JP3455324B2 - Mobile body movement control system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement control system for a mechanical moving body such as an unmanned or manned golf cart or a non-mechanical moving body such as an animal or a human, and more specifically, The present invention relates to a system for forming boundaries between zones by a screen and controlling movement of a moving body at the boundaries.

[0002]

2. Description of the Related Art FIG. 6 is a diagram showing an overall configuration of a conventional moving control system for a moving body disclosed in Japanese Patent Publication No. 6-10772. This system is used, for example, in golf courses. In FIG. 6, a moving body 100 is a manned or unmanned golf cart, a fairway is set as a traveling zone 101 of the moving body 100, and an OB zone and a bunker zone are prohibited zones 102a, 102b, 1
02c, the mobile body 100 is moved along the travel zone 101.

Laser projectors 104a, 104b and 104c are attached to the upper ends of a plurality of columns 103 (three shown in the figure) which are planted along both sides of the traveling zone 101. Each laser projector 104a, 104
b and 104c emit a single laser beam RB, so that the traveling zone 101 and the forbidden zone 102
Laser screen R at the boundary with a, 102b, 102c
S are formed respectively.

FIG. 7 is a block diagram showing the configuration of a control system provided in the moving body 100 of FIG. As shown in FIG. 7, the moving body 100 includes rotation detectors 111 and 112 that detect the rotation speeds of the left and right wheels, a drive system 115, an automatic steering device 116, a reduction gear 118, and the moving body 100. Two laser receivers 105 attached to the left and right of the roof part or the like (see FIG. 6) and capable of detecting the laser beam RB emitted from the laser projectors 104a, 104b, 104c.
An amplifier 117 for amplifying the signals from the laser receiver 105, a microcomputer 113, and a program 114 for operating the microcomputer 113.
And are provided.

The microcomputer 113 operates according to the program 114, and the rotation detectors 111, 11
Based on the signal from 2, the traveling direction is calculated from the difference in the rotational speeds of the left and right wheels, and the current position with respect to the start position is known. Then, the microcomputer 113 controls the drive system 115 and the automatic steering device 116 so as to travel along a predetermined route, that is, the travel zone 101.

By the way, in the control method by the program, due to an error in the steering system, a position shift occurs between the current position of the moving body 100 calculated by the program and the actual position of the moving body 100, and the moving body 100 runs. In order to ensure safety, the moving body 100 departs from the zone 101, and the moving body 100 should not enter the prohibited zone 102a, 102b, 1
There is a risk that it will enter 02c. Therefore, in this system, the following is done.

When the moving body 100 comes out of the traveling zone 101 and comes into contact with the laser screen RS, the laser receiver 105 causes the laser projectors 104a, 104b and 104 to operate.
The laser beam RB emitted from c is detected, and the detection signal is output to the microcomputer 113. When the detection signal is input to the microcomputer 113,
The deceleration device 118 is decelerated and controlled, and the moving body 100
Either side of the left or right of the no-entry zone 102a, 102
It is checked whether or not the vehicle has entered the b, 102c, and the automatic steering device 116 is controlled so as to change the traveling direction of the moving body 100 in a direction opposite to the entering direction. Thereby, the moving body 100
The entry prohibited zones 102a, 102b, 102c can be avoided and the inside of the traveling zone 101 can be quickly returned.

[0008]

However, in the system of FIG. 6, the laser screen RS is formed by one laser beam RB. Therefore, the laser beam R
The first problem is that even if B is detected, the movement polarity of the movement of the moving body between the zones cannot be determined. In particular, it was not possible to determine the basic movement polarity of whether the moving body moved from the safe zone to the dangerous zone or at the boundary from the dangerous zone to the safe zone.

Further, since it is not possible to determine the basic movement polarity, it is known that the moving body originally moves in a safe zone in the system of FIG. 6, and it seems that the moving body moves only in that zone. There was a second problem that only uniform and simple control was possible. For example, even if an attempt is made to move the golf course from the first fairway zone to the second fairway zone via the golf cart movement zone with high altitude and various controls, the boundary between the first fairway zone and the golf cart movement zone or This is because the moving body returns to the original zone at the boundary between the golf cart moving zone and the second fairway zone.

By the way, the coordinates of the boundary and which zone the start position of the moving body belongs to are stored in advance,
It is conceivable to determine the movement polarity from the boundary coordinates, the zone to which the start position belongs, and the current position of the moving body. However, as the storage capacity of the coordinates of the boundary becomes enormous, an error is likely to be included between the calculated current position of the moving body and the actual current position. Therefore, in reality,
It is difficult to judge the movement polarity.

