WO2023013052A1 - Automatic traveling body - Google Patents

Abstract

The present invention addresses the problem of providing an automatic traveling body in which it is easy to change or set a traveling route of the automatic traveling body and a specific operation to be executed at a prescribed position and which exhibits excellent usability. As a solution, an automatic traveling body (100) is characterized by being equipped with: an imaging unit (40) that performs imaging to obtain imaging data (GD) including a rope (RP) placed on a traveling surface FS; a rope cylinder detection unit (50) that detects, from the imaging data (GD), the rope (RP) and a cylinder (PT) provided to the rope (RP); and an operation control unit (60) that controls operation of at least one of a motor (20) and a hydraulic lift device (30), on the basis of the rope (RP) and the cylinder (PT) detected by the rope cylinder detection unit (50).

Description

automatic running body

The present invention relates to automatic running bodies.

An automatic traveling body that automatically travels along a predetermined route along guide lines laid on the floor of a factory is widely known. As such an automatic traveling body, for example, a configuration as disclosed in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2009-251922) is known.

JP 2009-251922 A

The automatic traveling body disclosed in Patent Document 1 photographs a guide line laid on a traveling surface with a camera, detects the guide line from the photographed data, automatically travels along the guide line, and attaches to the guide line. It performs a specific action linked to the code sign. Such an automatic traveling body can be preferably used on a predetermined route such as in a factory, but when changing the traveling route or a specific action at a predetermined position, existing guide lines and code signs are used. After removing it, a new guide line must be laid, which is complicated.

Accordingly, the present invention has been made to solve the above-mentioned problems, and its object is to facilitate the setting and changing of specific operations to be executed on the traveling route and predetermined positions of the automatic traveling body, and to provide excellent usability. The object is to provide an automatic running body.

As a result of intensive research by the present inventor to solve the above problems, the following configuration was conceived. That is, the present invention includes an imaging unit for capturing imaging data including a guiding filament placed on a running surface, and an imaging unit arranged on the guiding filament and the guiding filament based on the imaging data. a striatum identifier detection unit that detects an operation control identifier; and an operation control unit that controls at least one operation.

As a result, since the guiding filaments are simply placed on the traveling surface, it is easy to set and change the traveling route of the automatic traveling body. In addition, by arranging the operation control identifier on the guiding filament, it is possible to easily set and change the operation contents of the drive unit for traveling or the specific operation unit executed at a predetermined position, which is excellent in usability. It is possible to provide an automatic vehicle.

Further, it is preferable that the operation control identifier can be arranged at an arbitrary position on the guiding filament.

Thereby, it is possible to easily set and change the contents of the operation of the traveling drive unit or the specific operation unit to be executed at an arbitrary position on the installation extension line of the guiding filaments.

Further, it is preferable that the motion control identifier is a bump formed on the guiding filament.

As a result, there is no need to prepare the motion control identifier separately from the guiding filament, the number of parts can be reduced, and loss of the motion control identifier can be prevented.

In addition, it is preferable that the operation to be performed by the drive unit for traveling or the specific operation unit is set according to the planar shape, color, and pattern of the operation control identifier.

As a result, it is possible to easily set specific operation control for the drive unit for running and the specific operation unit.

Further, the operation control identifier disposed on the first side surface perpendicular to the extending direction of the guiding filaments on the traveling surface is for controlling the operation of the traveling drive unit. and the operation control identifier disposed on the second side surface perpendicular to the extending direction of the guiding filaments on the running surface is for controlling the operation of the specific operation unit. is preferred.

Further, the operation control identifier disposed on the extension line of the guiding filament is for controlling the operation of the driving unit for traveling, and the guiding filament on the traveling surface. The motion control identifier disposed on the side of the first side perpendicular to the direction in which the body is placed is for controlling the specific motion part to operate in the first motion, and The motion control identifier disposed on the second side surface orthogonal to the extending direction of the guiding filaments is for controlling the specific motion unit to operate in the second motion. is preferred.

Further, the motion control identifier disposed on the extension line on which the guiding filaments are placed is for controlling the operation of the specific motion unit, and the guiding filaments are arranged on the running surface. The motion control identifier disposed on the first side surface perpendicular to the extension direction of the running surface is for controlling the running drive unit to operate in the first motion, and on the running surface The motion control identifier disposed on the second side surface orthogonal to the direction in which the guiding filament extends is used to control the driving unit to operate in the second motion. is preferred.

With these, it is possible to easily set multiple types of motion control for the drive unit for running and the specific motion unit.

