TW201704916A - Automatically driven vehicle and automatically driven system comprising the same capable of identifying a current position with high accuracy - Google Patents
Automatically driven vehicle and automatically driven system comprising the same capable of identifying a current position with high accuracy Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
Description
本發明係關於一種自動行駛車輛，尤其係關於一種可沿預先所規定之行駛路徑自動行駛之自動行駛車輛。又，本發明係關於一種包含此種自動行駛車輛之自動行駛系統。 The present invention relates to an automatic traveling vehicle, and more particularly to an automatic traveling vehicle that can automatically travel along a predetermined travel route. Further, the present invention relates to an automatic travel system including such an automatically driven vehicle.
先前，開發有藉由感測器檢測埋設於行駛路徑之磁感應線並沿著該感應線於既定之行駛路徑自動行駛之自動行駛車輛。此種自動行駛車輛用作例如於高爾夫球場搭載球具袋等物品或玩家而行駛的高爾夫球車(例如參照下述專利文獻1)。再者，高爾夫球車亦稱為「高爾夫球手拉車」。 Previously, there has been developed an automatic traveling vehicle that detects a magnetic induction line embedded in a traveling path by a sensor and automatically travels along the sensing line on a predetermined traveling path. Such an automatic traveling vehicle is used as, for example, a golf cart that travels on an article such as a golf bag and a player or a player (see, for example, Patent Document 1 below). Furthermore, golf carts are also known as "golf carts."
[專利文獻1]日本專利特開2000-181540號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2000-181540
專利文獻1記載之高爾夫球車雖然具有沿既定之行駛路徑自動行駛之功能，但不具有辨識當前之行駛位置之功能。近年來，為了高爾夫球車之運行管理，市場方面要求辨識高爾夫球車之當前位置。又，於偵測障礙物而控制車輛之行駛時，亦要求辨識高爾夫球車之當前位置。進而，為了使車輛之速度控制等車輛之行駛控制提高，亦要求辨識高爾夫球車之當前位置。 The golf cart described in Patent Document 1 has a function of automatically traveling along a predetermined travel route, but does not have a function of recognizing the current travel position. In recent years, in order to manage the operation of golf carts, the market has requested to identify the current position of the golf cart. Moreover, when detecting the obstacle and controlling the driving of the vehicle, it is also required to identify the current position of the golf cart. Further, in order to improve the running control of the vehicle such as the speed control of the vehicle, it is also required to recognize the current position of the golf cart.
本發明之目的在於提供一種可更高精度地辨識當前位置且可沿既定行駛路徑自動行駛之自動行駛車輛。又，本發明之目的在於提供一種包含此種自動行駛車輛之自動行駛系統。 An object of the present invention is to provide an automatic traveling vehicle that can recognize a current position with higher accuracy and can automatically travel along a predetermined traveling path. Further, it is an object of the present invention to provide an automatic travel system including such an automatic traveling vehicle.
本案發明者在為辨識自動行駛車輛之當前位置而對方法進行討論之前，對作為自動行駛車輛之一個之高爾夫球車進行了銳意研究。高爾夫球車係沿配合高爾夫球場之地形設定之行駛路徑自動行駛。因此，有高爾夫球車於樹木茂盛之環境下行駛之情況。又，有高爾夫球車沿高低差較大之行駛路徑行駛之情況。反覆進行試驗後可知，有利用GPS(Global Positioning System，全球定位系統)特定出當前地點時無法獲得充分之精度之情形。 The inventor of the present invention conducted a keen study on a golf cart as one of the self-driving vehicles before discussing the method for recognizing the current position of the self-driving vehicle. The golf cart automatically travels along the driving path set to match the terrain of the golf course. Therefore, there is a situation in which a golf cart is driven in a wooded environment. In addition, there is a case where the golf cart travels along a driving path having a large difference in height. After the test was repeated, it was found that there was a case where the GPS (Global Positioning System) was used to specify the current location and sufficient accuracy could not be obtained.
因此，本案發明者著眼於自動行駛車輛沿既定行駛路徑自動行駛、及基於埋設於既定行駛路徑內之定點而控制自動行駛車輛之速度。而且，想到有效利用定點並根據定點之位置及自定點至當前地點為止之行駛距離而特定出當前地點。藉由如此般有效利用定點及行駛距離，即便自動行駛車輛於樹木茂盛之環境下行駛，又，即便沿高低差較大之行駛路徑行駛，亦可辨識自動行駛車輛之當前位置。 Therefore, the inventors of the present invention paid attention to the automatic traveling vehicle traveling automatically along a predetermined traveling path and controlling the speed of the automatically traveling vehicle based on a fixed point embedded in a predetermined traveling path. Moreover, it is thought that the fixed point is effectively utilized and the current location is specified according to the position of the fixed point and the driving distance from the fixed point to the current location. By using the fixed point and the driving distance in an efficient manner, even if the self-propelled vehicle travels in a wooded environment, the current position of the self-driving vehicle can be recognized even if the vehicle travels along a driving path having a large difference in height.
本發明係一種自動行駛車輛，其特徵在於其構成可在既定行駛路徑上自動行駛，且基於埋設於該既定行駛路徑下之定點控制車輛之行駛狀態，其具備：定點偵測部，其偵測已通過上述定點；記憶部，其針對複數個上述定點之各者，將與各定點所配置的位置相關之定點位置資訊和用以識別各定點之定點識別資訊建立對應關係而記憶；定點特定部，其基於上述定點識別資訊特定由上述定點偵測部偵測出之已通過的上述定點； 行駛距離計測部，其計測自藉由上述定點特定部特定出之上述定點至當前地點為止之行駛距離；及當前地點特定部，其基於上述定點位置資訊，檢測藉由上述定點特定部特定出之上述定點之位置，並且根據該檢測出之上述定點之位置、及藉由上述行駛距離計測部計測出之自上述定點至當前地點為止之行駛距離而特定出當前地點。 The present invention is an automatic traveling vehicle, which is characterized in that it can automatically travel on a predetermined driving path, and controls the driving state of the vehicle based on a fixed point embedded in the predetermined driving path, and has a fixed point detecting unit for detecting The above-mentioned fixed point; the memory unit, for each of the plurality of fixed points, memorizes the fixed point position information related to the position of each fixed point and the fixed point identification information for identifying each fixed point, and memorizes; And determining, according to the fixed point identification information, the fixed point that has been detected by the fixed point detecting unit; a travel distance measuring unit that measures a travel distance from the fixed point specified by the fixed point specifying unit to a current point; and a current location specifying unit that detects the specific location specified by the fixed point specific unit based on the fixed point position information The position of the fixed point is specified based on the detected position of the fixed point and the travel distance measured from the fixed point to the current point by the travel distance measuring unit.
根據上述構成，藉由定點特定部特定自動行駛車輛之前剛通過之定點，並基於定點位置資訊檢測該特定出之定點之位置。又，藉由行駛距離計測部計測自特定出之定點至當前地點為止之行駛距離。由於自動行駛車輛於既定之行駛路徑上行駛，故而可根據定點之位置、及自該定點之位置算起之行駛距離之兩個資訊而高精度地特定自動行駛車輛之當前地點。 According to the above configuration, the fixed point specific portion is used to specify the fixed point that the vehicle has just passed before, and the position of the specific fixed point is detected based on the fixed point position information. Further, the travel distance measuring unit measures the travel distance from the specific fixed point to the current location. Since the self-propelled vehicle travels on a predetermined travel route, the current location of the automatically-traveled vehicle can be specified with high precision based on two pieces of information on the position of the fixed point and the travel distance calculated from the position of the fixed point.
