Automatically guided vehicle for the recognition of pneumatic tyres provided with transponders and arranged in a stack and corresponding control method

Abstract

Automatically guided vehicle (8) for the recognition of pneumatic tyres (2) that have respective central cavities (6), are provided with transponders (7) and are arranged in a stack wherein the central cavities (6) are aligned. The automatically guided vehicle (8) has: a reader device (9) configured to read the transponders (7); a sensor device configured to detect signals dependent upon the physical presence of the pneumatic tyres (2) of the stack and independent of the transponders (7); and a control unit (13) configured to move the automatically guided vehicle (8) towards the stack of pneumatic tyres (2), to read the transponders (7) of all of the pneumatic tyres (2) of the stack using the reader device (9), and to count a number of pneumatic tyres (2) that constitute the stack using the signals detected by the sensor device.

Description

[0001] AUTOMATICALLY GUIDED VEHICLE FOR THE RECOGNITION OF PNEUMATIC TYRES PROVIDED WITH TRANSPONDERS AND ARRANGED IN A STACK AND CORRESPONDING CONTROL METHOD

[0002] DESCRIPTION

[0003] TECHNICAL SECTOR

[0004] [1] The present invention relates to an automatically guided vehicle (also identified by the acronym "AGV") for the recognition of pneumatic tyres fitted with transponders and arranged in a stack and a corresponding control method.

[0005] PRIOR ART

[0006] [2] In general, for the handling of pneumatic tyres at the end of a production line (typically for the loading of the pneumatic tyres into the shipping containers) or in a sorting warehouse, forklifts are used that are equipped with a pair of forks which lift (at least) one stack of pneumatic tyres from the base (typically when the stack of pneumatic tyres is placed upon a pallet) or else that are equipped with a pair of grippers that laterally grasp a stack of pneumatic tyres.

[0007] [3] In the last few years the emergence has been observed of so-called "smart' pneumatic tyres, which are fitted with transponders (i.e., with electronic devices that are suitable for communicating using radio frequency) that make it possible to remotely communicate information such as the identification, characteristics and history of the pneumatic tyre.

[0008] [4] Consequently, in addition to handling pneumatic tyres by means of a forklift, an operator must also be able to access such information and therefore read, using an appropriate reader, those transponders that are associated with the pneumatic tyres themselves, in order for example to verify that the operator is working on the correct pneumatic tyres and / or in order to store, within an electronic register, a modification to the location of the pneumatic tyres.

[0009] [5] The operator that maneuvers the forklift is normally equipped with a manual reader (i.e., a reader of limited weight that makes it easy to transport): once the pneumatic tyres have been loaded onto the forklift the operator descends from the forklift and, approaching the pneumatic tyres with the reader, reads the corresponding transponders in order to identify with certainty the pneumatic tyres themselves. This operational procedure involves however a significant and inefficient loss of time, insofar as the operator must descend from the forklift (therefore having to turn off the forklift and arrange it in a parking configuration), and must also take the manual reader up to each pneumatic tyre in order to read the corresponding transponder (i.e., known manual readers are not capable of simultaneously reading the transponders of all of the pneumatic tyres of a stack of pneumatic tyres, but rather it is necessary to take the reader up to each individual pneumatic tyre of the stack).

[0010] [6] In this regard, it is important to note that when several pneumatic tyres are in proximity (stacked), shielding and / or reflections may be created due to the metallic parts of the pneumatic tyres that could make it impossible to correctly read transponders from outside the stack, and in this case the operator would be forced to optically read the labels present on the outside of the individual pneumatic tyres.

[0011] [7] In order to increase the maximum pneumatic tyre transponder reading distance, it has been proposed to apply, on the outer surface of the pneumatic tyre (i.e., on the tread of the pneumatic tyres), one or two additional and temporary transponders (insofar as they are clearly intended to be removed during first assembly) which, in not being shielded by the pneumatic tyres (they are arranged externally), can be read at a much greater distance compared to a transponder embedded within the structure of the pneumatic tyre. However, this solution entails a significant increase in costs (both as regards the need to purchase additional transponders and the need to program and apply the additional transponders) and also an increase in the waste generated by the process (the additional transponders are discarded during the first assembly of the pneumatic tyres); moreover, the circumferential positioning of the additional transponders cannot be random, because the additional transponders are positioned in areas that are not electromagnetically obscured by metal parts, and therefore the circumferential positioning of the additional transponders is a relatively long and laborious operation.

