Unmanned vehicle driving control system

Abstract

To provide a driving control system for an unmanned vehicle that does not require a sensor for detecting a magnetic field of a power supply coil and can easily change a driving route.SOLUTION: In a non-contact power supply system 10 for an unmanned transport vehicle 11 including an unmanned transport vehicle 11 having a power receiving coil and a non-contact power supply device 12 having a power supply coil 42 and supplying power from the power supply coil 42 to the power receiving coil in a non-contact manner, the non-contact power supply device holds the power supply coils 42 and has a power supply module 40 that can be installed on a road surface and a pair of guide modules 41 that are arranged side by side on the road surface with the power supply module 40 therebetween and guide the unmanned transport vehicles 11, and the power supply cable 40 includes a power supply cable 44 that passes through one of the guide modules 41 and is connected to an external power source.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to a driving control system for an unmanned vehicle.

Background Art

[0002] As a conventional technology related to a driving control system for an unmanned vehicle, for example, a power transmission device for non-contact charging and a driving control system for an electric vehicle disclosed in Patent Document 1 are known. The driving control system for an electric vehicle disclosed in Patent Document 1 includes a power transmission device for non-contact charging, a sensor mounted on the electric vehicle for detecting the magnetic field of a power transmission coil, and a control device. Floor materials embedded with power transmission coils are provided in a plurality along the driving path, and the control device automatically drives the electric vehicle along the driving path based on the magnetic field detected by the sensor. The power transmission device for non-contact charging includes a power transmission coil disposed on the driving path of an electric vehicle equipped with a power receiving coil, and a power supply line for supplying power to the power transmission coil.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the driving control system for an electric vehicle disclosed in Patent Document 1 has a problem that it is necessary to embed a power transmission coil in the floor material. For this reason, when constructing a floor material embedded with a power transmission coil, the driving path of the electric vehicle cannot be easily changed. In addition, the electric vehicle requires a magnetic field detection sensor for detecting the magnetic field of the power transmission coil in order to guide the electric vehicle along the power transmission coil.

[0005] This invention has been made in view of the above-mentioned problems, and the object of this invention is to provide a driving control system for an unmanned vehicle that does not require a sensor to detect the magnetic field of the power supply coil and that allows for easy modification of the driving path. [Means for solving the problem]

[0006] To solve the above problems, the present invention provides a driving control system for an unmanned vehicle having a power receiving coil and a non-contact power supply device having a power supply coil and supplying power from the power supply coil to the power receiving coil in a non-contact manner, wherein the non-contact power supply device has a power supply module that holds the power supply coil and can be installed on the road surface and a pair of guide modules that are arranged side by side on the road surface with the power supply module in between and guide the unmanned vehicle, and the power supply module has a power supply cable that passes through one of the guide modules and is connected to an external power source. The unmanned vehicle comprises drive wheels, steering wheels, a driving unit for driving the drive wheels, a steering unit for controlling the steering wheels, and a controller for controlling the driving unit and the steering unit. The controller controls the driving unit to stop the unmanned vehicle when contactless power supply from the power supply coil to the power receiving coil is started and the power supply efficiency of the contactless power supply exceeds a first threshold. When contactless power supply from the power supply coil to the power receiving coil is started and the power supply efficiency is greater than or equal to a second threshold set to be smaller than the first threshold, the steering unit controls the path of the unmanned vehicle to tilt in one direction relative to the travel path. When the rate of increase in the power supply efficiency when traveling at an incline slows down or the power supply efficiency when traveling at an incline decreases, the steering unit controls the vehicle to tilt in the other direction. It is characterized by the following.

[0007] In this invention, a power supply module is installed on the road surface, and a pair of guide modules are arranged side by side with the power supply module in between. The power supply cable of the power supply module passes through one of the guide modules and is connected to an external power source. Therefore, when an unmanned vehicle performs contactless power supply, it starts contactless power supply by traveling on the guide modules and approaching the power supply module. The power supply module installed on the road surface does not need to be embedded in the road surface and its installation position can be easily moved, making it easy to change the travel route.