Therefore, an object of the present invention is to provide a movement control system for a moving body, which can easily determine the moving polarity and can control the movement of the moving body at a boundary at various altitudes.

[0012]

The invention according to claim 1 is
A system for forming a boundary between zones by a screen and controlling the movement of a moving body at the boundary, the screen forming means for forming the screen by a plurality of beam signals that are discriminable from each other and have high directivity. Beam signal receiving means provided on the body and receiving each beam signal at the boundary, and provided on the moving body, based on the reception result of each beam signal received by the beam signal receiving means, the movement of the moving body between zones A moving polarity discriminating means for discriminating the moving polarity is provided.

According to a second aspect of the present invention, in the first aspect of the present invention, each beam signal includes guide information for guiding at least the contents of the zone at the boundary of the movement destination, and is provided in the moving body. Further, there is further provided guide information notifying means for notifying the moving body of the guide information based on each beam signal received by the beam signal receiving means.

[0014]

In the invention according to claim 1, the screen is formed by a plurality of beam signals which can be discriminated from each other and have high directivity, and based on the reception result of each beam signal received by the beam signal receiving means. The polarity of movement of a moving body between zones is determined. Therefore, unlike the conventional method, it is not necessary to measure the current position, and even if the source zone is not known somewhere and the coordinate position of the boundary is not held, the movement polarity can be determined from the discrimination of multiple beam signals. Can be easily determined. In addition, it is easy to know which side of the zone is safe and which zone is the safe one. Further, since the movement polarity can be discriminated, it is possible to enhance and diversify the movement control.

According to the second aspect of the present invention, the guide information is notified to the moving body based on each beam signal received by the beam signal receiving means. As a result, the mobile body can easily understand the contents of the destination zone.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the overall configuration of a movement control system for a moving body according to an embodiment of the present invention. This system
Used in golf courses, for example. In FIG.
The moving body 1 is a manned or unmanned golf cart, the fairway is set as the traveling zone 11 of the moving body 1, and the OB zone and the bunker zone are set as the prohibited zones 12a, 12
b and 12c, the mobile body 1 is moved along the traveling zone 11 by way of example.

Laser projectors 14a, 14b and 14c are attached to the upper ends of a plurality of (three in the figure) columns 13 that are planted along both sides of the traveling zone 11. Each of the laser projectors 14a, 14b and 14c emits two laser beams RB1 and RB2 which can be distinguished from each other, so that the laser screen R is provided at the boundary between the traveling zone 11 and the forbidden zones 12a, 12b and 12c.
S are formed respectively.

FIG. 2 shows each of the laser projectors 14a, 14a of FIG.
It is a figure which shows the detail of 4b, 14c. In particular, FIG. 2 (a)
Is a laser projector 14a, and FIG. 2 (b) is a laser projector 1
4b, and FIG. 2C shows the laser projector 14c.

The laser projector 14a has therein two laser emitters (not shown, for example, red and green) having different wavelengths.
A lens system (not shown), a reflecting mirror (not shown),
The laser projector 14a is provided with a motor for reciprocally rotating the main body of the laser projector 14a or a lens system or a reflecting mirror inside the laser projector 14a around an axis orthogonal to the emission direction. When the motor is reciprocally rotated, the laser beam R emitted from the two laser emitters
Br1 and RBg1 can be scanned straight along the boundary to form a laser screen RS that is straight along the boundary. Instead of scanning, the laser beams RBr1 and RBg1 may be spread into a plane beam by a lens, a slit, or the like to form the laser screen RS.

The laser projector 14b has two laser emitters (not shown, for example, red and green) having different wavelengths therein.
A lens system (not shown), a reflecting mirror (not shown),
The laser projector 14a is provided with a motor for reciprocally rotating the main body of the laser projector 14a or the lens system or reflecting mirror inside the main body of the laser projector 14a around an axis inclined with respect to the emission direction. When the motor is reciprocally rotated, the laser beam R emitted from the two laser emitters
Br1 and RBg1 are scanned along the boundary into a curved surface,
A curved laser screen RS can be formed along the boundary. Instead of scanning, the laser beams RBr1 and RBg1 may be spread into a plane beam by a lens, a slit, or the like to form the laser screen RS.

The laser projector 14c has two laser emitters (not shown, for example, red and green) having different wavelengths therein.
A lens system (not shown) and a ring-shaped slit (not shown). The laser beams RBr2 and RBg1 emitted from the two laser emitters are spread into a plane beam by the slits to form a ring-shaped laser screen RS. The laser screen RS may be formed by rotating the laser projector 14c and the like with a motor and scanning the laser beams RBr2 and RBg1.