[0012] [8] In patent application EP2733639A1 , the implementation is described of a reader that is fitted with an elongated antenna which can be inserted into a stack of pneumatic tyres in order to read simultaneously, i.e. with a single maneuver such as to introduce the antenna into the space available within the stack of pneumatic tyres, the transponders of all of the pneumatic tyres of the stack. Such a reader, fitted with an elongated antenna, can be used manually by an operator (in this case the stack of pneumatic tyres remains stationary and the reader is moved), or else it can be arranged in a fixed position (on the floor from below or within a portal from above) and a forklift is driven in such a way as to insert the stack of pneumatic tyres into the antenna (in this case the stack of pneumatic tyres moves and the reader remains stationary). That proposed within patent application EP2733639A1 also however involves a loss of time insofar as, in any case, it requires the operator to descend from the forklift in order to insert the antenna into the stack of pneumatic tyres, or else it requires the operator to perform rather complex maneuvers in order to insert the stack of pneumatic tyres into the antenna (with the risk of damaging the antenna if by chance the pneumatic tyres impact the antenna due to an error in maneuvering). [9] The patent application W02020064630A1 describes a forklift comprising a transponder reader device fitted with an antenna and a movement unit which supports the antenna and that is capable of moving the antenna between a standby position, wherein the antenna is arranged at a certain distance from the stack of pneumatic tyres carried by the forklift gripping device, and an operating position, wherein the antenna is arranged inside the stack of pneumatic tyres carried by the forklift gripping device. The solution proposed in the patent application W02020064630A1 makes it possible to significantly reduce, but not completely annul, the losses of time for the operator; furthermore, this solution requires the installation on board the forklift of a control and movement unit which is relatively bulky and complex in having to move the antenna of the reading device in order to allow the antenna to complete some rather large movements.

[0013]

[0010] The patent application US2008077511A1 describes a small robotic vehicle that is manually guided through the shelves of a store or a warehouse in order to generate an inventory of the items on the shelving, identifying the items, recognizing a position for each item, and reading a barcode for each item.

[0014]

[0011] The patent application US2009021351A1 describes a small robotic vehicle that in passing through the shelves of a store or a warehouse generates a shelf items inventory, reading by radio frequency (or contactlessly) "smart labels" that are attached to the items.

[0015]

[0012] The patent application W02022049054A1 describes an autonomously guided robot for the automatic recognition of pneumatic tyres fitted with transponders and arranged in a stack. The autonomously guided robot has: a main body that is capable of moving independently within a storage warehouse wherein the stack of pneumatic tyres is arranged; a reader device which is provided with a reader component and an antenna and that is capable of reading transponders; and a movement unit which is mounted on the main body and supports the antenna for moving the antenna in relation to the main body in a vertical direction. The patent application W02022049054A1 also describes an embodiment wherein the autonomously guided robot is a drone and is therefore capable of flight.

[0016]

[0013] The patent application EP3481653A1 describes the use of a drone for monitoring the pressure of the pneumatic tyres of a multiplicity of parked vehicles, wherein each thereof is equipped with a pneumatic tyre pressure control system that is capable of communicating by radio.

[0017] DESCRIPTION OF THE INVENTION

[0018]

[0014] The object of the present invention is to provide an automatically guided vehicle for the recognition of pneumatic tyres fitted with transponders and arranged in a stack, and a corresponding control method, the automatically guided vehicle making it possible to ensure the correct recognition of all of the pneumatic tyres that make up a stack and, at the same time, being easy and inexpensive to implement.

[0019]

[0015] According to the present invention, an automatically guided vehicle is provided for the recognition of pneumatic tyres fitted with transponders and arranged in a stack and a corresponding control method, as set forth in the appended claims.

[0020]

[0016] The claims describe preferred embodiments of the present invention that form an integral part of the present description.

[0021] BRIEF DESCRIPTION OF THE DRAWINGS

[0022]

[0017] The present invention will now be described with reference to the attached drawings, which illustrate an exemplary, non-limiting embodiment, wherein: • Figure 1 is a schematic view of a storage warehouse for pneumatic tyres that have to be loaded into containers or trucks in order to be shipped to customers;

[0023] • Figure 2 is a schematic view of a stack of pneumatic tyres fitted with a transponder that is arranged within the storage warehouse of Figure 1 and of a drone (i.e., of an automatically guided vehicle that moves by flying) that is reading the transponders; and

[0024] • Figure 3 is a perspective and schematic view of the drone in Figure 2.

