JP2017194764A - Automatic traveling method, and automatic traveling transport vehicle and automatic traveling system utilizing the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic traveling method highly precisely enabling automatic traveling with a simple system, and an automatic traveling transport vehicle and an automatic traveling system utilizing the method.SOLUTION: There are included an advancing direction indication pile which is disposed at predetermined intervals along a traveling route along which an automatic traveling transport vehicle travels, and to which an RFID tag that includes at least an intrinsic ID is appended, a magnetic sensor attached to the automatic traveling transport vehicle, a magnetic bearing detector that detects the advancing direction of the automatic traveling transport vehicle on the basis of data sent from the magnetic sensor, a reader that reads the data sent from the RFID tag, and a traveling controller that produces traveling control data, with which the traveling direction of the automatic traveling transport vehicle is controlled, using the data read by the reader and the advancing direction detected by the magnetic bearing detector, and controls traveling.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technology for automatically driving a vehicle, and in particular, an automatic traveling method for an automatic traveling vehicle that automatically conveys unused thinned wood from a forest, an automatic traveling vehicle using the method, and automatic traveling. About the system.

Various technologies for automatically driving a vehicle have been developed, and one of the technologies uses a GPS (Global Positioning System) technology. For example, the technique described in Patent Document 1 below causes a vehicle to travel in advance along a travel route to be traveled, causes the vehicle to recognize the position of the vehicle at that time using GPS technology, and records a change in the position. When the vehicle automatically travels, the vehicle moves along the travel route to be traveled by moving so as to follow the recorded position (Patent Document 1 below).
In addition, the technique described in Patent Document 2 below records the details of the operation when the operator travels the vehicle in advance and the image of the surroundings, and the recorded image matches the image captured during automatic traveling. That is, the moving direction is controlled as follows (Patent Document 2 below).
However, the technique described in Patent Document 1 is effective in an environment where a vehicle to be automatically driven can receive a signal from a satellite used for GPS technology and high-precision traveling control is not required. However, in forests and the like, there are cases where signals from satellites may not be received, and even if received, it is difficult to travel with high accuracy.
Further, Patent Document 2 below is a technique for taking a surrounding image in advance and automatically driving the image as information at the time of traveling. However, in an environment such as a mountain forest, there are various factors such as growth of trees and seasonal changes. The situation will change soon. For this reason, there is a problem that automatic traveling is not possible even if an accurate traveling route is traced because an image captured in advance is different from an image captured in advance.

As an automatic traveling technique that does not use GPS or images, there is a technique described in Patent Document 3 below. The technology disclosed in Patent Document 3 is that an RFID tag including ID information is installed on a travel route, the RFID tag position corresponding to the ID information in the RFID tag storage unit, and the azimuth angle of the passage where the RFID tag is arranged Are stored in association with each other. For a forklift that runs automatically, the position calculator obtains the current position of the forklift by dead reckoning navigation technology during operation, and when the reader reads the ID information of the RFID tag, the calibrator reads the tag position and passage direction related to the ID information. The angle is read from the tag information storage unit, and the tag position and the passage azimuth are input to the position calculation unit as the current position and azimuth of the forklift, respectively, to automatically travel.
The technique disclosed in Patent Document 3 solves the problems of Patent Documents 1 and 2, but the dead-reckoning technique for detecting the position of the forklift used in Patent Document 3 decreases in position detection accuracy as it is used. However, there is a problem that the system becomes expensive in order to detect the position with high accuracy. In addition, the operator needs to specify the position of the RFID tag with the XY coordinates and write the azimuth angle with respect to the reference direction together with the RFID tag. There is a problem that it cannot be easily changed.

JP-A-6-113607 JP 2008-146197 A JP 2008-9533 A

Accordingly, an object of the present invention is to solve such a problem, and an automatic traveling method that enables automatic traveling with high accuracy by a simple system, and an automatic traveling vehicle using the method. An object is to provide an automatic traveling system.