[0008] Also , receiving When contactless power supply to the electric coil is initiated and the power supply efficiency of the contactless power supply exceeds a first threshold, the unmanned vehicle is stopped. Therefore, contactless power supply can be performed on the stopped unmanned vehicle while the power supply efficiency exceeds the first threshold.

[0009] Also , salaryWhen contactless power supply from the electric coil to the receiving coil begins and the power supply efficiency exceeds a second threshold, the unmanned vehicle (AGV) travels at an incline in one direction relative to its travel path, causing the rate of increase in power supply efficiency to decrease or the power supply efficiency to decrease. When the rate of increase in power supply efficiency when traveling at an incline is below the threshold, or when the power supply efficiency when traveling at an incline is below the first threshold, the AGV travels at an incline in the other direction. Therefore, by traveling at an incline in both directions, the AGV can be guided to a power supply position with higher power supply efficiency based on fluctuations in power supply efficiency, without requiring sensors to detect the magnetic field of the power supply coil.

[0010] Furthermore, in the above-described unmanned vehicle driving control system, the unmanned vehicle may have a guide line detection sensor that detects guide lines installed on the road surface, and the controller may be configured to guide the unmanned vehicle toward the power supply module based on the detection of the guide lines by the guide line detection sensor. In this case, the unmanned vehicle is guided towards the power supply module by detecting the guide wire using a guide wire detection sensor, but it is also possible to install the power supply module on top of the guide wire. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a driving control system for an unmanned vehicle that does not require a sensor to detect the magnetic field of the power supply coil, and that allows for easy modification of the driving path. [Brief explanation of the drawing]

[0012] [Figure 1] A perspective view showing a driving control system for an automated guided vehicle according to an embodiment of the present invention. [Figure 2] (a) is a plan view showing an overview of the automated guided vehicle (AGV), and (b) is a side view showing an overview of the AGV. [Figure 3] This is a schematic diagram of an automated guided vehicle according to an embodiment of the present invention. [Figure 4] This is a plan view showing an overview of a contactless power supply device according to an embodiment of the present invention. [Figure 5] (a) is a front view of the non-contact power supply device, and (b) is a side view of the same device. [Figure 6] It is a flowchart showing the procedure for guiding an automated guided vehicle according to an embodiment of the present invention to a power supply module. [Figure 7] It is an explanatory diagram for explaining a running example of an automated guided vehicle by a running control system of an unmanned moving body. [Figure 8] It is a graph showing an example of the relationship between the power supply efficiency during non-contact power supply and the running position of the unmanned vehicle. [Figure 9] It is a graph of another example showing the relationship between the power supply efficiency during non-contact power supply and the running position of the unmanned vehicle.

Embodiments for Carrying Out the Invention

[0013] Hereinafter, a running control system for an unmanned moving body according to an embodiment of the present invention will be described with reference to the drawings. The unmanned moving body in this embodiment is an automated guided vehicle that transports loads. "Front and rear" and "left and right" indicating directions are based on the automated guided vehicle when it is moving forward.

[0014] As shown in FIG. 1, a running control system 10 of an automated guided vehicle (hereinafter simply referred to as "running control system") includes an automated guided vehicle 11 as an unmanned moving body and a non-contact power supply device 12. A running route R of the automated guided vehicle 11 is set on a road surface F on which the automated guided vehicle 11 runs. Specifically, the running route R is formed by a magnetic tape 13 as a guiding wire attached to the road surface F. The non-contact power supply device 12 is installed so as to overlap the magnetic tape 13 at the power supply position on the running route R.

[0015] First, the automated guided vehicle 11 will be described. As shown in FIG. 2(a), a pair of left and right front wheels 15 are provided at the front of the vehicle body 14 of the automated guided vehicle 11, and a pair of left and right rear wheels 16 are provided at the rear of the vehicle body 14. The front wheels 15 are steering wheels, and the rear wheels 16 are drive wheels. As shown in FIG. 2(b), a loading platform 17 capable of loading a load W is provided on the upper part of the vehicle body 14.