[0025] PREFERRED EMBODIMENTS OF THE INVENTION

[0026]

[0018] In Figure 1 , indicated in the entirety thereof with the number 1 is a storage warehouse for pneumatic tyres 2 that are to be loaded into containers or trucks in order to be shipped to customers.

[0027]

[0019] In the exemplary embodiment shown in the accompanying figures, a plurality of support elements 3 is arranged inside the storage warehouse 1 , wherein each thereof is suitable for supporting a stack of pneumatic tyres 2 that is oriented vertically at a certain distance from the ground (i.e. from the floor of the storage warehouse 1 ); according to a different and perfectly equivalent embodiment, the stacks of pneumatic tyres 2 rest directly on the ground (i.e., on the floor of the storage warehouse 1 ).

[0028]

[0020] In the exemplary embodiment shown in the accompanying figures, the stacks of pneumatic tyres 2 are oriented vertically but, alternatively, they could also be oriented horizontally.

[0029]

[0021] A series of forklifts 4 operate within the storage warehouse 1 which forklifts move the stacks of pneumatic tyres 2 and in particular place the stacks of pneumatic tyres 2 originating from the production lines onto the support elements 3 and pick up the stacks of pneumatic tyres 2 from the support elements 3 in order to place the stacks of pneumatic tyres 2 within a container or truck.

[0030]

[0022] Each forklift 4 is a utility vehicle equipped with wheels, is driven by an electric, diesel or gas motor, and comprises a gripping device 5 which is arranged at the front and which is suitable for picking-up a stack of pneumatic tyres 2. In the embodiment illustrated in the accompanying figures, the gripping device 5 comprises a pair of forks (only one of which is visible in the attached figures), which raise the stack of pneumatic tyres 2 from the base; according to a different embodiment, not illustrated, the gripping device 5 comprises a pair of grippers that grasp the stack of pneumatic tyres 2 laterally.

[0031]

[0023] As shown in Figure 2, each pneumatic tyre 2 has an annular shape having a central cavity 6. Furthermore, each pneumatic tyre 2 is provided with a transponder 7 thereof, i.e. , with an electronic device (normally passive, i.e. , without a power supply thereof) that is capable of storing information and that is able to communicate by means of radio frequency. In other words, each transponder 7 is a small-sized “smart labeF that is integrated into the pneumatic tyre 2 and that is capable of responding to remote queries from specific fixed or portable devices, called readers (or also querying devices); a reader is capable of reading (and possibly modifying) the information contained within the transponder 7 that it is querying, while communicating with the transponder itself 7 using radio frequency. Accordingly, the transponder 7 is part of a wireless reading and / or writing system that operates according to so-called RFID technology (“Radio-Frequency IDentifi cation”).

[0032]

[0024] The storage warehouse 1 is provided with a logistics system that makes it possible to manage, in a highly automated manner, the handling of pneumatic tyres 2 by virtue of the autonomous reading (i.e., without the manual intervention of an operator) of the transponders 7 of the pneumatic tyres 2.

[0033]

[0025] As shown in Figure 1 , within the storage warehouse 1 (at least) one drone 8 also operates (i.e., an automatically guided vehicle that moves by flying) for the automatic recognition of pneumatic tyres 2 by reading the corresponding transponders 7 (the drone 8 is an essential part of the logistics system). The drone 8 is a flying vehicle wherein the flight thereof is controlled by an on-board computer under the remote supervision of the logistics system (or, alternatively, of a navigator or pilot). The drone 8 is capable of moving with a variable degree of autonomy within the warehouse 1 in order to enter a stack of pneumatic tyres 2 (as shown in Figure 2) and then read the transponders 7 of said stack of pneumatic tyres 2.

