Automated driving system, automated driving method, and automated driving program

Abstract

To provide an autonomous driving system, an autonomous driving method, and an autonomous driving program with which it is possible to suppress a decrease in the efficiency of conveyance by an autonomous driving device when a tag read error occurs.SOLUTION: An autonomous driving system according to the present disclosure comprises: a determination processing unit that determines whether or not an autonomous driving device has succeeded in reading a target tag at the position of the target tag while traveling; and a travel processing unit that, when it is determined by the determination processing unit that reading of the tag was not successful, controls the traveling of the autonomous driving device on the basis of information regarding a first connection path that connects a first tag installed position immediately preceding the target tag that is determined to have not been successfully read and the target tag installed position, and a second connection path that connects a second tag installed position immediately following the target tag and the target tag installed position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an autonomous driving system, an autonomous driving method, and an autonomous driving program.

Background Art

[0002] Conventionally, in facilities such as warehouses, a system is known in which an autonomous driving device receives an article to be conveyed at a storage position (e.g., a storage shelf) and conveys it to a payout position (a shipping location).

[0003] For example, a system is known in which an autonomous driving device reads a two-dimensional barcode installed on the floor surface, recognizes coordinates, and autonomously travels along a predetermined travel route (see Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, due to abnormalities of tags such as damage, aging deterioration, and positional deviation of two-dimensional barcodes, RFID, markers, etc., which are read by the autonomous driving device, or environmental conditions when reading the tags, a reading error (skipping) may occur. When a tag reading error occurs, the conveyance work is interrupted due to the autonomous driving device stopping or deviating from the travel route, resulting in a problem of reduced conveyance efficiency.

[0006] An object of the present disclosure is to provide an autonomous driving system, an autonomous driving method, and an autonomous driving program capable of suppressing a decrease in conveyance efficiency by an autonomous driving device when a tag reading error occurs.

Means for Solving the Problems

[0007] An automated driving system according to one aspect of the present disclosure is a system that drives an automated driving device in a driving area in which a plurality of tags are installed corresponding to each of a plurality of installation locations, by sequentially moving to each of the plurality of tag locations in a specified order and reading each of the tags. The automated driving system comprises a determination processing unit and a driving processing unit. The determination processing unit determines whether or not the automated driving device has succeeded in reading the target tag at its location while it is driving. If the determination processing unit determines that it has not succeeded in reading the target tag, the driving processing unit controls the driving of the automated driving device based on information from a first connection path connecting the installation location of the first tag immediately preceding the target tag that was determined not to have been read successfully to the installation location of the target tag, and a second connection path connecting the installation location of the second tag immediately following the target tag to the installation location of the target tag.

[0008] Another aspect of the present disclosure relates to an automated driving method in which an automated driving device is driven in a driving area in which a plurality of tags are installed corresponding to each of a plurality of installation locations, by sequentially moving the automated driving device to each of the plurality of tags in a specified order and reading each of the tags, wherein one or more processors perform a determination step of determining whether or not the automated driving device has succeeded in reading a target tag at the location of the target tag while it is driving, and a driving step of controlling the driving of the automated driving device based on information of a first connection path connecting the installation location of a first tag immediately preceding the target tag that was determined not to have been read successfully and the installation location of the target tag, and a second connection path connecting the installation location of a second tag immediately following the target tag and the installation location of the target tag.

[0009] Another aspect of the present disclosure is an automated driving program that causes one or more processors to execute the following steps: an automatic driving device to move sequentially to the locations of the multiple tags in a specified order in a driving area where multiple tags are installed corresponding to each of the multiple installation locations, and read each of the tags; a determination step of determining whether or not the automatic driving device has succeeded in reading a target tag at the location of the target tag while it is driving; and a driving step of controlling the driving of the automatic driving device based on information from a first connection path connecting the installation location of the first tag immediately preceding the target tag that was determined not to have been read successfully to the installation location of the target tag, and a second connection path connecting the installation location of the second tag immediately following the target tag to the installation location of the target tag. [Effects of the Invention]

[0010] According to this disclosure, it is possible to provide an automated driving system, an automated driving method, and an automated driving program that can suppress the decrease in transport efficiency by an automated driving device when a tag reading error occurs. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of this disclosure. [Figure 2] Figure 2 is a schematic diagram showing the configuration of a facility to which the automated driving system according to the embodiment of this disclosure is applied. [Figure 3] Figure 3 shows an example of the configuration of an automated driving device and tag according to an embodiment of this disclosure. [Figure 4] Figure 4 shows an example of control information used in an automated driving system according to the embodiment of this disclosure. [Figure 5] Figure 5 shows an example of a travel path for an automated driving system according to an embodiment of this disclosure. [Figure 6]Figure 6 shows an example of tag reading by an automated driving device according to the present disclosure. [Figure 7] Figure 7 shows an example of tag reading by an automated driving device according to an embodiment of this disclosure. [Figure 8] Figure 8 shows an example of tag reading by an automated driving device according to an embodiment of this disclosure. [Figure 9] Figure 9 shows an example of tag reading by an automated driving device according to the present disclosure. [Figure 10] Figure 10 is a flowchart showing an example of the procedure for an automated driving process performed by an automated driving system according to the embodiment of this disclosure. [Modes for carrying out the invention]

[0012] The embodiments of this disclosure will be described below with reference to the attached drawings to facilitate understanding of this disclosure. Note that the following embodiments are merely examples of the embodiments described herein and do not limit the technical scope of this disclosure.