為了當自動行駛車輛已通過定點時定點特定部特定該已通過之定點，可採用各種構成。例如，亦可設為如下者，即，上述自動行駛車輛包括計測當前地點之世界座標之座標計測部，上述定點識別資訊包含各上述定點所配置的世界座標相關之資訊，且上述定點特定部係於上述定點偵測部偵測到已通過上述定點之時間點，將由上述座標計測部計測出之世界座標與記載於上述定點識別資訊之世界座標相關之資訊進行對照，藉此，特定出已通過之上述定點。 In order to specify the adopted fixed point when the automatic traveling vehicle has passed the fixed point, various configurations can be employed. For example, the automatic traveling vehicle may include a coordinate measuring unit that measures a world coordinate of the current location, and the fixed point identification information includes information related to the world coordinates of each of the fixed points, and the fixed point specific part is When the fixed point detecting unit detects that the fixed point has passed the predetermined point, the world coordinates measured by the coordinate measuring unit are compared with the information related to the world coordinates of the fixed point identification information, thereby specifying that the global coordinate has been passed. The above fixed point.
此處，作為座標計測部，可使用例如GPS。於本構成中，GPS始終用於特定已通過之定點。即，於行駛路徑上埋設有複數個定點，作為用以特定為該等定點中之哪一定點之手段，使用GPS。由於定點之世界座標預先記憶於記憶部，故而可藉由擷取表示與利用GPS等座標 計測部計測出之世界座標最近之世界座標的定點而特定出已通過之定點。 Here, as the coordinate measuring unit, for example, GPS can be used. In this configuration, GPS is always used for specific fixed points that have passed. That is, a plurality of fixed points are embedded in the traveling path, and GPS is used as a means for specifying which of the fixed points is a fixed point. Since the world coordinates of the fixed point are pre-memorized in the memory, the coordinates can be expressed and utilized by using coordinates such as GPS. The measurement unit measures the fixed point of the world coordinates of the world coordinates, and specifies the fixed point that has passed.
又，作為上述自動行駛車輛之其他構成，亦可設為如下者，即，上述定點偵測部係可讀出與上述定點建立對應關係之速度控制命令之構成，上述定點識別資訊包含與各上述定點建立對應關係之上述速度控制命令相關之資訊，且上述定點特定部係將藉由上述定點偵測部讀出之與上述定點建立對應關係之上述速度控制命令、與記載於上述定點識別資訊之上述速度控制命令相關之資訊進行對照，藉此，特定出已通過之上述定點。 Further, as another configuration of the above-described automatic traveling vehicle, the fixed point detecting unit may read a configuration of a speed control command that is associated with the fixed point, and the fixed point identification information includes each of the above And determining, by the fixed point, the information related to the speed control command corresponding to the relationship, and the fixed point specific unit is configured to read the speed control command corresponding to the fixed point and read by the fixed point detecting unit, and the fixed point identification information The information related to the above speed control command is compared, thereby specifying the above-mentioned fixed point that has passed.
作為速度控制命令，附有與定點之位置對應之內容。因此，可藉由在已通過定點之時間點將對該已通過之定點附加之速度控制命令、與記載於上述定點識別資訊之速度控制命令進行對照而特定出已通過之定點。 As the speed control command, the content corresponding to the position of the fixed point is attached. Therefore, the passing point can be specified by comparing the speed control command attached to the passed fixed point with the speed control command described in the fixed point identification information at the time point when the fixed point has passed.
又，作為上述自動行駛車輛之其他構成，亦可設為如下者，即，上述定點識別資訊包含於上述既定行駛路徑上串列地鄰接之兩個上述定點間之行駛距離相關的資訊，且上述定點特定部係於偵測到已通過上述定點之時間點，將上述行駛距離計測部計測出之上述行駛距離與記載於上述定點識別資訊之上述行駛距離相關之資訊進行對照，藉此，特定出已通過之上述定點。 Further, as another configuration of the above-described automatic traveling vehicle, the fixed point identification information may include information on a travel distance between the two fixed points adjacent to each other on the predetermined travel route, and the above-described information The fixed point specific unit compares the travel distance measured by the travel distance measuring unit with the information on the travel distance described in the fixed point identification information at a time point when the fixed point has been detected, thereby specifying The above fixed point has been passed.
定點係為了控制車輛之行駛狀態而埋設於既定行駛路徑下，且鄰接之定點間之距離不同。因此，可藉由在已通過定點之時間點將行 駛距離計測部計測出之上述行駛距離與記載於上述定點識別資訊之上述行駛距離相關之資訊進行對照而特定出已通過之定點。 The fixed point is embedded in a predetermined travel path in order to control the running state of the vehicle, and the distance between adjacent fixed points is different. Therefore, it is possible to make the line by the point in time when it has passed the fixed point. The travel distance measured by the travel distance measuring unit is compared with the information on the travel distance described in the fixed point identification information, and the passing point is specified.
又，作為上述自動行駛車輛之構成，亦可設為如下者，即，包含攝像部，該攝像部於在上述既定行駛路徑上行駛之過程中對自上述自動行駛車輛觀察為特定之方向進行拍攝，上述定點識別資訊包含於通過上述定點之位置對自上述自動行駛車輛觀察為上述特定之方向進行拍攝時之攝像資料相關的資訊，且上述定點特定部係於偵測到已通過上述定點之時間點，將由上述攝像部拍攝到之資料、與記載於上述定點識別資訊之上述攝像資料相關之資訊進行對照，藉此，特定出已通過之上述定點。 Further, the configuration of the above-described automatic traveling vehicle may include an imaging unit that photographs a direction that is observed from the above-described automatic traveling vehicle in a process of traveling on the predetermined traveling path. The fixed point identification information is included in the information related to the image data when the automatic driving vehicle observes the specific direction through the position of the fixed point, and the fixed point specific portion is detected when the predetermined point has been detected. The point is obtained by comparing the data captured by the imaging unit with the information related to the imaging data recorded in the fixed point identification information, thereby specifying the above-mentioned fixed point.
此處，作為攝像資料，可包含例如圖像上之特徵點相關之座標資訊。於該情形時，可藉由在已通過定點之時間點將攝像部中拍攝到之資料上所包含的特徵點之座標資訊、與記憶於記憶部之定點識別資訊中所包含的特徵點之座標資訊進行對照而特定定點。 Here, as the image data, for example, coordinate information related to feature points on the image may be included. In this case, the coordinate information of the feature points included in the data captured by the imaging unit at the time point when the fixed point has passed, and the coordinate information of the feature points included in the fixed point identification information stored in the memory unit can be used. A specific point is made for comparison.
又，於攝像部包括複數個攝影機之情形時，作為攝像資料，可包含與視差圖像相關之資訊。於該情形時，可藉由在已通過定點之時間點將根據於攝像部拍攝到之資料製作的視差圖像、與記憶於記憶部之定點識別資訊中所包含的特徵點之座標資訊進行對照而特定定點。 Further, when the imaging unit includes a plurality of cameras, the image data may include information related to the parallax image. In this case, by comparing the parallax image created based on the data captured by the imaging unit with the coordinate information of the feature points included in the fixed point identification information stored in the memory unit at the time point when the fixed point has passed, Specific fixed point.
