JP7760957B2 - automated guided vehicle - Google Patents

Description

This disclosure relates to an automated guided vehicle.

A conventional automated guided vehicle is described in Patent Document 1, for example. In this conventional automated guided vehicle, travel along a guided travel route is controlled based on the first wireless tag detected within a specified area. While traveling within the specified area, all wireless tags other than the first detected wireless tag are ignored until the vehicle has passed through the specified area.

JP 2018-32291 A

Situations in which it may be necessary to ignore wireless tags include, for example, when wireless tags on multiple guided travel routes are placed close to each other in an area where the routes intersect, or when wireless tags on multiple guided travel routes are placed in the same location. In such cases, applying the method described in Patent Document 1 to setting travel routes would require precise setting of specific areas where wireless tags should be ignored in order to properly distinguish between necessary and unnecessary wireless tags, which could require a lot of work.

This disclosure has been made to solve the above problem, and aims to provide an automated guided vehicle that can easily set which wireless tags should be ignored when setting a travel route.

An automated guided vehicle according to one aspect of the present disclosure includes a route detection unit that detects a guided travel route; a tag detection unit that detects identification information of wireless tags placed on the guided travel route; a tag determination unit that determines whether the wireless tag detected by the tag detection unit is a normal tag or a special tag with attributes different from normal tags based on the identification information of the wireless tag; and a travel control unit that, if the tag determination unit determines that the wireless tag is a normal tag, performs travel control based on operation control information associated with the normal tag, and, if the tag determination unit determines that the wireless tag is a special tag, ignores the special tag.

This automated guided vehicle determines whether a wireless tag is a normal tag or a special tag with different attributes from normal tags. By determining that unnecessary wireless tags are special tags, it is possible to properly distinguish between necessary wireless tags and wireless tags that should be ignored, while leaving unnecessary wireless tags on the guided travel route. Therefore, this automated guided vehicle can easily set which wireless tags should be ignored when setting the travel route.

The automated guided vehicle may further include a memory unit that stores operation record information that associates the identification information of the wireless tag detected by the tag detection unit with the operation control information executed by the travel control unit. If the tag determination unit determines that the wireless tag is a special tag, the operation record information may include information indicating that the travel control unit ignored the wireless tag. In this case, it is possible to verify after travel whether special tags, i.e., wireless tags that should be ignored, were properly ignored.

The identification information for a wireless tag may be a tag number. A special tag may be set by assigning a tag number that is not used for normal tags. In this case, a special tag can be set with simple processing.

Special tags may be set by adding special identification information indicating that they are special tags to the identification information of normal tags. In this case, there is no need to change the identification information of existing normal tags, and special tags can be set without creating new identification information for special tags. Therefore, special tags can be set with simple processing.

The identification information for the wireless tag may be a tag number. The special tag may be set based on the tag number used for the normal tag. In this case, the special tag can be set without rewriting the tag number of the normal tag. Therefore, the special tag can be set with simpler processing.

This disclosure makes it possible to provide an automated guided vehicle that can easily set which wireless tags should be ignored when setting a travel route.

FIG. 1 is a schematic diagram illustrating an example of an automated guided vehicle. FIG. 10 is a schematic diagram showing another example of an automated guided vehicle. FIG. 2 is a block diagram showing an example of the configuration of an automated guided vehicle. FIG. 4 is a diagram illustrating an example of operation data. FIG. 10 is a diagram illustrating an example of operation record information. 10 is a flowchart showing an example of the operation of an automated guided vehicle. FIG. 10 is a schematic diagram showing an example of an automated guided vehicle according to a modified example. 10A and 10B are diagrams showing an example of a normal tag and a special tag to which special identification information is assigned. FIG. 10 is a schematic diagram showing an example of an automated guided vehicle according to another modified example. 10A is a diagram showing another example of operation data, and FIG. 10B is a diagram showing an example of a special tag list.

Below, a preferred embodiment of an automated guided vehicle according to one aspect of the present disclosure will be described in detail with reference to the drawings.