[0013] [Automated Driving System 10] As shown in Figure 1, the automated driving system 10 according to the embodiment of this disclosure comprises a plurality of automated driving devices 2 and a management server 1 that manages the automated driving devices 2. In this disclosure, the number of automated driving devices 2 is not limited and may be one. The automated driving system 10 is a system that causes the automated driving devices 2 to autonomously drive according to a driving path. The automated driving devices 2 are autonomous mobile vehicles (also called AGVs or unmanned transport vehicles) that travel along a predetermined driving path while estimating their own position. The management server 1 and the automated driving devices 2 can communicate with each other via a communication network N1 such as a wireless LAN.

[0014] The automatic driving system 10 is introduced into facilities such as factories and warehouses. In this embodiment, as an example, an example in which the automatic driving system 10 is applied to the facility W1 shown in FIG. 2 will be described. In the facility W1 shown in FIG. 2, a plurality of storage shelves (storage positions) for storing goods (objects to be transported) are arranged. FIG. 2 illustrates 16 storage shelves T1 to T16.

[0015] Also, a standby location for the automatic driving device 2 is set in the facility W1. For example, in the facility W1, a standby location P1 where the AGV1 waits, a standby location P2 where the AGV2 waits, and a standby location P3 where the AGV3 waits are set. Each automatic driving device 2 waits at a predetermined standby location when it has not received a conveyance instruction (travel instruction) from the management server 1.

[0016] The automatic driving system 10 is a system in which the automatic driving device 2 performs an operation according to the control information when the automatic driving device 2 detects a tag Tg (for example, an RFID tag) in which control information (control parameters) defining the operation of the automatic driving device 2 is set in a travel area. Specifically, when the automatic driving device 2 detects the tag Tg in which the control information is set and installed on the floor surface within the facility W1, the automatic driving device 2 performs an operation according to the control information (see FIG. 4). The tag Tg is installed on the floor surface in the facility W1 by the user based on the travel route. For example, in FIG. 2, the dotted line portion indicates a travel route along which the automatic driving device 2 can travel, and the tag Tg is installed at a predetermined intersection of the travel route. The RFID tag is an example of the tag of the present disclosure. Note that a magnetic tape for travel guidance may be installed along the travel route. In this case, the automatic driving device 2 travels along the magnetic tape and detects the tag Tg installed on the magnetic tape L to perform an operation according to the control information.

[0017] The management server 1 has a function (operation management function) to manage the operation of the autonomous driving device 2 and a function (tag management function) to manage the state of the tag Tg. The management server 1 is composed of a plurality of server devices, and the server device having the operation management function and the server device having the tag management function may be provided separately. The autonomous driving device 2 has a self-position estimation function and periodically transmits self-position information representing its own position and detection information of the tag Tg to the management server 1. The autonomous driving system 10 is equipped with an abnormality detection function to detect abnormalities of the tag Tg.

[0018] [Autonomous driving device 2] As shown in FIG. 1, the autonomous driving device 2 includes a control unit 21, a storage unit 22, a tag sensor 23, a lidar sensor 24, a communication unit 25, etc. FIG. 3 schematically shows the tag Tg installed on the floor surface of the facility W1 and the autonomous driving device 2 traveling inside the facility W1.

[0019] The communication unit 25 is a communication interface for wirelessly connecting the autonomous driving device 2 to the communication network N1 and performing data communication according to a predetermined communication protocol with external devices such as the management server 1 via the communication network N1.

[0020] The autonomous driving device 2 includes a drive wheel 26, an encoder for measuring the rotation angle of the drive wheel 26, a coupler for connecting the carriage, a motor, a battery, etc. (not shown). The autonomous driving device 2 drives the motor with the power of the battery and rotates the drive wheel 26 with the driving force of the motor to travel. The battery is a rechargeable battery and is charged by an automatic charger. For example, the autonomous driving device 2 can charge the battery with a charger at a predetermined charging position while traveling on a set travel route. The coupler is a connecting tool for connecting the carriage to the autonomous driving device 2. The autonomous driving device 2 can connect the carriage with the coupler at a predetermined connection position while traveling on a set travel route and travel while towing the carriage.

[0021] The LiDAR sensor 24 is a distance sensor (distance measuring device) that can measure the distance to an obstacle in three dimensions using laser light. Specifically, the LiDAR sensor 24 uses mirrors and MEMS (Micro Electro Mechanical Systems) to irradiate the surroundings with laser light, receives the reflected light, and measures the time difference between irradiation and reception to measure the distance to the obstacle in the direction of laser irradiation. At this time, by repeating the direction of laser light irradiation in a certain pattern, the arrangement of obstacles in space can be observed at a frequency of several tens of Hz.

