JP6345558B2 - Autonomous vehicle - Google Patents

Description

  The present invention relates to an automatic traveling vehicle that automatically travels.

  Conventionally, GPS (Global Positioning System) has been used to detect the position of a vehicle. Since such a GPS includes a predetermined error, it is difficult to use the GPS when, for example, the vehicle is driven automatically. Then, the technique utilized when driving a vehicle automatically has been examined (for example, patent documents 1 and 2).

  The moving body position measuring device described in Patent Document 1 is provided intermittently along an estimated calculation means for estimating and calculating the position and traveling direction of the moving body on a predetermined coordinate axis, and along the scheduled traveling path of the moving body. And a relative position detecting means for detecting the relative position of the moving body with respect to the reference point.

  In addition, the position measuring apparatus for a moving body described in Patent Document 2 includes two or more reflecting means whose installation positions are known around the moving path, and projects light or the like from the moving body to the reflecting means. Then, the relative angle between the traveling direction of the moving body and the incident angle of the reflected light or the like is measured by the reflected light or the like. In addition, the moving body is provided with measuring means for measuring the travel distance along the traveling direction of the moving body, and measuring means for measuring the traveling direction of the moving body as an orientation. The absolute position and orientation of the moving object are calculated from the relative angle of the current reflecting unit with respect to the observed reflection means and a relative amount of the moving object before and a displacement amount of the position of the moving object and a displacement amount of the direction from the predetermined time to the present.

JP-A-7-159187 JP-A-11-271043

  In the technique described in Patent Document 1, it is necessary to install light reflecting means in advance along the planned traveling path. In the technique described in Patent Document 2, a plurality of reflectors must be installed in advance and the installation positions must be registered. For this reason, in the techniques described in Patent Documents 1 and 2, the moving body can automatically travel only in a place where the light reflecting means and the reflecting plate are previously installed.

  In view of the above problems, an object of the present invention is to provide an automatic traveling vehicle capable of automatically traveling even in a place where a light reflecting means and a reflecting plate are not previously installed.

In order to achieve the above object, the characteristic configuration of the automatic traveling vehicle according to the present invention transmits a detection signal toward a preset detection range, acquires a reflection signal for the detection signal, and sets the preset Based on the positions of at least two objects among the objects detected by the object detection unit and an object detection unit that detects an object that is present in the detection range and for which an installation position is not registered in advance , the at least two objects From the reference line, a reference line setting unit that sets a reference line that is a reference when traveling through at least two targets set by the target setting unit, A distance calculation unit that calculates a distance to the vehicle body, a travel control unit that travels along the reference line within a preset section while maintaining the distance within a preset range, Based on the detection result of the object detection unit, a shape estimating portion shape estimates of the object for each of the object, wherein the object detecting unit detects the compartment, by the target setting unit can set as the target A shape pattern storage unit that stores a shape pattern of a simple object in advance for each object, and a shape in which the shape of the object estimated by the shape estimation unit is stored for each object in the shape pattern storage unit A shape determination unit that determines whether the pattern is different from the pattern, and the travel control unit is configured not to travel when the estimated shape of the object is different from the shape pattern for each object. It is in the point.

  With such a characteristic configuration, the object detection unit can detect an object, and the target setting unit can set the target based on the detection result. It is possible to automatically travel without installing means or a reflector. In addition, a normal detection result (sensing pattern) by the object detection unit is stored in advance, and when an abnormal pattern different from the normal detection result that is affected when a disturbance occurs is detected, the travel control unit Stops automatic traveling, and then can resume traveling when a normal detection result is obtained. Therefore, it is possible to prevent an object related to an abnormal pattern from being erroneously set as a target and automatically traveling. Even if there is an influence of disturbance, it is possible to travel without losing sight of the target.

It is a figure which shows the area | region where an automatic traveling vehicle drive | works. It is the side view which showed the automatic traveling vehicle typically. It is the block diagram which showed typically the function part which concerns on the automatic driving | running | working of an autonomous vehicle. It is a figure which shows the detection range of an object detection part. It is a schematic diagram explaining the shape determination of an object. It is a flowchart which shows the process of an automatic traveling vehicle. It is a schematic diagram which shows the process of an automatic traveling vehicle.