[0016] The vehicle body 14 is equipped with a steering unit 18 for steering the front wheels 15 and a traveling drive unit 19 for driving the rear wheels 16. The steering unit 18 has a steering mechanism 20 and an electric motor 21 for steering. The steering mechanism 20 is a mechanism for converting the rotation of the electric motor 21 for steering into the left - right steering of the front wheels 15. When the electric motor 21 for steering is driven, the steering mechanism 20 is actuated, and when the steering mechanism 20 is actuated, the front wheels 15 are steered. The traveling direction of the automated guided vehicle 11 is determined by the steering angle of the front wheels 15.

[0017] As shown in FIG. 3, the traveling drive unit 19 has an electric motor 22 for traveling and a motor driver 23 for driving the electric motor 22 for traveling. The electric motor 22 for traveling is driven by the motor driver 23. When the electric motor 21 is driven, the rear wheels 16 rotate. The automated guided vehicle 11 moves forward or backward by the rotation of the rear wheels 16.

[0018] A controller 24 is mounted on the vehicle body 14. The controller 24 controls the electric motor 21 for steering and the motor driver 23. As shown in FIG. 3, the controller 24 includes a CPU 25 as an arithmetic processing unit and a storage unit 26 composed of a RAM, a ROM, etc. The controller 24 may be provided with dedicated hardware for executing at least a part of various processes, for example, an application - specific integrated circuit (ASIC). The controller 24 can be configured as a circuit including one or more processors that operate according to a computer program, one or more dedicated hardware circuits such as ASICs, or a combination thereof. The controller 24 is connected to the electric motor 21 for steering and the motor driver 23.

[0019] The front of the vehicle body 14 is equipped with a guidance sensor 27 for detecting the magnetic tape 13. The guidance sensor 27 is connected to the controller 24. When the guidance sensor 27 detects the magnetic tape 13, the controller 24 can recognize that the automated guided vehicle 11 has not deviated from the travel path R. The guidance sensor 27 corresponds to a guide line detection sensor. The automated guided vehicle 11 is equipped with a warning device (not shown), and when the guidance sensor 27 stops detecting the magnetic tape 13, the controller 24 activates the warning device. The controller 24 is connected to a communication unit 28, which can communicate wirelessly with the contactless power supply device 12 and also with a higher-level system (not shown) that manages the operation of the cargo W.

[0020] The vehicle body 14 is equipped with a power receiving device 30 that enables power reception by contactless power supply. The power receiving device 30 comprises a power receiving coil 31, a rectifier 32, a charger 33, and a battery 34 connected to the charger 33. The power receiving coil 31 is located at the bottom of the vehicle body 14 and faces the road surface F. It consists of a secondary coil (not shown) and a secondary resonant coil (not shown). The secondary coil and the secondary resonant coil are arranged to be coaxial. A capacitor is connected to the secondary resonant coil. The secondary coil is connected to the rectifier 32.

[0021] The charger 33 includes a boost circuit (not shown) that converts the power input from the rectifier 32 into a voltage suitable for charging the battery 34. The controller 24 controls the boost circuit of the charger 33 during charging. The battery 34 is a rechargeable secondary battery, such as a lithium-ion secondary battery.

[0022] Next, the contactless power supply device 12 will be described. As shown in Figure 4, the contactless power supply device 12 has a power supply module 40 and a pair of guide modules 41. The power supply module 40 has a power supply coil 42 and a module body 43 that holds the power supply coil 42. The power supply coil 42 consists of a primary coil (not shown) and a primary side resonant coil (not shown), and the primary coil and the primary side resonant coil are arranged to be coaxial. The axes of both coils extend in a direction perpendicular to the road surface F. The longitudinal length of the power supply coil 42 is sufficiently large compared to the length of the receiving coil 31 in the direction of travel, for example, 2 to 3 times the length of the receiving coil 31 in the direction of travel. The transverse length of the power supply coil 42 is approximately the same as the length in the direction intersecting the direction of travel of the receiving coil 31 (left and right direction). The power supply coil 42 has a structure in which the power supply efficiency increases as the power receiving coil 31 approaches the center of the power supply coil 42 in both the longitudinal and transverse directions.