[0022] The tag sensor 23 detects the tag Tg installed on the floor surface of the travel area (facility W1). As shown in Figure 3, the tag sensor 23 is positioned so that it can face the tag Tg when the automatic travel device 2 is in motion. The tag sensor 23 is an RFID sensor that can communicate with the RFID tag used as the tag Tg. However, the tag sensor 23 may be positioned at a location offset from the position facing the tag Tg, as long as communication with the tag Tg is possible. Furthermore, the tag sensor 23 can be appropriately changed depending on the type of communication tag used as the tag Tg.

[0023] The tag Tg has its identification information (e.g., tag number, tag ID, etc.) recorded in a readable format. For example, the tag sensor 23 detects a tag Tg installed on the floor and obtains the tag number recorded on that tag Tg. Specifically, the tag sensor 23 obtains the tag number recorded on the tag Tg by communicating with the tag Tg while the automatic driving device 2 is in motion.

[0024] By using a communication tag such as an RFID tag as the tag Tg, communication can be performed between the tag sensor 23 and the tag Tg for a predetermined period of time while passing near the tag Tg (a period longer than the time the tag sensor 23 is facing the tag Tg). Therefore, even while the automatic driving device 2 is in motion, the tag number recorded on the tag Tg can be acquired with high accuracy. The control unit 21 acquires the tag number from the tag sensor 23.

[0025] The storage unit 22 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. Data such as control information D1 is stored in the storage unit 22.

[0026] Figure 4 shows an example of control information D1. Control information D1 is information that defines the driving operation of the automatic driving device 2. As shown in Figure 4, control information D1 includes information such as "operation order," "tag number," "driving operation," "speed," "driving distance," and "specific operation." The operation order is information that indicates the order of the driving operations of the automatic driving device 2. In the example shown in Figure 4, the automatic driving device 2 performs the driving operations in the order of 1 to 10. The tag number is identification information of tag Tg and corresponds to the tag number recorded on tag Tg. A tag ID may be registered in control information D1 instead of the tag number.

[0027] The aforementioned driving actions are information that describes actions to be performed by the automatic driving device 2. "Forward" describes the action of driving the automatic driving device 2 forward. "Right spin" describes the action of turning (spinning) the automatic driving device 2 to the right. "Right follow" describes the action of smoothly driving to the right by increasing the response speed of the turning control. "Center follow" describes the action of driving straight by decreasing the response speed of the turning control to suppress meandering. "Stop" describes the action of stopping the automatic driving device 2.

[0028] The speed mentioned above is information about the travel speed of the automatic driving device 2. The specific operation mentioned above is information representing a specific operation to be performed by the automatic driving device 2. In addition, the control information D1 may also include information about acceleration and deceleration. The travel distance mentioned above is information about the distance the automatic driving device 2 travels. For example, when the automatic driving device 2 detects tag Tg2 (tag number "2"), it moves forward by a travel distance L2, and when it detects tag Tg3 (tag number "3"), it moves forward by a travel distance L3. The travel distance L2 is set to the distance from tag Tg2 to tag Tg3. That is, each travel distance is set to a distance corresponding to the distance between two adjacent tags Tg. The specific operation mentioned above includes a charging operation to charge the automatic driving device 2, a coupling operation to connect an object to be coupled (e.g., a trolley) to the automatic driving device 2, and so on.

[0029] In the control information D1, the operation sequence, driving operation, speed, driving distance, and specific operation are each registered in association with the tag number. The control information D1 shown in Figure 4 is an example and is not limited thereto. The control information D1 is set in the management server 1, operation terminal (not shown), etc., and output (transferred) to the automatic driving device 2. When the automatic driving device 2 acquires the control information D1, it stores it in the storage unit 22 and drives along the set driving route while executing driving operations according to the control information D1.

[0030] Furthermore, the storage unit 22 stores control programs that cause the control unit 21 to execute various control processes. For example, the control programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a reader (not shown) provided by the automatic driving device 2, and stored in the storage unit 22. The control programs may also be distributed from a cloud server and stored in the storage unit 22.

[0031] The control unit 21 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 21 controls the automatic driving device 2 by executing various control programs stored in advance in the ROM or memory unit 22 using the CPU.

[0032] Specifically, as shown in Figure 1, the control unit 21 includes various processing units such as an estimation processing unit 211, an acquisition processing unit 212, and an operation processing unit 213. The control unit 21 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of the processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0033] The estimation processing unit 211 estimates the self-position of the automatic driving device 2. Specifically, the estimation processing unit 211 estimates its own position on the map using a well-known self-position estimation method. For example, the estimation processing unit 211 acquires the measurement results from the lidar sensor 24 and estimates the position of the automatic driving device 2 on the obstacle map by matching the placement of obstacles corresponding to the measurement results with a known obstacle map. The estimation processing unit 211 transmits the estimated position information (self-position information) to the management server 1.

[0034] In another embodiment, the estimation processing unit 211 may perform self-position estimation using a camera (not shown) instead of the LiDAR sensor 24. For example, the estimation processing unit 211 calculates the self-position of the automatic driving device 2 by estimating the movement of the camera from the movement of feature points in each frame of the video image captured by the camera.