  The automatic traveling vehicle according to the present invention is configured such that a target is set in a preset section and can be automatically driven based on the target. Hereinafter, the automatic traveling vehicle 1 of the present embodiment will be described. In the present embodiment, the automatic traveling vehicle 1 is configured to automatically travel while cutting grass growing between a plurality of trees K planted in an orchard P as shown in FIG. At this time, the automatic traveling vehicle 1 travels along the tree K as indicated by a one-dot chain line A in FIG. 1 at the center of the orchard P, and is indicated by broken lines B at both ends in the traveling direction of the orchard P. As described above, the vehicle is switched back and forth so as to shift the position of the automatic traveling vehicle 1 to the side by repeatedly moving forward and backward. Accordingly, the automatic traveling vehicle 1 travels from one end of the orchard P toward the other end and when traveling from the other end of the orchard P toward one end. The side facing the direction of travel will be different.

  FIG. 2 shows a side view of the automatic traveling vehicle 1 of the present embodiment. As shown in FIG. 2, the automatic traveling vehicle 1 includes a wheel 2 and a traveling machine body 3. The wheel 2 includes a first wheel 2A on one end side in the vehicle length direction of the vehicle body and a second wheel 2B on the other end side in the vehicle length direction. The traveling machine body 3 is generated by an engine 4 that is a power source of the automatic traveling vehicle 1, a fuel tank 5 that stores fuel to be supplied to the engine 4, a generator 6 that is driven by the engine 4, and the generator 6. A battery 7 that stores electric power and supplies electric power to the electric equipment of the automatic traveling vehicle 1, an automatic traveling control device 10 that controls automatic traveling of the automatic traveling vehicle 1, and the first wheel 2 </ b> A based on electric power supplied from the battery 7. The first wheel steering operation mechanism 51 that performs the steering operation, the second wheel steering operation mechanism 52 that performs the steering operation of the second wheel 2B based on the power supplied from the battery 7, and the rotational force of the engine 4 are input. A power transmission mechanism 55 for connecting and disconnecting the rotational force of the engine 4 to at least one of the first wheel 2A and the second wheel 2B and the mowing device 53, which has a mowing blade 54 used for mowing. Eteiru.

  FIG. 3 is a block diagram showing functional units related to the automatic traveling of the automatic traveling vehicle 1. The automatic traveling vehicle 1 includes the automatic traveling control device 10, a first wheel steering operation mechanism 51, a second wheel steering operation mechanism 52, and a power transmission mechanism 55. The automatic travel control device 10 includes an object detection unit 11, a target setting unit 12, a reference line setting unit 13, a distance calculation unit 14, a travel range setting unit 15, a travel control unit 16, an object number setting unit 17, and an object counting unit 18. , A determination unit 19, a shape estimation unit 41, a shape pattern storage unit 42, and a shape determination unit 43. The functional units perform various processes related to automatic traveling of the automatic traveling vehicle 1. In addition, the CPU is a core member and is constructed by hardware and / or software.

  The object detection unit 11 transmits a detection signal toward a preset range, acquires a reflection signal with respect to the detection signal, and detects an object existing in the preset range. The preset range is a range that can be detected by the object detection unit 11, and in the present embodiment, is a range R of about 270 degrees centering on the automatic traveling vehicle 1 as shown in FIG. The detection signal is a signal that propagates in the air, such as a laser, light, or ultrasonic wave. Such a detection signal is reflected when it collides with an object. The object detection unit 11 transmits a detection signal to a preset range and acquires a reflection signal generated by the collision. The object detection unit 11 is based on information indicating the direction in which an object is present with reference to the object detection unit 11 based on the transmission direction of the detection signal, and the time from when the detection signal is transmitted until the reflection signal is acquired. Information indicating the calculated distance from the object detection unit 11 to the object is acquired. In the present embodiment, the object detection unit 11 transmits detection signals in the horizontal direction and at a pitch of, for example, 0.5 degrees with respect to the range R described above.