[0023] The power supply coil 42 is equipped with a power supply cable 44 connected to an external power supply (not shown). The external power supply outputs AC power with a frequency equal to the preset resonant frequency of the resonant system, for example, high-frequency power of several MHz. The power supply coil 42 and the external power supply are controlled based on a control signal from a power supply side controller (not shown).

[0024] The module body 43 is rectangular in shape, rests on the magnetic tape 13, and is fixed to the road surface F. The longitudinal direction of the module body 43 coincides with the travel direction of the automated guided vehicle 11. The module body 43 holds the power supply coil 42 such that the upper surface of the power supply coil 36 becomes the upper surface of the power supply module 40. The upper surface of the module body 43 is flat. The power supply cable 44 extending from the power supply coil 36 is routed from one side of the module body 43.

[0025] Next, the guide modules 41 will be described. A pair of guide modules 41 are installed side by side on the road surface F with the power supply module 40 in between. The guide modules 41 are installed to guide the automated guided vehicle 11 to the optimal position relative to the power supply module 40. The side view of the guide modules 41 is trapezoidal, and the longitudinal direction of the guide modules 41 is the same as the direction of travel of the automated guided vehicle 11.

[0026] The guide module 41 comprises a lower surface 46, a guide upper surface 47, a pair of guide slope surfaces 48, and a pair of side surfaces 49. As shown in Figures 5(a) and 5(b), the lower surface 46 is in contact with the road surface F. The guide upper surface 47 and the guide slope surfaces 48 form a guide surface 50 over which the front wheels 15 and rear wheels 16 of the automated guided vehicle 11 pass. The height of the guide upper surface 47 should be such that the height between the power receiving coil 31 of the automated guided vehicle 11 and the power supply coil 36 of the power supply module 40 is suitable for contactless power supply. The longitudinal length of the guide upper surface 47 is approximately the same as the longitudinal length of the power supply module 40. Preferably, the longitudinal length of the guide upper surface 47 is greater than or equal to the longitudinal length of the power supply module 40 so that the automated guided vehicle 11 does not tilt vertically when contactless power supply is started.

[0027] The guide slope surface 48 is an inclined surface connecting the lower surface 46 and the upper guide surface 47. It extends from both ends in the longitudinal direction of the upper guide surface 47. The widths of the upper guide surface 47 and the guide slope surface 48 are set to the same width and are set to be sufficiently large compared to the wheel widths of the front wheels 15 and rear wheels 16. Therefore, even if the front wheels 15 are steered left or right when the automated guided vehicle 11 is traveling on the guide surface 50, the automated guided vehicle 11 will not immediately fall off the guide surface 50.

[0028] The guide module 41 has a through hole 51 that penetrates from the guide slope surface 48 to the bottom surface 46. An anchor bolt (not shown) that fixes the guide module 41 to the road surface F is inserted through the through hole 51. The guide module 41 is fixed to the road surface F by the anchor bolt (not shown). In this embodiment, one of the guide modules 41 has a through hole 53 formed in a direction intersecting the longitudinal direction of the guide module 41. By passing the power supply cable 44 through the through hole 53, the power supply cable 44 is pulled out from one side surface 49 to the other side surface 49 so as to traverse the guide module 41.

[0029] By the way, in the driving control system 10 of this embodiment, the controller 24 performs control to search for a more desirable position for the power receiving coil 31 of the automated guided vehicle 11 relative to the power supply coil 42. The memory unit 26 of the controller 24 stores a program that controls the automated guided vehicle 11 so that the power receiving coil 31 is in a more desirable position relative to the power supply coil 42. The procedure for controlling the automated guided vehicle 11 so that the power receiving coil 31 is in a more desirable position relative to the power supply coil 42 is shown in the flowchart of Figure 6.