An example of the travel of an automated guided vehicle 1 will be described with reference to Figure 1. Figure 1 is a schematic diagram showing an example of an automated guided vehicle 1 according to an embodiment of the present disclosure. The automated guided vehicle 1 is a guided travel vehicle that operates, for example, in a logistics warehouse or the like. A guided travel route GR, such as a magnetic tape or magnetic bar, is laid out in the logistics warehouse or the like. Wireless tags T1, T2, and T3, such as RFID tags, are arranged on the guided travel route GR in order from the starting point of travel. "On the guided travel route" is not limited to positions that overlap with the guided travel route, but can also include positions that are spaced apart from the guided travel route and correspond to a position on the guided travel route.

Each wireless tag stores its own identification information. The identification information of the wireless tag is an identifier that uniquely identifies the wireless tag. Examples of the identification information of the wireless tag include a tag number. The automated guided vehicle 1 stores operational data (see Figure 4) that associates the identification information of the wireless tag with operational control information for controlling the traveling speed, etc.

For example, to allow automated guided vehicle 1 to travel automatically, an operation (input operation) is performed in which a guided travel route GR is specified for automated guided vehicle 1. Automated guided vehicle 1 moves in direction D along guided travel route GR at a predetermined travel speed. While traveling, automated guided vehicle 1 sequentially detects the tag numbers of wireless tags T1, T2, and T3 on guided travel route GR. Automated guided vehicle 1 controls its travel speed, etc. based on the operation control information associated with each tag number by referring to the operation data.

Next, with reference to Figure 2, another example of the travel of automated guided vehicle 1 will be described. Figure 2 is a schematic diagram showing another example of automated guided vehicle 1. In the example shown in Figure 2, guided travel route GR1 and guided travel route GR2 are laid so that they intersect. Guided travel route GR1 is a guided travel route designated for automated guided vehicle 1. Therefore, automated guided vehicle 1 moves in direction D along guided travel route GR1 at a predetermined travel speed. In contrast, guided travel route GR2 is a guided travel route designated for another automated guided vehicle different from automated guided vehicle 1 (not shown).

Radio tags T4 and T5 are placed on guided travel route GR1 in order from the starting point of travel. RF tag T4 has been assigned the tag number "0001" in correspondence with the identification information of RF tag T4. RF tag T5 has been assigned the tag number "0002" in correspondence with the identification information of RF tag T5. RF tags T6, T7, and T8 are placed on guided travel route GR2. RF tag T6 has been assigned the tag number "0101" in correspondence with the identification information of RF tag T6. RF tag T7 has been assigned the tag number "****" in correspondence with the identification information of RF tag T7. RF tag T8 has been assigned the tag number "0102" in correspondence with the identification information of RF tag T8.

As described above, the automated guided vehicle 1 travels along the guided travel route GR1. Therefore, in the example shown in FIG. 2, RFID tags T4 and T5 are RFID tags necessary for travel on the guided travel route GR1, while RFID tags T6, T7, and T8 are RFID tags not necessary for travel on the guided travel route GR1. Here, RFID tag T7 is located in the area where the guided travel route GR1 and the guided travel route GR2 intersect. Therefore, there is a risk that RFID tag T7, which should be ignored, may be erroneously detected when traveling on the guided travel route GR1. In the automated guided vehicle 1, such RFID tags that should be ignored are set as special tags. When the automated guided vehicle 1 detects a RFID tag necessary for travel along the guided travel route GR1, it controls its travel by referring to the operation data, and when it detects a special tag, it ignores the special tag and performs the predetermined travel.

Figure 3 is a block diagram showing the configuration of an automated guided vehicle 1 according to one embodiment of the present disclosure. The automated guided vehicle 1 includes a path detection unit 2, a tag detection unit 3, a memory unit 4, and a control unit 10.

The route detection unit 2 detects the guided driving route and outputs an electrical signal related to the detected guided driving route to the control unit 10. The route detection unit 2 is, for example, a magnetic sensor.

The tag detection unit 3 detects the identification information of wireless tags placed on the guided driving route. For example, the tag detection unit 3 detects the tag number of a wireless tag while driving and outputs the detected tag number to the control unit 10. The tag detection unit 3 is, for example, an RFID reader.