  The invention according to claim 1 is a travel direction indicating stake that is disposed at predetermined intervals along a travel route along which the automatic traveling vehicle travels and has an RFID tag having at least a unique ID attached thereto, and the automatic travel A magnetic sensor attached to the transport vehicle, a magnetic bearing detection unit that detects a traveling direction of the automatic traveling vehicle based on data from the magnetic sensor, a reader unit that reads data from the RFID tag, and the reader A travel control unit for controlling travel by generating travel control data for controlling the travel direction of the automatic traveling vehicle from the data read from the unit and the traveling direction detected by the magnetic direction detection unit. An automatic driving system.

  For each position where the automatic traveling vehicle needs to change its travel, a traveling direction indicating stake with an RFID (Radio Frequency Identifier) tag for transmitting data indicating the traveling direction is provided. The data from the RFID tag indicates the traveling direction by the reader unit and the magnetic direction detection unit via the receiving antenna installed in the automated traveling vehicle when the automated traveling vehicle and the traveling direction indicating pile are close to each other. The travel control data indicates the magnetic azimuth angle and / or magnetic azimuth. The vehicle automatically travels by performing travel control using the travel direction correction amount as a travel direction correction amount, which is obtained from the travel control data and the magnetic sensor, and which is the difference between the magnetic azimuth angle and / or the magnetic azimuth in which the automatic travel vehicle is traveling.

  Invention of Claim 2 is the automatic traveling system of Claim 1, Comprising: The magnetic azimuth and / or magnetic direction which show the advancing direction of the said automatic traveling vehicle are recorded on the said RFID tag. It is characterized by.

  The magnetic azimuth and / or magnetic azimuth indicating the traveling direction in which the automatic traveling vehicle should travel is stored in the RFID tag as data, received from the RFID tag, and based on the data and the data of the magnetic sensor Travel control data is generated.

  A third aspect of the present invention is the automatic traveling system according to the first aspect, wherein the traveling control unit has a magnetic azimuth angle and / or magnetic field indicating a traveling direction of the automatic traveling vehicle associated with the ID. It has a magnetic azimuth recording unit for recording an azimuth, and travel control is performed based on the magnetic azimuth angle and / or magnetic azimuth read from the magnetic azimuth recording unit.

  Instead of giving the RFID tag data such as the magnetic azimuth angle that the automatic traveling vehicle should travel, the magnetic direction recording unit of the automatic traveling vehicle can have data such as the magnetic azimuth angle associated with the RFID tag. The generation of traveling control data becomes more efficient.

  According to a fourth aspect of the present invention, there is provided the automatic traveling system according to any one of the first to third aspects, wherein a wireless control mode for wirelessly controlling the automatic traveling vehicle from a remote location and data of the RFID tag are read. And a mode switching means for switching between automatic running modes for automatic running.

  The invention according to claim 5 is an automatic traveling vehicle that automatically travels based on data from an RFID tag that is arranged at predetermined intervals along a traveling route and has at least a unique ID, and a magnetic sensor; Magnetic direction detection unit for detecting a traveling direction based on data from the magnetic sensor, a reader for reading data from the RFID tag, data read from the reader, and the traveling direction detected by the magnetic direction detection unit And a travel control unit that generates travel control data for controlling travel and controls travel.

  The invention according to claim 6 is the automatic traveling vehicle according to claim 5, wherein the traveling control unit records a magnetic azimuth angle and / or magnetic direction indicating a traveling direction associated with the ID. An azimuth recording unit is provided, and the traveling is controlled based on a magnetic azimuth angle and / or a magnetic azimuth read from the magnetic azimuth recording unit.

  The invention according to claim 7 is the automatic traveling vehicle according to claim 5 or 6, wherein a wireless operation mode for performing wireless operation remotely and an automatic operation mode for automatically traveling by reading data of the RFID tag are provided. A mode switching means for switching is provided.

