JP2021107994A - Autonomously traveling device and autonomous-travel managing system - Google Patents

Abstract

To provide an autonomously traveling device capable of eliminating work loads such as management/installation of an information storage medium like an RFID tag and correctly controlling travel.SOLUTION: An autonomously traveling device comprises: a vehicle body (110); a drive motor (120) for traveling the vehicle body (110); a magnetic sensor array (140) for detecting a magnetic tape (12) laid; a Lidar sensor (150) for detecting an obstacle in surroundings; a control unit for controlling the drive motor (120); and a map generating unit for generating a map according to a SLAM technology, using the Lidar sensor (150) and the magnetic sensor array (140). The control unit generates a map for an autonomously traveling device (10) to travel by the map generating unit while allowing the vehicle body (110) to travel on the magnetic tape (12) and carries out travel control of the autonomously traveling device (10) based on information of the map.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous traveling device or the like, and more particularly to an autonomous traveling device or the like traveling on a laid magnetic tape (derivative).

Conventionally, an automatic transport trolley in which a magnetic tape is laid on the floor surface of a factory, a warehouse, or the like and travels along the magnetic tape has been used.

In recent years, an automatic transport trolley that uses SLAM (Simultaneously Localization and Mapping) technology without using magnetic tape to estimate its own position and travel autonomously has also been used.

In SLAM technology, it is difficult to improve the position accuracy from the viewpoint of the resolution of the map used for self-position estimation and the accuracy of the sensor, so it is often known to use magnetic tape for precise alignment. ..

In addition, in order to run the automatic transport trolley accurately, an RFID card is placed on the magnetic tape, and the running speed is determined and the running is controlled based on the information written on the RFID card. Are known.

As a conventional technique, for example, in an automatic guided vehicle that automatically travels along a predetermined track line, information is read from an RFID tag arranged on the track line by an RFID reader to control the running of the automatic guided vehicle. Is disclosed (see Patent Document 1).

According to the automatic guided vehicle of Patent Document 1, the automatic guided vehicle can be accurately controlled based on the information stored in the RFID tag.

Japanese Unexamined Patent Publication No. 2016-115207

However, in a method of controlling travel based on RFID tag information, such as an automatic guided vehicle in Patent Document 1, in large-scale facilities such as factories and warehouses where there are many curves and intersections and the travel route tends to be complicated, It is necessary to install a large number of RFID cards.

In addition, since RFID cards are identified by unique IDs, it is necessary to make sure that the order in which the cards are arranged is correct when installing the cards.

Furthermore, when the layout in the factory or warehouse is changed, it is necessary to replace the magnetic tape or the RFID tag.

As described above, in order to accurately drive an automated guided vehicle using an RFID tag as in the prior art, there arises a problem that the management and installation of the RFID tag imposes a heavy work load.

The present invention has been made in view of the above-mentioned conventional problems, and is an autonomous traveling device or the like capable of accurately controlling traveling by eliminating work inability to manage and install information storage media such as RFID tags. The purpose is to provide.

The autonomous traveling device and the like according to the present invention for solving the above-mentioned problems are as follows.

The present invention is an autonomous traveling device, which includes a vehicle body, a driving unit for traveling the vehicle body, a derivative detecting unit (for example, a magnetic sensor) for detecting a laid derivative (for example, a magnetic tape), and an obstacle in the surroundings. A map is created by SLAM technology using a surrounding detection unit (for example, a lidar sensor) that detects an object, a control unit that controls the drive unit, a detection result of the peripheral detection unit, and a detection result of the derivative detection unit. The control unit includes a map generation unit to generate, and the control unit generates a map on which the autonomous traveling device travels by the map generation unit while traveling the vehicle body on the derivative, and based on the information of the map, the control unit generates a map on which the autonomous traveling device travels. It is characterized in that the traveling control of the autonomous traveling device is performed.