The memory unit 4 stores operation data in which the identification information of the wireless tag and the operation control information associated with that identification information are arranged in a predetermined order. The memory unit 4 stores the operation data in advance before the automated guided vehicle 1 starts traveling. The memory unit 4 may be a separate device from the automated guided vehicle 1, or may be a component of the automated guided vehicle 1.

An example of operation data stored in the memory unit 4 will be described with reference to Figure 4. Figure 4 is a diagram showing an example of operation data. In one example, the operation data includes a "tag number" and "operation control information." The tag number is identification information for a wireless tag placed on the guided travel route. The operation control information is information for controlling the travel speed, etc., of the automated guided vehicle 1. The operation data is not limited to the information described above, and may include other information. For example, the operation data may further include information that uniquely identifies the guided travel route and information that indicates the order of travel control on the guided travel route.

For example, the memory unit 4 records the operation control information "acceleration" in association with tag number "0001" and the operation control information "deceleration" in association with tag number "0002." The operation control information stored in the memory unit 4 is not limited to the information related to the speed of the automated guided vehicle 1 described above, but may also indicate information related to other operations. In one example, the operation control information may include information related to wireless tag detection, such as expanding the detection range of a wireless tag.

Returning to Figure 3, the control unit 10 is an electronic control unit that controls the travel of the automated guided vehicle 1. The control unit 10 has, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The control unit 10 realizes various functions, for example, by loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM with the CPU. The control unit 10 has, as its functional elements, an acquisition unit 11, a tag determination unit 12, and a travel control unit 13.

The acquisition unit 11 acquires an electrical signal of the detected guided travel route from the route detection unit 2. The acquisition unit 11 acquires the identification information of the detected wireless tag from the tag detection unit 3. The acquisition unit 11 acquires operation data by referencing the memory unit 4.

The tag determination unit 12 determines whether the wireless tag detected by the tag detection unit 3 is a normal tag or a special tag with attributes different from those of a normal tag, based on the identification information of the wireless tag. A normal tag is a wireless tag that is necessary for the automated guided vehicle 1 to travel on the guided travel route GR1. As described above, a special tag is a wireless tag that is unnecessary for the automated guided vehicle 1 to travel on the guided travel route GR1 and should be ignored. In one example, the identification information of the wireless tag is a tag number, and the special tag is set by assigning a tag number that is not used for normal tags. In this case, the special tag differs from the normal tag in the attribute of the tag number. In the example shown in Figure 2, "****" is set as the tag number that is not used for normal tags. For example, the special tag is set by the user of the automated guided vehicle 1 when setting the operation data.

In one example, the tag determination unit 12 determines whether the wireless tag detected by the tag detection unit 3 is a normal tag or a special tag based on whether the tag number of the wireless tag matches the tag number set for the special tag. In this case, the tag number set for the special tag is stored in advance in the memory unit 4 by the user of the automated guided vehicle 1. If the tag numbers do not match, the tag determination unit 12 determines that the wireless tag is a normal tag. If the tag numbers match, the tag determination unit 12 determines that the wireless tag is a special tag.

Alternatively, the tag determination unit 12 may determine whether a wireless tag detected by the tag detection unit 3 is a normal tag or a special tag based on whether the tag number of the wireless tag detected by the tag detection unit 3 matches any of the tag numbers included in the operation data. If the tag number of the wireless tag detected by the tag detection unit 3 matches any of the tag numbers included in the operation data, the tag determination unit 12 determines that the wireless tag is a normal tag. If the tag number of the wireless tag detected by the tag detection unit 3 does not match any of the tag numbers included in the operation data, the tag determination unit 12 determines that the wireless tag is a special tag.

The travel control unit 13 starts travel when the route detection unit 2 detects the guided travel route. For example, the travel control unit 13 controls the motors and wheels of the vehicle body to cause the automated guided vehicle 1 to travel along the guided travel route. The travel control unit 13 may also start travel when the tag detection unit 3 detects a wireless tag indicating the start of travel.

