JP2011018150A - Unmanned traveling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned traveling system having a simple configuration with a low cost, whose maintenance is easy.SOLUTION: The unmanned traveling system includes an unmanned traveling vehicle 1, a plurality of targets 2, a camera 3, and an image recognition processing device. The unmanned traveling vehicle starts traveling in a state in which a first target has entered into a visual field of the camera. The unmanned traveling vehicle travels until magnitude of an nth target existing within the visual field becomes to be a predetermined size while changing its own direction so that the nth target enters within a right and left target range within the visual field of the camera. Then the unmanned traveling vehicle travels until magnitude of an (n+1)th target existing within the visual field becomes a predetermined size while changing its own direction so that the (n+1)th target existing within the visual field enters within the right and left target range when magnitude existing within the visual field of the nth target becomes a predetermined size. Thereby the unmanned traveling vehicle travels along a desired track.

Description

  The present invention relates to an unmanned traveling system in which an unmanned traveling vehicle travels along a desired track using an image captured by a mounted camera.

  For example, unmanned transport carts that transport parts and products unattended in factories and the like are used. As shown in FIG. 20, the automatic guided vehicle 91 travels along a track of a traveling guide tape 92 made of an optical tape or a magnetic tape attached to the floor (Patent Documents 1 and 2). That is, the automatic guided vehicle 91 recognizes the traveling guide tape 92 by the vehicle-mounted sensor 93 and performs traveling control thereof.

In addition, an unmanned traveling vehicle that recognizes its position using a GPS or a gyro sensor and travels unmanned on a predetermined route has also been proposed (Patent Documents 3 and 4).
Also disclosed is a method for performing traveling control of an unmanned traveling vehicle based on an image of a vehicle-mounted camera (Patent Documents 5 and 6).

JP-A-7-200057 Japanese Patent Laid-Open No. 2-87208 JP-A-9-62353 JP 2001-350520 A Japanese Patent Laid-Open No. 11-212461 Japanese Patent Laid-Open No. 7-248822

  However, as shown in FIG. 20, the method of running an unmanned traveling vehicle (automated transport carriage 91) along the track of the traveling guidance tape 92 causes the system to function when the traveling guidance tape 92 affixed to the floor surface deteriorates. Therefore, periodic repairs such as replacement of the traveling guide tape 92 are necessary. Moreover, even if the traveling guide tape 92 can be applied to an indoor smooth floor surface, it is difficult to apply the traveling guide tape 92 to an outdoor road surface or uneven ground. In addition, when a magnetic steel wire or the like is buried in the ground instead of the tape, the construction becomes large and the cost increases.

In addition, a method using GPS, a gyro sensor, or the like has a problem that since there is no actual target at all, a travel error is likely to occur and the reliability of the travel route is lacking.
Moreover, since the unmanned vehicle described in Patent Document 5 performs traveling control using three on-vehicle cameras, the apparatus becomes large and the cost increases.
Further, in the travel control method described in Patent Document 6, the fluorescent lamp on the ceiling is photographed with a camera and the travel control is performed by recognizing the position of the vehicle, but there is a characteristic line based on the fluorescent lamp. At the position where the vehicle is not used, the position of the vehicle is measured using the rotation of the wheel (paragraph [0019] of Patent Document 6). Therefore, an error in the vehicle position is likely to occur. In addition, it is disadvantageous in terms of cost to install a large number of fluorescent lamps in order to increase the running accuracy of the vehicle.

  The present invention has been made in view of such problems, and an object of the present invention is to provide an unmanned traveling system with a simple configuration, low cost, and easy maintenance.

The present invention relates to an unmanned traveling vehicle, a plurality of targets installed around the traveling track of the unmanned traveling vehicle, a camera mounted on the unmanned traveling vehicle and photographing the target, and the camera from the captured image of the camera. An unmanned traveling system comprising an image recognition processing device for recognizing the position of the target in the visual field of
Starting the unmanned vehicle in a state where the first target of the plurality of targets is in the field of view of the camera;
The unmanned vehicle travels while changing its direction so that the nth (n is a natural number) target falls within a predetermined left and right target range in the field of view of the camera,
When the size or vertical position of the n-th target in the left-right target range becomes a predetermined size or vertical position, the (n + 1) -th target that is another target in the visual field is An unmanned traveling system configured such that the unmanned traveling vehicle travels along a desired track by traveling while changing the direction of the unmanned traveling vehicle so as to fall within the left and right target range. (Claim 1).