The invention according to claim 8 is provided with a direction indicating pile affixed with an RFID tag having at least a unique ID at a predetermined interval along a traveling route along which the automatic traveling vehicle travels.
A magnetic azimuth angle and / or magnetic azimuth in which the automatic traveling vehicle is traveling is detected by a magnetic sensor attached to the automatic traveling vehicle;
Controlling the traveling of the automatic traveling vehicle from the data from the RFID tag and the magnetic direction and / or the magnetic direction angle indicating the traveling direction of the automatic traveling vehicle associated with the ID, and automatically traveling. A feature of an automatic traveling method for an automatic traveling vehicle.

The invention according to claim 9 is the automatic traveling method according to claim 8, wherein a magnetic direction and / or a magnetic direction angle to be traveled by the automatic traveling vehicle is recorded on the RFID tag. Features.

  A tenth aspect of the present invention is the automatic traveling method according to the eighth or ninth aspect, wherein the automatic traveling vehicle is associated with the ID and indicates a direction in which the automatic traveling vehicle is to travel. And / or a magnetic azimuth recording unit for recording a magnetic azimuth angle.

  According to the present invention, even in environments where it is difficult to receive GPS signals such as mountains and forests and environments where changes in surrounding conditions are large, it is possible to automatically run a transport vehicle with a simple system. Moreover, an automatic traveling system with high accuracy can be provided by using the magnetic azimuth angle / magnetic azimuth for traveling control.

It is a figure explaining the driving | running route of the automatic traveling vehicle 100 in one embodiment of this invention, and the path | route which carries the conveyed thinned material. It is a figure explaining the external appearance of the automatic traveling vehicle 100 in one embodiment of this invention. It is the figure explaining a mode that the automatic traveling vehicle 100 in one embodiment of this invention automatically travels on the work road 150. FIG. It is the figure which showed the advancing direction instruction | indication pile 50 which attached the RFID tag 52 installed in the road shoulder of the working road where the automatic traveling vehicle 100 drive | works. It is a figure explaining the whole system which makes the automatic traveling vehicle 100 in one embodiment of this invention drive automatically. It is a figure explaining the radio control transmission data in one embodiment of this invention. It is a figure explaining the data currently written in the RFID tag 52 in one embodiment of this invention. It is the figure which showed the flowchart of the automatic running in one embodiment of this invention. It is the figure which showed the flowchart of the automatic running in one embodiment of this invention.

  An embodiment of the present invention will be described with reference to the drawings, but the present invention is not limited to this. FIG. 1 is a diagram for explaining a traveling route of an automated traveling vehicle 100 (see FIG. 2) and a route for carrying out the transported thinned material according to an embodiment of the present invention. In FIG. 1, an area from A1 to A5 is a thinning material cutting area A, and unused thinning materials that have been cut are scattered here. The operator operates the automatic traveling vehicle 100 in the manual mode, holds and transports the thinned material in the thinned material cutting area A by the grapple 113 (see FIG. 2), and temporarily accumulates the thinned material in the thinned material transporting work place B.

  The worker holds the thinned material accumulated in the thinned material transporting work place B by the grapple 113 and switches to the automatic travel mode. The automatic traveling vehicle 100 switched to the automatic traveling mode automatically travels while receiving data from the traveling direction indicating pile 50 installed on the shoulder of the work road 150, and accumulates the thinning material C in the thinning material accumulation site C. The thinned material accumulated in the thinned material accumulation site C is carried out through the forest road by a trailer.

  The self-propelled transport vehicle 100 that has thinned the thinned wood to the thinned material accumulation site C returns while receiving data from the traveling direction indicating pile 50 installed on the shoulder of the work road 150 in the same way as the going (outward) (return way) ) Automatically to return to the thinning area A.

