automated guided vehicle

Abstract

To provide an unmanned carrier capable of easily setting wireless tags to be ignored when setting a travel route.SOLUTION: An unmanned carrier 1 includes: a route detection part 2 which detects a guidance travel route; a tag detection part 3 which detects identification information of wireless tags arranged on the guidance travel route; a tag determination part 12 which determines, based on the identification information of the wireless tags detected at the tag detection part, whether the wireless tags are normal tags or special tags whose attributes are different from the attributes of the normal tag; and a travel control part 13 which executes travel control based on operation control information associated with the normal tags upon determination by the tag determination part 12 that the wireless tags are normal tags and ignores the special tags upon determination by the tag determination part 12 that the wireless tags are special tags.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to automated guided vehicles. [Background technology]

[0002] A conventional automated guided vehicle is disclosed in, for example, Patent Document 1. In this conventional automated guided vehicle, travel on a guided travel route is controlled based on the first wireless tag detected within a predetermined area. During travel within the predetermined area, wireless tags other than the first wireless tag detected are ignored until the vehicle has passed through the predetermined area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-32291 Summary of the Invention [Problem to be solved by the invention]

[0004] Examples of situations where it may be necessary to ignore wireless tags include when wireless tags on multiple guided travel routes are placed close to each other in an area where the multiple guided travel routes intersect, or when wireless tags on multiple guided travel routes are placed in the same position. In such cases, if an attempt is made to apply the method described in Patent Document 1 to setting travel routes, precise setting of a predetermined area where wireless tags should be ignored is required to appropriately distinguish between necessary and unnecessary wireless tags, which may require a large number of steps for the setting work.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an automated guided vehicle that can easily set wireless tags that should be ignored when setting a travel route. [Means for solving the problem]

[0006] An automated guided vehicle according to one aspect of the present disclosure comprises a route detection unit that detects a guided travel 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 whether the wireless tag 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 detected by the tag detection unit, and a travel control unit that performs travel control based on operation control information associated with the normal tag when the tag determination unit determines that the wireless tag is a normal tag, and ignores the special tag when the tag determination unit determines that the wireless tag is a special tag.

[0007] This automated guided vehicle 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 appropriately 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 wireless tags that should be ignored when setting a travel route.

[0008] The automated guided vehicle may further include 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 travel control unit. When 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 the special tag, i.e., the wireless tag that should be ignored, was properly ignored.

[0009] The identification information of the wireless tag may be a tag number. The special tag may be set by assigning a tag number that is not used for normal tags. In this case, the special tag can be set by a simple process.

[0010] A special tag may be set by adding special identification information indicating that it is a special tag to the identification information of a normal tag. In this case, there is no need to change the identification information of an existing normal tag, and a special tag can be set without creating new identification information for the special tag. Therefore, a special tag can be set with a simple process.

[0011] The identification information of 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 a simpler process. [Effects of the Invention]

[0012] According to the present disclosure, it is possible to provide an automated guided vehicle that can easily set wireless tags that should be ignored when setting a travel route. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an automated guided vehicle. [Figure 2] FIG. 10 is a schematic diagram showing another example of an automated guided vehicle. [Figure 3] FIG. 2 is a block diagram showing an example of the configuration of an automated guided vehicle. [Figure 4] FIG. 4 is a diagram illustrating an example of operation data. [Figure 5] FIG. 10 is a diagram illustrating an example of operation record information. [Figure 6] 10 is a flowchart showing an example of the operation of an automated guided vehicle. [Figure 7] FIG. 10 is a schematic diagram showing an example of an automated guided vehicle according to a modified example. [Figure 8] 10A and 10B are diagrams showing an example of a normal tag and a special tag to which special identification information is attached. [Figure 9] FIG. 10 is a schematic diagram showing an example of an automated guided vehicle according to another modified example. [Figure 10] 10A is a diagram showing another example of operation data, and FIG. 10B is a diagram showing an example of a special tag list. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, preferred embodiments of an automated guided vehicle according to one aspect of the present disclosure will be described in detail with reference to the drawings.