  As described above, the unmanned traveling system continuously photographs the plurality of targets with the camera mounted on the unmanned traveling vehicle, and causes the unmanned traveling vehicle to travel along a desired track based on the captured images. For this reason, it is not necessary to lay guiding tape or the like on the track of the unmanned traveling vehicle. Therefore, it is not necessary to periodically replace the induction tape, and maintenance is easy. That is, since the target used in the unmanned traveling system of the present invention is taken by the camera, it is not necessary to stick it to the ground. Therefore, it does not deteriorate like the induction tape laid on the ground, and basically, maintenance such as reattachment becomes unnecessary.

Thus, since it is not necessary to stick a target on the ground, the unmanned traveling system of the present invention can be easily adopted even when the unmanned traveling vehicle travels outdoors or on uneven ground.
Furthermore, the target does not need to be formed continuously unlike the induction tape, and the material is not limited to, for example, a magnet body, so that the material cost can be reduced.

Moreover, since the unmanned traveling system of the present invention has a target that is an actual target, a traveling error hardly occurs and the traveling route is highly reliable.
In addition, since only one camera is required for an unmanned vehicle, the system can be simplified and the cost can be reduced.
Furthermore, the direction of the unmanned vehicle relative to the target direction is recognized by the left and right positions of the target in the camera field of view, and the distance between the target and the unmanned vehicle is recognized by the size or vertical position of the target in the camera field of view. Therefore, the traveling accuracy of the unmanned traveling vehicle can be improved.

  As described above, according to the present invention, it is possible to provide an unmanned traveling system with a simple configuration, low cost, and easy maintenance.

Explanatory drawing of the unmanned traveling vehicle and target which are used for the unmanned traveling system in Example 1. FIG. Explanatory drawing of the arrangement | positioning of a some target and the driving | running track of an unmanned traveling vehicle in Example 1. FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram of an unmanned traveling system immediately after the start of traveling in Example 1. Explanatory drawing of the unmanned driving | running | working system in Example 1 following FIG. Explanatory drawing of the visual field of the camera in the driving | running | working start time (point of the code | symbol 1a of FIG. 3) in Example 1. FIG. FIG. 4 is an explanatory diagram of the field of view of the camera at a point denoted by reference numeral 1 b in FIG. 3 in the first embodiment. Explanatory drawing of the visual field of the camera of the point of the code | symbol 1c of FIG. FIG. 5 is an explanatory diagram of the field of view of the camera at a point denoted by reference numeral 1d in FIG. 4 in the first embodiment. Explanatory drawing of the visual field of the camera of the point of the code | symbol 1e of FIG. Explanatory drawing of the visual field of the camera of the point of 1f of FIG. The front view of the target in Example 1. FIG. Side surface explanatory drawing of the target and unmanned vehicle in Example 1. FIG. Explanatory drawing of the visual field of the camera in the driving | running | working start time (point of the code | symbol 1a of FIG. 3) in Example 2. FIG. FIG. 4 is an explanatory diagram of the field of view of the camera at a point denoted by reference numeral 1b in FIG. Explanatory drawing of the visual field of the camera of the point of the code | symbol 1c of FIG. Explanatory drawing of the visual field of the camera of the point of the code | symbol 1d of FIG. Explanatory drawing of the visual field of the camera of the point of the code | symbol 1e of FIG. Explanatory drawing of the visual field of the camera of the point of the code | symbol 1f of FIG. Side surface explanatory drawing of the target and unmanned vehicle in Example 2. FIG. Explanatory drawing of the unmanned traveling system using a guidance tape.