  As described above, in the present embodiment, the range R detected by the object detection unit 11 is a range of about 270 degrees out of the entire circumference centering on the automatic traveling vehicle 1. Therefore, as shown in FIG. 4, the automatic traveling vehicle 1 detects the left side when looking at the traveling direction when the automatic traveling vehicle 1 travels in the upper direction of the page, and the automatic traveling vehicle 1 When traveling in the direction of, the right side is detected by looking at the traveling direction. In this way, the object detection unit 11 detects an object that exists on one side of the automatic traveling vehicle 1. In this embodiment, the one side of the automatic traveling vehicle 1 means the left side of the vehicle length extension line S in FIG. Of course, when the automatic traveling vehicle 1 travels in the upper direction of the paper, the right side is detected by looking at the traveling direction, and when the automatic traveling vehicle 1 travels in the lower direction of the paper, the traveling direction is determined. It can be configured to detect the left side as viewed, or can be configured to detect objects present on both sides of the autonomous vehicle 1. Further, the object detection unit 11 may be rotated as necessary, and the range R may be reversed with respect to the vehicle length extension line S.

  The target setting unit 12 sets the at least two objects as the target O based on the positions of at least two objects among the objects detected by the object detection unit 11. As shown in FIG. 4, the object detection unit 11 transmits a detection signal within a predetermined range and detects an object existing within the range R. Here, in this embodiment, the automatic traveling vehicle 1 automatically travels through the orchard P where the trees K are planted. For this reason, the target object O is set from the tree K in the orchard P, the support that supports the tree K, and the like. In the present embodiment, the automatic traveling vehicle 1 can set the target O if it can detect at least two objects. In the present embodiment, the target object setting unit 12 will be described as setting the target object O using two objects from the objects detected by the object detection unit 11 within the range R.

  As one of the two targets O, an object that is closest to the autonomous traveling vehicle 1 when viewed from the left side is selected. In the example of FIG. 4, the reference numeral O1 corresponds to the target object O1, and the target object O1 corresponds to the target object O on the front side in the traveling direction. As the other of the two targets O, the closest object in the traveling direction of the automatic traveling vehicle 1 is selected as viewed from the previously set target O1. In the example of FIG. 4, the reference symbol O2 corresponds to the target object O2, and the target object O2 corresponds to the target object O on the far side in the traveling direction. The distance between the target object O1 and the target object O2 is determined using a known triangulation method based on the detection result of the object detection unit 11 related to the target object O1 and the detection result of the object detection unit 11 related to the target object O2. Can be calculated.

  Here, since the automatic traveling vehicle 1 cannot recognize by itself which direction the traveling direction is, it is preferable that the user sets the traveling direction in advance for the automatic traveling vehicle 1. Of course, it is also possible to set an end portion on the first traveling side of both ends in the length direction of the automatic traveling vehicle 1 and set the side facing the end portion as the traveling direction.

  The reference line setting unit 13 passes through at least two targets O set by the target setting unit 12 and sets a reference line SL serving as a reference for traveling. In the present embodiment, the at least two targets O set by the target setting unit 12 are the target O1 and the target O2 described above. The reference line setting unit 13 sets the reference line SL by connecting the target object O1 and the target object O2 with a straight line in the coordinate system used in the automatic travel control device 10. Of the detection results detected as one object by the object detection unit 11, the reference line SL may be connected by a straight line so as to pass through each central portion, or may pass through one end of each detection result. It may be connected with a straight line. Or you may connect with a straight line so that it may pass through the part nearest to the object detection part 11 among each detection result. Of course, it is also possible to connect the respective detection results with a straight line under other predetermined conditions. Such a reference line SL is used as a reference when the automatic traveling vehicle 1 automatically travels as described later.

  The distance calculation unit 14 calculates the distance from the reference line SL to the vehicle body. The distance from the reference line SL to the vehicle body is a distance that connects the reference line SL and the vehicle body in the shortest distance in the coordinate system. For this reason, it corresponds to the distance on the perpendicular drawn from the reference line SL so as to pass through the vehicle body.