FIG. 3 is a block diagram showing the configuration of a control system provided in the moving body 1 of FIG. As shown in FIG.
The moving body 1 includes rotation detectors 21 and 22 that detect the rotation speeds of the left and right wheels, a drive system 23, and an automatic steering device 24.
, A speed reducer 25, a guide output device 26 such as a speaker / monitor, and a laser beam RBr1 emitted from laser projectors 14a, 14b, 14c attached to the left and right of the roof of the moving body 1 (see FIG. 1). , RBr2, RBg
Two laser receivers 27 and 28 capable of detecting 1; amplifiers 29 and 30 for amplifying signals from the laser receivers 27 and 28, respectively; and a one-chip microcomputer 31.
And are provided. The microcomputer 31 is a C
It includes a PU 31a, a ROM 31b, and a RAM 31c. A program for operating the CPU 31a is stored in the ROM 31b in advance. The start position of the moving body 1 and the moving table are stored in advance in the RAM 31c.

FIG. 4 is a diagram showing a movement table stored in the RAM 28c of FIG. In FIG. 4, the movement table T is provided with a movement polarity guide column α and a movement restriction column β. The movement polarity guide column α indicates the movement polarity of the moving body at the boundary and also indicates the contents of the movement destination zone. The movement restriction column β indicates movement permission / prohibition to the movement destination zone.

Next, the operation in the traveling zone 11 will be described. The CPU 31a operates according to the program stored in the ROM 31c, calculates the traveling direction from the difference between the rotation speeds of the left and right wheels in response to the signals from the rotation detectors 21 and 22, and knows the current position with respect to the start position. Instead of the difference between the left and right rotational speeds, it is possible to obtain the traveling direction by using a azimuth detector such as a gyro on a moving body (for example, a golf cart), and to know the current position from the traveling distance and the traveling azimuth. The CPU 31a then travels along a predetermined route, that is, the traveling zone 11,
The drive system 23 and the automatic steering device 24 are controlled.

Next, the operation at the boundary will be described. FIG. 5 shows a laser screen RS and laser receivers 27 and 28.
It is a figure which shows the relationship with. When the moving body 1 comes out of the traveling zone 11 and comes into contact with the laser screen RS, the laser receivers 27 and 28 are laser projectors 14a, 14b and 1.
Laser beams RBg1 and RBr emitted from 4c
1, RBr2 is detected, and the detection signal is output to the microcomputer 31. The CPU 31a constantly searches whether the laser receivers 27 and 28 have detected the laser screen RS. When the detection signals are input from the laser receivers 27 and 28, the CPU 31a first determines which laser beam is received first and which laser beam is received next, that is, the laser beam reception mode. As a result, the polarity of movement between zones is known. Therefore, unlike the conventional method, it is not necessary to measure the current position, even if the source zone is not known somewhere and the coordinate position of the boundary is not held, the movement polarity can be determined from the discrimination of multiple beam signals. Can be easily determined. In addition, it is easy to know which side of the zone is safe and which zone is the safe one.

Next, the CPU 31a causes the moving table T
To search the movement polarity guide column α that matches the reception mode of the two laser beams, obtain the guide information of the movement destination zone from the movement polarity guide column α, and issue the movement permission to the movement destination zone from the movement restriction column β. Is obtained or is prohibited from moving. Next, the CPU 31a outputs the guidance information of the destination zone to the guidance output device 26. As a result, the mobile unit 1 can know the contents of the destination zone.

Next, the CPU 31a controls the automatic steering device 24 so as to keep the traveling direction of the moving body 1 as it is when the movement permission to the movement destination zone is given in the movement restriction column β. As a result, the moving body 1 penetrates the laser screen RS and moves to the movement destination zone. That is, altitude / various control such as movement from the prohibited zones 12a, 12b, 12c to the traveling zone 11 or movement from the first fairway zone to the second fairway zone via the golf cart movement zone. Will be possible.

On the other hand, when the movement to the destination zone is prohibited, the CPU 31a controls the deceleration device 25 to decelerate and at the same time, the left or right side of the moving body 1 enters the prohibited zones 12a, 12b, 12c. The automatic steering device 24 is controlled so as to change the traveling direction of the moving body 1 in a direction opposite to the approach direction. Thereby, the moving body 1
Can avoid the entry prohibition zones 12a, 12b, 12c and can quickly return to the travel zone 11. Therefore, it is possible to enhance and diversify the movement control of the moving body 1.