[0030] When the automated guided vehicle (AGV) 11 travels along the travel path R, it performs magnetic tape detection travel, which involves detecting the magnetic tape 13 as it travels. The controller 24 recognizes the magnetic tape detection travel of the AGV 11 (step S01). Next, the controller 24 determines whether or not it detects the magnetic tape 13 (step S02). When the AGV 11 reaches the contactless power supply device 12, the power supply module 40 covers the magnetic tape 13, so the guidance sensor 27 stops detecting the magnetic tape 13. If it is determined that the magnetic tape 13 is not detected, the controller 24 controls the AGV 11 to switch its travel from magnetic tape detection travel to guided control travel (step S03). Guided control travel is the type of travel the AGV 11 is controlled to when it can no longer detect the magnetic tape 13, as opposed to magnetic tape detection travel, which involves detecting the magnetic tape 13 as it travels. The guided driving includes not only straight-line driving immediately after the magnetic tape 13 can no longer be detected, but also inclined driving, which involves driving at a specific angle in response to changes in power supply efficiency. When it is determined that the magnetic tape 13 has been detected, the controller 24 continues the magnetic tape detection driving of the automated guided vehicle 11.

[0031] The controller 24 causes the automated guided vehicle (AGV) 11 to travel in a straight line (step S04). As the AGV 11 travels in a straight line, the receiving coil 31 begins to be positioned above the supplying coil 42, and contactless power supply is initiated, and the controller 24 begins charging the battery 34 (step S05). Once contactless power supply is initiated, the controller 24 determines whether the power supply efficiency is above a second threshold (step S06). Power supply efficiency is proportional to the overlapping area of ​​the receiving coil 31 and the supplying coil 42. Therefore, increasing the overlapping area of ​​the receiving coil 31 and the supplying coil 42 (hereinafter referred to as "overlapping area") increases power supply efficiency. If the power supply efficiency is determined to be above the second threshold T2, the controller 24 causes the AGV 11 to travel in a unidirectional inclined direction (step S07). Specifically, the controller 24 controls the steering unit 18 to move in a direction that is tilted by several degrees to one side (to the right) relative to the direction of straight-line travel.

[0032] When the rear end of the power receiving coil 31 is positioned forward of the rear end of the power supply coil 42 due to the movement of the automated guided vehicle (AGV) 11, if the AGV 11 tilts to one side, the overlapping area decreases due to the positional displacement in the width direction, and the power supply efficiency decreases. When the rear end of the power receiving coil 31 is positioned behind the rear end of the power supply coil 42 due to the movement of the AGV 11, if the AGV 11 tilts to one side, the overlapping area increases due to forward movement, but the increase in the overlapping area slows down due to the positional displacement in the width direction. As a result, the rate of increase in power supply efficiency decreases.

[0033] The controller 24 determines whether a decrease in power supply efficiency or a decrease in the rate of increase in power supply efficiency has occurred (step S08). If it is determined that a decrease in power supply efficiency or a decrease in the rate of increase in power supply efficiency has occurred, the controller 24 determines whether the power supply efficiency is less than the first threshold T1 (step S09). If it is determined in step S08 that a decrease in power supply efficiency or a decrease in the rate of increase in power supply efficiency has not occurred, the vehicle continues to travel in a tilt in one direction.

[0034] In step S09, if it is determined that the power supply efficiency is below a first threshold, the controller 24 causes the automated guided vehicle 11 to travel in a tilted direction (step S10). Specifically, the controller 24 controls the steering unit 18 to travel in a direction that tilts by several degrees to the other side (left).

[0035] Next, the controller 24 determines whether a decrease in power supply efficiency or a decrease in the rate of increase in power supply efficiency has occurred (step S11). If it is determined that a decrease in power supply efficiency or a decrease in the rate of increase in power supply efficiency has occurred, the controller 24 determines whether the power supply efficiency is below a first threshold (step S12). If it is determined in step S11 that a decrease in power supply efficiency or a decrease in the rate of increase in power supply efficiency has not occurred, the train continues to travel on the other incline.

[0036] In step S12, if it is determined that the power supply efficiency is equal to or greater than the first threshold, the controller 24 stops the movement of the automated guided vehicle 11 (step S13). If, in step S09, it is determined that the power supply efficiency is not less than the first threshold, the process proceeds to step S13, and the controller 24 stops the movement of the automated guided vehicle 11.

[0037] After the automated guided vehicle 11 stops, contactless power supply is performed, and since the power supply efficiency is above the first threshold, contactless power supply is performed with relatively high power supply efficiency. When charging of the battery 34 by contactless power supply is complete, the controller 24 terminates charging of the battery 34 by contactless power supply (step S14). After charging of the battery 34 is complete, the controller 24 resumes the movement of the automated guided vehicle 11 (step S15). At this time, the controller 24 controls the steering unit 18 so that the automated guided vehicle 11 moves in a straight line.

