JP7694517B2 - Automatic guided vehicle and method for controlling the automatic guided vehicle - Google Patents

Description

The present invention relates to an automated guided vehicle that transports objects by automatic driving, and a method for controlling the automated guided vehicle.

An automated guided vehicle (AGV) is known that can transport objects without a driver by detecting magnetic guide wires laid on the floor surface with a guide sensor and automatically traveling along the detected magnetic guide wires.

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

The automated guided vehicle 200 is configured to detect a magnetic guide line 230 provided along the travel path using guide sensors 210a to 210d, and to be able to automatically travel unmanned along the magnetic guide line 230. Specifically, each of the guide sensors 210a to 210d is equipped with 16 Hall elements, and based on the detection signals of the 16 Hall elements, the travel of the automated guided vehicle 200 is controlled so that the vehicle body center line 240 (the center line of the guide sensors 210a to 210d) of the automated guided vehicle 200 coincides with the center line of the magnetic guide line 230.

JP 2000-75924 A

In a configuration in which the center lines of the guide sensors 210a to 210d are controlled to coincide with the center line of the magnetic guide wire 230, as in the automated guided vehicle 200 described above, if the guide sensors 210a to 210d are positioned in a position that overlaps with at least one of the multiple wheels 221, 222 in the straight-ahead direction of the automated guided vehicle 200, the magnetic guide wire 230 will be continuously stepped on by the wheel and will deteriorate.

In other words, the automated guided vehicle 200 described in Patent Document 1 has restrictions on the placement position of the guide sensor.

The present invention aims to solve the above problems and provide an automated guided vehicle that has a high degree of freedom in the placement position of the guide sensor, and a method for controlling the automated guided vehicle.

The automated guided vehicle of the present invention comprises:
A vehicle body having a plurality of wheels;
A drive unit capable of rotating at least one of the plurality of wheels;
A guide sensor capable of detecting a magnetic guide wire laid on a floor surface;
A control unit that controls the drive unit based on a detection result of the guide sensor;
Equipped with
The guide sensor includes a plurality of magnetic sensors arranged in a line in one direction,
The control unit is characterized in that, when at least one of the multiple magnetic sensors detects the magnetic guide line, the control unit controls the drive unit so that the magnetic sensor that detected the magnetic guide line moves away from the magnetic guide line toward a direction in which there are more magnetic sensors that do not detect the magnetic guide line.

The control method for an automated guided vehicle of the present invention is a control method for an automated guided vehicle including a vehicle body having a plurality of wheels and a guide sensor capable of detecting a magnetic guide wire laid on a floor surface, the control method comprising the steps of:
The method is characterized in that the travel of the automated guided vehicle is controlled so that at least one of the plurality of wheels is positioned between two of the magnetic guide wires.

According to the automated guide vehicle of the present invention, when at least one of the multiple magnetic sensors detects a magnetic guide line, the control unit controls the drive unit so that the magnetic sensor that detected the magnetic guide line moves away from the magnetic guide line in a direction where there are more magnetic sensors that do not detect the magnetic guide line. Therefore, even if the guide sensor is provided in a position that overlaps with the wheels in the straight-line direction of the automated guide vehicle, the wheels that overlap the guide sensor can be controlled to move away from the magnetic guide line, so that the magnetic guide line can be prevented from being continuously stepped on by the wheels. In other words, since it is possible to provide the guide sensor in a position that overlaps with the wheels in the straight-line direction of the automated guide vehicle, there is a high degree of freedom in the position of the guide sensor.

According to the control method for an automated guided vehicle of the present invention, the travel of the automated guided vehicle is controlled so that at least one wheel is positioned between two magnetic guide lines, and this makes it possible to prevent the magnetic guide lines from being continuously stepped on by the wheels. In other words, it is possible to provide a guide sensor in a position that overlaps with the wheels in the straight-ahead direction of the automated guided vehicle, allowing for a high degree of freedom in the positioning of the guide sensor.

FIG. 2 is a side view illustrating a schematic configuration of the automated guided vehicle according to the first embodiment. 1 is a plan view showing a schematic configuration of an automatic guided vehicle according to a first embodiment when viewed from above. FIG. 1 is a plan view showing an example of the positional relationship between a magnetic guide wire laid on a floor surface and an automatic guided vehicle. FIG. (a) is a plan view showing a schematic configuration of an automated guided vehicle when a guide sensor is provided between a wheel provided on the second long portion and the tip of the second long portion, and (b) is a plan view showing a schematic configuration of an automated guided vehicle when a guide sensor is provided on the opposite side of the wheel provided on the second long portion from the tip of the second long portion. 4 is a plan view showing a schematic detailed configuration of a guide sensor. FIG. These figures are for explaining a control method when a magnetic sensor detects a first magnetic guide line, where (a) is a figure showing a state in which the first magnetic sensor located on the far left detects the first magnetic guide line, and (b) is a figure showing a state in which the automated guided vehicle is moved to the right and the first magnetic sensor no longer detects the first magnetic guide line. (a) is a diagram showing the state in which the fifth magnetic sensor located on the far right detects the second magnetic guide line, and (b) is a diagram showing the state in which the first magnetic sensor located on the far left detects the first magnetic guide line again. These figures are for explaining a control method when a magnetic sensor detects a second magnetic guide line, where (a) is a figure showing a state in which the fifth magnetic sensor located on the far right detects the second magnetic guide line, and (b) is a figure showing a state in which the automated guided vehicle is moved to the left and the fifth magnetic sensor no longer detects the second magnetic guide line. (a) is a diagram showing the state in which the first magnetic sensor located on the far left detects the first magnetic guide line, and (b) is a diagram showing the state in which the fifth magnetic sensor located on the far right again detects the second magnetic guide line. 4 is a flowchart showing a flow of control performed by a control unit. (a) is a diagram for explaining the amount of rotation when the first magnetic sensor and the second magnetic sensor detect the first magnetic guide line, and (b) is a diagram for explaining the amount of rotation when only the first magnetic sensor detects the first magnetic guide line. 1A is a diagram for explaining the control of an automatic guided vehicle when it starts to move backward in a tilted state when two magnetic guide wires are laid so that one end of each wire spreads outward, and FIG. 1B is a diagram for explaining the control of an automatic guided vehicle when it starts to move backward in a tilted state when two magnetic guide wires are laid in parallel. 13 is a plan view showing a schematic detailed configuration of a guide sensor of an automatic guided vehicle according to a second embodiment. FIG. A figure for explaining the control of an automatic guided vehicle in the second embodiment, where (a) shows a state in which only the first magnetic sensor detects the first magnetic guide line and the other magnetic sensors do not detect the two magnetic guide lines, (b) shows a state in which the automatic guided vehicle is moved to the right, and (c) shows a state in which the automatic guided vehicle is moved straight again. FIG. 13 is a plan view illustrating a schematic detailed configuration of a guide sensor of an automatic guided vehicle according to a third embodiment. FIG. 1 is a plan view showing a schematic configuration of an automatic guided vehicle described in Patent Document 1.