[0015] An example of the travel of an automated guided vehicle 1 will be described with reference to FIG. 1. FIG. 1 is a schematic diagram illustrating 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 a magnetic bar, is laid in the logistics warehouse or the like. On the guided travel route GR, wireless tags T1, T2, and T3, such as RFID tags, are arranged in order from the start point of travel. "On the guided travel route" is not limited to a position that overlaps with the guided travel route, but may also include a position that corresponds to a position on the guided travel route and is spaced from the guided travel route.

[0016] 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 operation data (see FIG. 4) in which the identification information of the wireless tag is associated with operation control information for controlling the traveling speed, etc.

[0017] For example, in order to make the automated guided vehicle 1 travel automatically, an operation (input operation) is performed in which a guided travel route GR is specified for the automated guided vehicle 1. The automated guided vehicle 1 moves in direction D along the guided travel route GR at a predetermined travel speed. While traveling, the automated guided vehicle 1 sequentially detects the tag numbers of the wireless tags T1, T2, and T3 on the guided travel route GR. The automated guided vehicle 1 controls the travel speed, etc. based on the operation control information associated with each tag number by referring to the operation data.

[0018] Next, another example of the travel of the automated guided vehicle 1 will be described with reference to Fig. 2. Fig. 2 is a schematic diagram showing another example of the automated guided vehicle 1. In the example shown in Fig. 2, guided travel routes GR1 and GR2 are laid so as to intersect. Guided travel route GR1 is a guided travel route designated for the automated guided vehicle 1. Therefore, the automated guided vehicle 1 moves in direction D at a predetermined travel speed along the guided travel route GR1. In contrast, guided travel route GR2 is a guided travel route designated for another automated guided vehicle different from the automated guided vehicle 1 (not shown).

[0019] On the guided travel route GR1, RFID tags T4 and T5 are placed in order from the starting point of travel. The RFID tag T4 is assigned a tag number "0001" corresponding to the identification information of the RFID tag T4. The RFID tag T5 is assigned a tag number "0002" corresponding to the identification information of the RFID tag T5. On the guided travel route GR2, RFID tags T6, T7, and T8 are placed. The RFID tag T6 is assigned a tag number "0101" corresponding to the identification information of the RFID tag T6. The RFID tag T7 is assigned a tag number "****" corresponding to the identification information of the RFID tag T7. The RFID tag T8 is assigned a tag number "0102" corresponding to the identification information of the RFID tag T8.

[0020] 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, and RFID tags T6, T7, and T8 are RFID tags unnecessary for travel on the guided travel route GR1. Here, the 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 the 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, the automated guided vehicle 1 controls its travel by referring to the operation data, and when it detects a special tag, the automated guided vehicle 1 ignores the special tag, thereby performing the predetermined travel.

[0021] 3 is a block diagram showing the configuration of an automatic guided vehicle 1 according to an embodiment of the present disclosure. The automatic guided vehicle 1 includes a path detection unit 2, a tag detection unit 3, a storage unit 4, and a control unit 10.

[0022] The route detection unit 2 detects the guided travel route and outputs an electrical signal relating to the detected guided travel route to the control unit 10. The route detection unit 2 is, for example, a magnetic sensor.

[0023] The tag detection unit 3 detects identification information of wireless tags placed on the guided travel route. For example, the tag detection unit 3 detects the tag number of the wireless tag while traveling and outputs the detected tag number to the control unit 10. The tag detection unit 3 is, for example, an RFID reader.

[0024] The storage unit 4 stores operation data in which the identification information of the wireless tags and the operation control information associated with the identification information are arranged in a predetermined order. The storage unit 4 stores the operation data in advance before the automatic guided vehicle 1 starts traveling. The storage unit 4 may be a device separate from the automatic guided vehicle 1, or may be a component of the automatic guided vehicle 1.

[0025] An example of operation data stored in the memory unit 4 will be described with reference to FIG. 4. FIG. 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 of a wireless tag placed on the guided travel route. The operation control information is information for controlling the travel speed, etc., of the automatic 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.