Further, the specific action section has a first specific action section and a second specific action section, and the action control identifier disposed on the installation extension line of the guide filaments is used for the travel drive section. It is for controlling the operation, and the operation control identifier arranged on the first side surface side orthogonal to the extending direction of the guiding filaments on the running surface corresponds to the first specific operation unit. wherein the operation control identifier disposed on the second side surface perpendicular to the extending direction of the guiding filaments on the running surface is used to control the operation of the second specific operation Preferably, it is for controlling the operation of the unit.

As a result, it is possible to easily set the operation control for the traveling drive unit and the plurality of specific operation units.

Further, an operation to be performed by the drive unit for traveling or the specific operation unit is set according to the number of the operation control identifiers arranged within the predetermined length range of the guide filament. preferable.

As a result, it is possible to easily set specific operation control for the drive unit for traveling and the specific operation unit with a simple configuration.

According to the automatic traveling body of the present invention, since the guiding filaments are simply placed on the traveling surface, it is easy to set and change the traveling route of the automatic traveling body. In addition, by arranging the operation control identifier on the guiding filament, it is possible to easily set and change the operation contents of the drive unit for traveling or the specific operation unit executed at a predetermined position, which is excellent in usability. It is possible to provide an automatic vehicle.

FIG. 1 is a schematic configuration diagram of an automatic traveling body in the first embodiment. FIG. 2 is a plan view of the motion control identifier in the first embodiment. FIG. 3 is a plan view of the motion control identifier in the second embodiment. FIG. 4 is a plan view of the motion control identifier in the third embodiment. FIG. 5 is a plan view of the motion control identifier in the fourth embodiment. FIG. 6 is a plan view showing a modification of the identifier.

An embodiment of an automatic traveling body 100 according to the present invention will be specifically described below based on the drawings. In the embodiments exemplified below, an automatic traveling body 100 used for transporting crops in a farm will be described, but the present invention is not limited to these embodiments.

(First embodiment)
In the present embodiment, the ground surface within the premises of the farm serves as the running surface FS of the automatic vehicle 100 . As shown in FIGS. 1 and 2, a rope RP as a guide filament is placed on the running surface FS, and a cylindrical body PT as an operation control identifier is arranged on the rope RP. . The automatic traveling body 100 is set to automatically travel along the rope RP, and to automatically perform a specific action linked to the tubular body PT when detecting the tubular body PT. The automatic traveling body 100 in the present embodiment includes a vehicle body 10, a motor 20 as a drive unit for traveling, a hydraulic lift device 30 as a specific operation unit, an imaging unit 40 that captures image data GD of the running surface FS, and from the image data GD It has a rope cylinder detection unit 50 and an operation control unit 60 as a linear body identifier detection unit for detecting the rope RP and the cylinder PT. The hydraulic lift device 30 in this embodiment has an oil pump 32 and a hydraulic cylinder 34 that expands and contracts with the oil supplied from the oil pump 32 .

The vehicle body 10 in this embodiment has a body frame 12, tires 14 attached to the body frame 12 and rotated by a motor 20, and a loading platform 16 disposed on the top of the body frame 12 and capable of being raised and lowered by a hydraulic lift device 30. ing. An imaging unit 40 is attached to the front and rear of the body frame 12 via a flexible arm 42 . By arranging a locking device (not shown) such as a clip on one end of the flexible arm 42, the attachment position to the body frame 12 can be changed. Further, in the internal space of the body frame 12, a rope tubular body detection section 50 and an operation control section 60, which are communicably connected to the imaging section 40, are housed.

A so-called digital camera can be used as the imaging unit 40 . The imaging unit 40 appropriately bends the flexible arm 42 so that the photographing surface faces the running surface FS, and images the running surface FS and the rope RP and the cylinder PT placed on the running surface FS. The imaging data GD in which the running surface FS and the rope RP placed on the running surface FS are imaged are always transmitted from the imaging unit 40 to the rope cylinder detection unit 50 . The rope cylinder detection unit 50 in this embodiment has a storage unit 52 and an imaging data analysis unit 54 , and the imaging data GD transmitted from the imaging unit 40 is transmitted to the storage unit 52 . The imaging data GD transmitted to the storage means 52 is image-analyzed by the imaging data analysis means 54, and each of the running surface FS, the rope RP, and the cylinder PT is detected and identified. In the present embodiment, the imaging units 40 are arranged on the front and rear sides of the body frame 12 , respectively, so that the body frame 12 may be provided with a changeover switch (not shown). By operating such a changeover switch, only the imaging unit 40 arranged on the front side in the traveling direction of the vehicle body 10 is operated (or the imaging unit 40 arranged on the front side in the traveling direction of the vehicle body 10 is activated). Only the imaging data GD may be transmitted to the rope cylinder detection unit 50).