The following describes an embodiment of the present invention and explains its features in detail.

First Embodiment
Fig. 1 is a side view showing a schematic configuration of an automated guided vehicle 100 according to a first embodiment. Fig. 2 is a plan view showing a schematic configuration of the automated guided vehicle 100 according to the first embodiment as viewed from above. However, in Fig. 2 and Figs. 3 and 10, which will be described later, arm units 12 (12a, 12b) described later are omitted for reasons of visibility.

In addition, the X-axis direction in FIG. 1 and FIG. 2 is the straight-line direction of the automated guided vehicle 100, the Y-axis direction is the width direction of the automated guided vehicle 100, and the Z-axis direction is the height direction. Any two directions among the X-axis direction, Y-axis direction, and Z-axis direction are mutually orthogonal. In addition, in this specification, the term "above" may be used when describing the automated guided vehicle 100, but this is based on a state in which the automated guided vehicle 100 is placed on a horizontal floor surface so that multiple wheels 1 to 3 described below are in contact with the floor surface.

The automated guided vehicle 100 in the first embodiment includes a vehicle body 10 having multiple wheels 1 to 3, a drive unit 20, a guide sensor 30, and a control unit 40.

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

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

In this embodiment, the vehicle body 10 includes a long portion 11 that extends in the linear direction of the automated guided vehicle 100, and an arm portion 12 that extends in the linear direction of the automated guided vehicle 100 and supports an object to be transported. The long portion 11 includes a first long portion 11a and a second long portion 11b. The arm portion 12 includes a first arm portion 12a and a second arm portion 12b. In FIG. 1, the first long portion 11a is provided at a position overlapping with the second long portion 11b, and the first arm portion 12a is provided at a position overlapping with the second arm portion 12b.

As shown in FIG. 2, the first long portion 11a is located at one end of the vehicle body 10 in the width direction of the automated guided vehicle 100, and the second long portion 11b is located at the other end. There is a space between the first long portion 11a and the second long portion 11b.

In this embodiment, the first arm portion 12a is located above the first long portion 11a in a position where at least a portion of the first arm portion 12a overlaps with the first long portion 11a in the vertical direction. The second arm portion 12b is located above the second long portion 11b in a position where at least a portion of the second arm portion 12b overlaps with the second long portion 11b in the vertical direction. However, the first arm portion 12a may be located at a position where it does not overlap the first long portion 11a at all in the vertical direction, and the second arm portion 12b may be located at a position where it does not overlap the second long portion 11b at all. There is a space between the first arm portion 12a and the second arm portion 12b.

At least one of the multiple wheels 1 to 3 may be provided on the long portion 11. In the automated guided vehicle 100 in this embodiment, as shown in FIG. 2, the center of the vehicle body 10 is a space, and the driven wheels, wheels 1 and 2, are provided on the long portion 11. Specifically, wheel 1 is provided on the first long portion 11a, and wheel 2 is provided on the second long portion 11b. Wheel 3, which is a driving wheel, is provided on a position of the vehicle body 10 that is not on the long portion 11. In the configuration example shown in FIG. 2, wheel 3 is provided on the first long portion 11a side with respect to the center line La in the width direction of the automated guided vehicle 100.

In this embodiment, the width of wheel 1 and wheel 2 is shorter than the width of long portion 11 and shorter than the width of guide sensor 30. Note that the widths of wheel 1, wheel 2, long portion 11, and guide sensor 30 each refer to the dimensions in the width direction of the automated guided vehicle 100.

The automated guided vehicle 100 in this embodiment is capable of moving forward and backward. Of the multiple wheels 1 to 3, moving toward wheel 3 is moving forward, and moving toward wheels 1 and 2 is moving backward. However, moving toward wheel 3 may be defined as moving backward, and moving toward wheels 1 and 2 as moving forward.

The drive unit 20 is mounted on the vehicle body 10 and is capable of driving and rotating at least one of the multiple wheels 1 to 3. In this embodiment, as described above, of the multiple wheels 1 to 3, wheel 3 is a driving wheel, and therefore the drive unit 20 is capable of driving and rotating wheel 3. The rotational drive control of wheel 3 includes control for moving the vehicle body 10 forward, backward, and turning.