[0026] For example, the memory unit 4 stores the operation control information "acceleration" in association with the tag number "0001" and the operation control information "deceleration" in association with the 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, and may indicate information related to other operations. In one example, the operation control information may include information related to the detection of a wireless tag, such as expanding the detection range of the wireless tag.

[0027] Returning to FIG. 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), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control unit 10 realizes various functions, for example, by loading a program stored in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The control unit 10 has, as functional elements, an acquisition unit 11, a tag determination unit 12, and a travel control unit 13.

[0028] 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 identification information of the detected wireless tag from the tag detection unit 3. The acquisition unit 11 refers to the storage unit 4 to acquire operation data.

[0029] 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 automatic 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 automatic 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 FIG. 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 automatic guided vehicle 1 when setting the operation data.

[0030] 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 detected by the tag detection unit 3 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 automatic 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.

[0031] Alternatively, the tag determination unit 12 may determine whether the wireless tag 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.

[0032] The travel control unit 13 starts travelling in response to the detection of the guided travel route by the route detection unit 2. For example, the travel control unit 13 controls the motor, wheels and the like provided on the vehicle body to make the automated guided vehicle 1 travel along the guided travel route. The travel control unit 13 may start travelling in response to the detection of a wireless tag indicating the start of travel by the tag detection unit 3.

[0033] When the tag determination unit 12 determines that the wireless tag detected is a normal tag, the travel control unit 13 executes 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 to be a normal tag by the tag determination unit 12. The travel control unit 13 accelerates the travel speed of the automatic guided vehicle 1 in accordance with the operation control information "acceleration" associated with the tag number "0001."

[0034] When the tag determination unit 12 determines that the wireless tag detected is a special tag, the traveling control unit 13 ignores the wireless tag. In one example, the traveling 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.

[0035] The traveling 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 executed operation control information. That is, the memory unit 4 stores the operation record information.

[0036] An example of operation record information stored in the memory unit 4 by the traveling control unit 13 will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the 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 traveling control unit 13. The time is information indicating the time when the above operation was performed by the automated guided vehicle 1.

[0037] 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 the tag number "0001", the operation control information "acceleration" associated with the tag number "0001", the "history" of the execution of the operation control information, and the time "t1" when the operation control information was executed, as operation record information in the storage unit 4. Also, for a wireless tag T7 determined by the tag determination unit 12 to be a special tag, the traveling control unit 13 stores the tag number "****", the "history" of the ignoring of the wireless tag, and the time "t2" when the wireless tag was ignored, as operation record information in the storage unit 4. Furthermore, for a wireless tag T5 determined by the tag determination unit 12 to be a normal tag, the traveling control unit 13 stores the tag number "0002", the operation control information "deceleration" associated with the tag number "0002", the "history" of the execution of the operation control information, and the time "t3" when the operation control information was executed, as operation record information in the storage unit 4. Here, there is no operation control information that is actually associated with the tag number "****" that is set as a special tag, but in the example shown in Figure 5, for convenience, "----" is associated as dummy operation control information with the operation control information corresponding to the tag number "****".

[0038] An example of the operation of the automatic guided vehicle 1 will be described with reference to Fig. 6. Fig. 6 is a flowchart showing an example of the operation of the automatic guided vehicle 1.

[0039] In step S1, the traveling control unit 13 starts traveling. For example, the traveling control unit 13 starts traveling in response to detection of a guided traveling route by the route detection unit 2. Alternatively, the traveling control unit 13 may start traveling in response to detection of a wireless tag indicating the start of traveling by the tag detection unit 3.

[0040] In step S2, the acquisition unit 11 determines whether or not the identification information of a wireless tag has been detected while the vehicle is traveling. For example, if the acquisition unit 11 acquires a new tag number from the tag detection unit 3, it determines that the identification information of a wireless tag has been detected while the vehicle is traveling. If the acquisition unit 11 has not acquired a new tag number from the tag detection unit 3, it determines that the identification information of a wireless tag has not been detected while the vehicle is traveling.

[0041] If the identification information of the wireless tag is detected while traveling (YES in step S2), the process proceeds to step S3. If the identification information of the wireless tag is not detected while traveling (NO in step S2), the process proceeds to step S7.