[0038] When the automated guided vehicle (AGV) 11 is traveling in a straight line, the controller 24 determines whether the guidance sensor 27 has detected the magnetic tape 13 (step S16). If the controller 24 determines that the guidance sensor 27 has detected the magnetic tape 13, it switches the AGV 11's travel from straight-line travel to magnetic tape detection travel (step S17). If the guidance sensor 27 detects the magnetic tape 13 and the AGV 11 travels in magnetic tape detection mode, the controller 24 terminates the series of steps. If the controller 24 determines that the guidance sensor 27 has not detected the magnetic tape 13, it maintains the straight-line travel of the AGV 11.

[0039] Next, the movement of the automated guided vehicle (AGV) 11 by the travel control system 10 according to this embodiment will be described. As shown in Figure 7(A), when the AGV 11 reaches the contactless power supply device 12 and the guidance sensor 27 does not detect the magnetic tape 13, the movement of the AGV 11 switches from magnetic tape detection movement to straight-line movement. Note that in Figure 7, the guide module 41 is not shown, and the overlapping area of ​​the power supply coil 42 and the power receiving coil 31 is indicated by hatching.

[0040] As shown in Figure 7(B), when the vehicle travels in a straight line, the receiving coil 31 is superimposed on the supply coil 42, initiating contactless power supply from the supply coil 42 to the receiving coil 31, and the controller 24 begins charging the battery 34. Power supply efficiency increases as the superimposed area of ​​the receiving coil 31 and the supply coil 42 increases. When the superimposed area increases to the point where the power supply efficiency is determined to be above the second threshold T2, the automated guided vehicle 11 begins to travel inclined to one side (to the right).

[0041] As shown in Figure 7(C), when the automated guided vehicle 11 begins to travel inclined to one side (to the right), the overlap between the receiving coil 31 and the supplying coil 42 in the longitudinal direction increases, but the positional displacement between the receiving coil 31 and the supplying coil 42 in the lateral direction reduces the rate at which the overlapping area increases. Subsequently, as shown in Figure 7(D), the overlapping area decreases as the inclined travel continues to one side (to the right). As the overlapping area between the receiving coil 31 and the supplying coil 42 decreases, the automated guided vehicle 11 is steered to the other side (to the left). Therefore, the automated guided vehicle 11 travels inclined to the other side (to the left).

[0042] As shown in Figure 7(E), when the automated guided vehicle 11 tilts towards the other side (left), the overlapping area of ​​the power receiving coil 31 and the power supply coil 42 increases. As shown in Figure 7(F), when the automated guided vehicle 11 continues to tilt towards the other side (left), the overlapping area of ​​the power receiving coil 31 and the power supply coil 42 decreases. Therefore, the automated guided vehicle 11 is steered towards the other side (right). In Figure 7(F), when tilting towards the other side (right), the steering angle may be made smaller than a preset steering angle, resulting in a gentler tilting motion. If the power supply efficiency is determined to be above a first threshold during the steering towards the other side (right), the automated guided vehicle 11 stops, as shown in Figure 7(G). When stopped, the battery 34 is charged by contactless power supply. Once charging of the battery 34 is complete, the automated guided vehicle 11 travels in a straight line, and as shown in Figure 7(H), the guidance sensor 27 detects the magnetic tape 13, and the system switches from straight-line travel to magnetic tape detection travel. From there, the automated guided vehicle 11 travels along the travel path R while detecting the magnetic tape 13.

[0043] Figure 8 is a graph showing the relationship between power supply efficiency and the travel position of the automated guided vehicle (AGV) 11. The vertical axis represents power supply efficiency during contactless power supply (proportional to the superimposed area), and the horizontal axis represents the travel position of the AGV 11. (A) to (H) in Figure 8 represent the travel positions corresponding to the AGV 11 shown in Figures 7(A) to 7(H). The first threshold T1 can be set between the upper limit T1max and the lower limit T1min (hatched area). The second threshold T2 is set to a value smaller than the first threshold T1. Note that, as shown in Figure 9, if the superimposed area between the power receiving coil 31 and the power supply coil 42 does not decrease when the AGV 11 is tilted to one side (right), and the superimposed area decreases, the AGV 11 may be tilted to the other side (left) at the point when the superimposed area decreases.