[0035] The acquisition processing unit 212 acquires control information D1 (see Figure 4) from the management server 1. Once the acquisition processing unit 212 acquires the control information D1, it stores it in the storage unit 22.

[0036] When the tag sensor 23 detects a tag Tg, the operation processing unit 213 causes the automatic driving device 2 to execute a driving operation corresponding to that tag Tg. Specifically, when the tag sensor 23 detects a tag Tg and reads the tag number recorded on the tag Tg, the operation processing unit 213 refers to the control information D1 (see Figure 4) and causes the driving operation associated with that tag number to be executed. The operation processing unit 213 also transmits the detection information of the tag Tg (such as the detection location) to the management server 1.

[0037] Figure 5 shows a specific example of a travel route corresponding to the control information D1 shown in Figure 4. When the user sets the travel route and control information D1 on the management server 1, the RFID tags corresponding to tag Tg are placed on the floor surface of facility W1 based on the set travel route. When the user inputs a travel command on the management server 1, the automatic travel device 2 starts traveling from the position of tag number "2" (starting point), proceeds in the direction of the arrow d1, and stops at the position of tag number "2" (ending point).

[0038] Specifically, first, when the automatic driving device 2 detects tag Tg with tag number "2", it moves forward at a speed of 10 m / min for a distance L2, and then when it detects tag Tg with tag number "3", it changes its speed to 30 m / min and moves forward for a distance L3. Next, when the automatic driving device 2 detects tag Tg with tag number "4", it turns to the right and moves forward for a distance L4, and when it detects tag Tg with tag number "5", it turns to the right again and moves forward for a distance L5. Next, when the automatic driving device 2 detects tag Tg with tag number "6", it changes its speed to 10 m / min and moves forward for a distance L6, and then when it detects tag Tg with tag number "7", it pauses and performs a charging operation. After completing its charging operation, the automatic driving device 2 moves forward for a distance L7, detects tag Tg with tag number "8", switches to a driving control suitable for a right turn, changes its speed to 20 m / min, and turns for a distance L8. Next, when the automatic driving device 2 detects tag Tg with tag number "9", it continues the driving control suitable for a right turn and turns for a distance L9, and then when it detects tag Tg with tag number "1", it switches to a driving control suitable for straight-line driving and moves forward for a distance L1. Finally, when the automatic driving device 2 detects tag number "2", it stops and performs a coupling operation to connect to the trolley.

[0039] As described above, the automated driving device 2 performs autonomous driving based on the set driving route and control information D1. The automated driving device 2 also periodically transmits self-position information representing its own position and detection information of tag Tg to the management server 1. The management server 1 obtains the self-position information and detection information from each automated driving device 2 and manages the driving status of each automated driving device 2.

[0040] [Management Server 1] As shown in Figure 1, the management server 1 is a server equipped with a control unit 11, a storage unit 12, an operation display unit 13, and a communication unit 14, etc. Note that the management server 1 is not limited to a single computer, but may be a computer system in which multiple computers work together. Furthermore, the various processes performed by the management server 1 may be distributed and executed by one or more processors.

[0041] The communication unit 14 is a communication interface that connects the management server 1 to the communication network N1 by wire or wireless connection and performs data communication with multiple automatic driving devices 2 via the communication network N1 in accordance with a predetermined communication protocol.

[0042] The operation display unit 13 is a user interface comprising a display unit such as a liquid crystal display or an organic EL display that displays various types of information, and an operation unit such as a mouse, keyboard, or touch panel that accepts input.

[0043] The storage unit 12 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. Specifically, the storage unit 12 stores data such as the self-position information and detection information received from each automatic driving device 2. The storage unit 12 also stores information related to operation instructions (destination, route, etc.) to be transmitted to each automatic driving device 2 (operation information).

[0044] Furthermore, the storage unit 12 stores control programs, such as an automatic driving program, which causes the control unit 11 to execute the automatic driving process described later (see Figure 10). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown), such as a CD drive or DVD drive, provided by the management server 1 and stored in the storage unit 12.

[0045] The control unit 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 11 controls the management server 1 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU.

[0046] Specifically, as shown in Figure 1, the control unit 11 includes various processing units such as an acquisition processing unit 111, a determination processing unit 112, and a driving processing unit 113. The control unit 11 functions as these various processing units by executing various processes according to the automatic driving program using the CPU. Some or all of these processing units may be composed of electronic circuits. The automatic driving program may be a program that causes multiple processors to function as processing units.

[0047] The acquisition processing unit 111 acquires the self-position information and the detection information (such as the measurement results from the tag sensor 23) from each automatic driving device 2.

[0048] The determination processing unit 112 determines the state of the tag Tg based on the self-position information and the detection information. Specifically, the determination processing unit 112 determines whether or not the automatic driving device 2 successfully read the tag Tg at its installation location while driving, based on the multiple pieces of detection information acquired by the acquisition processing unit 111. Here, the tag Tg may have abnormalities such as damage, deterioration over time, misalignment, or environmental conditions when reading the tag Tg, which may result in reading errors (skipping). The determination processing unit 112 determines whether or not the tag Tg was successfully read based on the self-position information and the detection information.