The number of the targets used in the unmanned traveling system of the present invention can be appropriately set according to the use and purpose of the system. When the number of targets is m, n takes any value from 1 to m-1, and the above operation is repeated while changing n from n = 1 to n = m-1. Will be.
In addition, the nth target in the visual field may enter the left / right target range and the predetermined size or the vertical position may be either first or simultaneously.

The size of the nth target in the field of view is predetermined while the unmanned vehicle changes its direction so that the nth target falls within a predetermined left and right target range in the field of view of the camera. Then, when the size of the nth target in the field of view reaches a predetermined size, another target in the field of view, the (n + 1) th target is in the left and right target range. It is preferable that the unmanned traveling vehicle travels until the size of the (n + 1) th target in the field of view reaches a predetermined size while changing its own direction (claim 2).
In this case, since the distance between the unmanned vehicle and the target can be recognized by the size of the target (image) in the field of view of the camera, the measurement accuracy can be improved. That is, even if there is some variation in the angle of the optical axis of the camera, the influence on the size of the target in the field of view of the camera is small. As a result, a more accurate unmanned traveling system can be constructed.

The first target preferably has a different form from the other targets (claim 3).
In this case, the first target can be identified even when a plurality of the targets simultaneously enter the field of view of the camera at the start of traveling. Therefore, the unmanned traveling vehicle can be reliably traveled along a desired track.
In addition, the said form means a shape, a pattern, a color, or these combination.

Moreover, it is preferable that the said unmanned traveling vehicle is an automatic guided vehicle used in a factory.
In this case, the unmanned traveling system of the present invention that is particularly easy to maintain can be used effectively. That is, in a factory, workers and various machines often cross the traveling track of an unmanned traveling vehicle. In such a case as well, the durability of the unmanned traveling system of the present invention is particularly affected. In addition, the frequency of maintenance does not increase.

The unmanned vehicle may travel outdoors. (Claim 5)
In this case, the effect of the unmanned traveling system of the present invention can be sufficiently exerted. That is, as described above, the target does not need to be particularly attached to the ground, and thus can be disposed even in places where it is difficult to maintain the ground smoothly, such as outdoors. In addition, since the material of the target is not particularly limited, if a material having excellent weather resistance is used, the unmanned traveling system of the present invention can be used sufficiently outdoors, and the maintenance frequency is not particularly increased.

Example 1
An unmanned traveling system according to an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the unmanned traveling system of this example includes an unmanned traveling vehicle 1, a plurality of targets 2 installed around the traveling track of the unmanned traveling vehicle 1, and a target 2 mounted on the unmanned traveling vehicle 1. A camera 3 for photographing and an image recognition processing device (not shown) for recognizing the position of the target 2 in the field of view 31 of the camera 3 from the photographed image of the camera 3 are provided.
The camera 3 is fixed to the front portion of the unmanned traveling vehicle 1 so as to face forward in the traveling direction (arrow F).

In the unmanned traveling system, as shown in FIGS. 2, 3, and 5, the unmanned traveling vehicle 1 starts traveling with the first target 21 of the plurality of targets 2 entering the field of view 31 of the camera 3. To do.
The unmanned vehicle 1 travels while changing its direction so that the n-th (n is a natural number) target 2 falls within a predetermined left and right target range 32 in the field of view 31 of the camera 3.
When the size in the visual field 3 of the nth target 2 that has entered the left / right target range 32 becomes a predetermined size, the (n + 1) th target 2, which is another target 2 in the visual field 3, enters the left / right target range 32. The unmanned traveling vehicle 1 travels while changing its direction so as to enter.

Thereby, as shown in FIG. 2, the unmanned vehicle 1 travels along a desired track. That is, by repeating the above series of operations while sequentially changing n = 1, 2, 3,..., The unmanned traveling vehicle 1 travels along a desired track.
Hereinafter, specific operations of the unmanned traveling vehicle 1 will be described with reference to FIGS. 5 to 10 show images of the target 2 (cameras) captured by the camera 3 of the unmanned traveling vehicle 1 at the positions 1a, 1b, and 1c in FIG. 3 and the positions 1d, 1e, and 1f in FIG. 3 field of view 31). However, the captured images other than the target 2 are omitted.