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

The guide sensor 30 may be provided at a position where at least a portion of the guide sensor 30 overlaps at least one wheel in the straight-line direction of the automated guided vehicle 100. In this embodiment, the guide sensor 30 is provided on the long portion 11 and at least a portion of the guide sensor 30 overlaps with the wheel 2 provided on the long portion 11 in the straight-line direction. More specifically, as shown in Figures 1 and 2, the guide sensor 30 is provided at the tip of the second long portion 11b in the straight-line direction. In this embodiment, in the width direction of the automated guided vehicle 100, the dimension of the second long portion 11b is smaller than the sum of the dimension of the guide sensor 30 and the width of the wheel 2. In other words, in the straight-line direction of the automated guided vehicle 100, a portion of the guide sensor 30 overlaps with the wheel 2.

However, the guide sensor 30 may be provided between the tip of the second long portion 11b and the wheel 2, as shown in FIG. 4(a). Also, the guide sensor 30 may be provided on the second long portion 11b on the forward side of the wheel 2, that is, on the opposite side of the wheel 2 from the tip of the second long portion 11b, as shown in FIG. 4(b). Furthermore, the guide sensor 30 may be provided on the first long portion 11a, instead of the second long portion 11b.

As shown in FIG. 5, the guide sensor 30 has multiple magnetic sensors 31 arranged in one direction. The magnetic sensors 31 may be any type capable of detecting the magnetic guide line 50, such as a Hall element. In the example shown in FIG. 5, the guide sensor 30 has five magnetic sensors 31, the first magnetic sensor 31a to the fifth magnetic sensor 31e. However, the number of magnetic sensors 31 is not limited to five. In this embodiment, the direction in which the multiple magnetic sensors 31 are arranged is the width direction of the automated guided vehicle 100.

In this embodiment, the dimension L1 of all magnetic sensors 31 in the width direction of the automated guide vehicle 100 is shorter than the distance L2 between the first magnetic guide line 50a and the second magnetic guide line 50b, as shown in FIG. 5. Therefore, when at least one of the multiple magnetic sensors 31 detects the first magnetic guide line 50a, the other magnetic sensors 31 do not simultaneously detect the second magnetic guide line 50b. Similarly, when at least one of the multiple magnetic sensors 31 detects the second magnetic guide line 50b, the other magnetic sensors 31 do not simultaneously detect the first magnetic guide line 50a.

Here, the guide sensor 30 is a sensor used when the automated guided vehicle 100 moves backward. In other words, the two magnetic guide lines 50 (50a, 50b) are guide lines detected by the guide sensor 30 when the automated guided vehicle 100 moves backward.

As shown in Figures 2 and 3, the automated guide vehicle 100 may be equipped with a forward guide sensor 32 in addition to the guide sensor 30. The forward guide sensor 32 can detect a forward magnetic guide line 51 (see Figure 3) laid on the floor surface. However, in the automated guide vehicle 100 of the present invention, the forward guide sensor 32 is not an essential component and can be omitted.

As an example of the size, the vehicle body 10 has a dimension of 1500 mm in the straight-line direction and a dimension of 900 mm in the width direction. The first long portion 11a and the second long portion 11b have a dimension of 1000 mm in the straight-line direction. The guide sensor 30 has a dimension of 80 mm in the width direction, and the forward guide sensor 32 has a dimension of 150 mm in the width direction. The height of the guide sensor 30 from the floor surface is 50 mm or less. The driven wheels, wheels 1 and 2, have a diameter of 150 mm and a width of 50 mm. The drive wheel, wheel 3, has a diameter of 230 mm and a width of 90 mm. However, the above dimensions are merely examples, and the dimensions of the automated guided vehicle 100 are not limited to the above dimensions.

The control unit 40 can control the drive unit 20 based on the detection result of the guide sensor 30. Specifically, when at least one of the multiple magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 so that the magnetic sensor 31 that detected the magnetic guide line 50 moves away from the magnetic guide line 50 in the direction where there are more magnetic sensors 31 that do not detect the magnetic guide line 50. This control will be described with reference to Figures 6 to 9.

Figure 6(a) shows a state in which the first magnetic sensor 31a, which is located on the far left among the multiple magnetic sensors 31a to 31e of the guide sensor 30, detects the first magnetic guide line 50a on the left side. Note that in Figures 6 to 9, the magnetic sensors 31 that detect the magnetic guide line 50 are hatched to distinguish them from the magnetic sensors 31 that do not detect the magnetic guide line 50. That is, in Figure 6(a), the second magnetic sensor 31b to the fifth magnetic sensor 31e do not detect the magnetic guide line 50.

As shown in FIG. 6(a), when the first magnetic sensor 31a detects the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the first magnetic sensor 31a that detected the first magnetic guide line 50a moves away from the first magnetic guide line 50a toward the direction in which there are more magnetic sensors 31 that are not detecting the first magnetic guide line 50a. The first magnetic sensor 31a is the leftmost magnetic sensor among the multiple magnetic sensors 31a to 31e, and since the direction in which there are more magnetic sensors 31 that are not detecting the first magnetic guide line 50a is the rightward direction, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 moves to the right. The drive unit 20 rotates the wheels 3 so that the automated guided vehicle 100 moves to the rightward.

The same applies when not only the first magnetic sensor 31a but also other magnetic sensors 31 such as the second magnetic sensor 31b detect the first magnetic guide line 50a. For example, when the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the first magnetic sensor 31a and the second magnetic sensor 31b that detected the first magnetic guide line 50a move away from the first magnetic guide line 50a toward the direction where there are more magnetic sensors 31 that have not detected the first magnetic guide line 50a.