[0049] The driving processing unit 113 controls the driving of the automatic driving device 2 based on the determination result of the determination processing unit 112. Specifically, if the determination processing unit 112 determines that the automatic driving device 2 has failed to read the target tag Tg, the driving processing unit 113 controls the driving of the automatic driving device 2 based on information from a first connection path connecting the installation position of the tag Tg immediately preceding the target tag Tg that was determined to have been unsuccessfully read to the installation position of the target tag Tg, and a second connection path connecting the installation position of the tag Tg immediately following the target tag Tg to the installation position of the target tag Tg. For example, if the driving processing unit 113 determines that it has failed to read the target tag Tg, and the first connection path and the second connection path are on the same straight line, it causes the automatic driving device 2 to drive straight toward the installation position of the next tag Tg.

[0050] Figure 6 illustrates four tags TgA to TgD. If tags TgA to TgD are normal and the automatic driving device 2 can read them correctly, the automatic driving device 2 will move in a straight line for a distance La after reading tag TgA, move in a straight line for a distance Lb after reading the next tag TgB, move in a straight line for a distance Lc after reading the next tag TgC, and stop after reading the last tag TgD.

[0051] As shown in Figure 7, if there is an abnormality in tag TgB, the automatic driving device 2 will be unable to read tag TgB correctly. In this case, with conventional technology, the automatic driving device 2 will stop at the location of tag TgB, interrupting the transport operation and resulting in a decrease in transport efficiency.

[0052] In contrast, in the automated driving system 10 according to this embodiment, the driving processing unit 113 executes a process to continue driving even if the automated driving device 2 is unable to read the tag TgB.

[0053] Specifically, if the automatic driving device 2 successfully reads tag TgA and travels a distance L1 in a straight line, but fails to read tag TgB, the driving processing unit 113 controls the driving of the automatic driving device 2 based on information from connection path R1 connecting the installation position of tag TgA immediately before tag TgB and the installation position of tag TgB, and connection path R2 connecting the installation position of tag TgC immediately after tag TgB and the installation position of tag TgB.

[0054] For example, if the determination processing unit 112 determines that it has failed to read tag TgB, and connection paths R1 and R2 are on the same straight line, the driving processing unit 113 will cause the automatic driving device 2 to travel in a straight line toward the location where tag TgC is installed. In this case, the driving processing unit 113 will cause the automatic driving device 2 to travel in a straight line for a distance Lb associated with the tag TgB that failed to be read. If the automatic driving device 2 successfully reads the next tag TgC at the location where it has traveled in a straight line for a distance Lb, it will then travel in a straight line for a distance Lc.

[0055] In this way, when tags TgA, TgB, and TgC are arranged in a straight line, the impact on travel accuracy due to skipping reading tag TgB is small. Therefore, even if reading tag TgB fails, the control unit 11 executes a process to continue the travel of the automatic travel device 2. As a result, the automatic travel device 2 can continue traveling even if it fails to read tag Tg, thus suppressing a decrease in transport efficiency.

[0056] In the example above (see Figure 7), the driving processing unit 113 causes the automatic driving device 2 to travel in a straight line for a distance Lb associated with the tag TgB that failed to be read. If the automatic driving device 2 fails to read the next tag TgC at the position where it has traveled Lb in a straight line, the automatic driving device 2 is stopped. In other words, if the automatic driving device 2 fails to read two tags Tg in a row, the driving accuracy may decrease and the positional deviation from the driving path may increase. Therefore, the driving processing unit 113 stops the automatic driving device 2 at the position of the tag Tg that resulted in the second reading error (in this case, tag TgC).

[0057] Furthermore, the driving processing unit 113 stops the automatic driving device 2 if the determination processing unit 112 determines that it has not succeeded in reading the target tag Tg, and the first connection path and the second connection path are not on the same straight line. For example, as shown in Figure 8, if the connection path R1 connecting tags TgA and TgB and the connection path R2 connecting tags TgB and TgC are not on the same straight line, and the determination processing unit 112 determines that it has not succeeded in reading tag TgB, the driving processing unit 113 stops the automatic driving device 2 at the position of tag TgB. This prevents a decrease in driving accuracy and a large deviation from the driving path.

[0058] In another embodiment, the driving processing unit 113 may stop the automatic driving device 2 if the determination processing unit 112 determines that it has not succeeded in reading the target tag Tg, and if control information specifying an operation to change the driving direction of the automatic driving device 2 is set for the target tag Tg. In the example shown in Figure 8, if the control information D1 (see Figure 4) sets a "right spin" driving operation to change the driving direction for tag TgB, the driving processing unit 113 will stop the automatic driving device 2 at the position of tag TgB if the automatic driving device 2 fails to read tag TgB.