FIG. 2 is a diagram illustrating the appearance of the automatic traveling vehicle 100 according to the embodiment of the present invention. A magnetic sensor 30 is installed behind the automatic traveling vehicle 100 at a predetermined distance from the rear end of the vehicle body. The reason why the vehicle body is separated from the rear end portion of the vehicle body by a predetermined distance is that a problem such as noise occurs in the magnetic sensor 30 if the vehicle body is made of metal and is directly installed on the vehicle body. The magnetic sensor 30 determines the magnetic azimuth angle / magnetic azimuth of the automatic traveling vehicle 100 that is currently traveling. In addition, since the path | route which the automatic traveling vehicle 100 drive | works may be a rough road driving | running | working, the magnetic sensor 30 may be a 3 axis type.

  An RFID tag antenna 27 for receiving data from an RFID tag 52 (see FIG. 3) installed in the traveling direction indicating pile 50 is installed at the rear of the automatic traveling vehicle 100 and installed in the cab 112. The RFID tag reader / writer unit 28 (see FIG. 5) transmits / receives data to / from the RFID tag 52 installed on the shoulder of the traveling route 150 via the RFID tag antenna 27.

  The automatic traveling vehicle 100 is provided with a grapple 113 for gripping the thinned material, but it may become an obstacle when the grapple 113 is lowered when traveling on the work road 150. For this reason, it is preferable to store data instructing the raising and lowering of the arm 111 connected to the grapple 113 as part of the data instructing the traveling direction.

In the cab 112, there is an automatic travel control unit 29 that generates control data for automatically traveling the automatic traveling vehicle 100 based on data from the RFID tag reader / writer unit 28 as shown in FIG. Is provided.

The automatic travel control unit 29 captures magnetic azimuth data from the RFID tag reader / writer unit 28, and generates data for determining the traveling direction (steering angle of the steering wheel, etc.) of the automatic traveling vehicle 100 based on the captured data. To do. Further, data for performing operations such as forward movement, backward movement and stoppage is generated based on data from the RFID tag 52. The data determined in this way is sent to the automatic traveling operation unit 24 as automatic traveling control data.

FIG. 3 is a diagram illustrating a state in which the automatic traveling vehicle 100 automatically travels on the work road 150 according to the embodiment of the present invention. The automatic traveling vehicle 100 receives route data from the traveling direction indicating pile 50 (see FIG. 4) installed on the shoulder of the work road 150, and automatically travels based on the received route data.

  FIG. 4 is a view showing an appearance of the traveling direction indicating pile 50 in which the RFID tag 52 installed on the shoulder of the work road 150 on which the automatic traveling vehicle 100 travels is attached to the pile 51. Although the direction indicating piles 50 are installed on both sides of the shoulder of the work road, in this embodiment, when climbing the work road 150, the data from the left direction indicator pile 50 is read, and when getting off, the right indicating pile 50 is on the right side. Data from the traveling direction indicating pile 50 is read. On the other hand, it is not necessary to limit the installation position of such a traveling direction indicating pile 50 by identifying the sequence ID described later.

  FIG. 5 is a diagram illustrating an entire system for automatically traveling the automatic traveling vehicle 100 according to the embodiment of the present invention. An automatic traveling system for an automatic traveling vehicle according to an embodiment of the present invention includes a wireless transmission device 10 and a traveling control device 20. The self-propelled traveling control device 20 is installed in the automatic traveling vehicle 100.

  The wireless transmission device 10 includes a wireless operation data generation unit 11, a direction instruction unit 12, a wireless operation / automatic travel mode switch 13, a wireless data transmission unit 14, and an antenna 15. The mode switching between whether the automatic traveling vehicle 100 at a remote location is wirelessly operated from a remote location or automatically traveled is performed by a wireless control / automatic travel mode switch 13.

In the case of traveling by wireless control, after switching to the wireless control mode, the direction indicating unit 12 is operated to remotely control the automatic traveling vehicle 100. The control data is generated by the radio control data generation unit 11, and the generated data is transmitted to the automatic travel device 20 by the radio data transmission unit 14 of the radio transmission device 10.

