Driving method of automated guided vehicle
A driving method of an automated guided vehicle including a guide sensor and moving along a path guide, includes first scanning the path guide, while rotating at a first set angle, determining whether the path guide is detected during the first scanning, and if the path guide is not detected in the first scanning, performing a second scanning of the path guide while rotating at a second set angle.
1 . A driving method for an automated guided vehicle, comprising:
rotating the automated guided vehicle at a first predetermined angle and performing a first scanning of a path guide;
determining whether the path guide is detected during the first scanning; and
performing a second scanning of the path guide when the path guide is not detected in the first scanning.
2 . The driving method for the automated guided vehicle of claim 1 , wherein:
the second scanning includes slowly traveling in a driving direction of the automated guided vehicle.
3 . The driving method for the automated guided vehicle of claim 1 , wherein:
the second scanning includes rotating in a direction opposite to a rotation direction during the first scanning.
4 . The driving method for the automated guided vehicle of claim 1 , further comprising:
when the path guide is detected in at least the first scanning or the second scanning, driving the automated guided vehicle normally along the path guide.
5 . The driving method for the automated guided vehicle of claim 1 , wherein:
the first predetermined angle is an angle greater than 90 degrees.
6 . The driving method for the automated guided vehicle of claim 1 , wherein:
a second predetermined angle is an angle smaller than the first predetermined angle.
7 . The driving method for the automated guided vehicle of claim 1 , wherein the automated guided vehicle comprises:
a guide sensor positioned on a lower surface of the automated guided vehicle and includes a plurality of bit sensors,
the plurality of bit sensors are arranged as an array extending in a direction crossing a forward driving direction of the automated guided vehicle; and
the plurality of bit sensors are bit-on at a position where the guide sensor and the path guide overlap.
8 . The driving method for the automated guided vehicle of claim 7 , wherein:
the path guide is sensed as being normal when the plurality of bit sensors positioned in a center portion of the guide sensor are bit-on.
9 . The driving method for the automated guided vehicle of claim 7 , wherein:
the path guide is detected as abnormal when at least some of the plurality of bit sensors positioned in portions of the guide sensor other than a central portion are bit-on.
10 . The driving method for the automated guided vehicle of claim 9 , wherein:
the automated guided vehicle performs a driving return by slowly moving until the central portion of the guide sensor overlaps the path guide, when an abnormality is detected in the path guide.
11 . The driving method for the automated guided vehicle of claim 7 , wherein:
the path guide has not been detected when all of the plurality of bit sensors positioned in the guide sensor are bit-off.
12 . The driving method for the automated guided vehicle of claim 11 , wherein:
the automated guided vehicle travels slowly and searches for the path guide, when the path guide is not detected.
13 . A driving method for an automated guided vehicle, comprising:
storing information about whether or not a path guide is detected;
rotating the automated guided vehicle at 90 degrees;
slowly traveling the automated guided vehicle in a direction opposite to a 90-degree rotation direction while searching for the path guide when the path guide is detected during a 90-degree rotation; and
driving the automated guided vehicle normally along the path guide when the path guide is detected.
14 . The driving method for the automated guided vehicle of claim 13 , wherein:
a guide sensor is positioned on a lower surface of the automated guided vehicle, wherein the guide sensor includes a plurality of bit sensors;
the plurality of bit sensors extends in a direction crossing a forward driving direction of the automated guided vehicle; and
the plurality of bit sensors are configured to be bit-on at a position where the guide sensor and the path guide overlap.
15 . The driving method for the automated guided vehicle of claim 14 , wherein:
when the plurality of bit sensors positioned in a center portion of the guide sensor are bit-on, it is determined that the path guide is detected as normal and the automated guided vehicle travels normally along the path guide.
16 . The driving method for the automated guided vehicle of claim 14 , wherein:
when at least some of the plurality of bit sensors positioned in portions of the guide sensor other than a central portion are bit-on, it is determined that an abnormality is detected in the path guide, and a slow returning driving is performed, so that the central portion of the guide sensor overlaps the path guide.
17 . A driving method for an automated guided vehicle, comprising:
storing information about whether or not a path guide is detected;
rotating the automated guided vehicle at a predetermined angle;
slowly traveling the automated guided vehicle in a same forward direction as a rotation direction while searching for the path guide when the path guide is not detected during the rotation; and
driving the automated guided vehicle normally along the path guide when the path guide being detected.
18 . The driving method for the automated guided vehicle of claim 17 , wherein:
a guide sensor is positioned on a lower surface of the automated guided vehicle, wherein the guide sensor includes a plurality of bit sensors;
the plurality of bit sensors are arranged as an array extending in a direction crossing a forward driving direction of the automated guided vehicle; and
the plurality of bit sensors are configured to be bit-on at a position where the guide sensor and the path guide overlap.
19 . The driving method for the automated guided vehicle of claim 18 , wherein:
when the plurality of bit sensors positioned in a center portion of the guide sensor are bit-on, it is determined that the path guide is detected as normal, and the automated guided vehicle travels normally along the path guide.
20 . The driving method for the automated guided vehicle of claim 18 , wherein:
when at least some of the plurality of bit sensors positioned in portions other than a central portion of the guide sensor are bit-on, it is determined that an abnormality is detected in the path guide and a slow returning driving is performed, so that a central portion of the guide sensor overlaps the path guide.