[0034]

[0026] In particular, in use, the drone 8 is arranged above a stack of pneumatic tyres 2 and in vertical alignment (i.e., along the vertical Z-axis) with the stack of pneumatic tyres 2, and subsequently the drone 8 performs a vertical descent and ascent (i.e., along the vertical Z-axis) in order to enter into vertical flight within the stack of pneumatic tyres 2, it travels in vertical flight for substantially the entire stack of pneumatic tyres 2 and then exits in vertical flight from the stack of pneumatic tyres 2. In other words, the drone 8 is piloted to descend and ascend vertically within a stack of pneumatic tyres 2, activating, when the drone 8 is inside the stack, a reader device 9 (shown schematically in Figure 3) in order to read the transponders 7 of the pneumatic tyres 2.

[0035]

[0027] According to that shown in Figure 3, the drone 8 comprises the reader device 9, which is capable of communicating (interacting) with the transponders 7 of the pneumatic tyres 2; the reader device 9 generally limits itself to reading the contents of the memory of the transponders 7, essentially in order to identify the corresponding pneumatic tyres 2 but the reader device 9 may also (partially) modify the contents of the memory of the transponders 7. The reader device 9 comprises a wireless reader member (i.e. , that makes use of electromagnetic waves) and at least one antenna which emits and receives radio waves.

[0036]

[0028] As shown in Figure 3, the drone 8 comprises a main body 10 and a propulsion system 11 (generally provided with four independent propellers arranged at four vertices of a square) which is supported by the main body 10 and which is configured to generate the thrust necessary for the drone 8 to fly. The main body 10 supports an electrical energy storage system that provides electrical power to the motors of the four propellers and also supports the reader device 9.

[0037]

[0029] The drone 8 comprises (at least) one camera 12 that is supported by the main body 10 and that is configured to acquire a series of digital images within the stack of pneumatic tyres 2 when the drone 8 is made to descend and to rises vertically within the stack of pneumatic tyres 2. The drone 8 also comprises a control unit 13 configured, inter alia, to count the number of pneumatic tyres 2 that constitute the stack by analyzing the digital images acquired by the camera 12 and to verify that the number of pneumatic tyres 2 counted by analyzing the digital images, corresponds to the number of pneumatic tyres 2 counted by analyzing the readings of the transponders 7 performed by the reader device 9; in this way it is possible to verify by means of optical checking that the reader device 9 has been able to read the transponders 7 of all of the pneumatic tyres 2 of the stack.

[0038]

[0030] In other words, the control unit 13 is configured to verify that the number of pneumatic tyres 2 counted by using the camera 12 corresponds to a number of pneumatic tyres 2 counted by analyzing the readings of the transponders 7, as performed by the reader device 9. The control unit 13 is configured to repeat the reading of the transponders 7 using the reader device 9 and the counting of the pneumatic tyres 2 that constitute the stack using new digital images acquired by the camera 12 if the number of pneumatic tyres 2 counted by using the camera 12 does not correspond to the number of pneumatic tyres 2 counted by analyzing the readings of the transponders 7 performed by the reader device 9. Finally, the control unit 13 is configured to generate an error signal if, after a certain number of attempts (for example from two to five attempts), the number of pneumatic tyres 2 counted by using the camera 12 continues to not correspond to the number of pneumatic tyres 2 counted by analyzing the readings of the transponders 7, as performed by the reader device 9.

[0039]

[0031] According to one possible embodiment, a downward-facing camera 12 and an upward-facing camera 12 could be envisaged.

[0040]

[0032] Preferably, the control unit 13 is configured to count the number of pneumatic tyres 2 that constitute the stack by counting the number of strips (blades) of light that appear in the digital images; in other words, between two pneumatic tyres 2 that are adjacent and resting one on top of the other there are always small slits through which light enters the stack and which in the digital images appear as strips of light (i.e., horizontal lines much lighter than the rest of the image). In this embodiment, the digital images are acquired by the camera 12 without using the illuminator thereof thereby placing greater emphasis on the external light that seeps between two pneumatic tyres 2 that are adjacent and resting one on top of the other, i.e., in order to create greater contrast between the dark areas corresponding to the pneumatic tyres 2 and the light (bright) areas that are located between two pneumatic tyres 2 that are adjacent and resting one on top of the other.

[0041]

[0033] Alternatively, the control unit 13 is configured to count the number of pneumatic tyres 2 that constitute the stack by counting the number of beads of the pneumatic tyres 2 that appear within the digital images; the bead of a pneumatic tyre 2 is a very particular area and easy to train for the recognition of images. In this embodiment, the digital images are acquired by the camera 12 using the illuminator thereof in order to better highlight the shape of the pneumatic tyres 2 and thus facilitate the recognition of the beads.