[0042] 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 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.

[0043] If the detected wireless tag is determined to be a normal tag (NO in step S3), the process proceeds to step S4. If the detected wireless tag is determined to be a special tag (YES in step S3), the process proceeds to step S5.

[0044] In step S4, the travel control unit 13 executes travel 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 travel 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 travel control unit 13 accelerates the travel speed of the automatic guided vehicle 1 in accordance with the operation control information "acceleration" associated with the tag number "0001."

[0045] 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.

[0046] In step S6, the traveling control unit 13 stores the operation record information in the storage 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 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 storage unit 4. Alternatively, for a wireless tag T7 determined by the tag determination unit 12 to be a special tag, the traveling control unit 13 stores 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 the storage unit 4.

[0047] In step S7, the traveling control unit 13 determines whether to end or continue traveling. For example, the traveling control unit 13 determines whether to end or continue traveling based on whether or not operation control information indicating the end of traveling is associated with the detected tag number. In one example, the traveling control unit 13 determines that traveling has ended when the operation control information is "stop," and determines that traveling should continue when the operation control information is other than "stop."

[0048] As described above, the automated guided vehicle 1 determines whether a wireless tag is a normal tag or a special tag with attributes different from those of a normal tag. By determining that an unnecessary wireless tag is a special tag, it is possible to appropriately distinguish between necessary wireless tags and wireless tags that should be ignored while leaving unnecessary wireless tags on the guided travel route. Therefore, in this automated guided vehicle 1, it is possible to easily set wireless tags that should be ignored when setting a travel route.

[0049] In the automated guided vehicle 1, when the tag determination unit 12 determines that a wireless tag is a special tag, the operation record information includes information indicating that the travel control unit 13 has ignored the wireless tag. For example, when an abnormality occurs in the automated guided vehicle 1, the travel 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 travel whether the special tag, i.e., the wireless tag that should be ignored, has been appropriately ignored.

[0050] In the automated guided vehicle 1, the identification information of the wireless tag is the tag number. The special tag is set by assigning a tag number that is not used for the tag numbers of normal tags. In this case, the special tag can be set by a simple process.

[0051] Next, with reference to Figures 7 and 8, an automated guided vehicle 1A according to one modified example of this embodiment will be described. Figure 7 is a schematic diagram showing an example of an automated guided vehicle 1A according to this modified example. (a) and (b) of Figure 8 are diagrams showing an example of a normal tag and a special tag to which special identification information has been assigned. This modified example differs from the above-described embodiment in terms of 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 modified example will be mainly described.

[0052] 7, the guided travel route GR3 and the guided travel route GR4 are laid so as to intersect with each other. The guided travel route GR3 is a guided travel route designated for the automatic guided vehicle 1A, and the guided travel route GR4 is a guided travel route designated for another automatic guided vehicle (not shown) different from the automatic guided vehicle 1A.

[0053] On the guided travel route GR3, RFID tags T9 and T10 are arranged in order from the starting point of travel. The RFID tag T9 is assigned a tag number "0001" corresponding to the identification information of the RFID tag T9. The RFID tag T10 is assigned a tag number "0002" corresponding to the identification information of the RFID tag T10. On the guided travel route GR4, RFID tags T11, T12, and T13 are arranged. The RFID tag T11 is assigned a tag number "0101" corresponding to the identification information of the RFID tag T11. The RFID tag T12 is assigned a tag number "0102" corresponding to the identification information of the RFID tag T12. The RFID tag T13 is assigned a tag number "0103" corresponding to the identification information of the RFID tag T13.

[0054] The automated guided vehicle 1A moves along the guided travel route GR3 at a predetermined travel speed in the direction D. Therefore, in the example shown in Fig. 7, for the automated guided vehicle 1A, the wireless tags T9 and T10 are set as normal tags, and the wireless tags T11, T12, and T13 are set as special tags.

[0055] 8, for example, the storage unit 4 stores, as operation data for the 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 the automated guided vehicle 1, the storage 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, and in reality, a more detailed detection range, etc., may be set.