又，上述行駛距離計測部可設為基於搭載於上述自動行駛車輛之車輪之旋轉角而計測行駛距離的構成。 Further, the travel distance measuring unit may be configured to measure the travel distance based on the rotation angle of the wheel mounted on the self-driving vehicle.
且說，於可使定點記憶複數個資訊之構成之情形時，可使定點本身記憶配置定點之位置相關之資訊(上述「定點位置資訊」)。作為此種示例，設想利用RFID(Radio Frequency Identification，射頻識別)構成定點之情形。於如上所述之情形時，定點偵測部亦可讀出定點位置資訊。 In other words, when the fixed point memory is used to form a plurality of pieces of information, the fixed point itself can be used to store information related to the position of the fixed point (the above-mentioned "fixed position information"). As such an example, it is assumed that a fixed point is formed by using RFID (Radio Frequency Identification). In the case as described above, the fixed point detecting unit can also read the fixed point position information.
即，本發明係一種自動行駛車輛，其另一特徵在於其構成為可 在既定行駛路徑上自動行駛，且基於埋設於該既定行駛路徑下之定點控制車輛之行駛狀態，且於上述定點附有與各定點所配置的位置相關之定點位置資訊，該自動行駛車輛具備：定點偵測部，其偵測已通過上述定點、及對已通過之上述定點所附加之上述定點位置資訊；行駛距離計測部，其計測自上述定點偵測部偵測到之上述定點之位置至當前地點為止之行駛距離；及當前地點特定部，其根據上述定點偵測部偵測到之上述定點之位置及藉由上述行駛距離計測部計測出之自上述定點至當前地點為止之行駛距離而特定出當前地點。 That is, the present invention is an automatic traveling vehicle, and another feature is that it is configured to be Driving automatically on a predetermined travel route, and controlling the running state of the vehicle based on the fixed point buried under the predetermined travel route, and the fixed point position information related to the position configured by each fixed point is attached to the fixed point, the automatic traveling vehicle has: a fixed point detecting unit that detects the fixed point position information that has been passed through the fixed point and the fixed point that has passed; the travel distance measuring unit measures the position of the fixed point detected by the fixed point detecting unit to And a current location specific portion, which is based on the position of the fixed point detected by the fixed point detecting unit and the travel distance measured from the fixed point to the current location by the travel distance measuring unit. Specify the current location.
於設為此種構成之情形時，亦可根據定點之位置與自該定點之位置算起之行駛距離之兩個資訊而高精度地特定自動行駛車輛之當前地點。 In the case of such a configuration, the current location of the automatically traveling vehicle can be specified with high precision based on two pieces of information on the travel distance calculated from the position of the fixed point and the position of the fixed point.
又，上述自動行駛車輛亦可包括指示部，該指示部對在上述既定行駛路徑上自動行駛之模式與在上述既定行駛路徑以外之場域手動地行駛之模式進行切換。 Further, the automatic traveling vehicle may include an instructing unit that switches between a mode of automatically traveling on the predetermined traveling route and a mode of manually traveling in a field other than the predetermined traveling route.
根據該構成，自動行駛車輛於手動地行駛後回歸至既定行駛路徑上之情形時，可特定該自動行駛車輛之當前位置。 According to this configuration, when the automatic traveling vehicle returns to the predetermined traveling route after manually traveling, the current position of the automatically traveling vehicle can be specified.
又，本發明之自動行駛系統之特徵在於包含：上述自動行駛車輛；感應線，其係為了供上述自動行駛車輛自動行駛而鋪設；及定點，其係為了控制上述自動行駛車輛之速度而鋪設於自動行駛中上述自動行駛車輛通過之複數個地點。 Further, the automatic traveling system of the present invention is characterized by comprising: the above-described automatic traveling vehicle; an induction line laid for automatic driving of the above-described automatic traveling vehicle; and a fixed point which is laid in order to control the speed of the above-described automatic traveling vehicle In the automatic driving, the above-mentioned automatic driving vehicles pass through a plurality of locations.
根據上述構成，實現可精度良好地特定自動行駛中之自動行駛車輛之當前位置的自動行駛系統。 According to the above configuration, the automatic traveling system that can accurately specify the current position of the automatically traveling vehicle during automatic traveling can be realized.
根據本發明，可提供一種能夠更高精度地辨識當前位置之、可沿既定行駛路徑自動行駛之自動行駛車輛。又，可提供一種包含此種自動行駛車輛之自動行駛系統。 According to the present invention, it is possible to provide an automatic traveling vehicle that can recognize the current position with higher accuracy and can automatically travel along a predetermined traveling path. Further, an automatic travel system including such an automatically driven vehicle can be provided.
1‧‧‧自動行駛車輛 1‧‧‧Automatic vehicles
3‧‧‧攝像部 3‧‧‧Photography Department
3a‧‧‧左圖像感測器 3a‧‧‧Left image sensor
3b‧‧‧右圖像感測器 3b‧‧‧Right image sensor
4‧‧‧方向盤 4‧‧‧Steering wheel
5‧‧‧右前輪 5‧‧‧Right front wheel
6‧‧‧左前輪 6‧‧‧Left front wheel
7‧‧‧讀取部 7‧‧‧Reading Department
7a‧‧‧定點偵測部 7a‧‧‧ Fixed Point Detection Department
7b‧‧‧感應線偵測部 7b‧‧‧Induction Line Detection Department
9‧‧‧旋轉角偵測部 9‧‧‧Rotation Angle Detection Department
11‧‧‧定點特定部 11‧‧‧Specified specific department
13‧‧‧行駛距離計測部 13‧‧‧Travel Distance Measurement Department
15‧‧‧記憶部 15‧‧‧Memory Department
17‧‧‧當前地點特定部 17‧‧‧ Current location specific department
19‧‧‧自動運行控制部 19‧‧‧Automatic Operation Control Department
21‧‧‧行駛路徑 21‧‧‧ Driving path
23‧‧‧定點 23‧‧‧ fixed point
23a‧‧‧定點 23a‧‧‧ fixed point
23b‧‧‧定點 23b‧‧‧ fixed point
23c‧‧‧定點 23c‧‧ ‧ fixed point
24‧‧‧電磁感應線 24‧‧‧Electromagnetic induction line
31‧‧‧座標計測部 31‧‧‧Coordinate measuring department
33‧‧‧指示部 33‧‧‧Instructions
C0‧‧‧起點 Starting point for C0‧‧
da‧‧‧鄰接定點間距離 Da‧‧‧adjacent distance between fixed points
db‧‧‧鄰接定點間距離 Db‧‧‧adjacent distance between fixed points
dc‧‧‧鄰接定點間距離 Dc‧‧‧adjacent distance between fixed points
圖1係自前面觀察自動行駛車輛時之模式圖。 Fig. 1 is a pattern diagram when the vehicle is automatically viewed from the front.
圖2係功能性地表示自動行駛車輛之第一實施形態之構成的方塊圖。 Fig. 2 is a block diagram functionally showing the configuration of the first embodiment of the self-propelled vehicle.
圖3係表示自動行駛車輛行駛之行駛路徑之一例的模式圖。 Fig. 3 is a schematic view showing an example of a travel route in which an automatic traveling vehicle travels.
圖4係用以對記憶於記憶部之資訊進行說明之圖。 FIG. 4 is a diagram for explaining information stored in the memory unit.
圖5係功能性地表示自動行駛車輛之第二實施形態之構成的方塊圖。 Fig. 5 is a block diagram functionally showing the configuration of a second embodiment of the self-propelled vehicle.