Further, the present invention is an autonomous traveling management system including an autonomous traveling device and a server, and controlling and controlling the autonomous traveling device traveling on the laid derivative by the server. The server is configured to be communicatively connectable, and as a configuration of the autonomous traveling device, the vehicle body, the driving unit for traveling the vehicle body, the derivative detecting unit for detecting the laid derivative, and the surrounding obstacles are detected. A surrounding detection unit, a control unit that controls the driving unit, a map generation unit that generates a map using SLAM technology using the detection result of the peripheral detection unit and the detection result of the derivative detection unit, and a map generation unit. The control unit generates a map on which the autonomous traveling device travels by the map generating unit while traveling the vehicle body on the derivative, and controls the autonomous traveling device as a configuration of the server. The control unit includes a control unit for performing the control, and the control unit controls the control of the autonomous traveling device based on the map information on which the autonomous traveling device travels, which is transmitted from the autonomous traveling device.

According to the autonomous traveling device or the like of the present invention, an autonomous traveling device or the like capable of accurately controlling traveling by reducing the workload such as management and installation of an information storage medium such as an RFID tag provided on a traveling path. Can be provided.

It is explanatory drawing in plan view which shows the structure of the autonomous traveling device which concerns on 1st Embodiment. It is explanatory drawing by the side view which shows the structure of the autonomous traveling device. It is a block diagram which shows the electric structure of an autonomous traveling device. It is explanatory drawing which shows the structure of the magnetic sensor array provided in the autonomous traveling device. It is explanatory drawing which shows the state which detected the traveling of the autonomous traveling device by the magnetic sensor array. It is a flowchart which shows the procedure of generating the map image which performs the traveling control by an autonomous traveling device. It is explanatory drawing which shows an example of the path of the magnetic tape which an autonomous traveling device travels. It is explanatory drawing which shows the state which the autonomous traveling device travels along a magnetic tape. It is explanatory drawing which shows the state which the map which the autonomous traveling device travels which is displayed on a PC screen is generated is generated. It is explanatory drawing which shows the state which the traveling route of an autonomous traveling device is displayed on the map displayed on the PC screen. It is explanatory drawing which shows the state which arranged the RFID card on the traveling path of the autonomous traveling device. It is explanatory drawing which shows the state which arranged the virtual RFID corresponding to the RFID card on the traveling path of the autonomous traveling device on the map displayed on the PC screen. It is explanatory drawing which shows the state which arranged the virtual RFID corresponding to the traveling path on the traveling path of the autonomous traveling device on the map image displayed on the PC screen. It is a flowchart which shows the traveling control in the traveling path on the map image when traveling on a magnetic tape in an autonomous traveling device. It is explanatory drawing which shows the traveling start position on the magnetic tape on which the autonomous traveling device travels. It is explanatory drawing which shows the display state of the map image on the PC screen at the time of starting traveling of an autonomous traveling device. It is explanatory drawing which shows the state which the autonomous traveling device detected the reference position RFID card on the magnetic tape. It is explanatory drawing which shows the display state of the map image on the PC screen when the autonomous traveling device detects the reference position RFID card on the magnetic tape. It is explanatory drawing which shows the state after the autonomous traveling device detected the reference position RFID card on the magnetic tape. It is explanatory drawing which shows the display state of the map image on the PC screen after the autonomous traveling device detected the reference position RFID card on the magnetic tape. It is explanatory drawing which shows the state which the autonomous traveling device came closer than a predetermined distance with respect to the virtual RFID for deceleration of the traveling path of the map image on the PC screen. It is explanatory drawing which shows the state which the autonomous traveling device travels on the curved part of a magnetic tape. It is explanatory drawing which shows the state which the autonomous traveling device travels on the curved part of the traveling path of the map image on the PC screen. It is explanatory drawing which shows the state which the autonomous traveling device travels from the curved portion of the magnetic tape toward the straight portion. It is explanatory drawing which shows the state which the autonomous traveling device approached the virtual RFID for speeding up of the traveling path of the map image on the PC screen. It is explanatory drawing which shows an example which sets the deceleration virtual RFID in the traveling path of the map image on the PC screen. It is a block diagram which shows the electric structure of the autonomous traveling device which concerns on 2nd Embodiment. It is a flowchart which shows the deceleration / acceleration control in the traveling path on the map image when traveling on a magnetic tape in an autonomous traveling device. It is explanatory drawing of an example which installed the reference position RFID card in the path of the magnetic tape on which an autonomous traveling device travels. It is explanatory drawing which shows the state which arranged the reference position coordinates on the traveling path on the map image displayed on the PC screen. It is explanatory drawing which shows the state which the autonomous traveling device moves in the curved part of the traveling path on the map image displayed on the PC screen. It is explanatory drawing which shows the state which the autonomous traveling device travels at a position close to an obstacle in the path of the magnetic tape on which the autonomous traveling device travels. It is explanatory drawing which shows the moving state of the autonomous traveling device traveling on the traveling path on the map displayed on the PC screen. It is explanatory drawing which shows the state which the autonomous traveling device derailed in the path of the magnetic tape which the autonomous traveling device travels. It is explanatory drawing which shows the state which derailed the autonomous traveling device traveling on the traveling path on the map displayed on the PC screen. It is explanatory drawing which shows the structure of the autonomous driving management system which concerns on 3rd Embodiment. It is a block diagram which shows the electric structure of the autonomous driving apparatus which constitutes the autonomous driving management system. It is a block diagram which shows the electrical composition of the server which constitutes the autonomous driving management system. It is explanatory drawing which shows the state which controls and controls the autonomous traveling device traveling on the path of the magnetic tape by the management server in the autonomous traveling management system. It is explanatory drawing which shows an example which the path of a magnetic tape branches. It is explanatory drawing which shows an example which the path of a magnetic tape intersects. It is explanatory drawing which shows the state which the traveling route is displayed on the map image on the PC screen. It is explanatory drawing which shows the state which the virtual RFID is set on the traveling path of the map image on the PC screen. It is explanatory drawing which shows an example of the branch point of the path of the magnetic tape in the autonomous traveling management system which concerns on 4th Embodiment. It is explanatory drawing which shows the transition of the detection pattern of the magnetic sensor array which detects the branch point of the path of a magnetic tape. It is explanatory drawing which shows an example of the display near the branch point of the traveling route of the map image displayed on the PC screen. It is explanatory drawing which shows an example of the intersection of the path of the magnetic tape. It is explanatory drawing which shows the transition of the detection pattern of the magnetic sensor array which detects the intersection of the path of the magnetic tape. It is explanatory drawing which shows an example of the display near the intersection of the traveling route of the map image displayed on the PC screen. It is explanatory drawing which shows an example of the three-way junction which is a branch point of the path of a magnetic tape. It is explanatory drawing which shows the transition of the detection pattern of the magnetic sensor array which detects the three-way junction of the path of the magnetic tape. It is explanatory drawing which shows the state which the autonomous traveling device derailed from the three-way junction of the path of the magnetic tape. It is explanatory drawing which shows the operation which the autonomous traveling device returns to the three-way junction of the path of the magnetic tape.