As the automated guided vehicle 100 moves to the right, the first magnetic sensor 31a no longer detects the first magnetic guide line 50a, as shown in FIG. 6(b). In the state shown in FIG. 6(b), none of the magnetic sensors 31a to 31e detect the first magnetic guide line 50a or the second magnetic guide line 50b. When the first magnetic sensor 31a no longer detects the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 continues to move straight ahead.

Then, the fifth magnetic sensor 31e detects the second magnetic guide line 50b (FIG. 7(a)). The control unit 40 controls the drive unit 20 so that the fifth magnetic sensor 31e, which detected the second magnetic guide line 50b, moves away from the second magnetic guide line 50b toward the direction in which there are more magnetic sensors 31 that are not detecting the second magnetic guide line 50b. The fifth magnetic sensor 31e is the rightmost magnetic sensor among the multiple magnetic sensors 31a to 31e, and since the direction in which there are more magnetic sensors 31 that are not detecting the second magnetic guide line 50b is the left direction, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves leftward. When the fifth magnetic sensor 31e no longer detects the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 continues to move straight.

In the above control, the wheel 2 may be located between the first magnetic guide line 50a and the second magnetic guide line 50b, and in some cases, the first magnetic sensor 31a may detect the first magnetic guide line 50a again (FIG. 7(b)). When the first magnetic sensor 31a detects the first magnetic guide line 50a again, the control unit 40 controls the first magnetic sensor 31a to move away from the first magnetic guide line 50a toward the direction where there are more magnetic sensors 31 that have not detected the first magnetic guide line 50a. By repeating this control, the wheel 2 is located between the first magnetic guide line 50a and the second magnetic guide line 50b. This makes it possible to prevent the first magnetic guide line 50a and the second magnetic guide line 50b from being continuously stepped on by the wheel 2 provided on the second long portion 11b.

Figure 8 (a) shows a state in which the fifth magnetic sensor 31e, which is located on the far right side of the multiple magnetic sensors 31a to 31e of the guide sensor 30, detects the second magnetic guide line 50b on the right side. As shown in Figure 8 (a), the first magnetic sensor 31a to the fourth magnetic sensor 31d do not detect the magnetic guide line 50.

As shown in FIG. 8(a), when the fifth magnetic sensor 31e detects the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the fifth magnetic sensor 31e that detected the second magnetic guide line 50b moves away from the second magnetic guide line 50b toward the direction in which there are more magnetic sensors 31 that have not detected the second magnetic guide line 50b. As described above, the second magnetic sensor 31b is the rightmost magnetic sensor among the multiple magnetic sensors 31a to 31e, and the direction in which there are more magnetic sensors 31 that have not detected the second magnetic guide line 50b is the left direction, so the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 moves leftward. The drive unit 20 rotates the wheels 3 so that the automated guided vehicle 100 moves leftward.

The same applies when not only the fifth magnetic sensor 31e but also other magnetic sensors 31 such as the fourth magnetic sensor 31d detect the second magnetic guide line 50b. For example, when the fourth magnetic sensor 31d and the fifth magnetic sensor 31e detect the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the fourth magnetic sensor 31d and the fifth magnetic sensor 31e that detected the second magnetic guide line 50b move away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 that have not detected the second magnetic guide line 50b.

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

As the automated guided vehicle 100 moves leftward, the fifth magnetic sensor 31e no longer detects the second magnetic guide line 50b, as shown in FIG. 8(b). In the state shown in FIG. 8(b), none of the magnetic sensors 31a to 31e detect the first magnetic guide line 50a or the second magnetic guide line 50b. When the fifth magnetic sensor 31e no longer detects the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 continues to move straight ahead.

Then, the first magnetic sensor 31a detects the first magnetic guide line 50a (FIG. 9(a)). The control unit 40 controls the drive unit 20 so that the first magnetic sensor 31a that detected the first magnetic guide line 50a moves away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 that are not detecting the second magnetic guide line 50b. In other words, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 moves to the right. When the first magnetic sensor 31a no longer detects the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 continues to move straight ahead.

In the above control, the wheel 2 may be located between the first magnetic guide line 50a and the second magnetic guide line 50b, and in some cases, the fifth magnetic sensor 31e may detect the second magnetic guide line 50b again (FIG. 9(b)). When the fifth magnetic sensor 31e detects the second magnetic guide line 50b again, the control unit 40 controls the fifth magnetic sensor 31e to move away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 that have not detected the second magnetic guide line 50b. By repeating this control, the wheel 2 is located between the first magnetic guide line 50a and the second magnetic guide line 50b. This makes it possible to prevent the first magnetic guide line 50a and the second magnetic guide line 50b from being continuously stepped on by the wheel 2 provided on the second long portion 11b.

In other words, in the automated guided vehicle 100 in this embodiment, when the guide sensor 30 detects the first magnetic guide line 50a on the left side, the automated guided vehicle 100 is moved to the right, and when the guide sensor 30 detects the second magnetic guide line 50b on the right side, the automated guided vehicle 100 is moved to the left. By performing such control, the control unit 40 can control the drive unit 20 so that the wheel 2 that at least partially overlaps with the guide sensor 30 in the straight direction of the automated guided vehicle 100 is positioned between the two magnetic guide lines 50, that is, between the first magnetic guide line 50a and the second magnetic guide line 50b. This makes it possible to prevent the wheel 2 from continuing to step on the first magnetic guide line 50a and the second magnetic guide line 50b when the automated guided vehicle 100 is traveling.