[0042]

[0034] In other words, the control unit 13 is configured to count the number of pneumatic tyres 2 that constitute the stack by analyzing the digital images and recognizing the presence of each pneumatic tyre 2 within the digital image; in order to detect the presence of each pneumatic tyre 2 within the digital image it is possible to recognize the strips of light that appear within the digital image or else it is possible to recognize within the digital image the beads of the pneumatic tyres 2.

[0043]

[0035] According to an alternative embodiment, in order to count the pneumatic tyres 2 that constitute the stack, the control unit 13, instead of using the camera 12, uses a detector 14 that is sensitive to the presence of metallic bodies and in particular a magnetic interference sensor such as, for example, a Hall sensor. In this embodiment, the control unit 13 is configured to count the number of pneumatic tyres 2 that constitute the stack, by recognizing and counting a number of beads of the pneumatic tyres 2; in fact, a high quantity of metallic wires (therefore a significant metal mass) is concentrated within the beads that is easily identifiable. That is to say that the graph provided by the detector 14 during the flights of the drone 8 may easily highlight bead presence peaks, which may be counted, thus easily estimating the correct number of pneumatic tyres 2 in the stack.

[0044]

[0036] In summary, a sensor device is provided that is configured to detect signals that are dependent upon the physical presence of the pneumatic tyres 2 of the stack and that are independent of the transponders 7, and the control unit 13 is configured to count the number of pneumatic tyres 2 that constitute the stack using the signals detected by the sensor device. Such sensor device may be of the optical type (and therefore comprises the camera 12) or it may be of the magnetic / inductive type (and therefore comprises the detector 14).

[0037] In Figure 3, the control unit 13 is schematically shown inside the main body 10 of the drone 8 (i.e., carried by the main body 10 of the drone 8); alternatively, the control unit 13 may be external to the main body 10 and therefore arranged in a fixed position (in this case, the control unit 13 communicates with the drone 8 by radio frequency).

[0045]

[0038] As previously mentioned, the drone 8 moves by itself within the storage warehouse 1 , moving itself from time to time over and then inside a stack of pneumatic tyres 2 resting on a corresponding support element 3 to read the transponders 7 of the pneumatic tyres 2.

[0046]

[0039] The drone 8 comprises sensors both for determining the position of the drone 8 within the storage warehouse 1 and for determining the exact position of the pneumatic tyres 2 (and in particular the central cavities 6 of the pneumatic tyres 2) arranged below the drone 8; such sensors may comprise the camera 12 (i.e., an optical sensor). The drone 8 may also comprise a sensor that detects the proximity of a forklift 4 for stopping the movement of the drone 8 when a forklift 4 is too close (or else to move the drone 8 away from the forklift 4).

[0047]

[0040] The drone 8 comprises a wireless communication device (for example, utilizing WiFi technology, beacon BLE technology, or Zigbee technology) that makes it possible for the drone 8 to continuously communicate with a storage warehouse 1 control server 15 (shown schematically in Figure 1 ). In this way, the drone 8 is guided by the control server 15 towards those support elements 3 that support the stacks of pneumatic tyres 2 to be checked and provides the control server 15 with the results of the readings. The storage warehouse 1 control server 15 is also connected to a tablet computer 16 (or a similar portable device) that is used by a forklift 4 operator; by means of the tablet computer 16, a forklift 4 operator receives operational instructions from the control server 15 and / or directly from the drone 8 and communicates to the control server 15 the execution of assigned tasks to be able to update, in real time, the state of the storage warehouse 1 , namely of those pneumatic tyres 2 that have entered and exited and that are currently present within the storage warehouse 1 .

[0048]

[0041] The drone 8 could also be operated when there are no operators within the storage warehouse 1 (typically during nighttime hours) in such a way that it may perform the task thereof without running any risk of interfering with those operations that are carried out by operators.

[0049]

[0042] In other words, the control server 15 executes management software that handles the communication between the drone 8, and human operators (some of whom are driving the forklifts 4).

[0050]

[0043] According to a possible embodiment, the reading of the transponders 7 of those pneumatic tyres 2 forming a stack is performed twice (in a redundant way, in order to perform a double check): a first reading of the transponders 7 is performed while the drone 8 descends vertically within the central cavities 6 of those pneumatic tyres 2 forming the stack (i.e., during the forward movement of the drone 8) while a second reading of the transponders 7 is performed while the drone 8 descends vertically within the central cavities 6 of those pneumatic tyres 2 forming the stack (i.e., during the return movement of the drone 8).