圖6係用以對記憶於記憶部之資訊進行說明之圖。 Fig. 6 is a diagram for explaining information stored in the memory unit.
圖7係功能性地表示自動行駛車輛之第三實施形態之構成的方塊圖。 Fig. 7 is a block diagram functionally showing the configuration of a third embodiment of the self-propelled vehicle.
圖8係自前面觀察第四實施形態之自動行駛車輛時之模式圖。 Fig. 8 is a schematic view showing the state of the self-driving vehicle of the fourth embodiment as seen from the front.
圖9係功能性地表示自動行駛車輛之第四實施形態之構成的方塊圖。 Fig. 9 is a block diagram functionally showing the configuration of a fourth embodiment of the self-propelled vehicle.
圖10係功能性地表示自動行駛車輛之其他實施形態之構成的方塊圖。 Fig. 10 is a block diagram functionally showing the configuration of another embodiment of the self-propelled vehicle.
圖11係功能性地表示自動行駛車輛之其他實施形態之構成的方塊圖。 Fig. 11 is a block diagram functionally showing the configuration of another embodiment of the self-propelled vehicle.
[第一實施形態] [First Embodiment]
參照圖式對本發明之自動行駛車輛之第一實施形態之構成進行說明。再者，於以下之圖式中，實際之尺寸比與圖式上之尺寸比未必 一致。 The configuration of the first embodiment of the self-propelled vehicle of the present invention will be described with reference to the drawings. Furthermore, in the following figures, the actual size ratio does not necessarily correspond to the size on the drawing. Consistent.
於本實施形態中，作為自動行駛車輛而例示高爾夫球車進行說明。但是，作為自動行駛車輛，並不限定於高爾夫球車，亦包含於工廠或果樹園中行駛之無人搬送車。又，本發明中之自動行駛車輛並不限定於四輪車，亦可為三輪車，亦可為單軌型。於下述之第二實施形態之後之內容中亦情況相同。 In the present embodiment, a golf cart will be described as an automatic traveling vehicle. However, the automatic traveling vehicle is not limited to a golf cart, and includes an unmanned transport vehicle that travels in a factory or an orchard. Further, the automatic traveling vehicle in the present invention is not limited to a four-wheeled vehicle, and may be a three-wheeled vehicle or a single-track type. The same is true in the following after the second embodiment.
圖1係自前面觀察本實施形態中之自動行駛車輛時之模式圖。圖1所示之自動行駛車輛1係於高爾夫球場內自動行駛之高爾夫球車。再者，圖2係功能性地表示該自動行駛車輛1之構成的方塊圖。 Fig. 1 is a schematic view showing a state in which the vehicle is automatically driven in the present embodiment. The self-driving vehicle 1 shown in Fig. 1 is a golf cart that automatically travels in a golf course. 2 is a block diagram functionally showing the configuration of the self-propelled vehicle 1.
圖1所示之自動行駛車輛1包括方向盤4、以及藉由該方向盤4之旋轉而進行操舵的右前輪5及左前輪6。又，自動行駛車輛1係於車體之下部具備讀取部7。讀取部7包含定點偵測部7a與感應線偵測部7b(參照圖2)。定點偵測部7a及感應線偵測部7b之說明將於下文進行敍述。 The self-propelled vehicle 1 shown in FIG. 1 includes a steering wheel 4, and a right front wheel 5 and a left front wheel 6 that are steered by the rotation of the steering wheel 4. Further, the self-propelled vehicle 1 is provided with a reading unit 7 at a lower portion of the vehicle body. The reading unit 7 includes a fixed point detecting unit 7a and a sensing line detecting unit 7b (see FIG. 2). The description of the fixed point detecting unit 7a and the sensing line detecting unit 7b will be described below.
於自動行駛車輛1之右前輪5設置有檢測右前輪5之旋轉角之旋轉角偵測部9。旋轉角感測器9係檢測車輪之旋轉角者，且包括例如旋轉編碼器。再者，該旋轉角感測器9亦可代替右前輪5或者除該右前輪5以外亦設置於左前輪6或後輪。 A rotation angle detecting portion 9 that detects a rotation angle of the right front wheel 5 is provided to the right front wheel 5 of the self-propelled vehicle 1. The rotation angle sensor 9 detects the rotation angle of the wheel and includes, for example, a rotary encoder. Furthermore, the rotation angle sensor 9 may be provided in addition to or in addition to the right front wheel 5 to the left front wheel 6 or the rear wheel.
圖2係模式性地表示自動行駛車輛1之構成之功能方塊圖。自動行駛車輛1除包括上述定點偵測部7a、感應線偵測部7b、及旋轉角偵測部9以外，亦包括定點特定部11、行駛距離計測部13、記憶部15、當前地點特定部17、及自動運行控制部19。定點特定部11、行駛距離計測部13、當前地點特定部17、及自動運行控制部19包括例如CPU(Central Processing Unit，中央處理單元)等運算裝置。又，記憶部15包括例如記憶體或硬碟等。 FIG. 2 is a functional block diagram schematically showing the configuration of the self-propelled vehicle 1. The automatic traveling vehicle 1 includes the fixed point detecting unit 7a, the sensing line detecting unit 7b, and the rotation angle detecting unit 9, and includes a fixed point specifying unit 11, a traveling distance measuring unit 13, a memory unit 15, and a current location specific unit. 17. The automatic operation control unit 19. The pointing point specifying unit 11, the traveling distance measuring unit 13, the current point specifying unit 17, and the automatic operation control unit 19 include arithmetic means such as a CPU (Central Processing Unit). Further, the memory unit 15 includes, for example, a memory or a hard disk.
自動運行控制部19係對自動行駛車輛1進行用於沿著設置於既定 之行駛路徑上之電磁感應線之自動運行的控制。圖3係預定供自動行駛車輛1行駛之行駛路徑之一例。如圖3所示，於行駛路徑21下埋入有電磁感應線24。感應線偵測部7b係可接收自電磁感應線24發出之電磁波之構成，且包括例如磁感測器。感應線偵測部7b若接收自電磁感應線24發出之電磁波，則對自動運行控制部19輸出檢測信號。自動運行控制部19係基於該檢測信號，對未圖示之操舵機構進行控制。藉此，自動運行車輛1於行駛路徑21上自動運行。 The automatic operation control unit 19 performs the automatic traveling vehicle 1 for setting along the predetermined The automatic operation control of the electromagnetic induction line on the travel path. FIG. 3 is an example of a travel route scheduled to travel by the self-driving vehicle 1. As shown in FIG. 3, an electromagnetic induction line 24 is buried under the traveling path 21. The sensing line detecting portion 7b is configured to receive electromagnetic waves emitted from the electromagnetic induction line 24, and includes, for example, a magnetic sensor. When the induction line detecting unit 7b receives the electromagnetic wave emitted from the electromagnetic induction line 24, it outputs a detection signal to the automatic operation control unit 19. The automatic operation control unit 19 controls a steering mechanism (not shown) based on the detection signal. Thereby, the automatic running vehicle 1 automatically operates on the travel path 21.
