Automated guided vehicle control system

Abstract

To provide an automated guided vehicle control system capable of using an appropriate sensor according to a situation in an environment having a temperature difference.SOLUTION: An automated guided vehicle control system 1 includes: an automated guided vehicle 20 that includes an optical sensor 21 and an ultrasonic sensor 22 for detecting an obstacle and reciprocates between a first area and a second area lower in temperature than the first area; and a control device 10. The control device 10 includes: an acquisition unit 12 that acquires information on an amount of water vapor in the first area and information on an amount of water vapor in the second area; a determination unit 13 that determines a sensor to be used, based on the amount of water vapor in the first area and the amount of water vapor in the second area; and a transmission unit 14 that transmits determination information to the automated guided vehicle 20. The automated guided vehicle 20 includes: a reception unit 24 that receives the determination information; an estimation unit 25 that generates self-position information; and a determination unit 26 that determines which of the optical sensor 21 and the ultrasonic sensor 22 is to be used based on the determination information and the self-position information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an automated guided vehicle control system. [Background technology]

[0002] There are known automated guided vehicles equipped with obstacle detection sensors. In automated guided vehicles, for example, obstacle detection sensors are installed at the front and rear of the vehicle. When the obstacle detection sensors detect a person or an obstacle while the vehicle is moving, the vehicle is controlled to stop moving, etc. However, the obstacle detection sensors can sometimes make false detections due to various environmental factors.

[0003] A technology for preventing false detection due to environmental factors is described, for example, in Patent Document 1. Patent Document 1 discloses a traveling device that detects obstacles within a predetermined range using an ultrasonic sensor and an optical sensor, and if one of the sensors becomes unable to detect an obstacle, the other sensor complements the detection result. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-155597 Summary of the Invention [Problem to be solved by the invention]

[0005] Automated guided vehicles may travel between areas with large temperature differences, such as between a freezer and a refrigerator. In places with large temperature differences, water vapor can form tiny droplets (haze) and become suspended in the air. In such cases, optical sensors generally have higher obstacle detection accuracy than ultrasonic sensors, but it is possible that laser light will reflect off the haze and cause it to be mistakenly detected as an obstacle. On the other hand, even when there is a large temperature difference between areas, haze may not occur due to various factors such as low humidity and the configuration and opening / closing status of the passages between the areas. Therefore, in environments with large temperature differences, it is necessary to use sensors appropriate for the situation.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an automated guided vehicle control system that can use an appropriate sensor depending on the situation in an environment with temperature differences. [Means for solving the problem]

[0007] An automated guided vehicle control system according to one aspect of the present disclosure includes an automated guided vehicle equipped with an optical sensor and an ultrasonic sensor for detecting obstacles, which travels between a first area and a second area having a lower temperature than the first area, and a control device that determines a sensor to be used by the automated guided vehicle. The control device includes an acquisition unit that acquires information regarding the amount of water vapor in the first area and information regarding the amount of water vapor in the second area, a determination unit that determines a sensor to be used based on the amount of water vapor in the first area and the amount of water vapor in the second area, and a transmission unit that transmits determination information indicating the sensor determined by the determination unit to the automated guided vehicle. The automated guided vehicle includes a receiving unit that receives the determination information, an estimation unit that generates self-location information indicating an estimated result of its self-location, and a determination unit that determines whether to use the optical sensor or the ultrasonic sensor based on the determination information received from the receiving unit and the self-location information estimated by the estimation unit.

[0008] According to another aspect of the present disclosure, there is provided an automated guided vehicle control system, comprising an automated guided vehicle equipped with an optical sensor and an ultrasonic sensor for detecting obstacles, and configured to travel between a first area and a second area having a lower temperature than the first area. The automated guided vehicle includes an acquisition unit that acquires information relating to the amount of water vapor in the first area and information relating to the amount of water vapor in the second area, a determination unit that determines a sensor to use based on the amount of water vapor in the first area and the amount of water vapor in the second area, an estimation unit that generates self-position information indicating an estimation result of the self-position, and a determination unit that determines whether to use the optical sensor or the ultrasonic sensor based on the determination information indicating the sensor determined by the determination unit and the self-position information estimated by the estimation unit.

