Unmanned vehicle driving control system

Abstract

To provide a travel control system for an unmanned traveling body capable of preventing deviation of the unmanned traveling body from the travel route even when the unmanned traveling body is returned to the travel route by non-automatic travel and switched to unmanned travel.SOLUTION: A travel control system includes an unmanned traveling body, a travel route R of the unmanned traveling body, and information tag T, which is set along the travel route R and stores tag numbers; the unmanned traveling body has a traveling drive unit, an information tag detection unit that detects the information tag T, and a controller that controls the traveling drive unit; the controller controls the traveling drive unit based on the tag number acquired by the information tag detection unit; the travel control system includes is provided with an input unit that allows tag numbers to be entered into the controller; the travel route R includes a route set by the tag number of the information tag T through which the unmanned traveling body passes; the unmanned traveling body is capable of non-automatic driving by manual operation, and when switching from non-automatic driving to automatic driving, the controller sets a driving speed to a speed slower than a normal driving speed during automatic driving.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to a driving control system for an unmanned vehicle.

Background Art

[0002] As a conventional technology of a driving control system for an unmanned vehicle, for example, a driving control method and system of an automatic guided vehicle disclosed in Patent Document 1 are known. In the driving control system of the automatic guided vehicle disclosed in Patent Document 1, the automatic guided vehicle is provided with a plurality of wheels at the lower part, and is configured to be able to drive along a predetermined driving route along a guiding line provided on the floor surface by driving and rotating at least one of the wheels. The guiding line is a light-reflective belt having high light reflectivity, and the automatic guided vehicle is provided with a sensor including a light irradiation unit for detecting the guiding line and a reflective phototube.

[0003] In the driving control system of the automatic guided vehicle disclosed in Patent Document 1, for example, as a means for stopping the automatic guided vehicle at a specific station, an area memory constituted by an RFID tag is provided at an appropriate position near the guiding line on the floor surface. The automatic guided vehicle has a receiving device for receiving data related to driving from this area memory. In this case, when the receiving device receives the data related to driving of the area memory, for example, if the data related to driving is an instruction to stop, the automatic guided vehicle can be stopped at a specific station. In addition, it is possible to store data related to the driving of the automatic guided vehicle, such as high-speed driving and low-speed driving, in the area memory in addition to stopping the automatic guided vehicle.

[0004] Incidentally, in this type of automated guided vehicle control system, if the automated guided vehicle deviates from its travel path for any reason, it is conceivable that, for example, an operator could manually control the vehicle (manual driving) to return it to the travel path. Alternatively, if the automated guided vehicle stops due to an obstacle in the travel path, it may also be possible to avoid the obstacle and return to the travel path by manually driving the vehicle. After returning to the travel path, the automated guided vehicle can then be switched from manual driving to automated driving. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2008-3785 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] However, in the driving control system disclosed in Patent Document 1, when switching from manual driving to automatic driving, automatic driving is resumed based on data acquired from the area memory just before deviating from the driving path. For this reason, for example, if the position upon return is a curved section where driving is instructed to be at a low speed, but the data acquired from the area memory just before deviating from the driving path is an instruction for high-speed driving, there is a risk that the automatic driving trolley will deviate from the driving path. It is also conceivable to set an appropriate speed for the automatic driving trolley before switching from manual driving to automatic driving, but the setting work is complicated.

[0007] The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to provide a driving control system for an unmanned vehicle that can prevent the unmanned vehicle from deviating from its driving path even when the unmanned vehicle is returned to its driving path by non-automatic driving and then switched to unmanned driving. [Means for solving the problem]

[0008] To solve the above problems, the present invention provides an unmanned vehicle capable of autonomous driving, a pre-set driving path for the unmanned vehicle, and an information tag set along the driving path and storing a tag number for setting the speed of the unmanned vehicle, wherein the unmanned vehicle comprises a driving drive unit, an information tag detection unit for detecting the information tag, and a controller for controlling the driving drive unit, wherein the controller is an unmanned vehicle driving control system that controls the driving drive unit based on the tag number acquired by the information tag detection unit, and includes an input unit that allows the tag number to be input to the controller, the driving path includes a path set by the tag number of the information tag through which the unmanned vehicle passes, the unmanned vehicle is capable of non-autonomous driving by manual operation, and the controller is characterized in that when the driving of the unmanned vehicle is switched from non-autonomous driving to autonomous driving, the driving speed of the unmanned vehicle is set to a lower speed than the normal driving speed during autonomous driving.