[0056] In this modification, a special tag is set by adding special identification information indicating that it is a special tag to the identification information of a normal tag. For example, in the example shown in FIG. 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 modification, a special tag is set by setting a flag indicating that it is a special tag in the RFID tag. The special tag may have any attribute different from that of a normal tag, and the setting method is not limited to the method described above. For example, the special identification information may be added by adding a specific symbol or number to the end of the tag number.

[0057] 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 has special identification information of "0", the tag determination unit 12 determines the wireless tag as a normal tag, and if the detected wireless tag has special identification information of "1", the tag determination unit 12 determines the wireless tag as a special tag.

[0058] 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.

[0059] Further, with reference to Figures 9 and 10, an unmanned 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 unmanned guided vehicle 1B according to this modified example. (a) of Figure 10 is a diagram showing another example of operation data. (b) of Figure 10 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.

[0060] In the example shown in FIG. 9, a guided travel route GR5 is laid. The guided travel route GR5 is a guided travel route designated for the automatic guided vehicle 1B. On the guided travel route GR5, RFID tags T14, T15, and T16 are arranged in order from the start point of travel. The RFID tag T14 is assigned a tag number "0001" corresponding to the identification information of the RFID tag T14. The RFID tag T15 is assigned a tag number "0002" corresponding to the identification information of the RFID tag T15. The RFID tag T16 is assigned a tag number "0003" corresponding to the identification information of the RFID tag T16.

[0061] The automated guided vehicle 1B moves in a direction D at a predetermined travel speed along the guided travel route GR5. In the example shown in FIG. 9, the RFID tags T14 and T16 are set as normal tags, and the 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 FIG. 10, the memory unit 4 stores, as operation data for the automated guided vehicle 1B, operation control information "acceleration" associated with tag number "0001" and operation control information "deceleration" associated with tag number "0003".

[0062] 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 FIG. 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.

[0063] In the example shown in Figure 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 for normal tags, even in this modified example, special tags differ from normal tags in the attribute of tag number.

[0064] The tag determination unit 12 determines whether the detected wireless tag is a normal tag or a special tag based on whether the tag number of the wireless tag matches any of the tag numbers recorded in the special tag list. 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.

[0065] In the automated guided vehicle 1B, the special tag is 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 a simpler process.

[0066] Although the embodiments of the present invention have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present invention.

[0067] The 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 identification information of a wireless tag detected by the tag detection unit 3 with operation control information executed by the travel control unit 13. In the automated guided vehicles 1, 1A, and 1B, when the tag determination unit 12 determines that a wireless tag is a special tag, the operation record information does not necessarily include information indicating that the travel control unit 13 ignored the wireless tag. When the automated guided vehicles 1, 1A, and 1B are equipped with a memory unit 4 and when the tag determination unit 12 determines that a wireless tag is a special tag, the operation record information includes information indicating that the travel control unit 13 ignored the wireless tag, the automated guided vehicles 1, 1A, and 1B can verify after traveling whether they have properly ignored special tags, as described above.

[0068] In the automated guided vehicle 1, the identification information of the wireless tag does not have to be a tag number, and the special tag does not have to be set by assigning a tag number that is not used for normal tags.In the automated guided vehicle 1, 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, the special tag can be set by a simple process as described above.

[0069] In the automated guided vehicles 1 and 1B, the number of wireless tags set as special tags is "1", but the number of wireless tags set as special tags is not limited to the above number. The number of wireless tags set as special tags may be more than the above number. In other words, there may be multiple wireless tags set as special tags.

[0070] The processing procedure of the method executed by the automated guided vehicles 1, 1A, and 1B is not limited to the example in the above embodiment. For example, some of the steps (processing) described above may be omitted, or the steps may be executed 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 executed in addition to the steps described above. [Explanation of symbols]

[0071] 1, 1A, 1B...automated guided vehicle, 2...route detection unit, 3...tag detection unit, 4...storage unit, 12...tag determination unit, 13...travel control unit.

Claims

1. 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.

2. 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.

3. 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.

4. 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.

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