  The travel range setting unit 15 sets a travel range allowed for the travel route on which the autonomous traveling vehicle 1 travels automatically. In the present embodiment, the automatic traveling vehicle 1 cuts grass while traveling automatically. For this reason, the traveling route on which the automatic traveling vehicle 1 automatically travels corresponds to a route for cutting grass. Although details are omitted, the cutting blade 54 is provided on the bottom surface of the central portion of the traveling machine body 3 of the automatic traveling vehicle 1 over the vehicle width direction. When the automatic traveling vehicle 1 automatically travels from one end portion of the orchard P to the other end portion, a part of a region (for example, 20 to 30 cm) that cuts the route traveled earlier in order to prevent cutting leakage. Autorun with overlapping. The allowable travel range described above is preferably set to about 1/2 to 1/3 (for example, 10 to 15 cm) of such overlapping width.

  The traveling control unit 16 causes the vehicle to travel along the reference line SL within a preset section while maintaining the distance from the reference line SL to the vehicle body within a preset range. The distance from the reference line SL to the vehicle body is calculated by the distance calculation unit 14 described above, and sequentially transmitted to the travel control unit 16 in real time. The preset section is a section in which the automatic traveling vehicle 1 performs automatic traveling, and in this embodiment, the tree K for each row from one end portion to the other end portion of the orchard P that is the target of grass cutting. It is a section partitioned by. The automatic traveling vehicle 1 cuts grass while reciprocating in such a section.

  As described above, the automatic traveling vehicle 1 travels using the engine 4 as a power source. Moreover, the 1st wheel 2A and the 2nd wheel 2B are comprised so that steering operation is possible respectively, and steering operation is performed by the 1st wheel steering operation mechanism 51 and the 2nd wheel steering operation mechanism 52, respectively. Further, the rotational force generated by the engine 4 is transmitted to at least one of the first wheel 2A and the second wheel 2B via the power transmission mechanism 55. The transmission of power to the first wheel 2A and the second wheel 2B may be performed on both sides so that the automatic traveling vehicle 1 is driven by four wheels, or may be performed on one side and may be driven by two wheels. Moreover, each of the 1st wheel 2A and the 2nd wheel 2B may be comprised by left-right pair, and at least one may be comprised by 1 wheel. The traveling control unit 16 includes a first wheel steering operation mechanism 51, a second wheel steering operation mechanism 52, and a power transmission so that the distance from the reference line SL to the automatic traveling vehicle 1 is within a preset range. The mechanism 55 is controlled to travel along the reference line SL.

  The automatic traveling vehicle 1 detects an object to be the next target object O while traveling along the reference line SL. When it reaches the vicinity of the target object O2 on the front side in the traveling direction according to the setting of the current reference line SL, the target object O2 is set as the target object O1 on the front side in the traveling direction, and the newly set target object O is the target on the far side in the traveling direction. Set as object O2. The reference line SL is reset by the target object O1 and the target object O2 and travels from one end portion of the orchard P to the other end portion along the reference line SL.

  The automatic traveling vehicle 1 travels along the reference line SL from one end of the orchard P to the other end, switches back at the end, and travels along the reference line SL set there. To do. The switchback is a traveling mode in which the host vehicle repeats forward and backward movement when it reaches the end of the section, and moves so as to shift the position of the automatic traveling vehicle 1 from the position of the end to the side. In the present embodiment, the automatic traveling vehicle 1 is configured to recognize whether or not the own vehicle has reached the end of the orchard P by the number of objects. That is, the object number setting unit 17 sets in advance the number of objects detected by the object detection unit 11 in the section. The number of objects detected by the object detection unit 11 in the section is the number of objects set as the target object O when the automatic traveling vehicle 1 travels from one end of the orchard P to the other end. is there. The object number setting unit 17 presets and stores the number of such objects.

  The number of objects may be manually input in advance and set in the object number setting unit 17 before the user automatically travels the automatic traveling vehicle 1, or indicates the number of objects existing in the section. The number of objects may be automatically set by reading the map into the object number setting unit 17. For example, when the number of objects is set using a map, the number of columns of objects existing in a section and the number of objects in each column may be described. Further, the automatic traveling vehicle 1 performs teaching traveling by, for example, a radio control operation before traveling while cutting grass along the reference line SL, and the object number setting unit 17 counts the number of objects in the section during the teaching traveling. It is also possible to set the counted number of objects as the number of objects detected by the object detection unit 11 set as the target object O when traveling along the reference line SL. Thereby, the object number setting unit 17 can easily set the number of objects detected by the object detection unit 11.