As described above, in the automated guide vehicle 100 in this embodiment, when at least one of the multiple magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 so that the magnetic sensor 31 that detected the magnetic guide line 50 moves away from the magnetic guide line 50 toward the direction in which there are more magnetic sensors 31 that do not detect the magnetic guide line 50. Therefore, even if the guide sensor 30 is provided in a position that overlaps with the wheel 2 in the straight-line direction of the automated guide vehicle 100, the wheel 2 can be controlled to move away from the magnetic guide line 50, so that the magnetic guide line 50 can be prevented from being continuously stepped on by the wheel 2. In other words, since it is possible to provide the guide sensor 30 in a position that overlaps with the wheel in the straight-line direction of the automated guide vehicle 100, there is a high degree of freedom in the position of the guide sensor 30.

In particular, in a configuration in which the vehicle body 10 has a long portion 11 and at least one of the multiple wheels 2 is provided on the long portion 11, such as the automated guided vehicle 100 in this embodiment, the design may require the guide sensor 30 to be provided on the long portion 11. However, even in such a case, as described above, the wheel 2 provided on the long portion 11 can be controlled to move away from the magnetic guide wire 50, so that the magnetic guide wire 50 can be effectively prevented from being continuously stepped on by the wheel 2.

In addition, the control unit 40 controls the drive unit 20 so that the wheel 2, which at least partially overlaps with the guide sensor 30 in the straight-ahead direction of the automated guided vehicle 100, is positioned between the two magnetic guide wires 50 (50a, 50b). This makes it possible to precisely control the travel of the automated guided vehicle 100 while preventing the wheel 2 from continuing to step on the two magnetic guide wires 50 (50a, 50b).

Figure 10 is a flowchart showing the above-mentioned control flow. The control of steps S1 to S4 is performed by the control unit 40 while the automated guided vehicle 100 is traveling.

When the automated guided vehicle 100 starts traveling straight ahead, the control unit 40 performs control in step S1. In step S1, it is determined whether or not any of the multiple magnetic sensors 31a to 31e of the guide sensor 30 is detecting the magnetic guide line 50. If it is determined that any of the magnetic sensors 31 are detecting the magnetic guide line 50, the process proceeds to step S2. If it is determined that no magnetic sensor 31 is detecting the magnetic guide line 50, the process repeats the determination in step S1.

In step S2, the drive unit 20 is controlled so that the magnetic sensor 31 that is detecting the magnetic guide line 50 moves away from the magnetic guide line 50 in the direction where there are more magnetic sensors 31 that are not detecting the magnetic guide line 50.

In step S3, it is determined whether the magnetic sensor 31 that detected the magnetic guide line 50 no longer detects the magnetic guide line 50. If it is determined that the magnetic sensor 31 that detected the magnetic guide line 50 is still detecting the magnetic guide line 50, the determination in step S3 is performed again. For example, if the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 moves to the right in step S2, control to move the automated guided vehicle 100 to the right continues while the determination in step S3 is being performed.

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

In step S4, the drive unit 20 is controlled so that the automated guided vehicle 100 moves in a straight line.

The above-mentioned steps S1 to S4 are repeatedly performed while the automated guided vehicle 100 is traveling.

By using the above-described control, the travel of the automated guided vehicle 100 can be controlled so that the wheel 2 is positioned between the two magnetic guide wires 50 (50a, 50b). In other words, the method for controlling an automated guided vehicle of the present invention controls the travel of the automated guided vehicle so that at least one wheel out of the multiple wheels 1 to 3 is positioned between the two magnetic guide wires 50 (50a, 50b).

Here, the control unit 40 may change the control of the drive unit 20 according to the number of magnetic sensors 31 that detect the magnetic guide lines 50. For example, the control unit 40 may control the drive unit 20 so that the greater the number of magnetic sensors 31 that detect the magnetic guide lines 50, the greater the amount of rotation when turning the vehicle body 10.

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

In this way, the control unit 40 controls the drive unit 20 so that the greater the number of magnetic sensors 31 that detect the magnetic guide line 50, the greater the amount of rotation when turning the vehicle body 10, and the magnetic sensors 31 that detect the magnetic guide line 50 can be controlled to move away from the magnetic guide line 50 more quickly. This allows the wheel 2 to move away from the magnetic guide line 50 more quickly, even if the magnetic guide line 50 is being stepped on by the wheel 2.

Here, the two magnetic guide wires 50, i.e., the first magnetic guide wire 50a and the second magnetic guide wire 50b, have been described as being laid in parallel. However, the two magnetic guide wires 50 may each be laid so that one end side spreads outward. By laying the two magnetic guide wires 50 so that one end side spreads outward, it becomes possible to control the travel of the automatic guided vehicle 100 so that the wheel 2 is more reliably positioned between the first magnetic guide wire 50a and the second magnetic guide wire 50b even when the automatic guided vehicle 100 starts traveling in an inclined state. This will be described with reference to FIG. 12.

Figure 12(a) is a diagram for explaining the control of the automated guided vehicle 100 when the automated guided vehicle 100 starts to move backward in a tilted state when two magnetic guide wires 50 (50a, 50b) are laid so that one end side of each of them spreads outward. Figure 12(b) is a diagram for explaining the control of the automated guided vehicle 100 when the automated guided vehicle 100 starts to move backward in a tilted state when two magnetic guide wires 50 (50a, 50b) are laid in parallel. As shown in Figures 12(a) and (b), the tilted state of the automated guided vehicle 100 means a state in which the extension direction of the part where the two magnetic guide wires 50 extend in parallel does not match the straight-line direction of the automated guided vehicle 100.

The fact that the two magnetic guide wires 50 (50a, 50b) are laid so that one end side of each extends outward means that, as shown in FIG. 12(a), one end side of the first magnetic guide wire 50a extends away from the second magnetic guide wire 50b, and one end side of the second magnetic guide wire 50b extends away from the first magnetic guide wire 50a. In other words, the first magnetic guide wire 50a and the second magnetic guide wire 50b are laid in parallel from the other end side to a certain position, but from that position, the distance between the first magnetic guide wire 50a and the second magnetic guide wire 50b becomes wider as they move toward the one end side.