[0044] The driving control system 10 according to this embodiment provides the following effects. (1) A power supply module 40 is installed on the road surface F, and a pair of guide modules 41 are arranged side by side with the power supply module 40 in between. The power supply cable 44 of the power supply module 40 passes through one of the guide modules 41 and is connected to an external power source. Therefore, when the automated guided vehicle 11 performs contactless power supply, it starts contactless power supply by traveling on the guide modules 41 and approaching the power supply module 40. The power supply module 40 installed on the road surface F does not need to be embedded in the road surface F and its installation position can be easily moved, making it easy to change the travel path R.

[0045] (2) The automated guided vehicle 11 has rear wheels 16 as drive wheels, a drive unit 19 that drives the rear wheels 16, and a controller 24 that controls the drive unit 19. The controller 24 controls the drive unit 19 to stop the automated guided vehicle 11 when contactless power supply to the power receiving coil 31 by the power supply coil 42 is started and the power supply efficiency of the contactless power supply exceeds a first threshold T1. As a result, contactless power supply can be performed on the stopped automated guided vehicle 11 when the power supply efficiency exceeds the first threshold T1.

[0046] (3) The automated guided vehicle (AGV) 11 has front wheels 15 as steering wheels and a steering unit 18 controlled by a controller 24 that controls the front wheels 15. When contactless power supply to the power receiving coil 31 by the power supply coil 42 is started and the power supply efficiency is above a second threshold, the controller 24 controls the steering unit 18 so that the path of the AGV 11 is tilted in one direction relative to the travel path R. The controller 24 then controls the steering unit 18 to tilt in the other direction when the rate of increase in power supply efficiency slows down or the power supply efficiency decreases when traveling at an incline. As a result, by having the AGV 11 travel at an incline in one direction and the other, the AGV 11 can be guided to a power supply position with higher power supply efficiency based on the fluctuation in power supply efficiency when traveling at an incline, without requiring a sensor to detect the magnetic field of the power supply coil 42. In other words, the automated guided vehicle 11 does not require a sensor to detect the magnetic field of the power supply coil 42, and moreover, a driving control system 10 that can easily change the driving path R can be provided.

[0047] (4) By having the automated guided vehicle 11 travel while tilting to one side and the other side, the automated guided vehicle 11 can be guided to a power supply position with high power supply efficiency where the power supply efficiency when traveling while tilting is equal to or greater than the first threshold.

[0048] (5) The power supply cable 44 passes through one of the pair of guide modules 41 and is connected to an external power source. Therefore, the power supply cable 44 does not obstruct the movement of the automated guided vehicle 11, and there is no need to bury the power supply cable 44 in the road surface F, making the power supply cable 44 easy to handle.

[0049] (6) When the power supply module 40 is installed on the magnetic tape 13, the automated guided vehicle 11 is unable to detect the magnetic tape 13 when it passes over the power supply module 40. However, the controller 24 can determine the direction of travel of the automated guided vehicle 11 that is suitable for contactless power supply by observing the fluctuations in power supply efficiency when traveling on an incline.

[0050] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the invention. For example, the following modifications may be made.