  The object counting unit 18 counts the number of objects used for setting the reference line SL when traveling from one end of the section toward the other end. When the target setting unit 12 newly sets the target O, the object counting unit 18 acquires information indicating that fact, and actually sets the reference line SL using the newly set target O. Count the number of objects used. Here, when what was originally set as the target object O2 in the traveling direction back side is set as the target object O1 in the traveling direction front side according to the traveling of the automatic traveling vehicle 1, when both are counted, Since it is the target object O related to the same object, counting is repeated. In order to avoid such overlapping counting, the object counting unit 18 determines a traveling direction that is determined in advance when the automatic traveling vehicle 1 travels from one end of the section toward the other end. Only one of the object related to the target object O1 set on the near side and the object related to the target object O2 set on the far side in the traveling direction is counted, and by adding 1 to the count result, It is possible to count objects related to the setting of the reference line SL from one end to the other end.

Determining unit 19 determines that the counting result of the object counting part 18, when it reaches the number of set objects by the object number setting unit 17, the automatic traveling vehicle 1 has reached the other end of the compartment . As a result, the traveling control unit 16 recognizes that the host vehicle has reached the end of the section, stops the automatic traveling vehicle 1 at that position, and then switches back the automatic traveling vehicle 1 from the stopped position. The position is shifted by the amount that mows the grass, and from that position, the reference line SL is set based on the target object O, and the grass is cut while running automatically. In this way, the automatic traveling vehicle 1 can automatically travel by setting the reference line SL as a reference when automatically traveling with the own vehicle.

  Here, as described above, the automatic traveling vehicle 1 sets the target object O based on the object detected by the object detection unit 11, and further automatically travels along the reference line SL set based on the target object O. To do. In the present embodiment, the automatic traveling vehicle 1 is described with an example in which the automatic traveling vehicle 1 automatically travels in the orchard P while mowing. When the automatic traveling vehicle 1 automatically travels, there is a possibility that already cut grass and dust may be rolled up by the wind. When the object detection unit 11 detects these and the target O is set based on this result, The automatic traveling vehicle 1 cannot automatically travel along the tree line of the trees K to be the regular target O.

  Therefore, the shape estimation unit 41 estimates the shape of the object based on the detection result of the object detection unit 11. As shown in # 101 of FIG. 5, the object detection unit 11 transmits a detection signal around the autonomous vehicle 1 and acquires a reflection signal for the detection signal. As shown in # 102 of FIG. 5, the shape estimation unit 41 evaluates the reflection signal and estimates the shape of the object. Thereby, it is possible to estimate the shape of the surface of the object on the object detection unit 11 side. The shape estimation unit 41 receives the detection result from the object detection unit 11, estimates the shape of such an object, and transmits it to the shape determination unit 43 described later.

  Returning to FIG. 3, the shape pattern storage unit 42 stores in advance the shape pattern of the object detected by the object detection unit 11 in the section. As described above, since the automatic traveling vehicle 1 automatically travels by setting a target with its own vehicle in a preset section, the user knows to some extent what shape object exists in the section in advance. . Therefore, the shape pattern storage unit 42 is assumed to have a shape pattern indicating the shape of an object that is supposed to be a target when the autonomous vehicle travels automatically as shown in # 103 of FIG. Stored in advance. There may be one or more shape patterns.

  The shape determination unit 43 determines whether the shape of the object estimated by the shape estimation unit 41 is different from the shape pattern stored in the shape pattern storage unit 42. An estimation result obtained by estimating the shape of the object detected by the object detection unit 11 is transmitted from the shape estimation unit 41 to the shape determination unit 43. As shown in # 104 of FIG. 5, the shape determination unit 43 refers to the shape pattern stored in the shape pattern storage unit 42, and the shape of the object transmitted from the shape estimation unit 41 is different from the shape pattern. It is determined whether or not. Specifically, since the object set by the automatic traveling vehicle 1 as the target object O is the tree K, the shape pattern stored in the shape pattern storage unit 42 is also a part of the outer peripheral surface of a cylinder having a diameter of several tens of centimeters. Yes, the estimation result by the shape estimation unit 41 should be a part of the outer peripheral surface of a cylinder having a diameter of several tens of cm. Therefore, the shape determination unit 43 is different from the intended object if the shape is remarkably different from the object that is assumed to exist in the section (for example, a shape that extends to a diameter of 1 m or a shape that is less than 5 cm). Since there is a high possibility of being a different object, it is determined that the estimated shape of the object is different from the shape pattern. This determination result is transmitted to the traveling control unit 16.