[0009] In the automated guided vehicle control system, the sensor to be used is determined based on the amount of water vapor in the first area and the amount of water vapor in the second area. Then, based on the determination information and the estimated self-position information of the automated guided vehicle, it is decided whether to use an optical sensor or an ultrasonic sensor. This allows an automated guided vehicle traveling between the first area and the second area, which have a temperature difference, to use an appropriate sensor depending on the amount of water vapor in the first area, the amount of water vapor in the second area, and its own position. Therefore, in an environment with a temperature difference, an appropriate sensor can be used depending on the situation.

[0010] In the automated guided vehicle control system, the acquisition unit acquires the temperature and humidity of the first area and the temperature of the second area. The determination unit determines that the ultrasonic sensor is the sensor to be used if the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the saturated water vapor amount in the second area calculated based on the temperature of the second area. If the amount of water vapor in the first area, which has a higher temperature, is greater than the saturated water vapor amount in the second area, which has a lower temperature, it can be estimated that haze may occur. This allows for more appropriate determination of the information of the sensor to be used.

[0011] In an automated guided vehicle control system, an acquisition unit acquires the temperature and humidity of a first area and the temperature and humidity of a second area. A determination unit determines that the ultrasonic sensor is the sensor to be used if the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the amount of water vapor in the second area calculated based on the temperature and humidity of the second area. Even when the temperature difference between the areas is large, haze may not occur due to various factors such as low humidity and the configuration and open / closed status of the passage between the areas. By calculating the amount of water vapor in the first area and the amount of water vapor in the second area, it is possible to more appropriately determine the information of the sensor to be used while taking into consideration a wide range of environmental factors.

[0012] In the automated guided vehicle control system, the determination unit uses the sensor indicated by the determination information when the self-location indicated by the self-location information is in the boundary area between the first area and the second area, and uses the optical sensor when the self-location indicated by the self-location information is outside the boundary area. If the self-location is in the boundary area between the first area and the second area, it can be estimated that the automated guided vehicle is in an area where haze may occur due to a temperature difference. By using the sensor indicated by the determination information in this case, a more appropriate sensor can be used depending on the situation. If the self-location indicated by the self-location information is outside the boundary area, it can be estimated that the temperature difference is small or constant, and therefore haze is unlikely to occur due to a temperature difference. By using the optical sensor in this case, it is possible to maintain high obstacle detection accuracy. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to provide an automated guided vehicle control system that can use an appropriate sensor depending on the situation in an environment with temperature differences. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an automated guided vehicle control system. [Figure 2] FIG. 1 is a block diagram showing an example of the configuration of an automated guided vehicle control system. [Figure 3]FIG. 10 is a diagram illustrating an example of calculation of the amount of water vapor. [Figure 4] 4A and 4B are diagrams illustrating an example of sensor installation, in which (a) of Fig. 4 is a diagram illustrating an example of the front body of an automated guided vehicle, and (b) of Fig. 4 is a diagram illustrating an example of the rear body of an automated guided vehicle. [Figure 5] 10 is a flowchart showing an example of the operation of the automated guided vehicle control system. [Figure 6] 10 is a flowchart showing another example of the operation of the automated guided vehicle control system. [Figure 7] FIG. 10 is a block diagram showing an example of the configuration of an automated guided vehicle control system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, preferred embodiments of an automated guided vehicle control system according to one aspect of the present disclosure will be described in detail with reference to the drawings.

[0016] FIG. 1 is a schematic diagram illustrating an example of an automated guided vehicle control system 1 according to an embodiment of the present disclosure. The automated guided vehicle control system 1 includes a control device 10 and an automated guided vehicle 20. The automated guided vehicle 20 is equipped with an optical sensor and an ultrasonic sensor for detecting obstacles, and travels between a first area and a second area having a lower temperature than the first area. For example, the first area is a refrigerator, and the second area is a freezer. Examples of the first and second areas are not limited to this, and the first area may be a general environment such as a warehouse, and the second area may be a freezer, for example.

[0017] A boundary area B is provided between the first area and the second area. The boundary area B includes, for example, a door or a passageway. The boundary area B may include a portion of the first area and a portion of the second area. For example, magnetic markers or wireless tags such as RFID (Radio Frequency Identifier) ​​tags that indicate the location of the boundary area B may be placed in the first area and the second area. The door or passageway in the boundary area B is opened when the automated guided vehicle 20 travels between the first area and the second area. In the boundary area B, mist M may be generated by mixing the air from the first area and the air from the second area, which have a temperature difference.