  The traveling control device 20 receives the data transmitted from the wireless transmission device 10 by the wireless data receiving unit 21 via the antenna, and switches the mode by the wireless operation / automatic traveling mode switching switch 23.

  In the case of the wireless operation mode, the operation data transmitted from the wireless transmission device 10 is processed / converted so that the operation control unit 24 can recognize the operation data by the wireless operation data processing unit 22. The operation control unit 24 determines the bending direction and bending angle of the automatic traveling vehicle 100 based on such data.

In the case of the automatic traveling mode, the data received by the magnetic sensor 25 is sent to the magnetic bearing detection unit 26, and the magnetic bearing angle / magnetic bearing, which is the direction in which the automatic traveling vehicle 100 is traveling, is detected. The detected magnetic azimuth angle / magnetic azimuth data is sent to the automatic travel controller 29.

The automatic traveling control unit 29 indicates a magnetic azimuth angle / magnetic azimuth instructing a traveling direction from the RFID tag / read / writer unit 28 and a direction in which the automatic traveling vehicle 100 detected by the magnetic direction detecting unit 26 is traveling. Based on the data for correcting the difference between the magnetic azimuth angle and the magnetic azimuth, the bending direction and the bending angle of the handle are determined so that the automatic traveling vehicle 100 is in the direction to travel. Further, based on the data as shown in FIG. 7, the forward / backward / stop operation is also determined, and these data are sent to the operation control unit 24 as the operation data.

  FIG. 6 is a diagram showing transmission data transmitted by the wireless transmission device 10 in the case of wireless control. The transmission data is composed of switch data, operation data, and accessory control data. Key selection in the switch data is selection of engine key off, on and start. The hydraulic pressure AUX controls the hydraulic pressure for driving the automatic traveling vehicle 100. If the grapple 113 is used, the hydraulic pressure AUX controls the opening and closing of the claws. The operation switch is for acquiring the operation right for the operation of the automatic traveling vehicle 100, and for acquiring the operation right in advance by using the cockpit or the remote operation of the automatic traveling vehicle 100.

Auxiliary machinery control data consists of relay drive data, automatic driving / radio control, and electric throttle. Relay drive is a patrol lamp control, and music is played during driving to alert the surrounding people. Is to do. The electric throttle controls the depression of the accelerator. In addition to the above, it is preferable to include data for performing pan / tilt (direction in which the camera faces) of the surveillance camera mounted on the automatic traveling vehicle 100.

FIG. 7 is a diagram showing data written to the RFID tag 52. The RFID tag 52 installed in the traveling direction indicating pile 50 has a unique identification number ID and data related to the four sections of the going (outward) section, the returning (returning) section, the GPS section, and the safety section. .

  The data items of the going (outward) section and the returning (returning) section are common, and the sequence ID, the direction in which the automatic traveling vehicle 100 should travel with respect to magnetic north (or an azimuth angle), end flag, stop flag, automatic Free speed is provided as a speed for controlling the accelerator of the traveling vehicle 100, in-situ rotation, an arm, and a future expansion area. The number of bits of each data is 1 to 8 bytes as shown in FIG.

In FIG. 7, for example, when sequence IDs 1, 2, 3,... Are assigned as sequence IDs, the RFID tags are controlled to be read in this order (route). When the automatic traveling vehicle 100 reads data from an RFID tag, for example, when the RFID tag is approaching on a hairpin curve, a plurality of tags may be read simultaneously. In such a case, which RFID tag data is to be processed is determined based on the order of the IDs.

Next, for example, when the stop flag is written in the RFIC tag on the uniform of the worker, the automatic traveling vehicle 100 that has received the RFID tag stops on the spot. For example, the start of the automatic driving may be controlled such that a certain time (for example, 30 seconds) elapses after the stop command tag is not read, and the automatic driving is started when the tag is not read.