When the tag determination unit 12 determines that the wireless tag detected is a normal tag, the travel control unit 13 performs travel control based on the operation control information associated with the identification information of the wireless tag. In one example, the travel control unit 13 references the operation data using the tag number "0001" of the wireless tag T4 determined by the tag determination unit 12 to be a normal tag. The travel control unit 13 accelerates the travel speed of the automated guided vehicle 1 in accordance with the operation control information "acceleration" associated with the tag number "0001."

If the tag determination unit 12 determines that the wireless tag detected is a special tag, the travel control unit 13 ignores the wireless tag. In one example, the travel control unit 13 ignores the wireless tag T7, which has the tag number "****" set and has been determined by the tag determination unit 12 to be a special tag.

The travel control unit 13 stores in the memory unit 4 operation record information that associates the identification information of the wireless tag detected by the tag detection unit 3 with the operation control information that was executed. In other words, the memory unit 4 stores the above operation record information.

An example of operation record information stored in the memory unit 4 by the driving control unit 13 will be described with reference to Figure 5. Figure 5 is a diagram showing an example of operation record information. In one example, the operation record information includes a "tag number," "operation control information," "history," and "time." The history is information indicating the operation of the automated guided vehicle 1 performed by the driving control unit 13. The time is information indicating the time when the above operation was performed by the automated guided vehicle 1.

In one example, for a wireless tag T4 determined by the tag determination unit 12 to be a normal tag, the travel control unit 13 stores the tag number "0001", the operation control information "acceleration" associated with the tag number "0001", the "history" of the operation control information being executed, and the time "t1" at which the operation control information was executed as operation record information in the memory unit 4. Furthermore, for a wireless tag T7 determined by the tag determination unit 12 to be a special tag, the travel control unit 13 stores the tag number "****", the "history" of the wireless tag being ignored, and the time "t2" at which the wireless tag was ignored as operation record information in the memory unit 4. Furthermore, for RFID tag T5 determined to be a normal tag by tag determination unit 12, travel control unit 13 stores in memory unit 4 as operation record information the tag number "0002", the operation control information "deceleration" associated with tag number "0002", the "history" that the operation control information was executed, and the time "t3" when the operation control information was executed. Here, although there is no operation control information actually associated with tag number "****", which is set as a special tag, in the example shown in Figure 5, for convenience, "----" is associated as dummy operation control information with the operation control information corresponding to tag number "****".

An example of the operation of the automated guided vehicle 1 will be described with reference to Figure 6. Figure 6 is a flowchart showing an example of the operation of the automated guided vehicle 1.

In step S1, the driving control unit 13 starts driving. For example, the driving control unit 13 starts driving in response to the route detection unit 2 detecting a guided driving route. Alternatively, the driving control unit 13 may start driving in response to the tag detection unit 3 detecting a wireless tag indicating the start of driving.

In step S2, the acquisition unit 11 determines whether or not wireless tag identification information was detected while the vehicle was traveling. For example, if the acquisition unit 11 acquires a new tag number from the tag detection unit 3, it determines that wireless tag identification information was detected while the vehicle was traveling. If the acquisition unit 11 has not acquired a new tag number from the tag detection unit 3, it determines that wireless tag identification information was not detected while the vehicle was traveling.

If the identification information of the wireless tag is detected while driving (YES in step S2), processing proceeds to step S3. If the identification information of the wireless tag is not detected while driving (NO in step S2), processing proceeds to step S7.

In step S3, the tag determination unit 12 determines whether the detected wireless tag is a normal tag or a special tag based on the identification information of the wireless tag. In one example, the tag determination unit 12 determines whether the wireless tag detected by the tag detection unit 3 is a normal tag or a special tag based on whether the tag number of the wireless tag matches any of the tag numbers included in the operation data.

If the detected wireless tag is determined to be a normal tag (NO in step S3), processing proceeds to step S4. If the detected wireless tag is determined to be a special tag (YES in step S3), processing proceeds to step S5.

In step S4, the driving control unit 13 performs driving control based on operation control information associated with the identification information of the wireless tag determined to be a normal tag by the tag determination unit 12. In one example, the driving control unit 13 references operation data using the tag number "0001" of the wireless tag T4 determined to be a normal tag by the tag determination unit 12. The driving control unit 13 accelerates the driving speed of the automated guided vehicle 1 in accordance with the operation control information "acceleration" associated with the tag number "0001."