The operation control unit 60 has control-side storage means 62 and a control unit 64 . The control-side storage means 62 stores an action control command table TB in which the appearance characteristics of the cylindrical body PT and specific actions are associated with each other. Appearance characteristics of the cylindrical body PT in this specification refer to an element combining any one of shape, color, and pattern. The control unit 64 controls the operation of at least one of the motor 20 and the oil supply pump 32 based on the axial direction of the rope RP detected from the imaging data GD by the imaging data analysis means 54 and the operation control command table TB. It is something to do.

That is, the control unit 64 controls the operation of the motor 20 of each tire 14 so that the vehicle body 10 moves along the extension line of the rope RP extracted from the imaging data GD by the imaging data analysis means 54. When the imaging data analysis means 54 detects the cylindrical body PT from the imaging data GD, the control section 64 causes the motor 20 or the oil pump 32 to perform an operation corresponding to the appearance characteristics of the cylindrical body PT. . Here, the configuration of the in-wheel motor in which the motor 20 is arranged for each tire 14 is illustrated, but if a steering device (not shown) is provided, the image data analysis means 54 extracts from the image data GD The control unit 64 may control the operation of the steering device so that the vehicle travels along the extension of the rope RP. The control unit 64 when controlling the operation of the steering device controls the operation of the steering device so that the detection position of the rope RP extracted from the imaging data GD by the imaging data analysis means 54 is the center position in the width direction of the imaging data GD. should be done.

In this embodiment, the planar shape of the cylindrical body PT is linked to the operation control of the motor 20, and the pattern on the cylindrical body PT is linked to the operation control of the oil pump 32. Therefore, when the cylindrical body PT is not patterned, only the operation control (running speed control) of the motor 20 is performed by the control unit 64, and when the cylindrical body PT is patterned, control is performed. The unit 64 controls the operation of the oil supply pump 32 (hydraulic lift device 30) (lifting operation of the loading platform 16). Note that when a cylindrical body PT having the same planar shape as the cylindrical body PT detected immediately before the patterned cylindrical body PT is marked with a pattern, the control unit 64 does not control the operation of the motor 20. It is also possible to set so that only the operation control of the lubricating pump 32 is performed during the period.

As described above, the automatic traveling body 100 according to the present embodiment uses the rope RP that defines the traveling direction and the cylindrical body PT that is disposed on the rope RP and defines the operation of the motor 20 or the oil supply pump 32. A specific operation can be executed at a specific position on the travel route along which the vehicle 100 travels. In addition, since the rope RP is used as the guide filament, the user-friendliness can be greatly improved compared to the conventional technology in that the travel route can be freely set and changed. In addition, since the cylindrical body PT through which the rope RP is inserted is used as the motion control identifier, it is also convenient in that the motion identifier can be arranged at an arbitrary position on the travel route of the automatic traveling body 100 . Then, the planar shape, color and pattern of the cylinder PT, or the number of cylinders PT arranged within a predetermined length range of the rope RP, and the operation control contents of the motor 20 or the oil supply pump 32 are linked. By adding the information, it is possible to variously set the target of the operation control and the contents of the operation control.

(Second embodiment)
In this embodiment, as shown in FIG. 3, an operation control identifier is configured by a knot KB that is a knot formed at an arbitrary position of the rope RP. Since the form described in the first embodiment can be adopted for the configuration of the automatic running body 100, detailed description of the automatic running body 100 here is omitted by using the reference numerals described in the first embodiment. do.

By constructing the motion control identifier with the bump KB formed at an arbitrary position on the rope RP as in this embodiment, there is no need to configure the motion identifier separately from the rope RP, and the rope RP alone can be used as the automatic traveling body. It is possible to control the direction of travel of 100 and the action taken at a specific position on the travel route. The bump KB here can be a knot formed by the rope RP as well as a knot formed by the rope RP. Further, the bump KB is not limited to a three-dimensional one, and the concept includes a form in which the rope RP is arranged in a circular shape. Since such hump KB can be easily installed and removed at any position by the rope RP itself, it is easy to install and remove the operation control identifier, and the operation control identifier can be easily installed. Loss can also be prevented. Further, it is also possible to construct an operation control command table TB in which the shape, size, and the number of knobs KB arranged within the required length range are associated with specific operation control contents.

