distances. Thus, in the present embodiment, the route management unit X2 functions as a "display timing determination unit" that determines the display content and display timing to be displayed on each display device W based on the travel route generated for each unmanned transport vehicle Z. Further, the display timing creation step S3 corresponds to the "display timing determination step" in the present invention that determines the display content and display timing to be displayed on the display device W based on the travel route generated for each unmanned transport vehicle Z.

[0039] Next, in the unmanned transport vehicle route guidance system X according to the present embodiment, the display processing unit X3 performs processing for causing each display device W to display based on the created display timing of the display device W (see display step S4, FIG. 4). In display step S4, when the unmanned transport vehicle processing unit X4 outputs a "start" command to all unmanned transport vehicles Z (unmanned transport vehicle start command step S5), that is, upon receiving the "unmanned transport vehicle start command", from the display timing list in FIG. 7, the first-line items for each display device No. (display device NO in the figure), namely, the vehicle number (ID number) of the unmanned transport vehicle Z, command number, speed, next command, next command speed, and "traveling" are respectively displayed on the corresponding display device W. Therefore, for example, on display device No. 1, the vehicle number (ID number) of the unmanned transport vehicle Z, which is "4", the command number, which is "6", the speed, which is "5", the next command, which is "complete", the next command speed, "-", and "traveling" are displayed as the display content. Based on the display timing list in FIG. 7, it can be determined that display devices No. 3, 6, 9, 11, and 12 have multiple lines (multiple hits were found when creating the display timing list). On the screens W1 of these display devices No. (display device NO in FIG. 7) 3, 6, 9, 11, and 12, the first-line items of each display device W in the display timing list and "traveling" are displayed. Therefore, for example, on display device No. 3, the vehicle number (ID number) of the unmanned transport vehicle, which is "1", the command number, which is "1", the speed, which is "5", the next command, which is "go straight", the next command speed, "10", and "traveling" are displayed as the display content.

[0040] Following such an unmanned transport vehicle start instruction step S5, the unmanned transport vehicle route guidance system X according to this embodiment refers to the schedule of the display timings created in the display timing creation step S3, and determines whether all the displays are incomplete (transport incomplete determination step S6). When it is determined that the transport is incomplete (transport incomplete determination step S6; Y), when the unmanned transport vehicle Z arrives at each display machine No., the display machine processing unit X3 performs a process of causing the display machine W to display the next line of the relevant display machine No. (display machine NO in the same figure) in the display timing list of FIG. 7 together with "travel" (next instruction switching display step S7). In this embodiment, the display switching is set to every n minutes, but the display switching timing can be set as appropriate. Therefore, for example, at the timing when the unmanned transport vehicle No. 1 approaches the display machine No. 3, the following items in the second line of the display machine No. 3 in the display timing list of FIG. 7 are displayed on the display machine No. 3 as the display content regarding the next instruction, that is, the vehicle number (ID number) of the unmanned transport vehicle Z, "3", the instruction number, "1", the speed, "5", the next instruction, "left turn", the next instruction speed, "15", and "travel".

[0041] Note that in the transport incomplete determination step S6, when it is determined that the transport is not incomplete (transport incomplete determination step S6; N), that is, when it is determined that the transport is completed, the process ends as it is.

[0042] Also, in the next instruction switching display step S7, when there is no "next line" regarding the relevant display machine No. (display machine NO in the same figure) in the display timing list of FIG. 7, "stop" is displayed (omitted in the flowchart of FIG. 4). The above-described display step S4 and the next instruction switching display step S7 correspond to the "display switching step" in the present invention for switching the display content for each display machine W based on the display timing. Also, the start-time stop display step S1 and the step of displaying "stop" following the next instruction switching display step S7 also correspond to the "display switching step" in the present invention.

[0043] Repeat the above process. When the running of all lines of the display timing list is completed for all display devices W, that is, when it is determined in the transportation incomplete determination step S6 that the transportation is not incomplete (the transportation is completed) (transportation incomplete determination step S6; N), end the process.

[0044] Next, the operation flow of the automated guided vehicle Z in the route guidance system X of the automated guided vehicle Z according to the present embodiment will be described with reference to FIG. 8. Note that this process may be performed by the automated guided vehicle processing unit X4.