[0018] The control device 10 is connected to a first measuring device 2 arranged in a first area, a second measuring device 3 arranged in a second area, and an automated guided vehicle 20 via a network N. The network N may be configured to include the Internet or an intranet.

[0019] FIG. 2 is a block diagram showing an example of the configuration of an automated guided vehicle control system 1 according to an embodiment of the present disclosure.

[0020] The first measuring device 2 acquires information about the amount of water vapor in the first area. For example, the first measuring device 2 is a thermo-hygrometer. In this case, the first measuring device 2 acquires temperature and humidity as information about the amount of water vapor in the first area. The first measuring device 2 transmits the information about the amount of water vapor in the first area to the control device 10. The first measuring device 2 may transmit the information about the amount of water vapor in the first area directly to the control device 10, or may transmit it to the control device 10 via a transmitter.

[0021] The second measuring device 3 acquires information regarding the amount of water vapor in the second area. For example, the second measuring device 3 is a thermometer. In this case, the second measuring device 3 acquires temperature as information regarding the amount of water vapor in the second area. The second measuring device 3 may be a thermo-hygrometer. In this case, the second measuring device 3 acquires temperature and humidity as information regarding the amount of water vapor in the second area. The second measuring device 3 transmits the information regarding the amount of water vapor in the second area to the control device 10. The second measuring device 3 may transmit the information regarding the amount of water vapor in the second area directly to the control device 10, or may transmit it to the control device 10 via a transmitter.

[0022] The control device 10 determines the sensors that the automated guided vehicle 20 should use. The control device 10 is, for example, a server computer, but is not limited to this. The control device 10 has, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control device 10 realizes various functions by, for example, loading a program stored in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The control device 10 has a memory unit 11, an acquisition unit 12, a determination unit 13, and a transmission unit 14.

[0023] The memory unit 11 stores information related to the amount of saturated water vapor. The information related to the amount of saturated water vapor may be, for example, a saturated water vapor curve or a formula for calculating the amount of saturated water vapor. For example, the saturated water vapor curve can calculate the amount of saturated water vapor according to temperature. Such information related to the amount of saturated water vapor is publicly known, and therefore, a description thereof will be omitted. The memory unit 11 may be a device separate from the control device 10, or may be a component of the control device 10.

[0024] The acquisition unit 12 acquires information related to the amount of water vapor in the first area and information related to the amount of water vapor in the second area. For example, the acquisition unit 12 receives information related to the amount of water vapor in the first area from the first measuring instrument 2. The acquisition unit 12 receives information related to the amount of water vapor in the second area from the second measuring instrument 3. The acquisition unit 12 acquires information related to the amount of saturated water vapor from the storage unit 11.

[0025] The determination unit 13 calculates the amount of water vapor in the first area and the amount of water vapor in the second area. An example of the calculation of the amount of water vapor in the first area and the amount of water vapor in the second area will now be described with reference to Fig. 3. Fig. 3 shows the temperature and amount of water vapor in each of the refrigerator (general environment) and the freezer, as well as a saturated water vapor amount curve.

[0026] The determination unit 13 calculates the amount of water vapor in the first area based on information about the amount of water vapor in the first area. For example, the determination unit 13 calculates the amount of water vapor in the first area based on the temperature and humidity of the first area. In one example, the temperature of the refrigerator, which is the first area, is 7°C, and the humidity in the refrigerator is 75%. The amount of water vapor in the refrigerator can be calculated by multiplying the saturated water vapor amount in the refrigerator by the humidity. Using the saturated water vapor curve, the determination unit 13 calculates that the saturated water vapor amount when the temperature is 7°C is 7.76 [g / m 3 Then, the determination unit 13 calculates the amount of water vapor in the refrigerator to be 7.76 [g / m 3 ] × 0.75 ≒ 5.8 [g / m 3 ] (rounded down to the second decimal place).

[0027] The determination unit 13 calculates the amount of water vapor in the second area based on information about the amount of water vapor in the second area. For example, the determination unit 13 calculates the amount of saturated water vapor in the second area based on the temperature of the second area. In one example, the temperature of the freezer, which is the second area, is -15°C. The determination unit 13 calculates, based on the saturated water vapor curve, that the amount of saturated water vapor when the temperature is -15°C is 1.6 [g / m 3 ] is calculated.