(Third Embodiment)
In the first embodiment and the second embodiment, the cylindrical body PT or the hump KB, which is an operation control identifier, is arranged at a position directly above the center line (rope RP) in the installation extension direction of the rope RP. This embodiment is characterized in that the motion control identifiers are arranged on the right side and the left side perpendicular to the extending direction of the rope RP. Also in the present embodiment, the configuration of the automatic traveling body 100 can employ the same configuration as in the first embodiment, so the same reference numerals as in the first embodiment are used to omit the detailed description here. . In this way, by arranging the operation control identifiers arranged on the right side (first side surface side) and the left side (second side surface side) perpendicular to the mounting extension direction of the rope RP, either the right side or the left side can be used as the motor. 20 operation control identifiers (running drive unit operation control identifiers), and the other can be distinguished as an operation control identifier for the fuel pump 32 (specific operation unit operation control identifiers). Further, by arranging the operation control identifiers on the left and right of the extension line of the rope RP, it is also convenient in that the operation control of the motor 20 and the oil pump 32 can be performed simultaneously.

In this embodiment, as shown in FIG. 4, the operation control identifier can be attached and detached at any position on at least one of the right and left sides of the rope RP. , so-called alligator clips KP or clothespins. When these forms are adopted, it is preferable that an identifier MK for linking specific operation control content is attached to the tip of the extended portion EX extending in the direction away from the rope RP. This identifier MK is preferably detachable from the tip of the extended portion EX. At least one of the planar shape, color, and pattern of the identifying object MK and specific contents of the operation control are linked in advance to the operation control command table TB. Further, at least one of the planar shape, color, and pattern of the alligator clip KP and clothespins and the specific content of the operation control can be linked to configure the operation control command table TB.

(Fourth embodiment)
This embodiment is a modification obtained by combining the first embodiment and the third embodiment as shown in FIG. More specifically, the cylindrical body PT arranged on the mounting extension line of the rope RP is used as the operation control identifier of the motor 20, and the operation control identifiers arranged on the right side and the left side perpendicular to the mounting extension direction of the rope RP are used. It can be an operation control identifier for the fuel pump 32 . That is, in the operation control command table TB, the operation control identifier arranged on the right side of the rope RP is associated with the first operation of the oil pump 32, and the operation control identifier arranged on the left side of the rope RP is associated with the second operation of the oil pump 32. can be linked to. This is advantageous in that it is possible to finely control each of the first operation and the second operation of the hydraulic lift device 30 (hydraulic cylinder 34).

More specifically, a gyro sensor (not shown) is provided on the loading platform 16, and tilt state detection data from the gyro sensor is transmitted to the operation control unit 60, and the left side of the rope RP placed on the slanted running surface FS is detected. can be exemplified by a form in which the operation control identifier is arranged in the . According to this embodiment, the control unit 64 continuously expands and contracts each fuel pump 32 in a state of being extended to a predetermined height (first action) based on the tilt state detection data from the gyro sensor (second action). ) so that the loading platform 16 can be kept horizontal even when the automatic traveling body 100 is traveling on the inclined traveling surface FS. In this way, the second action of the specific action part is not limited to a temporary action, and includes actions that are performed continuously. Similarly, in the drive unit for traveling, the second action is not limited to a temporary action, and includes a continuous action. Further, even if a form in which the cylindrical body PT in this embodiment is replaced with the hump KB is employed, the same operation as in this embodiment is possible.

In this embodiment, in the operation control command table TB, the operation control identifiers arranged on the right side and the left side perpendicular to the installation extension direction of the rope RP are linked to the first operation and the second operation of the oil pump 32. Although the embodiment has been described, it is not limited to this embodiment. The operation control identifier on the right side or the left side perpendicular to the direction in which the rope RP is placed is linked to the operation control of the two hydraulic cylinders 34 (corresponding to the first specific operation unit) on the forward side in the traveling direction, and the rope RP is loaded. The motion control identifier on the left side or the right side perpendicular to the extension direction may be linked to the motion control of the two hydraulic cylinders 34 (corresponding to the second specific motion part) on the rear side in the direction of travel. Furthermore, in the case where the automatic traveling body 100 is provided with a plurality of specific motion units, the motion control command table TB may be set to the installation extension direction of the rope RP so as to control the motion of each of the specific motion units. It is also possible to link the motion control identifiers arranged on the right side and the left side that are orthogonal to each other.