  Returning to FIG. 3, as described above, the traveling control unit 16 causes the autonomous traveling vehicle 1 to automatically travel along the reference line SL. However, the shape of the object estimated by the shape estimating unit 41 by the shape determining unit 43 is a shape pattern. When it is determined that the shape pattern is different from the shape pattern stored in the storage unit 42 (see # 105 in FIG. 5), the traveling control unit 16 stops the automatic traveling vehicle 1 and does not perform automatic traveling. It is configured.

  Even when such automatic traveling is not performed, the object detection unit 11 continues to detect objects existing around the automatic traveling vehicle 1 (return to # 104 in FIG. 5), and the detection result is a shape. This is transmitted to the estimation unit 41. If the estimation result by the shape estimation unit 41 is not different from the shape pattern stored in the shape pattern storage unit 42, a determination result indicating the fact is transmitted from the shape determination unit 43 to the travel control unit 16, and the travel control unit 16 automatically runs (# 106 in FIG. 5).

  In the above description, the traveling control unit 16 is configured so as not to perform automatic traveling based on the determination result of the shape determining unit 43 during automatic traveling of the automatic traveling vehicle 1 (interrupt automatic traveling). However, this series of functions is also applied when the autonomous vehicle 1 first travels within the section. In this case, the automatic traveling vehicle 1 is stopped until an intended object is detected at the position where it is first installed.

  On the other hand, when the shape determination unit 43 determines that the shape of the object estimated by the shape estimation unit 41 is not different from the shape pattern stored in the shape pattern storage unit 42 (see # 106 in FIG. 5). The target setting unit 12 sets the object as the target O, and the travel control unit 16 automatically travels along the reference line SL set based on the target O. Thereby, it is possible to prevent the automatic traveling vehicle 1 from traveling along an unexpected route, and it is possible to automatically travel only along the intended target O.

  Next, processing when the autonomous vehicle 1 performs automatic traveling will be described with reference to a flowchart of FIG. 6 and a schematic diagram of FIG. The automatic traveling vehicle 1 is disposed at an arbitrary position (step # 1). At this time, the automatic traveling vehicle 1 is preferably directed so that the end of the automatic traveling vehicle 1 on the side to be first advanced is directed to automatically travel.

  The object detection unit 11 starts detecting an object for a predetermined range (step # 2). Thereafter, the object detection unit 11 continuously detects an object until the automatic traveling vehicle 1 finishes the automatic traveling. The shape estimation unit 41 thus estimates the shape of the object detected around the autonomous vehicle 1 (step # 3), and the shape determination unit 43 determines that the shape of the object estimated by the shape estimation unit 41 is the shape. It is determined whether the shape pattern is different from the shape pattern stored in the pattern storage unit 42 (step # 4). In this determination, if it is determined that the shape determination unit 43 is different (step # 4: No), the process returns to step # 3 and the process is continued.

  On the other hand, in the determination of step # 4, it is determined that the shape determination unit 43 is not different (step # 4: Yes), and when this object satisfies a predetermined condition as the target object O (step # 5: Yes) ), The object is set as the target object O (step # 6). This detection of the target object O is performed until at least two target objects O are set (step # 7: Yes).

  Here, in the automatic travel control device 10, information indicating the direction in which the object exists with reference to the object detection unit 11 acquired by the object detection unit 11, and information indicating the distance from the object detection unit 11 to the object. Based on the above, the coordinates of the target object O1 and the target object O2 are calculated in the coordinate system based on the automatic traveling vehicle 1. In such a case, the coordinates of the automatic traveling vehicle 1 are set as (0, 0), the coordinates of the target object O1 are calculated as (X1, Y1), and the coordinates of the target object O2 are calculated as (X2, Y2).