[0028] In the boundary region B between the refrigerator and the freezer, the air in the refrigerator and the air in the freezer mix, which can cause haze. The determination unit 13 may calculate the amount of water vapor that can cause haze. The amount of water vapor that can cause haze can be calculated, for example, by subtracting the amount of water vapor in the refrigerator from the amount of saturated water vapor in the freezer. The determination unit 13 determines that the amount of water vapor that can cause haze is 5.8 [g / m 3 ]-1.6[g / m 3 ]=4.2[g / m 3 ] may also be calculated.

[0029] The determination unit 13 determines the sensor to be used based on the amount of water vapor in the first area and the amount of water vapor in the second area. For example, the determination unit 13 determines that the ultrasonic sensor is the sensor to be used when the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the saturated amount of water vapor in the second area calculated based on the temperature of the second area. In one example, the determination unit 13 determines that the ultrasonic sensor is the sensor to be used when the amount of water vapor in the refrigerator is greater than the saturated amount of water vapor in the freezer. The determination unit 13 may also determine that the optical sensor is the sensor to be used when the amount of water vapor in the refrigerator is equal to or less than the saturated amount of water vapor in the freezer.

[0030] The determination unit 13 may calculate the amount of water vapor in the second area based on the temperature and humidity of the second area. For example, the determination unit 13 may calculate the amount of water vapor in the freezer by multiplying the saturated amount of water vapor in the freezer by the humidity. Then, the determination unit 13 may determine that the ultrasonic sensor is the sensor to be used when the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the amount of water vapor in the second area calculated based on the temperature and humidity of the second area. In one example, the determination unit 13 may determine that the ultrasonic sensor is the sensor to be used when the amount of water vapor in the refrigerator is greater than the amount of water vapor in the freezer. The determination unit 13 may determine that the optical sensor is the sensor to be used when the amount of water vapor in the refrigerator is equal to or less than the amount of water vapor in the freezer.

[0031] 2, the transmitter 14 transmits to the automated guided vehicle 20 determination information indicating the sensor determined by the determination unit 13. The determination information indicates, for example, either an ultrasonic sensor or an optical sensor. The transmitter 14 may transmit the determination information to the automated guided vehicle 20 at predetermined time intervals, may transmit the determination information to the automated guided vehicle 20 when the content of the determination information is changed, or may transmit the determination information to the automated guided vehicle 20 in response to a request from the automated guided vehicle 20.

[0032] The automated guided vehicle 20 is, for example, but not limited to, an autonomous forklift. For example, the automated guided vehicle 20 detects a guided travel path such as laid magnetic tape or magnetic rod, and travels by guided travel along the detected guided travel path. The automated guided vehicle 20 is equipped with an optical sensor 21, an ultrasonic sensor 22, and a control unit 23.

[0033] The optical sensor 21 is, for example, a LIDAR (Light Detection And Ranging) sensor. The LIDAR sensor detects reflected light or scattered light from laser irradiation, and detects the distance to an obstacle, the presence of the obstacle, etc. The ultrasonic sensor 22 detects reflected ultrasonic waves, and detects the distance to an obstacle, the presence of the obstacle, etc.

[0034] In the automatic guided vehicle 20, either the optical sensor 21 or the ultrasonic sensor 22 is operated to detect obstacles in front of and behind the vehicle body. Here, an example of how the optical sensor 21 and the ultrasonic sensor 22 are attached will be described with reference to Fig. 4 .

[0035] 4(a) is a diagram showing an example of the front of the vehicle body of the automatic guided vehicle 20. The optical sensor 21 is provided below (on the floor surface side) the ultrasonic sensor 22. The optical sensor 21 detects obstacles ahead of the vehicle body by irradiating a laser beam horizontally onto the floor surface toward the front of the vehicle body. The ultrasonic sensor 22 detects obstacles ahead of the vehicle body by emitting ultrasonic waves toward the front of the vehicle body in a direction away from the floor surface.

[0036] 4(b) is a diagram showing an example of the rear of the vehicle body of the automatic guided vehicle 20. The optical sensor 21 is provided below (on the floor surface side) the ultrasonic sensor 22. The optical sensor 21 detects obstacles behind the vehicle body by irradiating a laser beam horizontally onto the floor surface toward the rear of the vehicle body. The ultrasonic sensor 22 detects obstacles behind the vehicle body by emitting ultrasonic waves toward the rear of the vehicle body in a direction away from the floor surface.