First, as shown in FIG. 12(b), a case will be described in which two magnetic guide lines 50 (50a, 50b) are laid in parallel. When the automated guide vehicle 100 approaches one end of the second magnetic guide line 50b in a tilted state, the first magnetic sensor 31a located on the leftmost side of the multiple magnetic sensors 31 of the guide sensor 30 may detect the second magnetic guide line 50b located on the right side, as shown in FIG. 12(b). In this case, the control unit 40 controls the drive unit 20 so that the first magnetic sensor 31a moves away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 that do not detect the magnetic guide line 50, that is, so that the automated guide vehicle 100 moves to the right. As a result, the automated guide vehicle 100 moves away from the first magnetic guide line 50a and the second magnetic guide line 50b. In this case, the guide sensor 30 will be unable to detect the first magnetic guide line 50a and the second magnetic guide line 50b, and the automated guided vehicle 100 will be unable to travel automatically.

In contrast, as shown in FIG. 12(a), when two magnetic guide lines 50 (50a, 50b) are laid so that one end of each line spreads outward, even when the automated guided vehicle 100 is tilted, the guide sensor 30 is located between the first magnetic guide line 50a and the second magnetic guide line 50b. Therefore, when the automated guided vehicle 100 moves straight, the fifth magnetic sensor 31e, which is the rightmost of the multiple magnetic sensors 31a to 31e of the guide sensor 30, can detect the second magnetic guide line 50b located on the right side. In this case, the control unit 40 controls the drive unit 20 so that the fifth magnetic sensor 31e moves away from the second magnetic guide line 50b toward the direction where there are many magnetic sensors 31 that do not detect the magnetic guide line 50, that is, so that the automated guided vehicle 100 moves leftward. This prevents the automated guided vehicle 100 from moving away from both the first magnetic guide line 50a and the second magnetic guide line 50b, and allows the travel of the automated guided vehicle 100 to be controlled so that the wheel 2 of the automated guided vehicle 100 is positioned between the first magnetic guide line 50a and the second magnetic guide line 50b.

In the portion where the distance between the first magnetic guide wire 50a and the second magnetic guide wire 50b is wider, it is preferable that the angle θ3 between the first magnetic guide wire 50a and the second magnetic guide wire 50b (FIG. 12(a)) is 5.5° or less. By making the angle θ3 between the first magnetic guide wire 50a and the second magnetic guide wire 50b 5.5° or less, the guide sensor 30 can detect the magnetic guide wire 50 more reliably.

As described above, when the two magnetic guide wires 50 (50a, 50b) are each laid so that one end side spreads outward, the method for controlling the automated guided vehicle of the present invention can control the travel of the automated guided vehicle 100 from one end side of the two magnetic guide wires 50 (50a, 50b) so that at least one wheel is positioned between the two magnetic guide wires 50 (50a, 50b).

Second Embodiment
The automated guided vehicle 100 in the second embodiment differs from the automated guided vehicle 100 in the first embodiment in the configuration of the guide sensor 30. Specifically, in the automated guided vehicle 100 in the second embodiment, the guide sensor 30 can simultaneously detect two magnetic guide wires 50 (50a, 50b).

Figure 13 is a plan view that shows a schematic detailed configuration of the guide sensor 30 of the automated guided vehicle 100 in the second embodiment. The guide sensor 30 has seven magnetic sensors 31, the first magnetic sensor 31a to the seventh magnetic sensor 31g. However, the number of magnetic sensors 31 is not limited to seven. The multiple magnetic sensors 31 are aligned in the width direction of the automated guided vehicle 100.

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

In the automated guided vehicle 100 of this embodiment, when at least one of the multiple magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 so that the magnetic sensor 31 that detected the magnetic guide line 50 moves away from the magnetic guide line 50 toward the direction in which there are more magnetic sensors 31 that do not detect the magnetic guide line 50. This control will be described with reference to FIG. 14.

Figure 14 (a) shows a state in which, of the multiple magnetic sensors 31a to 31g of the guide sensor 30, only the first magnetic sensor 31a located on the far left detects the first magnetic guide line 50a on the left side, and the magnetic sensors 31b to 31g other than the first magnetic sensor 31a do not detect the first magnetic guide line 50a or the second magnetic guide line 50b.

As shown in FIG. 14(a), when the first magnetic sensor 31a detects the first magnetic guide line 50a, the control unit 40 controls the drive unit 20 so that the first magnetic sensor 31a that detected the first magnetic guide line 50a moves away from the first magnetic guide line 50a toward the direction in which there are more magnetic sensors 31 that are not detecting the first magnetic guide line 50a. The first magnetic sensor 31a is the magnetic sensor located on the left side of the multiple magnetic sensors 31a to 31g, and since the direction in which there are more magnetic sensors 31 that are not detecting the first magnetic guide line 50a is the rightward direction, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 moves to the right. The drive unit 20 rotates the wheels 3 so that the automated guided vehicle 100 moves to the rightward.

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

After that, when the first magnetic sensor 31a no longer detects the first magnetic guide line 50a and only the seventh magnetic sensor 31g or the sixth magnetic sensor 31f and the seventh magnetic sensor 31g detect the second magnetic guide line 50b, the control unit 40 controls the drive unit 20 so that the automated guided vehicle 100 moves leftward. FIG. 14(c) shows a state in which the automated guided vehicle 100 is controlled to move leftward and moves straight in the direction in which the first magnetic guide line 50a and the second magnetic guide line 50b extend. When the automated guided vehicle 100 moves straight, as shown in FIG. 14(c), the first magnetic sensor 31a continues to detect the first magnetic guide line 50a, and the seventh magnetic sensor 31g continues to detect the second magnetic guide line 50b.