In step S5, the traveling control unit 13 ignores the wireless tag determined to be a special tag by the tag determination unit 12. In one example, the traveling control unit 13 ignores the wireless tag T7 determined to be a special tag by the tag determination unit 12.

In step S6, the traveling control unit 13 stores the operation record information in the memory unit 4. In one example, for a wireless tag T4 determined by the tag determination unit 12 to be a normal tag, the traveling control unit 13 stores in the memory unit 4 the tag number "0001", the operation control information "acceleration" associated with the tag number "0001", the "history" of the operation control information being executed, and the time "t1" at which the operation control information was executed as operation record information. Alternatively, for a wireless tag T7 determined by the tag determination unit 12 to be a special tag, the traveling control unit 13 stores in the memory unit 4 the tag number "****", the "history" of the wireless tag being ignored, and the time "t2" at which the wireless tag T7 was ignored as operation record information.

In step S7, the driving control unit 13 determines whether to end or continue driving. For example, the driving control unit 13 determines whether to end or continue driving based on whether operation control information indicating the end of driving is associated with the detected tag number. In one example, the driving control unit 13 determines that driving has ended if the operation control information is "stop," and determines that driving should continue if the operation control information is other than "stop."

As explained above, the automated guided vehicle 1 determines whether a wireless tag is a normal tag or a special tag with attributes different from normal tags. By determining that an unnecessary wireless tag is a special tag, it is possible to properly distinguish between necessary wireless tags and wireless tags that should be ignored, while leaving unnecessary wireless tags on the guided travel route. Therefore, with this automated guided vehicle 1, it is easy to set which wireless tags should be ignored when setting the travel route.

In the automated guided vehicle 1, if the tag determination unit 12 determines that a wireless tag is a special tag, the operation record information includes information indicating that the driving control unit 13 ignored the wireless tag. For example, if an abnormality occurs in the automated guided vehicle 1, the driving control unit 13 may refer to the history of ignoring a wireless tag determined to be a special tag. In this case, it is possible to verify after driving whether special tags, i.e., wireless tags that should be ignored, were properly ignored.

In the automated guided vehicle 1, the identification information for the wireless tag is the tag number. Special tags are set by assigning a tag number that is not used for normal tags. In this case, special tags can be set with simple processing.

Next, with reference to Figures 7 and 8, an automated guided vehicle 1A according to one variation of this embodiment will be described. Figure 7 is a schematic diagram showing an example of an automated guided vehicle 1A according to this variation. Figures 8(a) and (b) are diagrams showing an example of a normal tag and a special tag to which special identification information has been assigned. This variation differs from the above-described embodiment in the method of setting the special tag and the method of determining the special tag. Below, the differences between the above-described embodiment and this variation will be mainly described.

In the example shown in Figure 7, guided travel route GR3 and guided travel route GR4 are laid so that they intersect. Guided travel route GR3 is the guided travel route designated for automatic guided vehicle 1A, and guided travel route GR4 is the guided travel route designated for another automatic guided vehicle different from automatic guided vehicle 1A (not shown).

Radio tags T9 and T10 are placed on guided travel route GR3 in order from the starting point of travel. The tag number "0001" is set for radio tag T9, corresponding to the identification information of radio tag T9. The tag number "0002" is set for radio tag T10, corresponding to the identification information of radio tag T10. Radio tags T11, T12, and T13 are placed on guided travel route GR4. The tag number "0101" is set for radio tag T11, corresponding to the identification information of radio tag T11. The tag number "0102" is set for radio tag T12, corresponding to the identification information of radio tag T12. The tag number "0103" is set for radio tag T13, corresponding to the identification information of radio tag T13.

Automated guided vehicle 1A travels in direction D at a predetermined travel speed along guided travel route GR3. Therefore, in the example shown in Figure 7, for automated guided vehicle 1A, wireless tags T9 and T10 are set as normal tags, and wireless tags T11, T12, and T13 are set as special tags.