First, as shown in FIGS. 3 and 5, it is assumed that the unmanned traveling vehicle 1 (1 a) is stopped with at least the first target 21 entering the visual field 31 of the camera 3 before the start of traveling.
The first target 21 has a different form from the other targets 2. In this example, the first target 21 has a circular outer shape, and the other target 2 has a square outer shape.

In the present example, in addition to the first target 21, the second and third targets 22 and 23 are also included in the field of view 31 of the camera 3 of the unmanned traveling vehicle 1a at the start of traveling.
In this state, the first target 21 in the field of view 31 of the camera 3 is identified as shown in FIG. The unmanned traveling vehicle 1 travels while changing its direction so as to enter the target range 32 (reference numeral 1b in FIG. 3).
The left / right target range 32 is appropriately determined in advance. Moreover, you may change the left-right target range 32 suitably according to the target 2 made into object.

  When the unmanned vehicle 1 continues traveling and approaches the first target 21 as indicated by reference numeral 1c in FIG. 3, the field of view of the first target 21 that is in the left and right target range 32 as shown in FIGS. The size in 3 becomes large. As shown in FIG. 7, when the size of the first target 21 becomes a predetermined size, the second target 22 in the field of view 3 enters the left and right target range 32 as shown in FIG. The unmanned traveling vehicle 1 changes its direction (reference numeral 1d in FIG. 4).

  The predetermined size is appropriately determined in advance. Further, the predetermined size may be changed as appropriate according to the target 2 to be processed. Further, the predetermined size has a certain range, and the upper limit value and the lower limit value may be appropriately changed according to the target 2 to be processed.

  Further, as shown in FIG. 7, when the image of the first target 21 enters the left and right target range 32 in the visual field 31 and becomes a predetermined size, the target 2 other than the first target 21 and the second target 22 is It does not enter the field of view 31. Thereby, the target 2 to be aimed next can be specified as the second target 22. Similarly, when the image of the nth target 2 enters the left / right target range 32 in the visual field 31 and becomes a predetermined size, the target 2 other than the nth target 2 and the (n + 1) th target 2 has the visual field 31. To avoid entering. However, the present invention is not limited to this, and other means such as changing the form of all the targets 2 can be used as long as the next target 2 can be specified.

Then, when the unmanned traveling vehicle 1 continues traveling toward the second target 22, the unmanned traveling vehicle 1 approaches the second target 22 as indicated by reference numeral 1e in FIG. 4, as shown in FIGS. The size of the second target 22 in the left / right target range 32 in the visual field 3 is increased.
As shown in FIG. 9, when the size of the second target 22 reaches a predetermined size, the third target 23 in the field of view 3 enters the left and right target range 32 as shown in FIG. The unmanned traveling vehicle 1 changes its direction (reference numeral 1f in FIG. 4). Reference numeral 24 represents a fourth target to be aimed next.
By continuing to repeat this, the unmanned vehicle 1 travels along a desired track as shown in FIG.

  When a target 2 is in the left and right target range 32 and another target 2 does not enter the field of view 31, the size of the target 2 in the left and right target range 32 in the field of view 31 reaches a predetermined size. The unmanned traveling vehicle 1 continues to travel. And when the magnitude | size in the visual field 31 of the target 2 becomes a predetermined magnitude | size, the unmanned traveling vehicle 1 stops. For example, in FIG. 2, when the position of the unmanned traveling vehicle 1 is 1 y, no target 2 other than the target 28 exists in the field of view 31. Therefore, the unmanned traveling vehicle 1 travels until the size of the target 28 in the field of view 31 reaches a predetermined size. When the size of the target 28 reaches a predetermined size, the unmanned traveling vehicle 1 moves to a predetermined position. Stop at (1z).