In the automatic guided vehicle 100 in this embodiment, as described above, the first magnetic sensor 31a may detect the first magnetic guide line 50a, and the seventh magnetic sensor 31g may detect the second magnetic guide line 50b. In this case, the control unit 40 controls the drive unit 20 to control the automatic guided vehicle 100 to move rightward so as to move away from the first magnetic guide line 50a toward the direction where there are more magnetic sensors 31 where the first magnetic sensor 31a does not detect the first magnetic guide line 50a, and to control the automatic guided vehicle 100 to move leftward so as to move away from the second magnetic guide line 50b toward the direction where there are more magnetic sensors 31 where the seventh magnetic sensor 31g does not detect the second magnetic guide line 50b. Therefore, as a result, the control unit 40 controls the drive unit 20 so that the automatic guided vehicle 100 moves straight.

However, the content of "when at least one of the multiple magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 so that the magnetic sensor 31 that detected the magnetic guide line 50 moves away from the magnetic guide line 50 in the direction of the greater number of magnetic sensors 31 that have not detected the magnetic guide line 50a" also includes cases where, for example, the magnetic sensor 31 that detected the magnetic guide line 50 is controlled to move away from the magnetic guide line 50, but when two magnetic guide lines 50ba, 50b are detected by the magnetic sensor 31, the above control is canceled and the actual angle of the wheel 3 remains the same, or the automated guided vehicle 100 does not move in a direction away from the magnetic guide line 50.

The same control method is used when not only the first magnetic sensor 31a but also the first magnetic sensor 31a and the second magnetic sensor 31b detect the first magnetic guide line 50a, but the other magnetic sensors 31c to 31g do not detect the second magnetic guide line 50b.

In addition, when the seventh magnetic sensor 31g located at the far right detects the second magnetic guide line 50b on the right side, but the other magnetic sensors 31a to 31f do not detect the first magnetic guide line 50a or the second magnetic guide line 50b, the control is the same as that described above, except that the movement direction of the automated guided vehicle 100 becomes left.

Third Embodiment
The automated guided vehicle 100 in the third embodiment differs from the automated guided vehicle 100 in the first embodiment in the configuration of the guide sensor 30. Specifically, in the automated guided vehicle 100 in the third embodiment, the guide sensor 30 can simultaneously detect two magnetic guide wires 50 (50a, 50b).

Figure 15 is a plan view that shows a schematic detailed configuration of the guide sensor 30 of the automated guided vehicle 100 in the third embodiment. The guide sensor 30 has thirteen magnetic sensors 31, namely, the first magnetic sensor 31a to the thirteenth magnetic sensor 31m. However, the number of magnetic sensors 31 is not limited to thirteen. The multiple magnetic sensors 31 are aligned in the width direction of the automated guided vehicle 100.

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

In the automated guided vehicle 100 of this embodiment, when at least one of the multiple magnetic sensors 31 detects the magnetic guide line 50, the control unit 40 controls the drive unit 20 so that the magnetic sensor 31 that detected the magnetic guide line 50 moves away from the magnetic guide line 50 in the direction of the greater number of magnetic sensors 31 that do not detect the magnetic guide line 50.

The control method of the automated guided vehicle 100 in the third embodiment is the same as the control method of the automated guided vehicle 100 in the second embodiment. However, the control unit 40 controls the drive unit 20 so that, when the automated guided vehicle 100 moves straight, the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a, and the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b, as shown in FIG. 15. When the automated guided vehicle 100 moves straight, if the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a, the control unit 40 tries to control the automated guided vehicle 100 in a direction away from the first magnetic guide line 50a toward a direction where there are many magnetic sensors 31 where the second magnetic sensor 31b and the third magnetic sensor 31c do not detect the first magnetic guide line 50a. However, since the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b, the control unit 40 simultaneously tries to control the direction away from the second magnetic guide line 50b toward the direction where there are many magnetic sensors 31 where the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l do not detect the second magnetic guide line 50b. As a result, when the second magnetic sensor 31b and the third magnetic sensor 31c detect the first magnetic guide line 50a and the eleventh magnetic sensor 31k and the twelfth magnetic sensor 31l detect the second magnetic guide line 50b, the above-mentioned control is canceled, and the automatic guided vehicle 100 moves straight with the actual angle of the wheel 3 remaining the same. As described above, the control unit 40 controls the drive unit 20, so that the center of the guide sensor 30 in the width direction can be brought closer to the center between the first magnetic guide line 50a and the second magnetic guide line 50b. This allows for more precise control so that the wheel 2 on the second long section 11b is positioned between the first magnetic guide line 50a and the second magnetic guide line 50b.

The present invention is not limited to the above embodiment, and various applications and modifications are possible within the scope of the present invention.

For example, in the above embodiment, the guide sensor 30 is described as being provided in a position where at least a portion of it overlaps with at least one wheel in the straight-line direction of the automated guided vehicle 100, but it may be provided in a position that does not overlap with all of the wheels.

In the above embodiment, the vehicle body 10 has been described as having a long portion 11 that extends in the linear direction of the automated guided vehicle 100, but it does not have to have a long portion 11.