[0009] In this invention, when the unmanned vehicle switches from non-automatic to automatic driving, the controller sets the driving speed to a lower speed than the normal driving speed during automatic driving. Therefore, regardless of the unmanned vehicle's position on the driving path when the switch from non-automatic to automatic driving is made, the unmanned vehicle will continue to drive at a low speed until it communicates with the next memory unit. Thus, even if the unmanned vehicle is returned to the driving path by manual driving and then switched back to unmanned driving, it is possible to prevent the unmanned vehicle from deviating from the driving path after automatic driving resumes.

[0010] Furthermore, in the above-described unmanned vehicle driving control system, the controller may be configured to determine whether the tag number obtained from the information tag first detected during low-speed driving after switching from non-automatic driving to automatic driving is included in the information tags of the route pre-set in the controller, and to stop the unmanned vehicle when it is determined that the tag number is not included in the information tags of the route. In this case, the controller determines whether the tag number obtained from the first information tag detected while the unmanned vehicle is traveling at a low speed is included in the information tag for the route number pre-configured in the controller. If it is determined that the tag number obtained from the first information tag detected is not included in the information tag for the route number pre-configured in the controller, the controller stops the unmanned vehicle. In other words, the unmanned vehicle can be stopped quickly if it is found to be not traveling on the route with the route number it should be traveling on.

[0011] Furthermore, in the above-described unmanned vehicle driving control system, the driving path is a virtual driving path set in a map stored in the controller, the information tag is a virtual information tag set in advance along the virtual driving path, and a recovery position for switching from non-automatic driving to automatic driving is set on the road surface on which the unmanned vehicle travels, and the recovery position is made visible. In this case, recovery points for switching from non-autonomous to autonomous driving are set on the road surface where the unmanned vehicle travels, and these recovery points are made visible. Therefore, even if the unmanned vehicle deviates from its travel path, the operator can move it to the visible recovery point, making it possible to switch from non-autonomous to autonomous driving even if the travel path is not indicated on the road surface. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a driving control system for an unmanned vehicle that can prevent the unmanned vehicle from deviating from its driving path even when the unmanned vehicle is returned to its driving path by non-automatic driving and then switched to unmanned driving. [Brief explanation of the drawing]

[0013] [Figure 1] This is a plan view showing the driving control system for an automated guided vehicle according to the first embodiment. [Figure 2] (a) is a plan view of the automated guided vehicle according to the first embodiment, and (b) is a side view of the automated guided vehicle according to the first embodiment. [Figure 3]This is a schematic diagram of the automated guided vehicle according to the first embodiment. [Figure 4] This figure shows an example of an input screen for the input unit of an automated guided vehicle (AGV). [Figure 5] This flowchart illustrates the procedure for preventing the automated guided vehicle (AGV) from deviating from its travel path after it has returned to it. [Figure 6] (a) is a plan view showing the state in which the automated guided vehicle (AGV) has deviated from its travel path and has been manually driven back onto the path, and (b) is a plan view showing the state in which the AGV has resumed automatic travel. [Figure 7] (a) is a plan view showing the driving control system of an automated guided vehicle according to the second embodiment, and (b) is an explanatory diagram schematically showing the environmental map in the automated guided vehicle according to the second embodiment. [Modes for carrying out the invention]

[0014] (First embodiment) The following describes the driving control system for an unmanned vehicle according to an embodiment of the present invention with reference to the drawings. The unmanned vehicle in this embodiment is an unmanned transport vehicle that transports cargo. The directions "front and rear" and "left and right" are based on the forward-facing state of the unmanned transport vehicle when it is moving forward.

[0015] As shown in Figure 1, the automated guided vehicle (AGV) travel control system 10 (hereinafter simply referred to as the "travel control system") includes an AGV 11 as an unmanned vehicle, a travel path R for the AGV 11, and a plurality of information tags T arranged along the travel path R. First, regarding the travel path R, the travel path R is the path on which the AGV 11 travels, and specifically, it is formed by magnetic tape 12 attached to the road surface F.