[0059] Furthermore, if the determination processing unit 112 determines that it has not succeeded in reading the target tag Tg, and the first connection path and the second connection path lie on the same curve, the driving processing unit 113 may cause the automatic driving device 2 to turn towards the installation position of the next tag Tg with the same steering angle as when turning along the first connection path. For example, as shown in Figure 9, if the automatic driving device 2 successfully reads tag TgB and then fails to read tag TgC at a position where it has turned for a distance Lb, and the connection path R2 connecting tags TgB and TgC and the connection path R3 connecting tags TgC and TgD lie on the same curve (same radius of curvature), the driving processing unit 113 will cause the connection path R3 to turn for a distance Lc towards the installation position of tag TgD with the same steering angle as when turning along the connection path R2.

[0060] In the example shown in Figure 9, if connection path R2 and connection path R3 are not on the same curve, the driving processing unit 113 stops the automatic driving device 2 at the tag TgC installation location to prevent a decrease in the driving accuracy of the automatic driving device 2.

[0061] Furthermore, the control unit 11 may notify the user of an abnormality in the tag Tg if the automatic driving device 2 is stopped due to a reading error of the tag Tg. For example, the control unit 11 may display error information, including information indicating the location of the tag Tg that failed to be read, on the operation display unit 13 of the management server 1 or on the user's operation terminal. The control unit 11 may also cause the automatic driving device 2 to emit an error sound, or may illuminate or flash an indicator light mounted on the automatic driving device 2.

[0062] [Automatic driving process] The automatic driving process performed in the automatic driving system 10 will be described below with reference to Figure 10. Specifically, in this embodiment, the automatic driving process is performed by the control unit 11 of the management server 1. Furthermore, the control unit 11 is capable of executing multiple automatic driving processes in parallel in response to multiple transport requests. When the control unit 11 starts the automatic driving device 2 to start moving in response to a transport request (driving instruction), it starts executing the automatic driving process shown in Figure 10.

[0063] This disclosure can be understood as a disclosure of an automated driving method that performs one or more steps included in the automated driving process. Furthermore, the one or more steps included in the automated driving process described herein may be omitted as appropriate. In addition, the execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Furthermore, although this description uses the case in which the control unit 11 executes each step in the automated driving process as an example, an automated driving method in which one or more processors distribute and execute each step in the automated driving process can also be considered as another embodiment.

[0064] First, in step S1, the control unit 11 causes the automatic driving device 2 to start automatic driving. Specifically, the control unit 11 outputs pre-set driving route information and control information D1 (see Figure 4) to the automatic driving device 2 to start driving.

[0065] Next, in step S2, the control unit 11 determines whether the automatic driving device 2 succeeded in reading the tag Tg at its location while driving. Specifically, the control unit 11 determines whether the automatic driving device 2 succeeded or failed in reading the tag Tg based on the self-position information and detection information (such as the measurement results of the tag sensor 23) obtained from the automatic driving device 2. If the control unit 11 determines that the automatic driving device 2 succeeded in reading the tag Tg at its installation location while driving (S2: Yes), it proceeds to step S21. On the other hand, if the control unit 11 determines that the automatic driving device 2 did not succeed in reading the tag Tg at its installation location while driving (failed) (S2: No), it proceeds to step S3.

[0066] In step S21, the control unit 11 causes the automatic driving device 2 to perform a predetermined operation based on the control information D1 (see Figure 4) associated with the read tag Tg. After step S21, the control unit 11 moves the process to step S6.

[0067] Meanwhile, in step S3, the control unit 11 obtains information about the connection path corresponding to the target tag Tg that failed to be read. For example, in the example shown in Figure 7, when the control unit 11 determines that the automatic driving device 2 has failed to read tag TgB, it obtains information about connection path R1 connecting the installation location of tag TgA immediately preceding tag TgB to the installation location of tag TgB, and connection path R2 connecting the installation location of tag TgC immediately following tag TgB to the installation location of tag TgB.

[0068] Next, in step S4, the control unit 11 determines whether the connection path R1 and connection path R2 obtained in step S3 are on the same straight line. That is, the control unit 11 determines whether the target tag Tg and the three tags Tg, including the tags Tg before and after the target tag Tg, are arranged in a straight line.

[0069] In the example shown in Figure 7, the control unit 11 determines whether connection path R1 and connection path R2 are on the same straight line, or whether tags TgA, TgB, and TgC are arranged in a straight line. Note that tag TgB is installed at a distance La from tag TgA, and tag TgC is installed at a distance Lb from tag TgB.

[0070] If the control unit 11 determines that connection path R1 and connection path R2 are on the same straight line (S4: Yes), it proceeds to step S5. On the other hand, if the control unit 11 determines that connection path R1 and connection path R2 are not on the same straight line (S4: No), it proceeds to step S41.

[0071] In step S5, the control unit 11 causes the automatic driving device 2 to travel in a straight line. Specifically, the control unit 11 assumes that the automatic driving device 2 has read tag TgB at the location of tag TgB, and causes the automatic driving device 2 to travel in a straight line for the distance Lb associated with tag TgB (see Figure 7). As a result, the automatic driving device 2 continues traveling toward the next tag TgC without stopping at tag TgB where it failed to read.