The automated guided vehicle and the method for controlling the automated guided vehicle in the present application are as follows.
<1>. A vehicle body having a plurality of wheels;
A drive unit capable of rotating at least one of the plurality of wheels;
A guide sensor capable of detecting a magnetic guide wire laid on a floor surface;
A control unit that controls the drive unit based on a detection result of the guide sensor;
Equipped with
The guide sensor includes a plurality of magnetic sensors arranged in a line in one direction,
The control unit controls the drive unit so that, when at least one of the multiple magnetic sensors detects the magnetic guide line, the magnetic sensor that detected the magnetic guide line moves away from the magnetic guide line in a direction toward which there are more magnetic sensors that do not detect the magnetic guide line.
<2> The automated guided vehicle according to <1>, wherein the guide sensor is provided at a position where at least a portion of the guide sensor overlaps with at least one of the wheels in a straight-ahead direction of the automated guided vehicle.
The vehicle body has a long portion extending in a straight direction of the automated guided vehicle,
At least one of the plurality of wheels is provided on the long portion,
3. The automated guided vehicle according to claim 1, wherein the guide sensor is provided on the long portion.
<4> The automated guided vehicle according to any one of <1> to <3>, characterized in that the control unit can control the drive unit so that the wheel that at least partially overlaps with the guide sensor in the straight-line direction of the automated guided vehicle is positioned between two of the magnetic guide lines.
<5> The automated guided vehicle according to any one of <1> to <4>, wherein the guide sensor is capable of simultaneously detecting two of the magnetic guide wires.
<6> The automatic guided vehicle according to any one of <1> to <5>, wherein the control unit can change control of the drive unit depending on the number of the magnetic sensors that detect the magnetic guide line.
<7>. The automatic guided vehicle according to <6>, wherein the control unit is capable of controlling the drive unit so that the greater the number of the magnetic sensors that detect the magnetic guide lines, the greater the amount of rotation when rotating the vehicle body.
<8> The automated guided vehicle according to any one of <1> to <7>, wherein the magnetic sensor is a Hall element.
<9>. A method for controlling an automated guided vehicle having a vehicle body having a plurality of wheels and a guide sensor capable of detecting a magnetic guide wire laid on a floor surface, comprising:
A method for controlling an automated guided vehicle, comprising controlling travel of the automated guided vehicle so that at least one of the plurality of wheels is positioned between two of the magnetic guide lines.
<10>. Each of the two magnetic guide wires is laid so that one end side spreads outward,
The control method for an automatic guided vehicle described in <9>, characterized in that the travel of the automatic guided vehicle is controlled so that at least one of the wheels is positioned between the two magnetic guide wires from the one end side of the two magnetic guide wires.

REFERENCE SIGNS LIST 1 Wheel 2 Wheel 3 Wheel 10 Vehicle body 11 Long portion 11a First long portion 11b Second long portion 12 Arm portion 12a First arm portion 12b Second arm portion 20 Drive portion 30 Guide sensor 31 Magnetic sensor 32 Forward guide sensor 40 Control portion 50 Magnetic guide line 50a First magnetic guide line 50b Second magnetic guide line 51 Forward magnetic guide line 100 Automatic guided vehicle

Claims (7)

A vehicle body having a plurality of wheels;
A drive unit capable of rotating at least one of the plurality of wheels;
A guide sensor capable of detecting a magnetic guide wire laid on a floor surface;
A control unit that controls the drive unit based on a detection result of the guide sensor,
The guide sensor includes a plurality of magnetic sensors arranged in a line in one direction,
the control unit controls the drive unit so that, when at least one of the plurality of magnetic sensors detects the magnetic guide line, the magnetic sensor that detected the magnetic guide line moves away from the magnetic guide line toward a direction in which there are more magnetic sensors that do not detect the magnetic guide line ;
The automated guided vehicle is characterized in that the guide sensor is capable of simultaneously detecting two of the magnetic guide wires . A vehicle body having a plurality of wheels;
A drive unit capable of rotating at least one of the plurality of wheels;
A guide sensor capable of detecting a magnetic guide wire laid on a floor surface;
A control unit that controls the drive unit based on a detection result of the guide sensor,
The guide sensor includes a plurality of magnetic sensors arranged in a line in one direction,
the control unit controls the drive unit so that, when at least one of the plurality of magnetic sensors detects the magnetic guide line, the magnetic sensor that detected the magnetic guide line moves away from the magnetic guide line toward a direction in which there are more magnetic sensors that do not detect the magnetic guide line ;
The control unit is capable of controlling the drive unit so that the greater the number of magnetic sensors that detect the magnetic guide lines, the greater the amount of rotation when turning the vehicle body . 3. The automated guided vehicle according to claim 1 , wherein the guide sensor is provided at a position where at least a portion of the guide sensor overlaps with at least one of the wheels in a linear direction of the automated guided vehicle. the vehicle body has a long portion extending in a straight direction of the automated guided vehicle,
At least one of the plurality of wheels is provided on the long portion,
3. The automated guided vehicle according to claim 1 , wherein the guide sensor is provided on the long portion. The automated guided vehicle according to claim 1 or 2, characterized in that the control unit is capable of controlling the drive unit so that the wheel that at least partially overlaps with the guide sensor in the straight-line direction of the automated guided vehicle is positioned between the two magnetic guide lines. 3. The automated guided vehicle according to claim 1 , wherein the magnetic sensor is a Hall element. A method for controlling an automated guided vehicle having a vehicle body having a plurality of wheels and a guide sensor capable of detecting a magnetic guide wire laid on a floor surface, comprising the steps of:
Each of the two magnetic guide wires is laid so that one end side of the wire spreads outward,
A method for controlling an automated guided vehicle, comprising controlling travel of the automated guided vehicle so that at least one of the plurality of wheels is positioned between the two magnetic guide lines from the one end side of the two magnetic guide lines.

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