[0051]

[0044] According to a further embodiment, the reading of the transponders 7 of those pneumatic tyres 2 forming a stack is performed only once while the drone 8 descends vertically within the central cavities 6 of those pneumatic tyres 2 forming the stack (i.e., during the return movement of the drone 8) rather than while the drone 8 ascends vertically within the central cavities 6 of those pneumatic tyres 2 forming the stack (i.e., during the forward movement of the drone 8).

[0045] In the embodiment shown in the accompanying figures, the stacks of pneumatic tyres 2 are oriented vertically and therefore the drone 8 enters and exits a stack of pneumatic tyres 2 with a vertical downward and upward movement; according to another embodiment, not shown, the stacks of pneumatic tyres 2 are oriented horizontally and therefore the drone 8 enters and exits a stack of pneumatic tyres 2 with a horizontal movement.

[0052]

[0046] In the embodiment shown in the accompanying figures, the automatically guided vehicle (also identified by the acronym "AGV") for the recognition of pneumatic tyres 2 fitted with transponders 7 is a flying vehicle (i.e. it is the drone 8); according to a different embodiment, not shown, the automatically guided vehicle could be land-based and therefore move on the floor by means of wheels (as described, for example, in patent application W02022049054A1 ).

[0053]

[0047] The embodiments described herein may be combined without departing from the scope of protection of the present invention.

[0054]

[0048] The drone 8 described above has many advantages.

[0055]

[0049] In the first place, the drone 8 described above makes it possible to effectively, safely (i.e., minimizing the possibility of errors), and efficiently read the transponders 7 of all of the pneumatic tyres 2 of a stack carried by a support element 3 in a way that is completely independent of those operations performed by an operator of a forklift 4. That is to say that the reading of the transponders 7 of a stack of pneumatic tyres 2 is performed without the operator of a forklift 4 having to perform any type of operation and therefore without any increase in time for the same operator.

[0056]

[0050] Furthermore, the drone 8 described above ensures the correct recognition of all the pneumatic tyres 2 that constitute a stack insofar as, by analyzing the images acquired by the camera 12, the drone 8 counts the number of pneumatic tyres 2 that constitute the stack and verifies that it has read a number of transponders 7 that is equal to the number of pneumatic tyres 2 that constitute the stack (obviously repeating the detection if the two numbers are different and generating, if necessary, an error signal that could also be due to damage to a transponder 7 of a pneumatic tyre 2).

[0057]

[0051] Finally, the drone 8 described above is simple and inexpensive to implement insofar as the camera 12 is a standard feature of commercial drones.

[0058] LIST OF REFERENCE NUMBERS IN THE FIGURES

[0059] 1 storage warehouse

[0060] 2 pneumatic tyres

[0061] 3 support element

[0062] 4 forklift

[0063] 5 gripping device

[0064] 6 central cavity

[0065] 7 transponder

[0066] 8 drone

[0067] 9 reader device

[0068] 10 main body

[0069] 11 propulsion system

[0070] 12 camera

[0071] 13 control unit

[0072] 14 detector

[0073] 15 control server

[0074] 16 tablet computer

[0075] Z vertical direction

Claims

Claims1 . Automatically guided vehicle (8) for the recognition of pneumatic tyres (2) that have respective central cavities (6), being provided with transponders(7) and being arranged in a stack wherein the central cavities (6) are aligned; the automatically guided vehicle (8) comprises: a reader device (9) configured to read the transponders (7); a control unit (13) configured to move the automatically guided vehicle(8) towards the stack of pneumatic tyres (2) and therefore to read the transponders (7) of all of the pneumatic tyres (2) of the stack using the reader device (9); and a sensor device configured to detect signals that are dependent upon the physical presence of the pneumatic tyres (2) of the stack and independent of the transponders (7); the automatically guided vehicle (8) is characterized in that the control unit (13) is configured to count a first number of pneumatic tyres (2) that constitute the stack using the signals detected by the sensor device.