[0072] Next, in step S6, the control unit 11 determines whether or not the automatic driving has ended. For example, the control unit 11 determines that the automatic driving has ended when the automatic driving device 2 arrives at the driving end position. If the control unit 11 determines that the automatic driving has ended (S6:Yes), it terminates the automatic driving process. On the other hand, if the control unit 11 determines that the automatic driving has not ended (S6:No), it proceeds to step S2. For example, when the automatic driving device 2 arrives at the destination position, the control unit 11 determines that the automatic driving has ended and terminates the automatic driving process. The control unit 11 repeats the processes in steps S2 to S5 until the automatic driving device 2 arrives at the destination position (S6:No).

[0073] On the other hand, in step S41, the control unit 11 stops the automatic driving device 2 from moving. For example, as shown in Figure 8, if it is determined that connection path R1 and connection path R2 are not on the same straight line (S4: No), the control unit 11 stops the automatic driving device 2 at the position of tag TgB. Then, in step S42, the control unit 11 notifies of an abnormality in tag Tg. For example, the control unit 11 displays error information, including information indicating the position of tag TgB that failed to be read, on the operation display unit 13 of the management server 1 or the user's operation terminal. After step S42, the control unit 11 terminates the automatic driving process. In this case, for example, the user checks the error information and performs predetermined tasks such as repairing or replacing tag Tg or maintaining the automatic driving device 2.

[0074] As described above, the control unit 11 autonomously drives along the travel route based on the control information associated with the tag Tg (see Figure 4) while the automatic driving device 2 is successfully reading the tag Tg on the travel route (S2: Yes, S21), and if the automatic driving device 2 fails to read the tag Tg, it continues driving based on the information of the connected route (S4: Yes, S5) or stops (S4: No, S41).

[0075] Furthermore, the control unit 11 executes the automatic driving process for each automatic driving device 2 located within the driving area (facility W1).

[0076] As described above, the automated driving system 10 according to this embodiment is a system that drives the automated driving device 2 in a driving area in which multiple tags Tg are installed corresponding to each of multiple installation locations, by sequentially moving to each of the multiple tags Tg in a specified order and reading each tag Tg.

[0077] Furthermore, the automatic driving system 10 determines whether or not it succeeded in reading the target tag Tg at the location of the target tag Tg while the automatic driving device 2 is driving. If it determines that it failed to read the target tag Tg, it controls the driving of the automatic driving device 2 based on information from a first connection path connecting the installation location of the first tag Tg immediately preceding the target tag Tg that was determined not to be read successfully to the installation location of the target tag Tg, and a second connection path connecting the installation location of the second tag Tg immediately following the target tag Tg to the installation location of the target tag Tg.

[0078] For example, if the automated driving system 10 determines that it has not succeeded in reading the target tag Tg, and the first connection path and the second connection path are on the same straight line, the automated driving device 2 will drive in a straight line toward the installation location of the second tag Tg.

[0079] With the above configuration, even if a reading error occurs in the tag Tg, the automated driving device 2 can continue to travel without stopping. Therefore, since the transport operation is not interrupted, it is possible to suppress a decrease in the transport efficiency of the automated driving device 2.

[0080] [Disclosure Note] The following is an overview of the disclosures extracted from the above-described embodiments. Note that each configuration and processing function described in the following notes can be selected and combined as desired.

[0081] <Note 1> An automated driving system in which, in a driving area where multiple tags are installed corresponding to multiple installation locations, an automated driving device moves sequentially to each of the multiple tag locations in a specified order and reads each of the tags, thereby driving the automated driving device, The automatic driving device includes a determination processing unit that determines whether or not it has successfully read the target tag at the location of the target tag while the device is driving, If the determination processing unit determines that it has not succeeded in reading the target tag, the driving processing unit controls the driving of the automatic driving device based on information from a first connection path connecting the installation position of the first tag immediately preceding the target tag that was determined to have failed to be read and the installation position of the target tag, and a second connection path connecting the installation position of the second tag immediately following the target tag and the installation position of the target tag. An automated driving system equipped with [the following features].

[0082] <Note 2> If the determination processing unit determines that it has not succeeded in reading the target tag, and the first connection path and the second connection path are on the same straight line, the driving processing unit will cause the automatic driving device to travel in a straight line toward the installation location of the second tag. The automated driving system described in Appendix 1.

[0083] <Note 3> The driving processing unit further stops the automatic driving device when it has been driven in a straight line toward the installation position of the second tag and the determination processing unit has determined that it has not succeeded in reading the second tag. The automated driving system described in Appendix 2.

[0084] <Note 4> The driving processing unit shall stop the automatic driving device if the determination processing unit determines that it has not succeeded in reading the target tag and the first connection path and the second connection path are not on the same straight line. The automated driving system described in Appendix 2 or 3.

[0085] <Note 5> The driving processing unit shall stop the automatic driving device if the determination processing unit determines that it has not succeeded in reading the target tag, and the target tag is set with control information that specifies an operation to change the driving direction of the automatic driving device. An automated driving system as described in any of the appendices 2 to 4.

[0086] <Note 6> If the determination processing unit determines that it has not succeeded in reading the target tag, and the first connection path and the second connection path are on the same curve, the driving processing unit will cause the automatic driving device to turn towards the installation position of the second tag with the same steering angle as when turning along the first connection path. An automated driving system as described in any of the appendices 1 to 5.