[0016] The information tag T is an RFID tag storing a tag number which is information regarding the travel of the automated guided vehicle 11. For example, in the example shown in FIG. 1, the information tag T1 has “01” as the tag number, the information tag T2 has “02” as the tag number, the information tag T3 has “03” as the tag number, and the information tag T4 has “04” as the tag number. Also, in the example shown in FIG. 1, the routes of the information tags T1, T2, and T3 in the travel route R are regarded as Route 1, and the routes of the information tags T1, T2, and T4 are regarded as Route 2. In FIG. 1, the information tag T1 is installed near the start of the straight section in Routes 1 and 2. The information tag T2 is installed in front of the rightward curve section included between the information tag T2 and the information tag T3 in Route 1 and in front of the leftward curve section included between the information tag T2 and the information tag T4 in Route 2.

[0017] Next, the automated guided vehicle 11 will be described. As shown in FIG. 2(a), a pair of left and right front wheels 14 are provided at the front of the vehicle body 13 of the automated guided vehicle 11, and a pair of left and right rear wheels 15 are provided at the rear of the vehicle body 13. The front wheels 14 are steering wheels, and the rear wheels 15 are drive wheels. As shown in FIG. 2(b), a loading platform 16 capable of loading the load W is provided on the upper part of the vehicle body 13.

[0018] The vehicle body 13 is equipped with a steering unit 17 for steering the front wheels 14 and a travel drive unit 18 for driving the rear wheels 15. As shown in FIG. 3, the steering unit 17 has a steering mechanism 19 and a steering electric motor 20. The steering mechanism 19 is a mechanism for converting the rotation of the steering electric motor 20 into the left and right steering of the front wheels 14. When the steering electric motor 20 is driven, the steering mechanism 19 is actuated, and when the steering mechanism 19 is actuated, the front wheels 14 are steered. The traveling direction of the automated guided vehicle 11 is determined by the steering angle of the front wheels 14.

[0019] As shown in FIG. 3, the traveling drive unit 18 includes a traveling electric motor 21 and a motor driver 22 that drives the traveling electric motor 21. The traveling electric motor 21 is controlled by the motor driver 22 and driven. By driving the electric motor 21, the rear wheels 15 rotate. The automated guided vehicle 11 moves forward or backward by the rotation of the rear wheels 15. The traveling electric motor 21 is provided with an encoder (not shown) that reads the amount of rotation.

[0020] A controller 23 is mounted on the vehicle body 13. The controller 23 is connected to the steering electric motor 20 and the motor driver 22, and controls the steering electric motor 20 and the motor driver 22. As shown in FIG. 3, the controller 23 includes a CPU 24 as an arithmetic processing unit and a storage unit 25 composed of a RAM, a ROM, and the like. The controller 23 may be provided with dedicated hardware that executes at least a part of various processes, for example, an application specific integrated circuit (ASIC). The controller 23 can be configured as a circuit including one or more processors that operate according to a computer program, one or more dedicated hardware circuits such as an ASIC, or a combination thereof. Note that the storage unit 25 may be provided separately from the controller 23 and connected to the controller 23 so as to be communicable.

[0021] An induction guide sensor 26 for detecting the magnetic tape 12 is provided at the front portion of the vehicle body 13. The induction guide sensor 26 is connected to the controller 23. By the induction guide sensor 26 detecting the magnetic tape 12, the controller 23 can recognize that the automated guided vehicle 11 has not deviated from the traveling route R. The induction guide sensor 26 corresponds to an induction line detection sensor. The automated guided vehicle 11 is provided with a warning device (not shown), and when the induction guide sensor 26 stops detecting the magnetic tape 12, the controller 23 activates the warning device.

[0022] The controller 23 is connected to a tag communication unit 27, which acts as an information tag detection unit for detecting information tags T. The tag communication unit 27 is located on the vehicle body 13 opposite the information tag T and is capable of wireless communication when it is close to the information tag T. The tag communication unit 27 communicates with the information tag T to obtain the tag number stored in the information tag T and transmits it to the controller 23. The controller 23 controls the drive unit 18 so that the automated guided vehicle 11 moves based on the tag number.