(First Embodiment)
Hereinafter, embodiments for carrying out the autonomous traveling device of the present invention will be described with reference to the drawings.
FIG. 1 is an example of an embodiment of the present invention, and FIG. 1 is a plan view explanatory view showing a configuration of an autonomous traveling device according to a first embodiment of the present invention, and FIG. 2 is a side view showing a configuration of an autonomous traveling device. FIG. 3 is a block diagram showing an electrical configuration of the autonomous traveling device.

When performing travel control, the autonomous traveling device 10 according to the first embodiment generates a map of the traveling route on which the autonomous traveling device 10 travels, and controls the traveling of the autonomous traveling device based on the generated map. Has been made.

(Configuration of autonomous traveling device)
First, the overall configuration of the autonomous traveling device 10 according to the first embodiment will be described.
As shown in FIGS. 1 and 2, the autonomous traveling device 10 detects a magnetic tape 12 that functions as a derivative laid on the floor surface, and is controlled to travel along the magnetic tape 12. Is.

As shown in FIGS. 1 and 2, the autonomous traveling device 10 mainly includes a vehicle body 110, a drive motor (driving unit) 120 for traveling the vehicle body 110, wheels 130, and a magnetic sensor array (derivative detection). Unit) 140 and Lidar sensor (periphery detection unit) 150.