  The end flag is a command indicating that the place where the RFIC tag 52 is installed is the end point of the travel route. The speed is a command to increase the speed when the ground where the automatic transport vehicle 100 travels is hard and the speed can be increased. The arm is a command for raising the arm 111 because the grapple 113 becomes an obstacle in a place where the work path is narrow and must be bent at an acute angle.

  The automatic traveling vehicle 100 according to the embodiment of the present invention basically automatically travels according to the geomagnetic direction and does not use GPS for automatic traveling. However, in a place where GPS can be captured, latitude / longitude data is acquired by GPS, and by using this together with the geomagnetic direction, automatic driving with higher safety becomes possible.

The safety section is a function that automatically stops when there is some danger during automatic driving, for example, when an obstacle is filed in front, and safety is ensured when the automatic traveling vehicle 100 is running by providing safety behavior and behavior time. it can. Therefore, it is preferable that the automatic traveling vehicle 100 includes an ultrasonic sensor and includes a means for detecting an obstacle and measuring a distance thereof according to a time when it bounces off from a front object. Moreover, it is preferable to provide a laser range finder, and to provide means for detecting an obstacle and measuring the distance by firing the laser and measuring the time to bounce off the front object. In addition, since the directivity of the detection by the laser is much stronger than the obstacle detection by the ultrasonic wave, it is possible to measure the precise angle and the distance from the object by irradiating the laser in a fan shape.

Instead of writing data as shown in FIG. 6 in the RFID tag 52 as described above, only a unique ID and a sequence ID are written in the RFID tag 52. For example, when only data such as 1, 2, 3, 4,... Is written as a sequence ID and an RFID tag with ID0001 is read, the arm is raised when data associated with the RFID tag, for example, a tag with sequence ID0001 is read. The traveling automatic traveling control unit 29 is provided with a magnetic direction recording unit that records data such that the magnetic direction angle is 38 degrees when the sequence ID 0004 is read. With this configuration, it is not necessary to write a command to the RFID tag installed on the shoulder of the work road, and the automatic transport vehicle 100 can be automatically rewritten by rewriting the traveling direction instruction data stored in the magnetic direction recording unit. Travel is possible and work efficiency is extremely high.

  FIG. 8 is a diagram showing a flowchart of automatic traveling in one embodiment of the present invention. First, when traveling, the first RFID tag data is read as initial data (S1), and it is determined whether or not it is a stop command (S2). The magnetic azimuth / magnetic azimuth indicating the direction in which the car 100 is traveling is read (S3). The difference between the magnetic azimuth angle / magnetic azimuth that is the direction from the RFID tag and the magnetic azimuth angle / magnetic azimuth in which the automatic traveling vehicle 100 is traveling is calculated (S4), and the automatic traveling conveyance is performed from the difference data. Travel control data of the car 100 is generated (S5). Based on the traveling control data, the automatic traveling vehicle 100 automatically travels by changing the steering angle or the like (S6). When the next RFID tag 52 is detected (S7), the data of the newly detected RFID tag is read (S8), and thereafter the steps from S2 are repeated.

  If no new RFID is detected in S7, the vehicle continues to travel. However, if a command for switching to the wireless control mode is entered from a remote location during travel (S9), automatic travel is terminated at that time. Also, in S2, the automatic traveling is ended even when the destination is reached due to the stop command (S10). However, when the stop command is issued without arriving at the destination, a certain time elapses or manual operation is performed. To return to the start and start self-propelled running (S10).

  FIG. 9 is a flowchart for explaining S8 in more detail. When the traveling direction instruction data of the RFID tag 52 is read in S8, a plurality of RFID tags 52 may be read. In such a case, the RFID tag 52 corresponding to the sequence ID next to the sequence ID of the RFID tag 52 used for traveling by the automatic traveling vehicle is read and used as travel control data (S81, S82). The read travel control data is updated as data (shared data) of the operation control unit 24 (S83), and the process returns to S2.