2. The automatically guided vehicle (8) according to claim 1 , wherein the control unit (13) is configured to verify that the first number of pneumatic tyres (2) counted by using the signals detected by the sensor device corresponds to a second number of pneumatic tyres (2) counted by analyzing the transponder readings (7) performed by the reader device (9).

3. The automatically guided vehicle (8) according to claim 2, wherein the control unit (13) is configured to repeat the reading of the transponders (7) using the reader device (9) and the counting of the pneumatic tyres (2) that constitute the stack using the signals detected by the sensor device if the first number of pneumatic tyres (2) counted by using the signals detected by the sensor device does not correspond to the second number of pneumatic tyres (2) counted by analyzing the readings of the transponders (7) performed by the reader device (9).

4. The automatically guided vehicle (8) according to claim 3, wherein the control unit (13) is configured to generate an error signal if, after a certain number of attempts, the first number of pneumatic tyres (2) counted by using the signals detected by the sensor device continues to not correspond to the second number of pneumatic tyres (2) counted by analyzing the readings of the transponders (7) performed by the reader device (9).

5. The autonomously guided vehicle (8) according to one of claims 1 to 4, wherein the sensor device comprises at least one camera (12) that is configured to capture at least one digital image within the stack of pneumatic tyres (2).

6. The automatically guided vehicle (8) according to claim 5, wherein the control unit (13) is configured in order to count the number of pneumatic tyres (2) that constitute the stack, analyzing the digital image and recognizing the presence of each pneumatic tyre (2) within the digital image.

7. The automatically guided vehicle (8) according to claim 6, wherein the control unit (13) is configured to count the number of pneumatic tyres (2) that constitute the stack by recognizing and counting a number of light strips that appear within the digital image.

8. The autonomously guided vehicle (8) according to claim 6, wherein the control unit (13) is configured to count the number of pneumatic tyres (2) that constitute the stack by recognizing and counting a number of tyre beads (2) that appear within the digital image.

9. The automatically guided vehicle (8) according to any of the claims from 5 to 8, wherein: the automatically guided vehicle (8) is a flying drone that is dimensioned to enter inside the central cavities (6) of the pneumatic tyres (2) of the stack; andthe camera (12) acquires the image when the automatically guided vehicle (8) is located within the central cavities (6) of the pneumatic tyres (2) of the stack.

10. The automatically guided vehicle (8) according to one of the claims from 1 to 4, wherein the sensor device comprises a detector (14) that is sensitive to the presence of metallic bodies.

11. The automatically guided vehicle (8) according to claim 10, wherein the control unit (13) is configured to count the number of pneumatic tyres (2) that constitute the stack by recognizing and counting a number of tyre beads (2).

12. The automatically guided vehicle (8) according to claims 10 or 11 , wherein the detector (14) is a magnetic interference sensor and in particular a Hall sensor.

13. The automatically guided vehicle (8) according to one of the claims from 1 to 12, wherein the automatically guided vehicle (8) is a flying drone that is dimensioned to enter into the central cavities (6) of the pneumatic tyres (2) of the stack.

14. Control method for an automatically guided vehicle (8) for the recognition of pneumatic tyres (2) having respective central cavities (6), being provided with transponders (7) and being arranged in a stack wherein the central cavities (6) are aligned; the control method comprises the steps of: moving the automatically guided vehicle (8) towards the stack of pneumatic tyres (2); reading the transponders (7) of all of the pneumatic tyres (2) of the stack using a reader device (9) that is configured to read the transponders (7); anddetecting signals that are dependent upon the physical presence of the pneumatic tyres (2) of the stack and independent of the transponders (7) by means of a sensor device; the control method is characterized in that it comprises the step of counting a first number of pneumatic tyres (2) that constitute the stack using the signals detected by the sensor device.

15. The control method according to claim 14 and comprising the step of verifying that the first number of pneumatic tyres (2) counted by using the signals detected by the sensor device corresponds to a second number of pneumatic tyres (2) counted by analyzing the readings of the transponders (7), as performed by the reader device (9).

16. The control method according to claim 15 and comprising the step of repeating the reading of the transponders (7) using the reader device (9) and the counting of the pneumatic tyres (2) that constitute the stack using the signals detected by the sensor device, if the first number of pneumatic tyres (2) counted by using the signals detected by the sensor device does not correspond to the second number of pneumatic tyres (2) counted by analyzing the readings of the transponders (7) performed by the reader device (9).

Images