又，如圖3所示，於行駛路徑21上於包含起點C0之預先所規定之複數個位置埋設有定點23。定點23係藉由例如複數個磁鐵之組合而構成。定點偵測部7a係可讀取來自該定點23之磁場資訊之構成，且包括例如磁力感測器。該等定點23發送例如指示行駛、停止、減速等之指示信號。當自動運行車輛1通過定點23上時，定點偵測部7a接收來自該通過之定點23之指示信號，並對自動運行控制部19輸出該指示信號。自動運行控制部19係根據該指示信號控制自動行駛車輛1。藉此，自動行駛車輛1係基於由定點23指定之資訊而自動地進行行駛、停止、減速等控制。 Further, as shown in FIG. 3, a fixed point 23 is embedded in the travel path 21 at a plurality of predetermined positions including the start point C0. The fixed point 23 is formed by, for example, a combination of a plurality of magnets. The fixed point detecting unit 7a is configured to read the magnetic field information from the fixed point 23, and includes, for example, a magnetic sensor. The fixed points 23 transmit, for example, indication signals indicating driving, stopping, deceleration, and the like. When the automatic operation vehicle 1 passes the fixed point 23, the fixed point detecting unit 7a receives the instruction signal from the passing fixed point 23, and outputs the instruction signal to the automatic operation control unit 19. The automatic operation control unit 19 controls the automatic traveling vehicle 1 based on the instruction signal. Thereby, the self-propelled vehicle 1 automatically performs control such as traveling, stopping, and deceleration based on the information specified by the fixed point 23.
又，定點偵測部7a係於自動行駛車輛1已通過定點23之時間點，將該內容之資訊輸出至行駛距離計測部13。行駛距離計測部13係基於自定點偵測部7a傳送之信號而辨識自動行駛車輛1通過定點23之時間點。繼而，行駛距離計測部13係基於自旋轉角偵測部9輸出之車輪之旋轉角相關之資訊而計測自動行駛車輛1自通過定點23後直至當前之地點為止所行駛的距離。行駛距離計測部13可設為預先記憶有右前輪5之直徑相關之資訊者。藉此，可根據自通過定點23之時間點算起之右前輪5之旋轉角(轉數)、及右前輪5之直徑，並藉由運算而計算自通過定點23之時間點算起之自動行駛車輛1之行駛距離。 Further, the fixed point detecting unit 7a outputs the information of the content to the traveling distance measuring unit 13 at the time when the automatic traveling vehicle 1 has passed the fixed point 23. The travel distance measuring unit 13 recognizes the time point at which the automatic traveling vehicle 1 passes the fixed point 23 based on the signal transmitted from the fixed point detecting unit 7a. Then, the travel distance measuring unit 13 measures the distance traveled by the self-propelled vehicle 1 from the time of passing the fixed point 23 to the current point based on the information on the rotation angle of the wheel output from the rotation angle detecting unit 9. The travel distance measuring unit 13 can be configured to store information related to the diameter of the right front wheel 5 in advance. Thereby, the rotation angle (number of revolutions) of the right front wheel 5 and the diameter of the right front wheel 5 from the time point of passing through the fixed point 23 can be calculated, and the automatic calculation from the time point of passing the fixed point 23 can be calculated by calculation. The driving distance of the traveling vehicle 1.
將用於識別埋入於行駛路徑21下之各定點23之定點識別資訊與 配置各定點23之位置相關之定點位置資訊建立對應關係而記憶於記憶部15。圖4係用以對記憶於記憶部15之資訊之一例進行說明之模式圖。 It will be used to identify the fixed point identification information of each fixed point 23 buried under the driving path 21 The fixed position information related to the position of each fixed point 23 is configured to establish a correspondence and is stored in the memory unit 15. FIG. 4 is a schematic diagram for explaining an example of information stored in the memory unit 15.
例如，於各定點23附有用以識別各者之符號(23a、23b、23c、…)。該符號與定點識別資訊對應。再者，作為定點識別資訊，亦可不僅包含用於如此般僅識別定點之符號，而且包含登錄於定點23之、行駛、停止、減速等指示信號相關之資訊。又，作為定點識別資訊，於沿著行駛路徑21行駛之情形時，亦可包含表示自配置於起點C0之定點23數起為第幾個定點23之資訊。 For example, at each fixed point 23, symbols (23a, 23b, 23c, ...) for identifying each are attached. This symbol corresponds to the fixed point identification information. Further, as the fixed point identification information, not only the symbol for identifying only the fixed point but also the information related to the instruction signal such as traveling, stopping, and deceleration registered at the fixed point 23 may be included. Further, as the fixed point identification information, when traveling along the traveling path 21, information indicating the number of fixed points 23 arranged from the fixed point C0 of the starting point C0 may be included.
又，記憶部15中，配置於各定點23之位置相關之資訊以例如緯度與經度表示。作為一例，於記憶部15中記憶有定點23a配置於緯度xa、經度ya之位置的內容。各定點23之位置相關之資訊與定點位置資訊對應。 Further, in the memory unit 15, information relating to the position of each fixed point 23 is expressed by, for example, latitude and longitude. As an example, the memory unit 15 stores the content in which the fixed point 23a is placed at the position of the latitude xa and the longitude ya. The information related to the position of each fixed point 23 corresponds to the fixed position information.
定點偵測部7a當偵測自動行駛車輛1已通過定點23時將該內容之資訊輸出至定點特定部11。定點特定部11係自記憶部15讀出定點識別資訊並進行對照，特定之前剛通過之定點23為哪一定點23。 The fixed point detecting unit 7a outputs the information of the content to the fixed point specific portion 11 when detecting that the automatic traveling vehicle 1 has passed the fixed point 23. The pointing specifying unit 11 reads the fixed point identification information from the memory unit 15 and compares it, and specifies which fixed point 23 is the fixed point 23 that has just passed before.
例如，於記載有各定點23之指示信號作為定點識別資訊之情形時，定點特定部11係藉由將定點偵測部7a所讀出之指示信號相關之資訊與記憶於記憶部15之資訊進行對照而特定定點23。 For example, when the indication signal of each fixed point 23 is described as the fixed point identification information, the pointing specifying unit 11 performs the information related to the indication signal read by the fixed point detecting unit 7a and the information stored in the memory unit 15. A specific point 23 is specified for comparison.
又，於記載有各定點23配置於自起點C0數起第幾個相關之資訊(以下，稱為「順序資訊」)作為定點識別資訊之情形時，定點特定部11對自定點偵測部7a傳送已通過定點23之內容之信號之次數進行計數。繼而，定點特定部11係藉由將該計數之數與記憶於記憶部15之定點識別資訊中記載之順序資訊進行對照而特定定點23。 In addition, when the information on the first correlation (hereinafter referred to as "sequence information" from the start point C0 is set as the fixed point identification information, the fixed point detecting unit 11 pairs the self-pointing detecting unit 7a. The number of times the signal of the content of the fixed point 23 has been transmitted is counted. Then, the pointing specifying unit 11 specifies the fixed point 23 by collating the number of counts with the order information described in the fixed point identification information stored in the storage unit 15.
再者，於定點偵測部7a具有讀出為了識別定點23而附加之符號相關之資訊之功能的情形時，當自動行駛車輛1通過定點23時，將上述 符號相關之資訊自定點偵測部7a輸出至定點特定部11。定點特定部11可藉由將對該定點23附加之符號相關之資訊、與記憶於記憶部15之定點識別資訊中記載之符號相關之資訊進行對照而特定定點23。 Further, when the fixed point detecting unit 7a has a function of reading information related to the symbol added to identify the fixed point 23, when the automatic traveling vehicle 1 passes the fixed point 23, the above The information related to the symbol is output from the fixed point detecting unit 7a to the fixed point specifying unit 11. The pointing specifying unit 11 can specify the fixed point 23 by collating the information related to the symbol attached to the fixed point 23 with the information related to the symbol recorded in the fixed point identification information stored in the storage unit 15.