[0023] The automated guided vehicle (AGV) 11 of this embodiment can travel at high speed, low speed, medium speed, and minimum speed. When traveling on a straight section of the travel path R, the AGV 11 travels at high speed, and when traveling on a curved section of the travel path R, the AGV 11 travels at low speed. In addition to unmanned automatic travel, the AGV 11 can also be operated manually by an operator (hereinafter referred to as "manual travel"). Manual travel corresponds to non-automatic travel, in which the operator controls the steering unit 17 and the travel drive unit 18. The acceleration, deceleration, and stopping of the AGV 11 are performed by the controller 23 controlling the travel drive unit 18 based on the tag number acquired from the information tag T. The controller 23 also controls the steering unit 17 based on the tag number acquired from the information tag T.

[0024] For example, in the example shown in Figure 1, when the tag number "01" of information tag T1 is acquired by the tag communication unit 27 while traveling along route 1, the controller 23 controls the drive unit 18 so that the automated guided vehicle (AGV) 11 travels at a medium speed in the straight section from information tag T1. Furthermore, when the tag number "02" of information tag T2 is acquired while traveling along route 1, the controller 23 controls the steering unit 17 and the drive unit 18 so that the AGV 11 makes a right turn at a low speed. Similarly, when the tag number "02" of information tag T2 is acquired while traveling along route 2, the controller 23 controls the steering unit 17 and the drive unit 18 so that the AGV 11 makes a left turn at a low speed. In this way, the controller 23 controls the steering unit 17 and the drive unit 18 according to the tag number acquired by the tag communication unit 27, based on a route pre-set by the tag number of information tag T.

[0025] The automated guided vehicle (AGV) 11 has an input unit 28 connected to the controller 23. The input unit 28 allows input of a route number and a tag number. For example, as shown in Figure 4, the input screen 29 of the input unit 28 includes an input field 30 for the route number, an input field 31 for the tag number of the information tag T, and a setting button 33. The input screen 29 shown in Figure 4 is a setting screen for re-entering the route number and tag number when the AGV 11 deviates from the travel route R, moves back to the travel route R by manual driving, and then returns to automatic driving on the travel route R. The route number pre-set in the controller 23 and the route number obtained from the information tag T and set in the controller 23 correspond to the machine-side route number.

[0026] In this embodiment, the storage unit 25 of the controller 23 stores a program to prevent the automated guided vehicle (AGV) 11 from deviating from its travel path R if it deviates from the travel path R, after it returns to the travel path R. Figure 5 is a flowchart showing a series of steps to prevent the AGV 11 from deviating from its travel path R after it returns to the travel path R.

[0027] If the automated guided vehicle (AGV) 11 deviates from the travel path R, the AGV 11's automatic operation stops (step S01). After the AGV 11's automatic operation stops, the controller 23 determines whether or not there is a change in the encoder of the electric motor 21 (step S02). If a change is detected in the encoder, the controller 23 determines that the AGV 11 is being driven manually (step S03). Since automatic operation will not resume without operator intervention after it has stopped, a change in the encoder indicates manual operation. Manual operation of the AGV 11 by an operator is performed to return the AGV 11, which has deviated from the travel path R, back to the travel path R. If no change is detected in the encoder after the automatic operation stops, the system loops until a change is detected in the encoder.

[0028] If it is determined that the automated guided vehicle (AGV) 11 is being driven manually, the controller 23 determines whether or not automatic driving of the AGV 11 has started (step S04). Specifically, the controller 23 determines whether or not automatic driving of the AGV 11 has started by determining whether or not a switch (not shown) provided on the vehicle body 13 has been turned ON by the operator. If it is determined that automatic driving of the AGV 11 has started, the controller 23 determines whether or not the route number and tag number have been reset (step S05). Before automatic driving starts, the operator can input the route number and tag number from the input screen 29 of the input unit 28. If it is determined that the route number and tag number have been reset, the controller 23 sets the speed setting of the AGV 11 to the speed setting corresponding to the route number and tag number (step S06). If it is determined that the route number and tag number have not been reset, the controller 23 sets the speed setting of the AGV 11 to the minimum speed (step S07). If no route number is entered in step S05, the automated guided vehicle 11 will inherit the route number set in the state before stopping and travel along the route corresponding to the inherited route number.

[0029] Next, the controller 23 controls the drive unit 18 based on the speed setting in step S06 or step S07 to make the automated guided vehicle 11 move automatically (step S08). Next, the controller 23 determines whether the tag communication unit 27 has detected the information tag T (step S09). If it is determined that the tag communication unit 27 has detected the information tag T, the controller 23 determines whether the tag number obtained from the detected information tag T is included in the tag number of the route number set for the automated guided vehicle 11 (step S10). If it is determined in step S09 that the information tag T has not been detected, the automated driving continues in order to detect the information tag T.