In the first embodiment, the autonomous traveling device 10 further includes an RFID reader 175 as a reference position detecting unit for detecting the reference position. In the present embodiment, the information of the reference position is stored in the reference position RFID card 1751, and the position where the reference position RFID card 1751 is arranged is set as the reference position.

Then, as an electrical configuration, the autonomous traveling device 10 includes a control unit 100, a drive motor 120, a magnetic sensor array 140, a lidar sensor 150, a map generation unit 160, and a virtual RFID generation as shown in FIG. It is characterized by including a unit 170, a self-position estimation unit 180, and a storage unit 190.

The control unit 100 controls the drive motor 120. In the present embodiment, the control unit 100 further controls the map generation unit 160 to generate a map on which the autonomous traveling device 10 travels while the vehicle body 110 is traveling on the magnetic tape 12.

The drive motors 120 are arranged on the left and right sides of the vehicle body 110, and are independently operated and controlled by the control unit 100.

The magnetic sensor array 140 detects the magnetic tape 12 laid on the floor surface.
The detected information of the magnetic tape 12 is stored in the storage unit 190 as the magnetic tape information 1401.

The lidar sensor 150 detects obstacles around the vehicle on which the autonomous traveling device 10 travels.
The detected obstacle information is stored in the storage unit 190 as obstacle information 1501.

The map generation unit 160 generates a map by SLAM technology using the detection result of the lidar sensor 150 and the detection result of the magnetic sensor array 140. In the present embodiment, the map generation unit 160 further captures the path of the magnetic tape 12 based on the detection result of the magnetic sensor array 140 as a coordinate sequence on the map.

The path information of the magnetic tape 12 is stored in the storage unit 190 as the magnetic tape information 1401 in addition to the information of the magnetic tape 12.

In the present embodiment, the virtual RFID generation unit 170 generates a virtual RFID 1710G including information related to travel control in the autonomous travel device 10. The information included in the virtual RFID 1710G is stored in the storage unit 190 as the virtual RFID information 1710a.

The RFID reader 175 detects the reference position RFID card 1751 in which the reference position information is stored, and reads the reference position information from the reference position RFID card 1751.

The reference position information read from the reference position RFID card 1751 is stored in the storage unit 190 as the reference position information 1751a.

In the present embodiment, the self-position estimation unit 180 inquires about the map generated by the map generation unit 160 and the obstacle detected by the lidar sensor 150, and estimates the self-position of the autonomous traveling device 10 on the map.

The self-position information of the autonomous traveling device 10 is stored in the storage unit 190 as the self-position information 1801.

The storage unit 190 is generated by the virtual RFID generation unit 170 based on the magnetic tape information 1401 based on the detection result of the magnetic sensor array 140 and the obstacle information (including surrounding information) 1501 based on the detection result of the lidar sensor 150. The virtual RFID information 1710a of the virtual RFID 1710G is stored.

The virtual RFID information 1701 includes, as attributes, the traveling speed of the autonomous traveling device, the obstacle detection range of the lidar sensor 150, and the like.

The self-position estimation unit 180 inquires about the map generated by the map generation unit 160 and the obstacle detected by the lidar sensor 150, and estimates the self-position of the autonomous traveling device 10 on the map.

Further, the self-position estimation unit 180 estimates the self-position while the autonomous traveling device 10 travels on the magnetic tape 12.

(Running control of autonomous running device)
Next, the traveling control of the autonomous traveling device 10 will be described.
FIG. 4 is an explanatory diagram showing the configuration of a magnetic sensor array provided in the autonomous traveling device, and FIG. 5 is an explanatory diagram showing a state in which traveling of the autonomous traveling device is detected by the magnetic sensor array.

As shown in FIG. 4, the magnetic sensor array 140 included in the autonomous traveling device 10 is provided with a plurality of magnetic sensors S1 to S6 in a row.