As described above, in the embodiment shown in FIG. 1, the laser screen RS is formed by a plurality of laser beams RBg1, RBr1 and RBr2 which can be discriminated from each other and have a high directivity. Based on the reception results of the received laser beams RBg1, RBr1, RBr2, the movement polarity of the movement of the moving body 1 between the zones is determined. Therefore, unlike the conventional method, it is not necessary to measure the current position, and even if the source zone is not known somewhere and the coordinate position of the boundary is not held, the movement polarity can be determined from the discrimination of multiple beam signals. Can be easily determined. In addition, it is easy to know which side of the zone is safe and which zone is the safe one. Further, since the movement polarity can be discriminated, it is possible to enhance and diversify the movement control. Further, since the guide information is notified to the moving body 1, the moving body 1 can easily understand the contents of the movement destination zone. By making the pattern of the laser screen variable and changing the discrimination signal (color, sign, etc.), the function of the laser screen can be improved and the flexibility of the system can be improved.

Although the vehicle is implemented as a golf cart, unmanned or manned aircraft, ships, automobiles, transport vehicles,
It may be carried out in a mechanical moving body such as a wheelchair, a lawn mower, or a cleaning robot, or may be carried out in a non-mechanical moving body of animals or humans. It can be expected to be useful for preventing visually impaired people from falling from the platform and for moving animals only in a predetermined zone. Further, it may be carried out in a self-supporting moving body having a driving source such as a motor or an engine, or may be carried out in a moving body which follows. Alternatively, the operation may be performed on a mobile body operated by remote control.

Although the screen is formed by the laser beam, infrared, ultraviolet, visible light, ultrasonic waves or other signals having high directivity may be used. Further, the number of beam signals having high directivity is two, but the number of beam signals may be three or more. Further, although the wavelengths, that is, the colors are discriminated from each other, they may be discriminated from each other by the code, the modulation, or the like.

Further, although the movement of the moving body is restricted by the beam signal and the movement prohibition is warned by guiding the movement destination zone, the movement to the movement destination zone may be permitted. Further, the mode of prohibiting / permitting movement to the movement destination zone may be changed depending on the type of moving body.

In addition, the destination zone information is provided in the OB zone,
The bunker zone was used, but for example, "No road in front of it.", "There are steps or stairs.", "Muddy", "No sidewalk", "There is a roadway (none)", etc. You may be guided by an electric signal.

According to the invention of claim 1, the screen is formed by a plurality of beam signals which can be discriminated from each other and have high directivity, and the reception result of each beam signal received by the beam signal receiving means. Since the polarity of the movement of the moving body between the zones is determined based on the above, it is not necessary to measure the current position as in the past, the origin zone is not known somewhere, and the boundary Even if the coordinate position is not held, the movement polarity can be easily discriminated from the discrimination of a plurality of beam signals. In addition, it is easy to know which side of the zone is safe and which zone is the safe one. Further, since the movement polarity can be discriminated, it is possible to enhance and diversify the movement control.

According to the second aspect of the present invention, the guide information is notified to the moving body based on each beam signal received by the beam signal receiving means. You can easily understand the contents of.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a movement control system for a moving body according to an embodiment of the present invention.

FIG. 2 is a sectional view of each of the laser projectors 14a, 14b, 14c of FIG.
It is a figure which shows the detail of.

FIG. 3 is a block diagram showing a configuration of a control system provided in the moving body 1 of FIG.

FIG. 4 is a diagram showing a movement table stored in a RAM 28c of FIG.

FIG. 5: Laser screen RS and laser receivers 27, 2
8 is a diagram showing a relationship with FIG.

FIG. 6 is a diagram showing an overall configuration of a conventional movement control system for a moving body.

7 is a block diagram showing a configuration of a control system provided in the moving body 100 of FIG.

[Explanation of symbols]

1 ... mobile 11 ... Running zone 12a, 12b, 12c ... Prohibition zone 14a, 14b, 14c ... Laser projector 27, 28 ... Laser receiver RS ... Laser screen RBg1, RBr1, RBr2 ... laser beam

Claims (2)

(57) [Claims] 1. A system for forming boundaries between zones by screens and controlling movement of a moving body at the boundaries, wherein the screens are formed by a plurality of beam signals that are discriminable from each other and have high directivity. Screen forming means, a beam signal receiving means provided on the moving body for receiving each beam signal at the boundary, and a beam signal receiving means provided on the moving body for receiving each beam signal received by the beam signal receiving means A movement control system for a moving body, comprising movement polarity determining means for determining the movement polarity of the movement of the moving body between zones based on the result. 2. Each of the beam signals includes guide information for guiding the contents of at least a destination zone of the boundary, and each of the beam signals received by the beam signal receiving means is provided in the moving body. The movement control system for a moving body according to claim 1, further comprising guide information notifying means for notifying the moving body of the guide information based on a beam signal.