[0045] When the above-mentioned unmanned carrier start command step S5 (see FIG. 4) is passed, first, the unmanned carrier Z receives a travel start command via the unmanned carrier processing unit X4 and starts traveling toward the load destination (travel start step S11). Note that a display device W may be installed at the travel start point, and the travel start command may be transmitted to the unmanned carrier Z via this display device W. Next, using the imaging means Z3 mounted on the unmanned carrier Z, the distance between the display device W and the unmanned carrier Z is estimated from the image, and it is determined whether the distance has approached a predetermined distance. If the distance has approached the predetermined distance, it is determined that the display device W has been reached (display device arrival confirmation step S12). For the arrival determination, for example, it may be determined that the arrival has occurred when the imaging means Z3 recognizes the display of the display device W. Next, the display content of the reached display device W is specified (display content specification step S13). The process of specifying the display content of the display device W is a process of imaging and reading the display content of the display device W by the imaging means Z3, and corresponds to the "display content reading step" in the present invention. When the display content of the display device W is specified, it is possible to align the position of the own vehicle at that point (confirm which display device W the unmanned carrier Z is around). Further, the unmanned carrier processing unit X4 may also have a position estimation unit (not shown). The position estimation unit estimates the current position of the unmanned carrier Z from the position of the display device W when the unmanned carrier Z arrives at the display device W, and it is also possible to manage the position of the unmanned carrier Z by such a position estimation unit. Note that the position estimation unit may be possessed by the unmanned carrier Z, or may be possessed by the display device processing unit X3, the route management unit X2, or the transportation management unit X1. Following the display content specification step S13, it is determined whether the command number and the ID number are related to the unmanned carrier Z for the specified (confirmed) display content of the display device W (number determination step S14). When it is determined that the command number and the ID number are related to the unmanned carrier Z (number determination step S14; Y), it is determined whether "travel" is displayed on the display device W (travel display determination step S15). When it is displayed (travel display determination step S15; Y), a direction change is made based on the display content of the display device W, and travel is performed at the instructed travel speed (travel step S16).Next, when arriving at the next display device W, it returns to the display device arrival determination step S12 and continues the above-described processing.

[0046] In addition, when it is determined in the command number determination step S14 that the command number and the ID number are not related to the automated guided vehicle Z (command number determination step S14; N), an abnormality is notified (abnormality notification step S20), and if it is in operation, it stops (stop step S21) and "ends". Also, when an abnormality occurs in the automated guided vehicle Z during the processing from the above-described travel start step S11 to the travel step S16, an abnormality may be notified and the operation may be stopped.

[0047] In addition, in the travel display determination step S15, when it is determined that "travel" is not displayed on the display device W (travel display determination step S15; N), if it is in operation, it stops (stop step S21) and "ends".

[0048] In the automated guided vehicle route guidance system X according to the present embodiment, the above-described operation flow regarding the automated guided vehicle Z is performed for each automated guided vehicle Z.

[0049] As described above, according to the unmanned transport vehicle route guidance system X according to this embodiment, a display device W is installed at a predetermined location on the route, and an unmanned transport vehicle Z equipped with imaging means Z3 capable of imaging and reading the display content displayed on the display device W reads the display content of the display device W imaged by the imaging means Z3 when traveling toward the display device W, and is configured to perform automatic driving according to the display content. Therefore, it is not necessary to embed permanent magnets in the floor along the route, or to attach magnetic tapes or reflective tapes, and the unmanned transport vehicle Z can be automatically driven along the route. In addition, according to the unmanned transport vehicle route guidance system X according to this embodiment, even when changing the route, it can be dealt with by changing the display content of the display device W or changing the installation position of the display device W. Therefore, it is possible to easily change the route without being forced to perform large-scale work such as re-embedding permanent magnets or re-attaching magnetic tapes, etc. Further, according to the unmanned transport vehicle route guidance system X according to this embodiment, by mounting the imaging means Z3 capable of imaging and reading the display content of the display device W on the unmanned transport vehicle Z, the unmanned transport vehicle Z can be autonomously driven along the route. Therefore, compared with the mode of mounting magnetic sensors or optical sensors on all unmanned transport vehicles Z, the introduction cost can be kept relatively low, and high machine specifications are not required for the unmanned transport vehicle Z. Even if the number of pixels of the camera used as the imaging means Z3 is low, it can be handled, which is advantageous in terms of cost. Furthermore, if a magnetic induction method or an optical method is adopted as a system for automatically driving the unmanned transport vehicle Z along the target driving route, the traveling speed of the unmanned transport vehicle must be set to a low speed (for example, 2 to 4 kilometers per hour) so as to surely perform continuous detection processing by the magnetic sensor or the optical sensor. However, according to the unmanned transport vehicle route guidance system X according to this embodiment, since the imaging and reading processing by the imaging means Z3 is intermittent processing, there is no need to consider continuous detection processing by the magnetic sensor or the optical sensor, and the traveling speed of the unmanned transport vehicle Z can be set higher compared with the case of adopting the magnetic induction method or the optical method, which contributes to the improvement of the transport processing efficiency.