[0037] Returning to FIG. 2 , the control unit 23 is an electronic control unit that controls the travel of the automatic guided vehicle 20. The control unit 23 has, for example, a CPU, a ROM, a RAM, etc. The control unit 23 realizes various functions, for example, by loading a program stored in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The control unit 23 has a receiving unit 24, an estimating unit 25, and a determining unit 26.

[0038] The receiving unit 24 receives the determination information from the control device 10. The receiving unit 24 may transmit a request to the control device 10 to acquire the determination information, and receive the determination information as a response to the request.

[0039] The estimation unit 25 generates self-location information indicating the estimation result of the self-location. The method of estimating the self-location is not limited. For example, the automated guided vehicle 20 may store maps of the first area and the second area in advance. The automated guided vehicle 20 may estimate its own location by detecting magnetic markers or wireless tags such as RFID tags indicating its position in the first area, the second area, and the boundary region B using a magnetic sensor or the like, and comparing the detected tags with the map. The estimation unit 25 may estimate its own location using SLAM (Simultaneous Localization and Mapping) technology.

[0040] The determination unit 26 determines whether to use the optical sensor 21 or the ultrasonic sensor 22 based on the determination information received from the receiving unit 24 and the self-position information estimated by the estimation unit 25. The determination unit 26 uses the sensor indicated by the determination information when the self-position indicated by the self-position information is in the boundary area B between the first area and the second area. The determination unit 26 uses the optical sensor 21 when the self-position indicated by the self-position information is outside the boundary area B.

[0041] An example of the operation of the automatic guided vehicle control system 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the operation of the automatic guided vehicle control system 1.

[0042] The acquisition unit 12 acquires information about the amount of water vapor in the first area (step S1). For example, the acquisition unit 12 receives the temperature and humidity of the first area from a first measuring device 2 placed in the first area. In one example, the acquisition unit 12 receives the temperature and humidity inside a refrigerator from a thermo-hygrometer placed in the refrigerator.

[0043] The acquisition unit 12 acquires information about the amount of water vapor in the second area (step S2). For example, the acquisition unit 12 receives the temperature of the second area from a second measuring device 3 placed in the second area. In one example, the acquisition unit 12 receives the temperature inside the freezer from a thermometer placed in the freezer.

[0044] Determination unit 13 calculates the amount of water vapor in the first area (step S3). For example, determination unit 13 calculates the amount of water vapor in the first area based on information related to the amount of saturated water vapor stored in storage unit 11 and the temperature and humidity of the first area. In one example, determination unit 13 calculates the amount of water vapor in the refrigerator by multiplying the amount of saturated water vapor by the humidity in the refrigerator.

[0045] The determination unit 13 calculates the amount of saturated water vapor in the second area (step S4). For example, the determination unit 13 calculates the amount of saturated water vapor in the second area based on the information related to the amount of saturated water vapor stored in the storage unit 11 and the temperature of the second area. In one example, the determination unit 13 calculates the amount of saturated water vapor according to the temperature inside the freezer using a saturated water vapor curve.

[0046] The determination unit 13 compares the amount of water vapor in the first area with the amount of saturated water vapor in the second area (step S5). If the amount of water vapor in the first area is greater than the amount of saturated water vapor in the second area (YES in step S5), the process proceeds to step S6. If the amount of water vapor in the first area is equal to or less than the amount of saturated water vapor in the second area (NO in step S5), the process proceeds to step S7.

[0047] The determination unit 13 determines that the ultrasonic sensor 22 is the sensor that should be used (step S6). The transmission unit 14 transmits determination information indicating the ultrasonic sensor 22 to the automatic guided vehicle 20. The reception unit 24 receives the determination information from the control device 10.

[0048] The determination unit 13 determines that the optical sensor 21 is the sensor that should be used (step S7). The transmission unit 14 transmits determination information indicating the optical sensor 21 to the automatic guided vehicle 20. The reception unit 24 receives the determination information from the control device 10.

[0049] The estimation unit 25 generates self-location information indicating the estimation result of the self-location (step S8). For example, the estimation unit 25 generates self-location information indicating whether the self-location is in the first area, the second area, or the boundary area B.

[0050] If the self-location indicated by the self-location information is in boundary area B (YES in step S9), the process proceeds to step S10. If the self-location indicated by the self-location information is in an area other than boundary area B (NO in step S9), the process proceeds to step S11.