Wireless transmission device 10
Wireless control data generator 11
Direction indicator 12
Wireless control / automatic travel mode switch 13 23
Wireless data transmitter 14
Data processing unit 22
Operation control unit 24
Magnetic sensor 25
Magnetic orientation detector 26
RFID tag antenna 27
RFID tag reader / writer 28
Automatic travel controller 29
Advancing direction pile 50
Pile 51
RFID tag 52
Automated traveling vehicle 100
Arm 111
Cab 112
Grapple 113

Claims (10)

   A traveling direction indicating pile that is disposed at predetermined intervals along the traveling route along which the automatic traveling vehicle travels and has an RFID tag having at least a unique ID attached thereto, and a magnetic sensor attached to the automatic traveling vehicle A magnetic direction detection unit that detects a traveling direction of the automatic traveling vehicle based on data from the magnetic sensor, a reader unit that reads data from the RFID tag, data read from the reader unit, and the magnetic direction An automatic traveling system comprising: a traveling control unit that generates traveling control data for controlling a traveling direction of the automatic traveling vehicle from the traveling direction detected by the detecting unit and controls traveling. 2. The automatic traveling system according to claim 1, wherein a magnetic azimuth angle and / or magnetic azimuth indicating a traveling direction of the automatic traveling vehicle is recorded on the RFID tag.   The travel control unit has a magnetic orientation recording unit that records a magnetic azimuth angle and / or a magnetic orientation indicating a traveling direction of the automatic traveling vehicle associated with the ID, and the magnetic orientation read from the magnetic direction recording unit The automatic traveling system according to claim 1, wherein traveling control is performed based on an angle and / or a magnetic direction.   4. The apparatus according to claim 1, further comprising a mode switching means for switching between a radio control mode for wirelessly controlling the automatic traveling vehicle from a remote location and an automatic travel mode for automatically driving the vehicle by reading data of the RFID tag. The automatic driving system according to any one of the above. An automatic traveling vehicle that is arranged at predetermined intervals along a traveling route and automatically travels based on data from an RFID tag having at least a unique ID, and includes a magnetic sensor and data from the magnetic sensor Travel control data for controlling travel from a magnetic direction detection unit for detecting a travel direction, a reader for reading data from the RFID tag, data read from the reader, and the travel direction detected by the magnetic direction detection unit And a traveling control unit that controls traveling and generates an automatic traveling vehicle. The travel control unit includes a magnetic azimuth angle and / or magnetic azimuth indicating a traveling direction associated with the ID, and a magnetic azimuth angle and / or magnetic azimuth read from the magnetic direction recording unit. The automatic traveling vehicle according to claim 5, wherein the traveling is controlled based on the vehicle. The automatic traveling vehicle according to claim 5 or 6, further comprising mode switching means for switching between a wireless operation mode in which wireless operation is performed remotely and an automatic traveling mode in which the RFID tag data is automatically read. Along with a travel route on which the automatic traveling vehicle travels, a direction indicating pile with an RFID tag having at least a unique ID at a predetermined interval is provided,
A magnetic azimuth angle and / or magnetic azimuth in which the automatic traveling vehicle is traveling is detected by a magnetic sensor attached to the automatic traveling vehicle;
Controlling the traveling of the automatic traveling vehicle from the data from the RFID tag and the magnetic direction and / or the magnetic direction angle indicating the traveling direction of the automatic traveling vehicle associated with the ID, and automatically traveling. A feature of an automatic traveling method for an automatic traveling vehicle. 9. The automatic traveling method according to claim 8, wherein a magnetic direction and / or a magnetic direction angle to be traveled by the automatic traveling vehicle is recorded on the RFID tag. 9. The automatic traveling vehicle includes a magnetic direction recording unit that records a magnetic direction and / or a magnetic direction angle indicating a direction in which the automatic traveling vehicle is to be traveled, which is associated with the ID. Or the automatic driving | running | working method of 9.