[0087] <Note 7> When the aforementioned automatic driving device is stopped, an abnormality in the target tag is reported. An automated driving system as described in any of the appendices 1 to 6. [Explanation of symbols]

[0088] 1: Management Server 2: Automatic driving system 10: Automated driving system 11: Control Unit 21: Control Unit 23: Tag Sensor 24: Rider Sensor 111: Acquisition Processing Unit 112: Determination Processing Unit 113: Driving section 211: Estimation Processing Unit 212: Acquisition Processing Unit 213: Operation Processing Unit D1: Control information R1: Connection path R2: Connection path R3: Connection path Tg: Tag

Claims

1. An automated driving system in which, in a driving area where multiple tags are installed corresponding to multiple installation locations, an automated driving device moves sequentially to each of the multiple tag locations in a specified order and reads each of the tags, thereby driving the automated driving device, A storage unit that stores the installation positions of each of the multiple tags and the order in which the automatic driving device moves the tags, An estimation processing unit for estimating the self-position of the aforementioned automatic driving device, A determination processing unit determines whether or not the target tag was successfully read at the location of the target tag, based on whether or not the position of the automatic driving device estimated by the estimation processing unit while the automatic driving device is in motion matches the installation location of the target tag stored in the storage unit. If the determination processing unit determines that it has not succeeded in reading the target tag, the driving processing unit controls the driving of the automatic driving device based on information of a first straight connection path connecting the installation position of the first tag immediately preceding the target tag that was determined not to have been read successfully to the installation position of the target tag, and a second straight connection path connecting the installation position of the second tag immediately following the target tag to the installation position of the target tag. Equipped with, The aforementioned travel processing unit is If the determination processing unit determines that it has not succeeded in reading the target tag, and the first connection path and the second connection path are on the same straight line, the automatic driving device is made to travel in a straight line toward the installation position of the second tag. An automatic driving system that stops the automatic driving device if the determination processing unit determines that it has not succeeded in reading the target tag and the first connection path and the second connection path are not on the same straight line.

2. The driving processing unit further stops the automatic driving device when it has been driven in a straight line toward the installation position of the second tag and the determination processing unit has determined that it has not succeeded in reading the second tag. The automated driving system according to claim 1.

3. When the aforementioned automatic driving device is stopped, an abnormality in the target tag is reported. The automated driving system according to claim 1 or 2.

4. An automated driving method in which, in a driving area where multiple tags are installed corresponding to multiple installation locations, an automated driving device moves sequentially to each of the multiple tag locations in a specified order and reads each of the tags, thereby driving the automated driving device, One or more processors A storage step in which the installation position of each of the plurality of tags and the order in which the automatic driving device moves the tags are stored in the storage unit, An estimation step for estimating the self-position of the automatic driving device, A determination step to determine whether or not the target tag was successfully read at the location of the target tag, based on whether or not the position of the automatic driving device estimated in the estimation step matches the installation location of the target tag stored in the storage unit while the automatic driving device is in motion; If it is determined that reading the target tag is unsuccessful, the driving step controls the driving of the automatic driving device based on information of a first straight connection path connecting the installation position of the first tag immediately preceding the target tag that was determined to be unsuccessful to be read and the installation position of the target tag, and a second straight connection path connecting the installation position of the second tag immediately following the target tag and the installation position of the target tag. Execute, In the aforementioned travel step, If the determination step determines that reading the target tag is unsuccessful, and the first connection path and the second connection path are on the same straight line, the automatic driving device is made to travel in a straight line toward the installation position of the second tag. An automatic driving method in which, if it is determined in the determination step that reading the target tag is unsuccessful, and the first connection path and the second connection path are not on the same straight line, the automatic driving device is stopped.

5. An automated driving program that drives an automated driving device in a driving area where multiple tags are installed corresponding to multiple installation locations, by sequentially moving the automated driving device to each of the multiple tag locations in a specified order and reading each of the tags, A storage step in which the installation position of each of the plurality of tags and the order in which the automatic driving device moves the tags are stored in the storage unit, An estimation step for estimating the self-position of the automatic driving device, A determination step to determine whether or not the target tag was successfully read at the location of the target tag, based on whether or not the position of the automatic driving device estimated in the estimation step matches the installation location of the target tag stored in the storage unit while the automatic driving device is in motion; If it is determined that reading the target tag is unsuccessful, the driving step controls the driving of the automatic driving device based on information of a first straight connection path connecting the installation position of the first tag immediately preceding the target tag that was determined to be unsuccessful to be read and the installation position of the target tag, and a second straight connection path connecting the installation position of the second tag immediately following the target tag and the installation position of the target tag. To have one or more processors execute this, In the aforementioned travel step, If the determination step determines that reading the target tag is unsuccessful, and the first connection path and the second connection path are on the same straight line, the automatic driving device is made to travel in a straight line toward the installation position of the second tag. An automatic driving program that stops the automatic driving device if it is determined in the determination step that reading the target tag is unsuccessful and the first connection path and the second connection path are not on the same straight line.

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