如上所述之定點特定部11特定自動行駛車輛1已通過之定點23的方法僅為一例，可採用各種方法。定點特定部11當如此般特定自動行駛車輛1已通過之定點23時將該內容之資訊輸出至當前地點特定部17。 The method in which the fixed point specific portion 11 specifies that the fixed traveling vehicle 1 has passed through the fixed point 23 as described above is only an example, and various methods can be employed. The pointing specific portion 11 outputs the information of the content to the current location specifying portion 17 when the fixed point 23 through which the automatic traveling vehicle 1 has passed is specified.
當前地點特定部17係針對藉由定點特定部11特定出之定點23為配置於哪一位置者而自記憶部15讀出與該定點23對應之定點位置資訊而進行辨識。藉此，當前地點特定部17對自動行駛車輛1之前剛通過之定點23之位置進行辨識。繼而，當前地點特定部17係自行駛距離計測部13獲取之前剛通過定點23後直至當前之位置為止自動行駛車輛1所行駛之距離相關的資訊。當前地點特定部17係基於該等資訊而特定自動行駛車輛1之當前地點。 The current location specifying unit 17 recognizes the fixed-point position information corresponding to the fixed point 23 from the memory unit 15 based on the fixed point 23 specified by the fixed-point specifying unit 11 as the position to be placed. Thereby, the current location specifying unit 17 recognizes the position of the fixed point 23 that the automatic traveling vehicle 1 has just passed. Then, the current location specifying unit 17 acquires information on the distance traveled by the vehicle 1 from the travel distance measuring unit 13 immediately after the fixed point 23 has passed until the current position. The current location specific portion 17 specifies the current location of the automatically traveling vehicle 1 based on the information.
根據本實施形態之自動行駛車輛1，可於在既定之行駛路徑21上行駛之期間內自動地檢測當前之地點。又，通常，定點23於行駛路徑21上埋設有複數個。本實施形態之自動行駛車輛1係基於埋設有複數個之定點23中的之前剛通過之定點23之資訊而檢測當前之位置的構成，因此，可減小檢測誤差。 According to the self-propelled vehicle 1 of the present embodiment, the current location can be automatically detected during the travel on the predetermined travel route 21. Further, in general, the fixed point 23 is embedded in the plurality of traveling paths 21. The automatic traveling vehicle 1 of the present embodiment is configured to detect the current position based on the information of the fixed point 23 that has just passed through among the plurality of fixed points 23, so that the detection error can be reduced.
[第二實施形態] [Second embodiment]
關於自動行駛車輛之第二實施形態之構成，僅對與第一實施形態不同之部分進行說明。圖5係表示本實施形態之自動行駛車輛1之構成的功能方塊圖。 Regarding the configuration of the second embodiment of the self-propelled vehicle, only portions different from the first embodiment will be described. Fig. 5 is a functional block diagram showing the configuration of the self-propelled vehicle 1 of the present embodiment.
於本實施形態之自動行駛車輛1，行駛距離計測部13亦將計測出之行駛距離相關之資訊輸出至定點特定部11。定點特定部11係基於自行駛距離計測部13輸入之行駛距離相關之資訊而特定之前剛通過之定 點23。 In the self-propelled vehicle 1 of the present embodiment, the travel distance measuring unit 13 also outputs information relating to the measured travel distance to the fixed point specifying unit 11. The fixed point specific portion 11 is based on the information related to the travel distance input from the travel distance measuring unit 13 and is specified only before Point 23.
圖6係用以對本實施形態中之自動行駛車輛1具備之記憶部15中記憶之資訊之一例進行說明的模式圖。 FIG. 6 is a schematic diagram for explaining an example of information stored in the storage unit 15 provided in the self-propelled vehicle 1 of the present embodiment.
如圖6所示，於記憶部15中記憶有配置各定點23之位置、與配置前一定點23之位置之間之距離相關的資訊。作為一例，於記憶部15記憶有定點23b配置於自定點23a前進距離db之位置之內容。此種鄰接之兩個定點23間之距離相關之資訊係與識別定點23之符號一併與定點識別資訊對應。 As shown in FIG. 6, the memory unit 15 stores information on the position at which each fixed point 23 is placed and the distance between the position of the fixed point 23 before the arrangement. As an example, the memory unit 15 stores the content of the fixed point 23b at the position of the advancement distance db of the fixed point 23a. The information related to the distance between the two fixed points 23 adjacent to the identification point corresponds to the fixed point identification information together with the symbol of the identification fixed point 23.
與第一實施形態之構成同樣地，定點特定部11係根據自定點偵測部7a提供之資訊而辨識自動行駛車輛1已通過定點23之時間點。又，行駛距離計測部13係計測從自動行駛車輛1已通過定點23之時間點至當前之位置為止自動行駛車輛1所行駛的距離。 Similarly to the configuration of the first embodiment, the pointing specifying unit 11 recognizes the point in time at which the automatic traveling vehicle 1 has passed the fixed point 23 based on the information supplied from the fixed point detecting unit 7a. Further, the travel distance measuring unit 13 measures the distance traveled by the vehicle 1 from the time point when the automatic traveling vehicle 1 has passed the fixed point 23 to the current position.
定點特定部11當根據自定點偵測部7a提供之資訊辨識自動行駛車輛1通過下一定點23之時間點時，自行駛距離計測部13獲取前一次通過定點23後直至之前剛通過定點23為止自動行駛車輛1所行駛的距離。藉此，定點特定部11對之前剛通過之定點23與其前一次通過之定點23之距離進行辨識。定點特定部11係將如此般基於來自行駛距離計測部13之資訊計算出之鄰接之兩個定點23間之距離、與記憶於記憶部15之定點識別資訊中記載之鄰接定點間距離相關之資訊進行對照。繼而，定點特定部23特定記載有與計算出之距離最近之值之定點23。 When the fixed point detecting unit 11 recognizes the time point when the automatic traveling vehicle 1 passes the lower fixed point 23 based on the information supplied from the fixed point detecting unit 7a, the traveling distance measuring unit 13 acquires the previous passing point 23 until the previous point 23 is passed. The distance traveled by the vehicle 1 automatically. Thereby, the fixed point specific portion 11 recognizes the distance from the fixed point 23 that has just passed before and the fixed point 23 that it passed the previous time. The fixed point specifying unit 11 is information related to the distance between the adjacent two fixed points 23 calculated based on the information from the traveling distance measuring unit 13 and the distance between the adjacent fixed points recorded in the fixed point identification information stored in the storage unit 15. Control. Then, the fixed point specifying unit 23 specifies a fixed point 23 in which the value closest to the calculated distance is specified.
如上所述，本實施形態之自動行駛車輛1之定點特定部11基於鄰接之兩個定點23間之距離相關之資訊而特定定點23。但是，定點特定部11亦可除包含鄰接之兩個定點23間之距離相關之資訊以外亦包含第一實施形態中例示之其他定點識別資訊而特定定點23。 As described above, the pointing specifying unit 11 of the self-propelled vehicle 1 of the present embodiment specifies the fixed point 23 based on the information on the distance between the two adjacent fixed points 23. However, the fixed point specifying unit 11 may include the other fixed point identification information exemplified in the first embodiment in addition to the information on the distance between the two adjacent fixed points 23, and the fixed point 23 may be specified.