The automatic guided vehicle 1 of this example is an automatic guided vehicle used in a factory.
As shown in FIG. 2, a plurality of targets 2 are arranged at appropriate positions around the traveling track on which the unmanned traveling vehicle 1 is intended to travel in the factory. As shown in FIG. 11, the target 2 is arranged by standing and placing a standing-like object attached to the upper end of the column 201 on the ground. The height of the column 201 is unified, and the height position of the target 2 from the ground is unified.
Further, the target 2 has a form (shape, pattern, color, or a combination thereof) that can be distinguished from the form of other objects in the factory. In order to facilitate identification, for example, an LED lamp or the like can be used as the target 2.

In addition, as shown in FIG. 12, the target 2 is disposed at a position lower than the position (optical axis L) of the camera 3 mounted on the unmanned traveling vehicle 1. Thereby, the farther away the target 2 is, the higher the image is in the field of view 31 of the camera 3 (see FIGS. 5 to 10). The target 2 may be disposed at a position higher than the position of the camera 3 (optical axis L). In this case, contrary to this example, the farther the target 2, the lower the visual field 31 of the camera 3 will be.
Moreover, the target 2 can also be attached to existing objects, such as a ceiling, a wall, and a pillar.

The sizes of the plurality of targets 2 (for example, the vertical height or the horizontal width) are all unified. Thereby, the distance between the unmanned traveling vehicle 1 and each target 2 can be recognized by the size of the image of the target 2 in the field of view 31. That is, as shown in FIG. 12, the viewing angle of the target 2 photographed by the camera 3 of the unmanned traveling vehicle 1z located closer to the viewing angle θ1 of the target 2 photographed by the camera 3 of the unmanned traveling vehicle 1y located far away. θ2 becomes larger, and the viewing angle and the distance have a unique relationship. Therefore, the distance between the unmanned traveling vehicle 1 and the target 2 can be grasped by the size of the viewing angle, that is, the size of the target 2 in the field of view 31.
The viewing angle is an angle formed by a straight line connecting the camera 3 and the upper end (left end) of the target 2 and a straight line connecting the camera 3 and the lower end (right end) of the target 2.

In this way, the direction of the unmanned traveling vehicle 1 can be grasped from the left and right positions of the target 2 in the visual field 31, and the position of the unmanned traveling vehicle 1 can be grasped from the size of the target 2 in the visual field 31.
Based on the information on the direction and position of the unmanned traveling vehicle 1, the traveling of the unmanned traveling vehicle 1 is controlled as described above.

  Specifically, based on these pieces of information, the movements of the left and right drive steering wheels 11 that control the driving and steering of the unmanned traveling vehicle 1 are controlled. As shown in FIGS. 1 and 12, the unmanned traveling vehicle 1 has a pair of left and right fixed wheels 12 at the rear of the vehicle body, and has left and right drive steering wheels 11 at the center of the vehicle body. The drive steering wheel 11 is mounted on a turntable 13 that is rotatable about a vertical direction with respect to the main body of the unmanned traveling vehicle 1. Therefore, by providing a difference in the rotation speed between the left and right drive steering wheels 11, the turntable 13 rotates by an angle corresponding to the rotation speed difference, and the unmanned traveling vehicle 1 is steered.

Next, the effects of the present invention will be described.
As described above, the unmanned traveling system continuously photographs the plurality of targets 2 with the camera 3 mounted on the unmanned traveling vehicle 1, and based on the captured images, the unmanned traveling vehicle 1 is taken along a desired trajectory. Let it run. Therefore, it is not necessary to lay guidance tape or the like on the track of the unmanned traveling vehicle 1. Therefore, it is not necessary to periodically replace the induction tape, and maintenance is easy. That is, since the target 2 used in the unmanned traveling system of this example is taken by the camera 3, it is not necessary to stick it to the ground. Therefore, it does not deteriorate like the induction tape laid on the ground, and basically, maintenance such as reattachment becomes unnecessary.

Thus, since it is not necessary to stick the target 2 on the ground, the unmanned traveling system of this example can be easily employed even when the unmanned traveling vehicle 1 travels outdoors or on uneven ground.
Furthermore, since the target 2 does not need to be formed continuously like a guide tape, and the material is not limited to, for example, a magnet body, the material cost can be reduced.