  Next, the reference line setting unit 13 sets the reference line SL with reference to the two targets O1 and O2 (step # 8). The reference line SL is set by a line connecting the outer edge portions of the target object O1 and the target object O2 detected by the object detection unit 11.

  Next, a travel route with reference to the reference line SL on which the automatic traveling vehicle 1 travels is set. This setting is set according to the distance from the reference line SL to the travel route (step # 9). In this case, in order to facilitate the distance calculation processing and the subsequent processing, the automatic travel control device 10 performs coordinate conversion from the coordinate system based on the automatic traveling vehicle 1 to the coordinate system using the reference line SL as the y axis. Is done. Thereby, the coordinates (X1, Y1) of the target object O1 and the coordinates (X2) of the target object O2 are coordinate-transformed, and the coordinates (0, y1) of the target object O1 and the coordinates (0, y2) of the target object O2 are converted. It becomes. In the coordinate system after such coordinate conversion, the distance from the reference line SL to the travel route is set as m. In this case, the coordinates of the automatic traveling vehicle 1 are converted to (x1, 0). Further, an allowable range ± a for this distance is set (step # 10).

  The travel control unit 16 causes the automatic travel vehicle 1 to travel so that the distance from the reference line SL to the automatic travel vehicle 1 falls within the set “m ± a” as indicated by # 201 in FIG. Step # 11). When the distance from the reference line SL to the automatic traveling vehicle 1 does not fall within the set “m ± a” (step # 12: Yes), the traveling control unit 16 operates the steering so that it is within the allowable range. (Step # 13). In step # 12, when the distance from the reference line SL to the automatic traveling vehicle 1 falls within the set “m ± a” (step # 12: No), the traveling control unit 16 travels with the steering angle as it is. Let In this case, the detection result of the object detected by the object detection unit 11 differs depending on the position of the automatic traveling vehicle 1, so that the reference line SL is automatically updated while the coordinates of the targets O1 and O2 are changed each time. Driving is performed. The steering operation at this time may be a four-wheel steering operation in the same phase or another steering operation.

  The object detection unit 11 detects an object even while the automated traveling vehicle 1 shown in # 201 to # 202 of FIG. 7 is traveling. Along with this detection, the shape estimation unit 41 also estimates the shape of the detected object (step # 14). When the shape determination unit 43 determines that the shape of the object estimated by the shape estimation unit 41 is different from the shape pattern stored in the shape pattern storage unit 42, as indicated by # 203 in FIG. Step # 15: No), the traveling control unit 16 interrupts the automatic traveling (step # 17), returns to step # 14, and the processing is continued.

  On the other hand, when the shape determination unit 43 determines in step # 15 that the shape of the object estimated by the shape estimation unit 41 is not different from the shape pattern stored in the shape pattern storage unit 42 (step S15). # 15: Yes), automatic driving is continued.

  If the autonomous vehicle 1 reaches the target O2 on the far side in the traveling direction (step # 16: Yes) and the target O2 is not the target O at the end of the section (step # 18: Yes), the target The object setting unit 12 sets the target object O2 on the far side in the traveling direction so far as the target object O1 on the near side in the traveling direction (step # 19), and the processing is continued from step # 3.

  In step # 18, if the target object O2 is the target object O at the end of the section (step # 18: No), the travel control unit 16 stops automatic travel (step # 20), and switches back from that position. The position of the automatic traveling vehicle 1 is changed (step # 21). The switchback is preferably performed in advance because it is performed in a constant operation regardless of the distance from the reference line SL.

[Other Embodiments]
In the above embodiment, the object detection unit 11 has been described as detecting the tree K of the orchard P, the support supporting the tree K, and the like. However, in addition to the tree K and the support, it is configured to detect a fence, a fence, and the like. Is also possible. It is also possible to configure the object and other objects within a predetermined distance from the object to be grouped and handled as one object. As a result, for example, the tree K and the support supporting the tree K can be set as one target object O, so that the arithmetic processing related to the setting of the target object O can be reduced.

  In the above embodiment, the target setting unit 12 has been described as setting two targets O from two objects. However, a configuration in which three or more targets O are set from three or more objects is also possible. It is.