[0030] In step S10, if it is determined that the tag number obtained from the detected information tag T is included in the tag number of the route number information tag T set for the automated guided vehicle (AGV) 11, the controller 23 sets the speed setting based on the tag number of the detected information tag T (step S11). For example, if the AGV 11 traveling on route 1 obtains the tag number "03" from information tag T3, the controller 23 determines that the tag number "03" is a tag number included in the information tags T1 to T3 that set route 1. Once the speed setting of the AGV 11 is set to the speed setting based on the tag number of the detected information tag T, the controller 23 allows the AGV 11 to continue automatic driving (step S13). On the other hand, if it is determined in step S10 that the tag number obtained from the detected information tag T is not included in the tag number of the route number information tag T of the AGV 11, the controller 23 abnormally stops the AGV 11 as an abnormality (step S12). For example, if an automated guided vehicle 11 traveling along route 1 acquires the tag number "04" of information tag T4, the controller 23 determines that the tag number "04" is a tag number not included in the information tags T1 to T3 that set up route 1.

[0031] Next, the operation of the driving control system 10 of the automated guided vehicle 11 according to this embodiment will be described. As shown in Figure 6(a), for example, if the automated guided vehicle 11 deviates from the driving path R for any reason while traveling along path 1, the automated guided vehicle 11, which is in automatic driving mode, will stop due to an abnormal deviation from the driving path R. In the example in Figure 6(a), the automated guided vehicle 11 deviates from the driving path R and stops after reading the information tag T1. The operator then manually operates the automated guided vehicle 11 to return to the driving path R. In this case, the operator returns the automated guided vehicle 11 to the area in front of the information tag T2 on the driving path R without detecting the information tag T2.

[0032] After resetting, the operator can input the route number and the tag number of the information tag T in order to resume the automated operation of the automated guided vehicle 11. Here, we will assume that route 1 is where information tag T3 is installed, and route 2 is where information tag T4 is installed. The operator wants the automated guided vehicle 11 to travel along route 1, so on the input screen 29, the operator enters "1" in the route number input field 30, and the tag number "02" of the information tag T2 that was not detected in the input field 31, and then presses the setting button 33. The operator then resumes the automated operation of the automated guided vehicle 11.

[0033] Since the route number and tag number have been reset, the automated guided vehicle (AGV) 11 automatically travels along route 1 toward information tag T3 at a speed setting (low speed) based on the tag number "02" of information tag T2. When the AGV 11 detects information tag T3, it acquires the tag number "03" of information tag T3. Since the tag number "03" of information tag T3 is included in the information tags T1 to T3 of route 1 that have been reset for the AGV 11, automatic travel continues.

[0034] Incidentally, after the automated guided vehicle (AGV) 11 deviates from the travel path R and is returned to the travel path R by manual operation, the process of resetting it for automatic travel is complicated, requiring tasks such as checking the tag number of the information tag T. Therefore, in this embodiment, it is possible to restart the automatic travel of the AGV 11 without performing the resetting process. In this case, the speed setting when the AGV 11 restarts automatic travel is set to the minimum speed. Consequently, even when the AGV 11 restarts automatic travel, the phenomenon of deviating from the travel path R due to high-speed travel does not occur.

[0035] When an automated guided vehicle (AGV) 11 resumes automatic driving without resetting, the route number it was on when it deviated from the driving path R is set. If the route number set for AGV 11 is "1", the AGV 11 that resumes automatic driving will travel along route 1 at the minimum speed. Then, when the tag communication unit 27 detects the information tag T3, the speed setting of AGV 11 is set based on the tag number "03" of the information tag T3.

[0036] When an automated guided vehicle (AGV) 11 resumes automatic driving without resetting, the route number for when it deviates from the driving route R is set. For example, if the route number is "1", the AGV 11 that resumes automatic driving will travel along route 1 at the minimum speed. However, if the AGV 11 travels along route 2 at the minimum speed for any reason, the tag communication unit 27 will first detect the information tag T4. The tag number "04" of the information tag T4, which is the first to be detected and acquired after the resumption of automatic driving, is not included in the information tags T1 to T3 for route 1 of the route number set for the AGV 11, so the AGV 11 will stop abnormally. Therefore, even if the AGV 11 resumes automatic driving without resetting, if the tag information of the acquired information tag T is not included in the tag information of the information tag T of the route number set for the AGV 11, the AGV 11 can be stopped abnormally.