[0051] ○ In the above embodiment, when the unmanned vehicle is guided to the power supply module, it is made to travel at an incline toward one side or the other, but the embodiment is not limited to this. If the power supply efficiency becomes equal to or greater than the first threshold due to the unmanned vehicle traveling in a straight line, the unmanned vehicle may be stopped without traveling at an incline. ○ In the above embodiment, contactless power supply using a magnetic field resonance method was exemplified, but the embodiment is not limited thereto. Contactless power supply may also be, for example, contactless power supply using an electromagnetic coupling method. ○ In the above embodiment, the unmanned vehicle travels while tilted to one side and the other, and stops traveling when the power supply efficiency is equal to or greater than a first threshold, but the embodiment is not limited to this. It may travel only on a tilt in one side or the other, or it may travel on a tilt in one side or the other multiple times. ○ In the above embodiment, the unmanned vehicle detects the magnetic tape and travels along the designated route, but the embodiment is not limited to this. The unmanned vehicle may also be, for example, an unmanned vehicle that estimates its own position, creates an environmental map, and travels autonomously. Furthermore, the guide lines are not limited to magnetic tape, but may be guide lines embedded in the road surface along the travel route. ○ In the above embodiment, when the unmanned vehicle is traveling while tilted in one direction, if the rate of increase in power supply efficiency slows down or the power supply efficiency decreases, the unmanned vehicle is tilted in the other direction. However, it is not limited to this. For example, the unmanned vehicle may be tilted in the other direction after a certain period of time has elapsed since the rate of increase in power supply efficiency slows down, or after a certain period of time has elapsed since the power supply efficiency decreases. ○ In the above embodiment, the power supply module was installed on the magnetic tape so that the extending direction of the magnetic tape coincided with the longitudinal direction of the power supply coil, but this is not limited to this. For example, the power supply coil may be installed on the magnetic tape so that the extending direction of the magnetic tape coincides with the longitudinal direction of the power supply coil. In this case, immediately after the unmanned vehicle stops detecting the magnetic tape when it enters the power supply module, the unmanned vehicle can start traveling inclined to one or the other with respect to the longitudinal direction of the power supply coil, and a portion of the straight-line travel can be omitted. ○ In the above embodiment, an automated guided vehicle was used as an example of an unmanned vehicle, but it is not limited to this. The unmanned vehicle may be, for example, a cargo handling vehicle such as an unmanned forklift or an unmanned towing vehicle, and is at least capable of unmanned operation, equipped with a battery, and capable of charging by contactless power supply. [Explanation of Symbols]

[0052] 10. Driving control system 11. Automated Guided Vehicle (Autonomous Mobile Vehicle) 12. Contactless power supply device 13 Magnetic tape (inductive wire) 15 Front Wheel 16 Rear wheels 17. Cargo bed 18 Steering Section 19. Drive unit 20 Steering mechanism 24 controllers 27 Guidance Guide Sensor 30 Power receiving equipment 31 Power receiving coil 34 batteries 40 Power supply modules 41 Guide Module 42 Power supply coil 44 Power supply cable 50 Guide surface F road surface R Route T1 First threshold T2 Second threshold W load

Claims

1. An unmanned vehicle having a power receiving coil, A driving control system for an unmanned vehicle having a power supply coil and a non-contact power supply device that supplies power from the power supply coil to the power receiving coil in a non-contact manner, The aforementioned contactless power supply device is A power supply module that holds the power supply coil and can be installed on the road surface, It has a pair of guide modules that are arranged side by side on the road surface with the power supply module in between, and which guide the unmanned vehicle, The power supply module includes a power supply cable that passes through one of the guide modules and is connected to an external power supply. The aforementioned unmanned vehicle is Drive wheels and The steering wheel and A drive unit that drives the aforementioned drive wheels, The steering wheel is controlled by a steering unit, It includes a controller that controls the aforementioned driving unit and steering unit, The aforementioned controller, When contactless power supply from the power supply coil to the power receiving coil is initiated and the power supply efficiency of the contactless power supply exceeds a first threshold, the driving unit is controlled to stop the unmanned vehicle. When contactless power supply from the power supply coil to the power receiving coil is initiated, and the power supply efficiency is greater than or equal to a second threshold set to be less than the first threshold, the steering unit is controlled so that the path of the unmanned vehicle is inclined to one side with respect to the travel path. A driving control system for an unmanned vehicle, characterized in that when the rate of increase in the power supply efficiency slows down or the power supply efficiency decreases when driving on an incline, the steering unit is controlled to tilt in the other direction.

2. The unmanned vehicle has a guide line detection sensor that detects guide lines installed on the road surface, The unmanned vehicle driving control system according to claim 1, characterized in that the controller guides the unmanned vehicle toward the power supply module by detecting the guide wires with the guide wire detection sensor.

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