[0050] Moreover, according to the unmanned transport vehicle route guidance system X according to this embodiment, when the display content of the display device W is specified or recognized, it is possible to align the position of the own vehicle at that point. Therefore, compared with the mode of connecting the unmanned transport vehicle Z to the server and issuing instructions from the server to the unmanned transport vehicle Z, or the mode of providing a gyro sensor in the unmanned transport vehicle Z and performing autonomous driving while aligning the position of the own vehicle, it is not essential to attach a GPS function or a gyro sensor to the unmanned transport vehicle Z, and a route guidance system with less accumulated error can be realized.

[0051] As an automatic driving system for the unmanned transport vehicle Z, there is also known an automatic driving system using the LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) method that irradiates laser light and measures the time until it hits an object and bounces back to measure the distance and direction to the object. However, a high-definition map with three-dimensional information is essential. On the other hand, the unmanned transport vehicle route guidance system X according to this embodiment is easy to introduce in that it does not require such a high-precision 3D map.

[0052] Furthermore, according to the unmanned transport vehicle route guidance system X according to this embodiment, since the display content of the display device is configured to be switchable for each unmanned transport vehicle Z, it is possible to automatically drive different routes for each unmanned transport vehicle Z. Compared with the mode where all the unmanned transport vehicles Z can only be automatically driven on the same route, the transport efficiency can be improved, which also leads to energy savings for the unmanned transport vehicle Z.

[0053] In addition, according to the unmanned transport vehicle route guidance system X according to this embodiment, since it is set to stop when the unmanned transport vehicle Z fails to image and read the display content of the display device, it is possible to prevent the situation where the unmanned transport vehicle Z gets lost or runs wild due to its inability to image and read the display content of the display device, and a route guidance system excellent in terms of safety can be realized.

[0054] Furthermore, according to the unmanned transport vehicle route guidance system X according to the present embodiment, since the unmanned transport vehicle Z operates according to the display of the display device W, the unmanned transport vehicle Z can automatically operate without communicating with other devices or systems during travel. As a result, automatic travel is possible without installing a communication infrastructure for the unmanned transport vehicle Z within a facility (indoors or outdoors) where unmanned transport is desired.

[0055] Note that the present invention is not limited to the above-described embodiments. For example, in the above-described embodiments, whether or not an abnormality (delay, accident, trouble in reading the display device W by the unmanned transport vehicle, failure of the unmanned transport vehicle Z, etc.) has occurred in the unmanned transport vehicle Z may be determined by the unmanned transport vehicle Z or the unmanned transport vehicle processing unit X4, etc. When it is determined that an abnormality has occurred, it may be determined whether or not the operation can continue. When it is determined that the operation cannot continue, the screen of all the display devices W may be displayed with "Stop", and the unmanned transport vehicle Z can be safely stopped by ending the transportation. Further, whether or not there is a failure or abnormality in the display device W may be determined by the display device W or the display device processing unit X3, etc., and the screen of all the display devices W may be displayed with "Stop".

[0056] Also, in the present embodiment, the display device processing unit X3 switches the display of the display device W, but a display schedule may be transmitted to the display device W in advance, and each display device W may switch the display according to the display schedule.

[0057] Alternatively, an IC tag may be attached to the driverless transport vehicle Z, and the display device W may determine whether the driverless transport vehicle Z has arrived at the display device W by reading the IC tag. Further, after the driverless transport vehicle Z reads the display content of the display device W and executes traveling (or may stop in some cases) according to the display content, the driverless transport vehicle Z may notify the display device W that the display content has been executed. In this case, the display device W that has received the notification displays the next display content. Furthermore, in the above-described embodiment, an example of a mode in which the display device W is notified that the driverless transport vehicle Z has arrived at the display device W has been illustrated. However, the driverless transport vehicle Z may notify any one of the driverless transport vehicle processing unit X4, the display device processing unit X3, the route management unit X2, or the transport management unit X1 that the driverless transport vehicle Z has arrived at the display device W.