[0037] The driving control system 10 according to this embodiment provides the following effects. (1) If the controller 23 does not reset before restarting automatic driving, when the automated guided vehicle 11 switches from manual driving to automatic driving, it sets the driving speed to the minimum speed. Therefore, regardless of the position of the automated guided vehicle 11 on the driving path R when the switch from manual driving to automatic driving is made, the automated guided vehicle 11 will drive at the minimum speed until it detects the next information tag T. Thus, even if the automated guided vehicle 11 is returned to the driving path R by manual driving and then switched back to automatic driving, it is possible to prevent the automated guided vehicle 11 from deviating from the driving path R after automatic driving is restarted.

[0038] (2) The controller 23 has an input unit 28 on which a route number and a tag number indicating the travel route R of the automated guided vehicle 11 can be set. The controller 23 then determines whether the tag number obtained from the information tag T that is first detected when the automated guided vehicle 11 is traveling at a low speed after automatic travel has resumed is included in the information tag T of the route number that is pre-set in the controller 23. When it is determined that the tag number obtained from the information tag T that is first detected is not included in the information tag T of the route number that is pre-set in the controller 23, the controller 23 stops the automated guided vehicle 11. In other words, the automated guided vehicle 11 can be stopped quickly due to an abnormality such as not traveling on the route of the route number that it should be traveling on.

[0039] (Second embodiment) Next, a second embodiment of the driving control system will be described. This embodiment differs from the first embodiment in that the driving path is not constructed using magnetic tape, but is a virtual driving path set in an environmental map stored in the controller of the automated guided vehicle. In addition, the information tags are also virtual information tags set along the virtual driving path in the environmental map. This embodiment will use the same reference numerals as the first embodiment to describe the components common to the first embodiment.

[0040] The automated guided vehicle (AGV) 41 of the driving control system 40 shown in Figure 7(a) has the function of creating an environmental map while estimating its own position through autonomous driving. The AGV 41 is equipped with a laser rangefinder 42. The laser rangefinder 42 acquires obstacles and other objects as point clouds by irradiating laser light around the AGV 41 and identifies the location of the obstacles. As a technique for simultaneously estimating its own position and creating an environmental map, for example, Simultaneous Localization and Mapping (SLAM) is known. The environmental map 43 is stored in the memory unit 25 of the controller 23 in the AGV 41.

[0041] As shown in Figure 7(b), a virtual travel path Rv is set in the environment map 43. Virtual information tags Tv (Tv1~Tv4) are set along the travel path R in the environment map 43. The virtual travel path Rv corresponds to the travel path R, but does not exist on the road surface F on which the automated guided vehicle 41 travels. Similarly, the virtual information tags Tv have the same function as information tags T, but do not exist on the road surface F on which the automated guided vehicle 41 travels. Note that in Figure 7(a), for the sake of explanation, the virtual travel path Rv and virtual information tags Tv (Tv1~Tv4) are shown as virtual lines. When the position corresponding to the tag communication unit 27 in the automated guided vehicle 11 overlaps with the position information of the virtual information tags Tv (Tv1~Tv4) in the environment map stored in the controller 23, the controller 23 determines that it has read the tag number of the virtual information tag Tv (Tv1~Tv4). In other words, the controller 23 is a virtual information tag detection determination unit that determines whether to detect a virtual information tag Tv, and corresponds to an information tag detection unit that detects the virtual information tag Tv.

[0042] On the other hand, a visualized recovery position X is set on the road surface F on which the automated guided vehicle 11 actually travels. The recovery position X is a position for recovery where the automated guided vehicle 11 resumes automatic travel when it deviates from the virtual travel path Rv, and is set to a position corresponding to the virtual travel path Rv. The recovery position X is displayed using means for visualization (paint, colored tape, etc.) so that workers can recognize it. Note that multiple recovery positions X may be set on the road surface F.