In the above embodiment, the counting result of the object counting part 18, an automatic traveling vehicle 1 has reached the other end of the compartment when it reaches the number of set objects by the object number setting unit 17 determination unit 19 However, the traveling control unit 16 has been described as stopping the automatic traveling vehicle 1 when it is determined that the end of the section has been reached. It is also possible to determine that the end has been reached and to stop the automatic traveling vehicle 1.

  In the above-described embodiment, the automatic traveling vehicle 1 has been described as automatically traveling while cutting grass. However, the automatic traveling vehicle 1 can be used as a transport vehicle, for example, and can be used for other purposes. Is possible.

  In the above-described embodiment, the automatic traveling vehicle 1 has been described as automatically traveling based on the target O set by the target setting unit 12, but for example, the number of trees K for each tree row, the starting tree number, Reads a map in which an end tree number, an offset amount that defines the distance from the tree K planted on the end of the section to the end of the section, a switching distance for switching the target tree K, and the like are input. In addition to the detection result of the object detection unit 11, a map may be used to automatically travel. Thereby, the area | region which drive | works automatically can be recognized and the uncut grass of the offset area | region prescribed | regulated by offset amount can be reduced. It is also possible to freely set a region for cutting grass by correcting the map as necessary. Further, such a map can be stored in the automatic traveling vehicle 1 and can be read and used as appropriate, or can be configured to be updated when a new object is detected. .

  In the above-described embodiment, the automatic travel control device 10 has been described as performing arithmetic processing related to automatic travel by performing coordinate conversion from the coordinate system based on the automatic travel vehicle 1 to the coordinate system based on the target object O. However, it is also possible to perform arithmetic processing related to automatic travel without performing coordinate conversion.

  The present invention can be used for an automatic traveling vehicle that automatically travels.

1: automatic traveling vehicle 11: object detection unit 12: target setting unit 13: reference line setting unit 14: distance calculation unit 16: travel control unit 41: shape estimation unit 42: shape pattern storage unit 43: shape determination unit O: Target R: Range SL: Reference line

Claims (2)

An object that transmits a detection signal toward a preset detection range, acquires a reflection signal for the detection signal, and detects an object that is present in the preset detection range and for which an installation position is not registered in advance A detection unit;
A target setting unit configured to set the at least two objects as targets based on positions of at least two objects among the objects detected by the object detection unit;
A reference line setting unit that sets a reference line that is a reference when traveling through at least two targets set by the target setting unit;
A distance calculation unit for calculating a distance from the reference line to the vehicle body;
A travel control unit that travels along the reference line in a preset section while maintaining the distance within a preset range;
A shape estimation unit that estimates the shape of the object for each object based on the detection result of the object detection unit;
A shape pattern storage unit that stores in advance for each object a shape pattern of an object that is detected by the object detection unit in the section and that can be set as the target by the target setting unit ;
A shape determination unit that determines whether or not the shape of the object estimated by the shape estimation unit is different from the shape pattern stored for each object in the shape pattern storage unit;
With
The travel control unit is an automatic travel vehicle configured not to travel when the estimated shape of the object is different from the shape pattern for each object . An object that transmits a detection signal toward a preset detection range, acquires a reflection signal for the detection signal, and detects at least one of a tree and a pillar existing in the preset detection range as an object A detection unit;
A target setting unit configured to set the at least two objects as targets based on positions of at least two objects among the objects detected by the object detection unit;
A reference line setting unit that sets a reference line that is a reference when traveling through at least two targets set by the target setting unit;
A distance calculation unit for calculating a distance from the reference line to the vehicle body;
A travel control unit that travels along the reference line in a preset section while maintaining the distance within a preset range;
A shape estimation unit that estimates the shape of the object for each object based on the detection result of the object detection unit;
A shape pattern storage unit that stores in advance for each object a shape pattern of an object that is detected by the object detection unit in the section and that can be set as the target by the target setting unit;
A shape determination unit that determines whether or not the shape of the object estimated by the shape estimation unit is different from the shape pattern stored for each object in the shape pattern storage unit;
With
The travel control unit is an automatic travel vehicle configured not to travel when the estimated shape of the object is different from the shape pattern for each object.

Images