[0058] Also, the operation of the driverless transport vehicle and the display timing of the display device may be managed by time or hour.

[0059] Further, the display content of the display device may be content that can be specified by a pattern of the lighting manner of the display device. In this case, a traffic signal or something similar to a traffic signal can be applied as the display device.

[0060] In the driverless transport vehicle route guidance system and the driverless transport vehicle route guidance method according to the present invention, according to the system introduction site (whether indoors or outdoors), the number of driverless transport vehicles and display devices to be used can be appropriately changed and selected, and the transport route (return route, delivery route) can also be appropriately changed and selected.

[0061] Also, in the driverless transport vehicle route guidance system and the driverless transport vehicle route guidance method according to the present invention, as a driverless transport vehicle having a function of transporting articles other than people such as loads, any of the loading type, towing type, forklift type (JIS D6801:2019) defined in JIS can be applied.

[0062] In addition, the specific configurations and processing contents of each part are not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present invention.

Description of Symbols

[0063] W… Display device X… Automated guided vehicle route guidance system Z… Automated guided vehicle Z3… Imaging means

Claims

1. An automated guided vehicle route guidance system for automatically driving an automated guided vehicle along a route, wherein a display is installed at a predetermined location on the route, the display is configured to display the ID number of the automated guided vehicle and at least one piece of information among the identification ID, traveling speed, traveling direction, traveled distance, travel command, and stop command of the display, when the automated guided vehicle equipped with imaging means capable of imaging and reading the display content, which is the information displayed on the display, travels toward the display and reads the display content of the display imaged by the imaging means, and when the display content pertains to the automated guided vehicle, the automated guided vehicle is configured to perform automatic driving according to the display content. An automated guided vehicle route guidance system characterized by this.

2. The automated guided vehicle route guidance system according to claim 1, further comprising a position estimation unit that estimates the current position of the automated guided vehicle based on the position of the display when the automated guided vehicle arrives at the display.

3. It includes a route management unit for managing the travel route of the automated guided vehicle, a display processing unit for executing processing for each display, and an automated guided vehicle processing unit for executing processing for each automated guided vehicle. The display is configured to be able to switch the display content of the display for each of the plurality of automated guided vehicles by the display processing unit. Furthermore, the route management unit is provided with a travel route generation unit for generating a travel route for each automated guided vehicle, and a display timing determination unit for determining the display content and display timing to be displayed on the display based on the travel route generated by the travel route generation unit. The automated guided vehicle processing unit includes a display content reading unit for reading the display content on the display imaged by the imaging means, a display content specifying unit for specifying the read display content, and a number determination unit for determining whether or not the ID number among the specified display content pertains to the automated guided vehicle. The automated guided vehicle route guidance system according to claim 1 or 2.

4. The automated guided vehicle route guidance system according to any one of claims 1 to 3, wherein the automated guided vehicle is set to stop when it cannot image and read the display content of the display.

5. An automated guided vehicle route guidance method for automatically driving an automated guided vehicle along a route using a display whose display content is switchable. A travel route generation step for generating a travel route of the automated guided vehicle; A display timing determination step for determining display content and display timing to be displayed on the display device based on the travel route; A display switching step for switching the display content of the display device based on the display timing; A display content reading step for the automated guided vehicle to read the display content of the display device including the ID number of the automated guided vehicle; A display content specifying step for specifying the read display content; A number determination step for determining whether the display content is related to the automated guided vehicle based on the ID number among the specified display content; An automated guided vehicle route guidance method characterized by passing through the above steps. **Claim 6**: An automated guided vehicle route guidance system for automatically driving an automated guided vehicle along a route, wherein each automated guided vehicle is assigned a unique ID; a display device for displaying information including the ID of the automated guided vehicle is installed at a predetermined location on the route; the automated guided vehicle equipped with imaging means capable of imaging and reading the display content, which is the information displayed on the display device, reads the display content of the display device imaged by the imaging means when traveling towards the display device, and when the display content is related to the automated guided vehicle, is configured to perform automatic driving according to the display content. An automated guided vehicle route guidance system characterized by this.

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