藉由定點特定部11特定出自動行駛車輛1之前剛通過之定點23後之處理內容係與第一實施形態相同，因此省略說明。 The processing content after the fixed point portion 11 has specified the fixed point 23 immediately before the automatic traveling vehicle 1 is the same as that of the first embodiment, and thus the description thereof is omitted.
[第三實施形態] [Third embodiment]
關於自動行駛車輛之第三實施形態之構成，僅對與第一實施形態不同之部分進行說明。圖7係模式性地表示本實施形態之自動行駛車輛1之構成的功能方塊圖。 Regarding the configuration of the third embodiment of the self-propelled vehicle, only portions different from the first embodiment will be described. Fig. 7 is a functional block diagram schematically showing the configuration of the self-propelled vehicle 1 of the present embodiment.
本實施形態之自動行駛車輛1具備計測自動行駛車輛1之當前之地點之世界座標的座標計測部31。作為座標計測部31，可使用例如GPS系統。於記憶部15，例如如圖4中記載般，記憶有配置各定點23之位置資訊。尤其是，於本實施形態中，配置各定點23之位置資訊以世界座標之形式記載。 The automatic traveling vehicle 1 of the present embodiment includes a coordinate measuring unit 31 that measures the world coordinates of the current location of the self-driving vehicle 1. As the coordinate measuring unit 31, for example, a GPS system can be used. In the memory unit 15, for example, as described in FIG. 4, the position information of each fixed point 23 is stored. In particular, in the present embodiment, the position information at which each fixed point 23 is placed is described in the form of a world coordinate.
定點特定部11當根據自定點偵測部7a提供之資訊偵測自動行駛車輛1已通過定點23時，自座標計測部31獲取表示自動行駛車輛1之當前位置之世界座標。繼而，定點特定部11係將自座標計測部31所獲取之世界座標、與記憶於記憶部15之定點識別資訊中記載之世界座標相關之資訊進行對照而特定定點23。 When the automatic pointing vehicle 1 has passed the fixed point 23 based on the information supplied from the fixed point detecting unit 7a, the fixed point specifying unit 11 acquires the world coordinates indicating the current position of the automatically traveling vehicle 1 from the coordinate measuring unit 31. Then, the pointing specifying unit 11 specifies the fixed point 23 by collating the world coordinates acquired from the coordinate measuring unit 31 with the information related to the world coordinates recorded in the fixed point identification information stored in the storage unit 15.
如上所述，本實施形態之自動行駛車輛1之定點特定部11藉由將自座標計測部31所獲取之世界座標與記憶於記憶部15之定點識別資訊中記載之世界座標相關之資訊進行對照而特定定點23。但是，定點特定部11亦可除包含自座標計測部31所獲取之世界座標以外亦包含第一實施形態中例示之其他定點識別資訊而特定定點23。 As described above, the fixed point specifying unit 11 of the self-propelled vehicle 1 according to the present embodiment compares the world coordinates acquired from the coordinate measuring unit 31 with the information related to the world coordinates recorded in the fixed point identification information stored in the storage unit 15. And the specific fixed point 23. However, the fixed point specifying unit 11 may include the other fixed point identification information exemplified in the first embodiment in addition to the world coordinates acquired from the coordinate measuring unit 31, and may specify the fixed point 23.
再者，本實施形態之自動行駛車輛1具備藉由座標計測部31計測當前地點之世界座標的功能。但是，本實施形態之自動行駛車輛1並非成為僅利用由座標計測部31計測出之世界座標之資訊本身而特定自動行駛車輛1之當前位置的構成。其原因在於，設想於自動行駛車輛1用作高爾夫球車之情形時於行駛路徑21之極近之區域種植有較多之樹木等狀況。即，亦會產生如下情況：根據自動行駛車輛1之位置，無法藉由包括GPS之座標計測部31特定當前之位置。但是，於本實施形 態中，利用座標計測部31計測出之世界座標相關之資訊係用於特定之前剛通過之定點23。因此，利用座標計測部31計測之世界座標只要具有能夠特定記憶於記憶部15之各定點23之世界座標中與該計測出之世界座標最近似者的程度之精度即可。 Further, the self-propelled vehicle 1 of the present embodiment has a function of measuring the world coordinates of the current location by the coordinate measuring unit 31. However, the self-propelled vehicle 1 of the present embodiment does not have a configuration in which the current position of the vehicle 1 is automatically driven only by the information of the world coordinates measured by the coordinate measuring unit 31. The reason for this is that a situation in which a large number of trees are planted in a region close to the traveling path 21 when the self-propelled vehicle 1 is used as a golf cart is assumed. That is, there is also a case where the current position cannot be specified by the coordinate measuring unit 31 including the GPS based on the position of the automatically traveling vehicle 1. However, in this embodiment In the state, the information related to the world coordinates measured by the coordinate measuring unit 31 is used for specifying the fixed point 23 that has just passed. Therefore, the world coordinates measured by the coordinate measuring unit 31 may have an accuracy that can be specifically stored in the world coordinates of the fixed points 23 of the memory unit 15 to the extent that the measured world coordinates are the closest.
藉由定點特定部11特定出自動行駛車輛1之前剛通過之定點23後之處理內容係與第一實施形態相同，因此省略說明。 The processing content after the fixed point portion 11 has specified the fixed point 23 immediately before the automatic traveling vehicle 1 is the same as that of the first embodiment, and thus the description thereof is omitted.
[第四實施形態] [Fourth embodiment]
關於自動行駛車輛之第四實施形態之構成，僅對與第一實施形態不同之部分進行說明。圖8係自前面觀察本實施形態中之自動行駛車輛時之模式圖。又，圖9係功能性地表示本實施形態之自動行駛車輛1之構成的方塊圖。 Regarding the configuration of the fourth embodiment of the self-propelled vehicle, only portions different from the first embodiment will be described. Fig. 8 is a schematic view showing a state in which the vehicle is automatically driven in the present embodiment. In addition, FIG. 9 is a block diagram functionally showing the configuration of the self-propelled vehicle 1 of the present embodiment.
本實施形態之自動行駛車輛1係於前面中央部具備攝像部3。攝像部3包括例如立體攝影機，且包含左圖像感測器3a與右圖像感測器3b。該等圖像感測器(3a、3b)包括CCD(Charge-Coupled Device，電荷耦合元件)或CMOS(Complementary MOS(Metal Oxide Semiconductor)，互補金氧半導體)等一般之可見光感測器。 The automatic traveling vehicle 1 of the present embodiment includes an imaging unit 3 at a central portion of the front surface. The imaging unit 3 includes, for example, a stereo camera, and includes a left image sensor 3a and a right image sensor 3b. The image sensors (3a, 3b) include a general visible light sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS (Metal Oxide Semiconductor).
於本實施形態中，記憶於記憶部15之定點識別資訊中包含於各定點23之位置攝像部3對前方進行拍攝所得之資料。再者，攝像部3拍攝之方向並非必須為自動行駛車輛1之前方。 In the present embodiment, the fixed point identification information stored in the storage unit 15 is included in the position of each fixed point 23, and the image pickup unit 3 photographs the front side. Furthermore, the direction in which the imaging unit 3 captures is not necessarily the front of the self-propelled vehicle 1.
