Automatic traveling system, automatic traveling method, and recording medium recording automatic traveling program

An automatic traveling method for causing an automatic traveling device to travel, using a sequential movement of the automatic traveling device, to a position of each of a plurality of tags in a specified order and to read each of the plurality of tags in a traveling area where the plurality of tags is installed corresponding to a plurality of respective installation positions, a traveling distance corresponding to each of the plurality of tags being stored in a storage, the automatic traveling method comprising:

• determining whether the automatic traveling device successfully reads a target tag, among the plurality of tags, at a position of the target tag while traveling;
• determining, in a case of determining that the target tag is not successfully read, whether a first connection route and a second connection route are on a same straight line based on:
• information on the first connection route connecting an installation position of a first tag, immediately before the target tag that is determined not to be successfully read, to an installation position of the target tag, and
• information on the second connection route connecting an installation position of a second tag, immediately after the target tag, to the installation position of the target tag;
• causing the automatic traveling device to travel straight ahead toward the installation position of the second tag a first traveling distance, corresponding to the target tag and stored in the storage, in a case of:
• determining that the target tag is not successfully read, and
• determining that the first connection route and the second connection route are on the same straight line;
• causing the automatic traveling device to stop, after traveling the first traveling distance, in a case of:
• determining that the target tag is not successfully read, and
• determining that that the second tag is not successfully read;
• and
• causing the automatic traveling device to stop at the position of the target tag in a case of:
• determining that the target tag is not successfully read, and
• determining that the first connection route and the second connection route are not on the same straight line.

A non-transitory computer-readable recording medium recording an automatic traveling program that causes an automatic traveling device to travel, using a sequential movement of the automatic traveling device, to a position of each of a plurality of tags in a specified order and to read each of the plurality of tags in a traveling area where the plurality of tags is installed corresponding to a plurality of respective installation positions, a traveling distance corresponding to each of the plurality of tags being stored in a storage, the non-transitory computer-readable recording medium recording an automatic traveling program for causing one or more processors to:

• determine whether the automatic traveling device successfully reads a target tag, among the plurality of tags, at a position of the target tag while traveling;
• determine, in a case of determining that the target tag is not successfully read, whether a first connection route and a second connection route are on a same straight line based on:
• information on the first connection route connecting an installation position of a first tag, immediately before the target tag that is determined not to be successfully read, to an installation position of the target tag, and
• information on the second connection route connecting an installation position of a second tag, immediately after the target tag, to the installation position of the target tag;
• cause the automatic traveling device to travel straight ahead toward the installation position of the second tag a first traveling distance, corresponding to the target tag and stored in the storage, in a case of:
• determining that the target tag is not successfully read, and
• determining that the first connection route and the second connection route are on the same straight line;
• cause the automatic traveling device to stop, after traveling the first traveling distance, in a case of:
• determining that the target tag is not successfully read, and
• determining that the second tag is not successfully read;
• and
• cause the automatic traveling device to stop at the position of the target tag in a case of:
• determining that the target tag is not successfully read, and
• determines that the first connection route and the second connection route are not on the same straight line.