For example, in the example shown in FIG. 8, the memory unit 4 stores, as operation data for automated guided vehicle 1A, operation control information "acceleration" associated with tag number "0001" and operation control information "deceleration" associated with tag number "0002." Furthermore, as operation data for another automated guided vehicle different from automated guided vehicle 1, the memory unit 4 stores, as operation data, operation control information "acceleration" associated with tag number "0101," operation control information "expansion of detection range" associated with tag number "0102," and operation control information "deceleration" associated with tag number "0103." "Expansion of detection range" indicates that the detection range of the wireless tag by the tag detection unit 3 is expanded; in reality, a more detailed detection range, etc., can be set.

In this modified example, special tags are set by adding special identification information indicating that they are special tags to the identification information of normal tags. For example, in the example shown in Figure 8, RFID tags T9 and T10 set as normal tags are assigned the special identification information of "0." Furthermore, RFID tags T11, T12, and T13 set as special tags are assigned the special identification information of "1." Here, the special identification information of "0" indicates that the RFID tag to which the special identification information is added is a normal tag, and the special identification information of "1" indicates that the RFID tag to which the special identification information is added is a special tag. In this modified example, special tags are set by setting a flag indicating that they are special tags in the RFID tag. Special tags may have any attribute different from normal tags, and the method of setting them is not limited to the method described above. For example, special identification information may be added by adding a specific symbol or number to the end of the tag number.

The tag determination unit 12 determines whether a detected wireless tag is a normal tag or a special tag based on the special identification information assigned to the wireless tag. For example, if the detected wireless tag is assigned special identification information of "0", the tag determination unit 12 determines the wireless tag to be a normal tag, and if the detected wireless tag is assigned special identification information of "1", the tag determination unit 12 determines the wireless tag to be a special tag.

In the automated guided vehicle 1A, special tags are set by adding special identification information indicating that they are special tags to the identification information of normal tags. In this case, there is no need to change the identification information of existing normal tags, and special tags can be set without creating new identification information for special tags. Therefore, special tags can be set with simple processing.

Furthermore, with reference to Figures 9 and 10, an automated guided vehicle 1B according to another modified example of this embodiment will be described. Figure 9 is a schematic diagram showing an example of an automated guided vehicle 1B according to this modified example. Figure 10(a) is a diagram showing another example of operation data. Figure 10(b) is a diagram showing an example of a special tag list. In this modified example, the method of setting special tags and the method of determining special tags differ from the above-mentioned embodiment. Below, the differences between the above-mentioned embodiment and this modified example will be mainly described.

In the example shown in Figure 9, a guided travel route GR5 has been laid. The guided travel route GR5 is a guided travel route designated for the automated guided vehicle 1B. On the guided travel route GR5, RFID tags T14, T15, and T16 are arranged in order from the starting point of travel. The tag number "0001" is set to the RFID tag T14 in accordance with the identification information of the RFID tag T14. The tag number "0002" is set to the RFID tag T15 in accordance with the identification information of the RFID tag T15. The tag number "0003" is set to the RFID tag T16 in accordance with the identification information of the RFID tag T16.

Automated guided vehicle 1B travels in direction D at a predetermined travel speed along guided travel route GR5. In the example shown in Figure 9, RFID tags T14 and T16 are set as normal tags, and RFID tag T15, which was initially set as a normal tag, becomes unnecessary and is set as a special tag. For example, in the example shown in Figure 10, memory unit 4 stores, as operation data for automated guided vehicle 1B, operation control information "acceleration" associated with tag number "0001" and operation control information "deceleration" associated with tag number "0003".

In this modified example, the special tag is set based on the tag number used for the normal tag. In one example, the special tag is set by using the tag number used for the normal tag as the tag number of the special tag. In the example shown in Figure 10, the tag number "0002" of the unnecessary RFID tag T15 is set as the tag number of the special tag. In this case, the memory unit 4 stores a special tag list in addition to the operation data of the automatic guided vehicle 1B described above. For example, the special tag list is set by the user of the automatic guided vehicle 1B before the automatic guided vehicle 1B starts traveling.