[0051] The decision unit 26 uses the sensor indicated by the determination information (step S10). For example, if the determination information indicates the optical sensor 21, the decision unit 26 activates the optical sensor 21. If the optical sensor 21 is in an operating state, the decision unit 26 keeps the optical sensor 21 in an operating state. On the other hand, if the ultrasonic sensor 22 is in an operating state, the decision unit 26 activates the optical sensor 21 and stops the ultrasonic sensor 22.

[0052] For example, if the determination information indicates the ultrasonic sensor 22, the decision unit 26 activates the ultrasonic sensor 22. If the ultrasonic sensor 22 is in an operating state, the decision unit 26 continues the operating state of the ultrasonic sensor 22. On the other hand, if the optical sensor 21 is in an operating state, the decision unit 26 activates the ultrasonic sensor 22 and stops the optical sensor 21.

[0053] The decision unit 26 uses the optical sensor 21 (step S11). If the optical sensor 21 is in an operating state, the decision unit 26 continues the operating state of the optical sensor 21. On the other hand, if the ultrasonic sensor 22 is in an operating state, the decision unit 26 operates the optical sensor 21 and stops the ultrasonic sensor 22.

[0054] Another example of the operation of the automated guided vehicle control system 1 will be described with reference to Fig. 6. Fig. 6 is a flowchart showing another example of the operation of the automated guided vehicle control system 1. The flowchart shown in Fig. 6 differs from the flowchart shown in Fig. 5 in that the amount of water vapor in the first area is compared with the amount of water vapor in the second area.

[0055] The acquisition unit 12 acquires information about the amount of water vapor in the first area (step S21). For example, the acquisition unit 12 receives the temperature and humidity of the first area from the first measuring device 2 placed in the first area. In one example, the acquisition unit 12 receives the temperature and humidity inside a refrigerator from a thermo-hygrometer placed in the refrigerator.

[0056] The acquisition unit 12 acquires information about the amount of water vapor in the second area (step S22). For example, the acquisition unit 12 receives the temperature and humidity of the second area from a second measuring device 3 placed in the second area. In one example, the acquisition unit 12 receives the temperature and humidity inside the freezer from a thermo-hygrometer placed in the freezer.

[0057] Determination unit 13 calculates the amount of water vapor in the first area (step S23). For example, determination unit 13 calculates the amount of water vapor in the first area based on information related to the amount of saturated water vapor stored in storage unit 11 and the temperature and humidity of the first area. In one example, determination unit 13 calculates the amount of water vapor in the refrigerator by multiplying the amount of saturated water vapor by the humidity in the refrigerator.

[0058] The determination unit 13 calculates the amount of water vapor in the second area (step S24). For example, the determination unit 13 calculates the amount of water vapor in the second area based on information related to the amount of saturated water vapor stored in the storage unit 11 and the temperature and humidity of the second area. In one example, the determination unit 13 calculates the amount of water vapor in the freezer by multiplying the amount of saturated water vapor in the refrigerator by the humidity.

[0059] The determination unit 13 compares the amount of water vapor in the first area with the amount of water vapor in the second area (step S25). If the amount of water vapor in the first area is greater than the amount of water vapor in the second area (YES in step S25), the process proceeds to step S26. If the amount of water vapor in the first area is equal to or less than the amount of water vapor in the second area (NO in step S25), the process proceeds to step S27.

[0060] The determination unit 13 determines that the ultrasonic sensor 22 is the sensor that should be used (step S26). The transmission unit 14 transmits determination information indicating the ultrasonic sensor 22 to the automatic guided vehicle 20. The reception unit 24 receives the determination information from the control device 10.

[0061] The determination unit 13 determines that the optical sensor 21 is the sensor that should be used (step S27). The transmission unit 14 transmits determination information indicating the optical sensor 21 to the automatic guided vehicle 20. The reception unit 24 receives the determination information from the control device 10.

[0062] The processing in steps S28 to S31 is the same as the processing in steps S8 to S11 shown in FIG. 5, and therefore a description thereof will be omitted.

[0063] As described above, in the automated guided vehicle control system 1, the sensor to be used is determined based on the amount of water vapor in the first area and the amount of water vapor in the second area. Then, based on the determination information and the estimated self-position information of the automated guided vehicle 20, it is decided whether to use the optical sensor 21 or the ultrasonic sensor 22. This allows the automated guided vehicle 20, which travels between the first area and the second area, which have a temperature difference, to use an appropriate sensor depending on the amount of water vapor in the first area, the amount of water vapor in the second area, and its own position. Therefore, in an environment with a temperature difference, an appropriate sensor can be used depending on the situation.

