Auto guide vehicle

An auto guide vehicle that conveys a cart by being ensconced in a standard space formed between a floor surface and a bottom surface of the cart, wherein the auto guide vehicle is provided with:

• a fluid pressure cylinder that is able to be extended and retracted vertically, and that applies an upward pressing force to the bottom surface of the cart;
• a fluid pressure supply device that supplies a fluid to the fluid pressure cylinder;
• pressure regulating means that regulates the fluid pressure of the fluid supplied from the fluid pressure supply device to the fluid pressure cylinder;
• a control board that outputs a fluid pressure command value to the pressure regulating means;
• and
• a pressure sensor that detects the fluid pressure of the fluid supplied to the fluid pressure cylinder;
• wherein
• the control board comprises:
• a differentiation circuit that computes derivatives of the fluid pressure detected by the pressure sensor;
• an estimation circuit that, based on a pattern of the derivatives computed by the differentiation circuit, estimates a timing at which the cart begins to leave the ground;
• and
• a coefficient multiplication circuit that computes the command value by multiplying a coefficient less than one by the fluid pressure detected by the pressure sensor at the timing estimated by the estimation circuit.