[0043] According to this embodiment, a recovery position X for switching from non-automatic to automatic driving is set on the road surface F on which the automated guided vehicle 41 travels, and the recovery position X is made visible. Therefore, even if the automated guided vehicle 41 deviates from the travel path R, the operator can move it to the visible recovery position X, and even if the travel path is not indicated on the road surface F by technologies such as SLAM, it is possible to recover from non-automatic to automatic driving.

[0044] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the invention. For example, the following modifications may be made.

[0045] ○ In the above embodiment, if the route number and tag information are not reset before resuming automatic driving, the unmanned vehicle will drive at the minimum speed after resuming automatic driving, but this is not limited to this. The unmanned vehicle's automatic driving after resuming may be at a low speed due to a low speed setting, or at least at a speed low enough that the unmanned vehicle does not deviate from the driving path. ○ In the above embodiment, manual operation by a worker was given as an example of non-automatic operation of the unmanned vehicle, but this is not limited to that. Non-automatic operation of the unmanned vehicle may also be, for example, by human power of a worker. When the unmanned vehicle is moved by human power of a worker, it is preferable to allow the drive wheels to rotate freely. ○ In the above embodiment, manual operation (non-automatic operation) of the unmanned vehicle was determined by the presence or absence of a change in the encoder of the electric motor, but it is not limited to this. Manual operation (non-automatic operation) of the unmanned vehicle may also be determined, for example, by turning on or off a switch for switching manual operation provided on the unmanned vehicle, or by the presence or absence of operation of the accelerator means. ○ In the above embodiment, the speed setting of the unmanned vehicle is possible to be high speed, low speed, and minimum speed. However, this is not limited to this. For example, the speed setting of the unmanned vehicle may be set to high speed, medium speed, and low speed, and the speed setting of the unmanned vehicle is flexible. ○ In the above embodiment, an automated guided vehicle was used as an example of an unmanned vehicle, but it is not limited to this. The unmanned vehicle may be, for example, an unmanned forklift or a towing vehicle, or any vehicle that is capable of moving without a driver. [Explanation of Symbols]

[0046] 10, 40 Automated Guided Vehicle Driving Control System 11.41 Automated Guided Vehicle (Autonomous Mobile Vehicle) 12 Magnetic Tapes 13 Car bodies 14 Front Wheel 15 Rear wheel 16 cargo bed 17 Steering Section 18. Drive unit 19 Steering mechanism 20 Electric motor (for steering) 21 Electric motor (for propulsion) 22 Motor Drivers 23 Controllers 24 CPU 25 Memory section 26 Guidance Guide Sensor 27 Tag Communications Department 28 Input section 29 Input screen F road surface R Route RV virtual driving route T(T1, T2, T3, T4) Information Tags Tv(Tv1, Tv2, Tv3, Tv4) Virtual Information Tag

Claims

1. An autonomous vehicle capable of self-driving, The pre-set travel path of the unmanned vehicle, It has an information tag that is set along the aforementioned travel route and stores a tag number for setting the speed of the unmanned vehicle, The aforementioned unmanned vehicle is The drive unit and An information tag detection unit that detects the aforementioned information tag, It includes a controller that controls the aforementioned drive unit, The controller is part of a driving control system for an unmanned vehicle that controls the driving drive unit based on the tag number acquired by the information tag detection unit. The unit includes an input section that allows the aforementioned tag number to be input to the controller, The aforementioned travel route includes a route set by the tag number of the information tag through which the unmanned vehicle travels, The aforementioned unmanned vehicle is capable of non-automatic operation through manual control. The aforementioned controller is a driving control system for an unmanned vehicle, characterized in that when the driving of the unmanned vehicle is switched from non-automatic driving to automatic driving, the driving speed of the unmanned vehicle is set to a lower speed than the normal driving speed during automatic driving.

2. The controller determines whether the tag number obtained from the information tag first detected during low-speed driving after switching from non-automatic driving to automatic driving is included in the information tags of the route that are pre-configured in the controller. The unmanned vehicle driving control system according to claim 1, characterized in that when it is determined that the tag number is not included in the route information tag, the unmanned vehicle is stopped.

3. The aforementioned travel route is a virtual travel route set in the map stored in the controller. The aforementioned information tag is a virtual information tag pre-configured along the virtual travel route, On the road surface on which the unmanned vehicle travels, a recovery position is set for switching from non-automatic driving to automatic driving. The driving control system for an unmanned vehicle according to claim 1 or 2, characterized in that the recovery position is visualized.

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