In addition, the outer appearance characteristics of the cylinder PT arranged on the center line of the extension of the rope RP and the operation control of the oil supply pump 32 are linked, and arranged on the right and left sides perpendicular to the extension direction of the rope RP. A motion control command table TB may be used in which motion control identifiers are linked to the first motion and the second motion of the motor 20, respectively. For example, the first operation of the motor 20 can be a low-speed running mode in which the vehicle travels at a speed lower than the normal running speed, and the second operation of the motor 20 can be stopped. After setting the motor 20 to the low-speed running mode at a position before the curve or at a desired position on the near side of the stop position, the operation of the motor 20 can be stopped at the stop position. By reducing the traveling speed of the automatic traveling body 100 at a position before the curve or the stop position in this way, the traveling of the automatic traveling body 100 can be stabilized even in a state where the loading platform 16 is loaded. Conversely, the first operation of the motor 20 may be a high-speed running mode in which the vehicle travels at a higher speed than the normal running speed, and the second operation of the motor 20 may be operation control for returning from the high-speed running mode to the normal running speed. can.

Although the automatic traveling body 100 according to the present invention has been specifically described above based on the embodiments, the automatic traveling body 100 according to the present invention is not limited to the above embodiments, and the gist of the invention is changed. It is also possible to adopt an embodiment in which each configuration is changed as appropriate within the scope of not doing so. For example, in the above embodiment, the automatic traveling body 100 used for agricultural work in a farm is exemplified, but the present invention is not limited to this form, and other automatic traveling bodies such as so-called toy cars can be applied. 100 is also applicable. Further, in the above embodiment, the hydraulic lift device 30 is exemplified as the specific action part, but the specific action part is not limited to the hydraulic lift device 30, and may be a device for executing other specific actions. It can be adopted as appropriate. Further, the running mode of the automatic traveling body 100 is not limited to that using the tires 14, and a running mode using an endless track can also be adopted.

In addition, in the first embodiment, the configuration in which the imaging unit 40 is attached to the front and rear of the body frame 12 via the flexible arm 42 is exemplified, but the configuration is not limited to this configuration. The imaging unit 40 can also be attached to the body frame 12 by a known technique such as magnetic attraction. Further, it is also possible to employ a configuration in which the imaging unit 40 is disposed on the bottom surface of the body frame 12 so as to face the running surface FS. According to this embodiment, the number of imaging units 40 is one, which is advantageous in that the weight and cost of the automatic traveling body 100 can be reduced and switching of the imaging units 40 is not required.

In the first embodiment, it is assumed that separate cylinders PT having different planar shapes, colors, or patterns are arranged on the rope RP according to the content of operation control to be linked. is not limited to this form. A form in which the identifier MK described in the third embodiment can be detachably attached to the outer surface of the cylindrical body PT can also be adopted. A known configuration such as a snap-fit method or a magnetic attraction method can be adopted for attaching the identifier MK to the cylindrical body PT.

Similarly, in the first embodiment, the rope RP is inserted through the inside of the tubular body PT, and the tubular body PT is arranged at an arbitrary position in the extension direction of the rope RP, but the configuration is limited to this form. not a thing For example, as a shape having an opening such as a semi-cylindrical body, a form in which the rope RP is fitted in the opening to be arranged on the rope RP, or a form of a so-called half-split cylindrical body PT can be adopted. . By adopting such a form, it is not necessary to pass the rope RP through the tubular body PT in advance when arranging the tubular body PT on the rope RP, which is convenient.

Similarly, in the first embodiment, by operating a changeover switch (not shown) provided on the body frame 12, only the imaging unit 40 provided on the forward side of the vehicle body 10 in the traveling direction is operated. However, it is not limited to this form. It is also possible to employ a form in which the operating conditions of the imaging unit 40 are controlled by attaching an identifier indicating which imaging unit 40 on the forward side or the rear side in the direction of travel is to be operated to the cylindrical body PT disposed on the rope RP. can. Further, the imaging data GD captured by each of the imaging units 40 in the traveling direction of the vehicle body 10 are stored in the storage means 52 while distinguishing between the front side in the traveling direction and the rear side in the traveling direction, and at least one of the imaging data GD is stored. may be analyzed by the imaging data analysis means 54 .

In addition, the content of the linkage of the operation control identifier arranged on the right side with respect to the installation extension direction of the rope RP described in the third and fourth embodiments and the left side with respect to the installation extension direction of the rope RP It is also possible to adopt a form in which the linked contents of the operation control identifiers arranged in .