[0064] In the automated guided vehicle control system 1, the acquisition unit 12 acquires the temperature and humidity of the first area and the temperature of the second area. The determination unit 13 determines that the ultrasonic sensor 22 is the sensor to be used if the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the saturated water vapor amount in the second area calculated based on the temperature of the second area. If the amount of water vapor in the first area, which has a higher temperature, is greater than the saturated water vapor amount in the second area, which has a lower temperature, it can be estimated that haze may occur. This allows for more appropriate determination of the information of the sensor to be used.

[0065] In the automated guided vehicle control system 1, the acquisition unit 12 acquires the temperature and humidity of the first area and the temperature and humidity of the second area. The determination unit 13 determines that the ultrasonic sensor 22 is the sensor to be used if the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the amount of water vapor in the second area calculated based on the temperature and humidity of the second area. Even when the temperature difference between the areas is large, haze may not occur due to various factors such as low humidity and the configuration and open / closed status of the passage between the areas. By calculating the amount of water vapor in the first area and the amount of water vapor in the second area, it is possible to more appropriately determine the information of the sensor to be used while taking into consideration a wide range of environmental factors.

[0066] In the automated guided vehicle control system 1, the determination unit 26 uses the sensor indicated by the determination information when the self-position indicated by the self-position information is in the boundary region B between the first area and the second area, and uses the optical sensor 21 when the self-position indicated by the self-position information is outside the boundary region B. If the self-position is in the boundary region B between the first area and the second area, it can be estimated that the automated guided vehicle 20 is in an area where haze may occur due to a temperature difference. By using the sensor indicated by the determination information in this case, a more appropriate sensor can be used depending on the situation. If the self-position indicated by the self-position information is outside the boundary region B, it can be estimated that the temperature difference is small or constant, and therefore haze is unlikely to occur due to a temperature difference. By using the optical sensor 21 in this case, it is possible to maintain high obstacle detection accuracy.

[0067] The present disclosure is not limited to the above-described embodiment. For example, Fig. 7 is a block diagram showing an example of the configuration of an automated guided vehicle control system 1A according to a modified example. The automated guided vehicle control system 1A differs from the automated guided vehicle control system 1 in that it does not include the control device 10 and includes an automated guided vehicle 20A instead of the automated guided vehicle 20.

[0068] The automated guided vehicle 20A is communicatively connected to the first measuring device 2 and the second measuring device 3. The automated guided vehicle 20A includes a memory unit 11, an optical sensor 21, an ultrasonic sensor 22, and a control unit 23. The control unit 23 includes an acquisition unit 12, a judgment unit 13, an estimation unit 25, and a determination unit 26.

[0069] The automated guided vehicle control system 1A includes an automated guided vehicle 20A equipped with an optical sensor 21 and an ultrasonic sensor 22 for detecting obstacles, and traveling between a first area and a second area having a lower temperature than the first area. The automated guided vehicle 20A includes an acquisition unit 12 that acquires information related to the amount of water vapor in the first area and information related to the amount of water vapor in the second area, a determination unit 13 that determines a sensor to use based on the amount of water vapor in the first area and the amount of water vapor in the second area, an estimation unit 25 that generates self-position information indicating an estimated result of the vehicle's position, and a determination unit 26 that determines whether to use the optical sensor 21 or the ultrasonic sensor 22 based on the determination information indicating the sensor determined by the determination unit 13 and the self-position information estimated by the estimation unit 25. This configuration also achieves the same effects as the automated guided vehicle control system 1.

[0070] In addition, in the above embodiment, the acquisition unit 12 acquires the temperature and humidity as information regarding the amount of water vapor in the first area. 3 The acquisition unit 12 acquires the temperature or the temperature and humidity as information relating to the amount of water vapor in the second area, but the amount of water vapor in the second area [g / m 3 ] itself may also be obtained.