In addition, since the unmanned traveling system of this example includes the target 2 that is an actual target, a traveling error hardly occurs and the traveling route is highly reliable.
In addition, since only one camera 3 is installed in the unmanned traveling vehicle 1, the system can be simplified and the cost can be reduced.
Furthermore, the direction of the unmanned traveling vehicle 1 with respect to the target direction is recognized by the left and right positions of the target 2 in the field of view 31 of the camera 3, and the target 2 and the unmanned traveling vehicle are determined by the size of the target 2 in the field of view 31 of the camera 3. Since the distance to 1 can be recognized, the traveling accuracy of the unmanned traveling vehicle 1 can be improved.

  Further, in this example, the distance between the unmanned traveling vehicle 1 and the target 2 is recognized by the size of the target 2 in the field of view 31 of the camera 3, but there is some variation in the angle of the optical axis L of the camera 3. Even if there is, there is little influence on the size (viewing angle) of the target 2 in the field of view 31 of the camera 3, so that a more accurate unmanned traveling system can be constructed.

  In addition, since the first target 21 has a different form from the other targets 2, as shown in FIG. 5, even when a plurality of targets 2 enter the visual field 31 of the camera 3 at the start of traveling, It becomes possible to identify the first target 21. Therefore, the unmanned traveling vehicle 1 can be reliably traveled along a desired track.

  The unmanned traveling vehicle 1 is an automatic guided vehicle used in a factory, and can particularly effectively use the unmanned traveling system of the present invention that is easy to maintain. That is, in the factory, workers and various machines often cross the traveling track of the unmanned traveling vehicle 1, but in such a case as well, the durability of the unmanned traveling system of the present invention is particularly affected. The frequency of maintenance does not increase.

  As described above, according to this example, it is possible to provide an unmanned traveling system with a simple configuration, low cost, and easy maintenance.

(Example 2)
This example is an example of an unmanned traveling system that recognizes the distance between the unmanned traveling vehicle 1 and the target 2 from the vertical position of the target 2 in the field of view 31 of the camera 3 as shown in FIGS.
That is, in the unmanned traveling system of this example, the unmanned traveling vehicle 1 travels while changing its direction so that the nth target 2 falls within a predetermined vertical and horizontal target range 33 in the field of view 31 of the camera 3. Next, the unmanned vehicle 1 is directed so that the (n + 1) th target 2 in the field of view 31 enters the up / down / left / right target range 33 when the n-th target 2 enters the up / down / left / right target range 33. Drive while changing.

Specifically, as shown in FIGS. 13 to 18, the vertical / horizontal target range 33 is set in a predetermined vertical / horizontal region in the visual field 31 of the camera 3.
As in the first embodiment, the unmanned traveling system of this example will be specifically described below as the unmanned traveling vehicle 1 travels along a track as shown in FIG. 13 to 18 are images of the target 2 (camera 3 of the turtle 3) captured by the camera 3 of the unmanned vehicle 1 at positions 1a, 1b and 1c in FIG. 3 and positions 1d, 1e and 1f in FIG. Field of view 31). However, the captured images other than the target 2 are omitted.

First, from the start of travel (point 1a in FIG. 3), as shown in FIGS. 13 to 15, unmanned travel so that the first target 21 enters the vertical / horizontal target range 33 in the field of view 31 of the camera 3. The vehicle 1 travels toward the first target 21 while changing its direction (reference numerals 1b and 1c in FIG. 3).
Next, as shown in FIGS. 15 to 17, when the first target 21 enters the up / down / left / right target range 33, the second target 22 in the field of view 31 enters the up / down / left / right target range 33. The traveling vehicle 1 travels toward the second target 22 while changing its direction (reference numerals 1d and 1e in FIG. 4).

Next, similarly, as shown in FIGS. 17 and 18, when the second target 22 enters the vertical / horizontal target range 33, the third target 23 in the visual field 31 enters the vertical / horizontal target range 33. In addition, the unmanned traveling vehicle 1 travels toward the third target 23 while changing its direction (reference numeral 1f in FIG. 4).
By repeating this, similarly to the first embodiment, the unmanned vehicle 1 automatically travels along a track as shown in FIG.