Further, as shown in FIG. 6, a form in which an identifying body shape detection line CL along the outline of the planar shape of the identifying body MK is added to the identifying body MK of the operation control identifier, or a plane of the identifying body MK It is also possible to employ a form in which an operation control bar code BC (the type of bar code is not particularly limited) is attached within the area. At least one of the identifier shape detection line CL and the operation control bar code BC may be provided. Arranging the identifier shape detection line CL on the identifier MK is advantageous in that the planar shape of the identifier MK can be easily detected. The identifier shape detection line CL is preferably a double line. By disposing the operation control bar code BC on the identifier MK, it is possible to significantly increase the number of operation control contents that can be linked to the identifier MK and the number of configurations subject to operation control. , it becomes possible to provide the automatic traveling body 100 that performs more complicated operation and operation control. In addition, when the identifier MK shown in FIG. 6 is used, it is also possible to employ a form in which the identifier MK is arranged on the mounting extension line of the rope RP.

In addition, in the above embodiment, a mode with only one type of specific operation unit is described, but a mode with two or more types of specific operation units can also be adopted. In this case, the form of the identifier MK arranged on the running surface FS on the extension line of the rope RP or on the right and left sides orthogonal to the extension direction of the rope RP, and the barcode BC attached to the identifier MK, respectively. and the contents of the operation control of the specific operation unit in the operation control command table TB.

Furthermore, it is also possible to employ a form in which the above-described embodiments and modifications described in each embodiment are appropriately combined.

Claims (9)

an imaging unit that captures imaging data including the guiding striatum placed on the running surface;
a filamentous body identifier detection unit that detects from the imaged data the filamentary body for guidance and an operation control identifier provided on the filamentous body for guidance, respectively;
an operation control unit that controls the operation of at least one of the drive unit for traveling and the specific operation unit based on the guide filament and the operation control identifier detected by the filament identifier detection unit. An automatic running body characterized by: The automatic traveling body according to claim 1, wherein the operation control identifier can be arranged at any position on the guiding filament. The automatic traveling body according to claim 1 or 2, characterized in that said motion control identifier is a bump formed on said guiding filament. 3. The automatic traveling body according to claim 1 or 2, wherein the operation to be performed by said driving unit for traveling or said specific operation unit is set according to the planar shape, color and pattern of said operation control identifier. The operation control identifier disposed on the first side surface perpendicular to the extending direction of the guiding filaments on the traveling surface is for controlling the operation of the traveling drive unit,
The operation control identifier arranged on the second side surface perpendicular to the extending direction of the guiding filaments on the running surface is for controlling the operation of the specific operation unit. The automatic traveling body according to any one of claims 1 to 4. The operation control identifier arranged on the installation extension line of the guiding filament is for controlling the operation of the driving unit for traveling,
The motion control identifier disposed on the first side surface perpendicular to the extending direction of the guiding filaments on the running surface controls the specific motion unit to operate in the first motion. is a thing,
The motion control identifier disposed on the second side surface perpendicular to the extending direction of the guiding filaments on the running surface is for controlling the specific motion unit to operate in the second motion. The automatic traveling body according to any one of claims 1 to 4, characterized in that it is a thing. The operation control identifier arranged on the installation extension line of the guiding filament is for controlling the operation of the specific operation unit,
The motion control identifier disposed on the first side surface perpendicular to the extending direction of the guiding filaments on the running surface controls the running drive unit to operate in the first motion. of
The motion control identifier disposed on the second side surface perpendicular to the extending direction of the guiding filaments on the running surface controls the running drive unit to operate in the second motion. The automatic traveling body according to any one of claims 1 to 4, characterized in that it is of The specific action section has a first specific action section and a second specific action section,
The operation control identifier arranged on the installation extension line of the guiding filament is for controlling the operation of the driving unit for traveling,
The operation control identifier arranged on the first side surface perpendicular to the extending direction of the guiding filaments on the running surface is for controlling the operation of the first specific operation unit. ,
The operation control identifier disposed on the second side surface perpendicular to the extending direction of the guiding filaments on the running surface is for controlling the operation of the second specific operation unit. The automatic traveling body according to any one of claims 1 to 4, characterized by: The operation to be performed by the drive unit for traveling or the specific operation unit is set according to the number of the operation control identifiers arranged within the predetermined length range of the guide filament. The automatic traveling body according to any one of claims 1 to 8.

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