In the example shown in FIG. 10, the special tag list includes a "tag number." The special tag list is not limited to the information described above and may include other information. For example, the special tag list may include operational control information for when a wireless tag recorded in the special tag list is set as a normal tag. Since the tag number set as the tag number of a special tag is not used with normal tags, even in this modified example, special tags differ from normal tags in the attribute of tag number.

The tag determination unit 12 determines whether the tag number of the detected wireless tag matches any of the tag numbers recorded in the special tag list, and determines whether the wireless tag is a normal tag or a special tag. If the tag number of the wireless tag detected by the tag detection unit 3 does not match any of the tag numbers included in the special tag list, the tag determination unit 12 determines that the wireless tag is a normal tag. If the tag number of the wireless tag detected by the tag detection unit 3 matches any of the tag numbers included in the special tag list, the tag determination unit 12 determines that the wireless tag is a special tag.

In the automated guided vehicle 1B, special tags are set based on the tag numbers used for regular tags. In this case, special tags can be set without rewriting the tag numbers of regular tags. Therefore, special tags can be set with simpler processing.

The above describes an embodiment of the present invention, but the present invention is not necessarily limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the invention.

Automated guided vehicles 1, 1A, and 1B do not necessarily have to be equipped with a memory unit 4 that stores operation record information that associates the identification information of the wireless tag detected by the tag detection unit 3 with the operation control information executed by the driving control unit 13. In automated guided vehicles 1, 1A, and 1B, when the tag determination unit 12 determines that the wireless tag is a special tag, the operation record information does not necessarily include information indicating that the driving control unit 13 ignored the wireless tag. Automated guided vehicles 1, 1A, and 1B that are equipped with a memory unit 4 and include information indicating that the driving control unit 13 ignored the wireless tag when the tag determination unit 12 determines that the wireless tag is a special tag can verify after driving whether they are properly ignoring special tags, as described above.

In the automated guided vehicle 1, the identification information of the wireless tag does not have to be a tag number, and special tags do not have to be set by assigning a tag number that is not used for normal tags. The identification information of the wireless tag is a tag number, and special tags are set by assigning a tag number that is not used for normal tags. As described above, the automated guided vehicle 1 can set special tags with simple processing.

In automated guided vehicles 1 and 1B, the number of wireless tags set as special tags was "1," but the number of wireless tags set as special tags is not limited to the number mentioned above. The number of wireless tags set as special tags may be greater than the number mentioned above. In other words, there may be multiple wireless tags set as special tags.

The processing procedures of the method performed by the automated guided vehicles 1, 1A, and 1B are not limited to the examples in the above embodiments. For example, some of the steps (processing) described above may be omitted, or the steps may be performed in a different order. Furthermore, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to the steps described above.

1, 1A, 1B...automated guided vehicle, 2...route detection unit, 3...tag detection unit, 4...memory unit, 12...tag determination unit, 13...travel control unit.

Claims (4)

a route detection unit that detects a guided driving route;
a tag detection unit that detects identification information of a wireless tag placed on the guided travel route;
a tag determination unit that determines, based on the identification information of the wireless tag detected by the tag detection unit, whether the wireless tag is a normal tag or a special tag with attributes different from those of the normal tag;
a travel control unit that, when the tag determination unit determines that the wireless tag is the normal tag, executes travel control based on operation control information associated with the normal tag, and, when the tag determination unit determines that the wireless tag is the special tag, ignores the special tag; and
a storage unit that stores operation record information that associates identification information of the wireless tag detected by the tag detection unit with operation control information executed by the traveling control unit,
An automated guided vehicle, wherein when the tag determination unit determines that the wireless tag is the special tag, the operation record information includes information indicating that the driving control unit ignored the wireless tag . the identification information of the wireless tag is a tag number,
The automated guided vehicle according to claim 1 , wherein the special tag is set by assigning a tag number that is not used for the normal tag. The automatic guided vehicle according to claim 1 , wherein the special tag is set by adding special identification information indicating that it is a special tag to the identification information of the normal tag. the identification information of the wireless tag is a tag number,
The automated guided vehicle according to claim 1 , wherein the special tag is set based on a tag number used for the normal tag.