  As shown in FIG. 19, the target 2 is disposed at a position lower than the position (optical axis L) of the camera 3 mounted on the unmanned traveling vehicle 1. As a result, the farther the target 2 is reflected above the visual field 31 of the camera 3 (see FIGS. 13 to 18). The target 2 may be disposed at a position higher than the position of the camera 3 (optical axis L). In this case, contrary to this example, the farther the target 2, the lower the visual field 31 of the camera 3 will be.

  Moreover, all the installation height positions of the target 2 are unified. Thereby, the distance between the unmanned traveling vehicle 1 and each target 2 can be recognized by the vertical position of the image of the target 2 in the field of view 31. That is, as shown in FIG. 19, the depression angle of the target 2 photographed by the camera 3 of the unmanned traveling vehicle 1z that is closer than the depression angle φ1 of the target 2 photographed by the camera 3 of the unmanned traveling vehicle 1y located far away. φ2 is larger, and the depression angle and distance have a unique relationship. Therefore, the distance between the unmanned traveling vehicle 1 and the target 2 can be grasped by the size of the depression angle. In other words, the distance between the unmanned traveling vehicle 1 and the target 2 can be grasped by the vertical position of the target 2 in the field of view 31.

The depression angle is a downward angle formed by a straight line connecting the camera 3 and the center of the target 2 with respect to the horizontal line M. In this example, the optical axis L of the camera 3 is oriented in the horizontal direction and coincides with the horizontal line M.
Others are the same as in the first embodiment.
Also in the case of this example, the same operational effects as those of the first embodiment can be obtained.

  In addition, the unmanned traveling system of this invention can also be combined with the unmanned traveling system using the traveling guidance tape mentioned above, for example. That is, an unmanned traveling system using a traveling guide tape can be adopted for a part of the traveling track of the unmanned traveling vehicle, and the unmanned traveling system of the present invention can be adopted for the other part. Thus, for example, the unmanned traveling system of the present invention can compensate for a place where it is difficult to lay the traveling guiding tape on a traveling track or a place where the traveling guiding tape is easily deteriorated, based on an unmanned traveling system using a traveling guidance tape. it can.

1 unmanned vehicle 2 target 21 first target 3 camera 31 field of view 32 left and right target range

Claims (5)

An unmanned traveling vehicle, a plurality of targets installed around the traveling track of the unmanned traveling vehicle, a camera mounted on the unmanned traveling vehicle and photographing the target, and a captured image of the camera in the field of view of the camera An unmanned traveling system comprising an image recognition processing device for recognizing the position of the target,
Starting the unmanned vehicle in a state where the first target of the plurality of targets is in the field of view of the camera;
The unmanned traveling vehicle changes its direction so that the nth target (n is a natural number) falls within a predetermined left and right target range in the field of view of the camera, and the size of the nth target in the field of view. Or run until the vertical position is a predetermined size or vertical position,
Next, when the size or vertical position of the nth target in the visual field becomes a predetermined size or vertical position, the (n + 1) th target, which is another target in the visual field, falls within the left and right target range. The unmanned traveling vehicle changes its direction so that it enters, by traveling until the size or vertical position in the field of view of the (n + 1) th target is a predetermined size or vertical position,
An unmanned traveling system, wherein the unmanned traveling vehicle is configured to travel along a desired track.   2. The size of the nth target in the field of view according to claim 1, wherein the unmanned vehicle changes its direction so that the nth target falls within a predetermined left and right target range in the field of view of the camera. And the n + 1th target, which is another target in the visual field when the size of the nth target in the visual field reaches a predetermined size, The unmanned traveling vehicle is configured to travel until the size of the (n + 1) th target in the field of view reaches a predetermined size while changing its direction so as to enter the target range. system.   The unmanned traveling system according to claim 1 or 2, wherein the first target has a form different from that of the other target.   The unmanned traveling system according to any one of claims 1 to 3, wherein the unmanned traveling vehicle is an automatic guided vehicle used in a factory.   The unmanned traveling system according to any one of claims 1 to 4, wherein the unmanned traveling vehicle travels outdoors.

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