定點特定部11當根據自定點偵測部7a提供之資訊偵測自動行駛車輛1已通過定點23時，於該時間點被輸入攝像部3對自動行駛車輛1之前方進行拍攝所得之資料。繼而，定點特定部11係藉由將自攝像部3輸入之攝像資料與自記憶部15讀出之定點識別資訊中記載之攝像資料相關之資訊進行對照而特定定點23。 When the automatic pointing vehicle 1 has passed the fixed point 23 based on the information supplied from the fixed point detecting unit 7a, the pointing specifying unit 11 receives the information obtained by the imaging unit 3 on the front side of the automatic traveling vehicle 1 at that point in time. Then, the pointing specifying unit 11 specifies the fixed point 23 by collating the information of the imaging data input from the imaging unit 3 with the imaging data described in the fixed point identification information read from the memory unit 15.
作為自攝像部3輸入之攝像資料與自記憶部15讀出之攝像資料相關之資訊之對照方法，可採用各種方法。作為一例，可將根據攝像資 料製作之視差圖像進行比較而進行對照。視差圖像係利用周知之方法製作。 As a method of collating the image data input from the image pickup unit 3 with the image data read from the memory unit 15, various methods can be employed. As an example, it can be based on camera resources. The parallax images produced by the materials were compared and compared. Parallax images are produced using well-known methods.
如上所述，本實施形態之自動行駛車輛1之定點特定部11係於已通過定點23之時間點基於攝像部3所產生之攝像資料而特定定點23。但是，定點特定部11亦可除包含該攝像資料以外亦包含上述各實施形態中例示之其他定點識別資訊而特定定點23。例如，本實施形態之自動行駛車輛1亦可進而包括座標計測部31。 As described above, the pointing specifying unit 11 of the self-propelled vehicle 1 of the present embodiment specifies the fixed point 23 based on the imaging data generated by the imaging unit 3 at the time point when the fixed point 23 has passed. However, the pointing specifying unit 11 may include the other fixed point identification information exemplified in each of the above embodiments in addition to the image data, and the fixed point 23 may be specified. For example, the self-propelled vehicle 1 of the present embodiment may further include a coordinate measuring unit 31.
藉由定點特定部11特定出自動行駛車輛1之前剛通過之定點23後之處理內容係與第一實施形態相同，因此省略說明。 The processing content after the fixed point portion 11 has specified the fixed point 23 immediately before the automatic traveling vehicle 1 is the same as that of the first embodiment, and thus the description thereof is omitted.
[其他實施形態] [Other Embodiments]
以下，對其他實施形態進行說明。 Hereinafter, other embodiments will be described.
<1>自動行駛車輛1亦可包括指示部，該指示部對在行駛路徑21上自主行駛之模式與在行駛路徑21以外之場域手動地行駛之模式進行切換。圖10係模式性地圖示上文於第一實施形態中敍述之自動行駛車輛1具備指示部33之情形時之構成者。 <1> The self-propelled vehicle 1 may further include an instruction unit that switches between a mode of autonomous driving on the traveling path 21 and a mode of manually traveling in a field other than the traveling path 21. FIG. 10 is a view schematically showing a configuration in the case where the automatic traveling vehicle 1 described in the first embodiment has the instruction unit 33.
根據該構成，自動行駛車輛1可偵測於在行駛路徑21以外之場域行駛後向於行駛路徑21上行駛之模式轉變的時序。自動行駛車輛1若轉變為於行駛路徑21上自動行駛之模式，則通過所有定點23，因此，可利用上述方法特定自動行駛車輛1之當前之位置。再者，上文於第二實施形態之後之各實施形態中敍述之自動行駛車輛1亦可包括指示部33。 According to this configuration, the self-propelled vehicle 1 can detect the timing of the mode transition to the traveling path 21 after traveling in the field other than the traveling path 21. When the automatic traveling vehicle 1 shifts to the mode of automatically traveling on the traveling path 21, all the fixed points 23 are passed, and therefore, the current position of the automatically traveling vehicle 1 can be specified by the above method. Further, the self-propelled vehicle 1 described in each of the embodiments after the second embodiment may include the indication portion 33.
<2>亦可針對定點23而記憶有配置該定點23之位置相關之資訊本身(定點位置資訊)。作為一例，於定點23以如RFID般之記憶有較多之資訊之形式埋入之情形時，可針對定點23使其記憶定點識別資訊與定點位置資訊之兩者。於該情形時，可設為如下構成，即，於自動行駛車輛1已通過定點23之時間點，定點偵測部7a不僅可辨識已通過定 點23，亦可對已通過之定點23之位置進行辨識。 <2> The information itself (fixed position information) related to the position at which the fixed point 23 is arranged may be memorized for the fixed point 23. As an example, when the fixed point 23 is buried in the form of more information such as RFID, the fixed point 23 can be used to memorize both the fixed point identification information and the fixed point position information. In this case, it is possible to adopt a configuration in which the fixed point detecting unit 7a can recognize not only the time point when the automatic traveling vehicle 1 has passed the fixed point 23 At point 23, the position of the fixed point 23 that has passed can also be identified.
於此種構成之情形時，可將自動行駛車輛1設為例如如圖11所示般之構成。即，定點偵測部7a係於已通過定點23之時間點，不僅可偵測已通過定點23，亦可偵測該通過之定點23之位置相關之資訊。由此，於該其他實施形態之構成中，並非必須如上述各實施形態之構成般包括將定點識別資訊與定點位置資訊建立關聯而記憶之記憶部15。 In the case of such a configuration, the self-propelled vehicle 1 can be configured as shown in, for example, FIG. That is, the fixed point detecting unit 7a is configured to detect not only the fixed point 23 but also the position related information of the passing fixed point 23 when the fixed point 23 has passed. Therefore, in the configuration of the other embodiment, it is not necessary to include the memory unit 15 that stores the fixed point identification information in association with the fixed point position information as in the configuration of each of the above embodiments.
<3>本案發明及本說明書之自動行駛車輛(automatically driven vehicle)係可自動行駛之車輛。自動行駛車輛係可不由操作員進行操舵而自動行駛之車輛。自動行駛車輛係可不由操作員進行加速及減速而自動行駛之車輛。又，自動行駛車輛包含搭載至少一個感測器且可根據該感測器之信號自主行駛之自主行駛車輛(autonomously driven vehicle)。 <3> The invention of the present invention and the automatically driven vehicle of the present specification are vehicles that can automatically travel. The self-driving vehicle is a vehicle that can be automatically driven without being steered by an operator. The self-driving vehicle is a vehicle that can automatically travel without being accelerated and decelerated by an operator. Further, the self-driving vehicle includes an autonomously driven vehicle that carries at least one sensor and can autonomously travel according to the signal of the sensor.
1‧‧‧自動行駛車輛 1‧‧‧Automatic vehicles
7‧‧‧讀取部 7‧‧‧Reading Department
7a‧‧‧定點偵測部 7a‧‧‧ Fixed Point Detection Department
7b‧‧‧感應線偵測部 7b‧‧‧Induction Line Detection Department
9‧‧‧旋轉角偵測部 9‧‧‧Rotation Angle Detection Department
11‧‧‧定點特定部 11‧‧‧Specified specific department
13‧‧‧行駛距離計測部 13‧‧‧Travel Distance Measurement Department
15‧‧‧記憶部 15‧‧‧Memory Department
17‧‧‧當前地點特定部 17‧‧‧ Current location specific department
19‧‧‧自動運行控制部 19‧‧‧Automatic Operation Control Department
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