[0071] In the above embodiment, the case where there is one first measuring device 2 has been described. However, the system may include a plurality of first measuring devices 2. Similarly, the second measuring device 3 may include a plurality of second measuring devices 3. For example, the first measuring device 2 and the second measuring device 3 may be disposed near the boundary region B and away from the boundary region B, respectively. The acquisition unit 12 may acquire information about the amount of water vapor at a position near the boundary region B in the first area, and information about the amount of water vapor at a position away from the boundary region B in the first area. The acquisition unit 12 may acquire information about the amount of water vapor at a position near the boundary region B in the second area, and information about the amount of water vapor at a position away from the boundary region B in the second area. The determination unit 13 may determine the sensor to be used based on the amount of water vapor at a position near the boundary region B in the first area, and the amount of water vapor at a position near the boundary region B in the second area. The determination unit 13 may determine the sensor to be used based on the average amount of water vapor in the first area and the average amount of water vapor in the second area. The determination unit 13 may determine the sensor to be used based on the amount of water vapor at a position away from the boundary region B in the first area and the amount of water vapor at a position away from the boundary region B in the second area.

[0072] The processing procedure of the method executed by the automated guided vehicle control system 1 is not limited to the example in the above embodiment. For example, some of the steps (processing) described above may be omitted, or the steps may be executed in a different order. Furthermore, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be executed in addition to the steps described above.

[0073] When comparing the magnitude of two numbers in a computer system, either of the two criteria "greater than or equal to" and "greater than" may be used, or either of the two criteria "less than or equal to" and "under." The choice of such criteria does not change the technical significance of the process of comparing the magnitude of two numbers. [Explanation of symbols]

[0074] 1,1A...automated guided vehicle control system, 2...first measuring device, 3...second measuring device, 10...control device, 11...memory unit, 12...acquisition unit, 13...judgment unit, 14...transmission unit, 20,20A...automated guided vehicle, 21...optical sensor, 22...ultrasonic sensor, 23...control unit, 24...receiving unit, 25...estimation unit, 26...determination unit, B...boundary area, M...haze, N...network.

Claims

1. an automated guided vehicle that is equipped with an optical sensor and an ultrasonic sensor for detecting an obstacle and travels between a first area and a second area having a lower temperature than the first area; a control device that determines which sensor should be used by the automated guided vehicle; The control device an acquisition unit that acquires information about the water vapor amount in the first area and information about the water vapor amount in the second area; a determination unit that determines a sensor to be used based on the amount of water vapor in the first area and the amount of water vapor in the second area; a transmitter that transmits to the automated guided vehicle determination information indicating the sensor determined by the determination unit, The automated guided vehicle is a receiving unit that receives the determination information; an estimation unit that generates self-location information indicating a result of estimating the self-location; a determination unit that determines whether to use the optical sensor or the ultrasonic sensor based on the determination information received from the receiving unit and the self-position information estimated by the estimation unit, the determination unit uses the sensor indicated by the determination information when the self-location indicated by the self-location information is in a boundary area between the first area and the second area, and uses the optical sensor when the self-location indicated by the self-location information is outside the boundary area. Automated guided vehicle control system.

2. an automated guided vehicle that is equipped with an optical sensor and an ultrasonic sensor that detect an obstacle and that travels between a first area and a second area that has a lower temperature than the first area; The automated guided vehicle is an acquisition unit that acquires information about the water vapor amount in the first area and information about the water vapor amount in the second area; a determination unit that determines a sensor to be used based on the amount of water vapor in the first area and the amount of water vapor in the second area; an estimation unit that generates self-location information indicating a result of estimating the self-location; a determination unit that determines whether to use the optical sensor or the ultrasonic sensor based on determination information indicating the sensor determined by the determination unit and the self-position information estimated by the estimation unit, the determination unit uses the sensor indicated by the determination information when the self-location indicated by the self-location information is in a boundary area between the first area and the second area, and uses the optical sensor when the self-location indicated by the self-location information is outside the boundary area. Automated guided vehicle control system.

3. the acquisition unit acquires the temperature and humidity of the first area and the temperature of the second area; 3. The automated guided vehicle control system according to claim 1, wherein the determination unit determines that the ultrasonic sensor is the sensor to be used when the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the amount of saturated water vapor in the second area calculated based on the temperature of the second area.

4. the acquisition unit acquires the temperature and humidity of the first area and the temperature and humidity of the second area; 3. The automated guided vehicle control system according to claim 1, wherein the determination unit determines that the ultrasonic sensor is the sensor to be used when the amount of water vapor in the first area calculated based on the temperature and humidity of the first area is greater than the amount of water vapor in the second area calculated based on the temperature and humidity of the second area.

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