As shown in FIG. 5, the magnetic sensor array 140 is arranged so that the sensors S1 to S6 detect the width direction of the magnetic tape 12. Then, the magnetic sensors S1 to S6 detect the position of the magnetic tape 12 passing through the magnetic sensor array 140, thereby detecting the position of the vehicle body 110 traveling on the magnetic tape 12.

For example, as shown in FIG. 5, in the magnetic sensor array 140, when the magnetic sensors S2 and S3 from the left side of the vehicle body 110 detect the magnetic tape 12, the autonomous traveling device 10 uses the control unit 100 to detect the vehicle body of the vehicle body 110. It is judged that the vehicle is traveling to the left of the center line passing through the center in the width direction. Then, in the autonomous traveling device 10, the left and right drive motors 120 are operated and controlled by the control unit 100, respectively, and the vehicle body 110 is travel-controlled so as to turn left.

As a result, the autonomous traveling device 10 travels to the left, so that the traveling direction returns to the center line direction of the vehicle body 110. In this way, the autonomous traveling device 10 is controlled by the control unit 100 so as to travel along the center line of the vehicle body 110.

(Creating a map of the travel route of the autonomous travel device)
In the first embodiment, when the traveling control is performed by the autonomous traveling device 10, a map of the traveling route on which the autonomous traveling device 10 travels is generated, and the traveling of the autonomous traveling device 10 is controlled based on the generated map.

First, in the autonomous traveling device 10, a case of creating a map of a traveling route on which the autonomous traveling device 10 travels will be described with reference to a flowchart.

FIG. 6 is a flowchart showing a procedure for generating a map image for traveling control by an autonomous traveling device, FIG. 7 is an explanatory diagram showing an example of a path of a magnetic tape traveling by the autonomous traveling device, and FIG. 8 is an autonomous diagram along the magnetic tape. An explanatory diagram showing a state in which the traveling device is traveling, FIG. 9 is an explanatory diagram showing a state in which a map on which the autonomous traveling device is traveling is generated, and FIG. 10 is an autonomous diagram displayed on the map displayed on the PC screen. An explanatory diagram showing a state in which the traveling path of the traveling device is displayed, FIG. 11 is an explanatory diagram showing a state in which the RFID card is arranged on the traveling path of the autonomous traveling device, and FIG. 12 is an autonomous diagram on a map displayed on the PC screen. It is explanatory drawing which shows the state which arranged the virtual RFID corresponding to the RFID card on the traveling path of the traveling apparatus.

In the first embodiment, the map information (hereinafter, referred to as “map information”) generated by the autonomous traveling device 10 is a terminal device (hereinafter, “PC”” that is wirelessly connected to the autonomous traveling device 10. It is configured to be transmitted to (not shown) and displayed as a map image (map) on a PC display screen (hereinafter referred to as "PC screen") (not shown).

The map information may be transmitted from the autonomous traveling device 10 to the PC by a wired connection. Further, the autonomous traveling device 10 may be equipped with a display unit so as to display a map image on the display unit.

When the autonomous traveling device 10 creates a map of the traveling route of the autonomous traveling device 10, it is performed according to the flowchart shown in FIG.

First, as shown in FIG. 7, the magnetic tape 12 is laid on the floor surface along the path on which the autonomous traveling device 10 travels (step S101).

Then, as shown in FIG. 8, the autonomous traveling device 10 travels along the magnetic tape 12 while detecting obstacles around the autonomous traveling device 10 by the lidar sensor 150 (step S103). At this time, the autonomous traveling device 10 is travel-controlled at a speed that does not derail from the magnetic tape 12.

Then, the map generation unit 160 generates the map image 101G based on the obstacle information 1501 detected by the lidar sensor 150 (step S105).

The generated map information is transmitted to the PC and displayed as the map image 101G on the PC screen as shown in FIGS. 9 and 10. Here, as shown in FIG. 10, the map image 101G displayed on the PC screen is used as a map of the area in which the autonomous traveling device 10 travels, which is generated by the map generation unit 160 of the autonomous traveling device 10.

In the map image 101G, the reference numeral 10G is a mark indicating the autonomous traveling device 10 on the map. Reference numeral 150G is a detection area of the lidar sensor 150 on the map. Reference numeral (12G) is an undetected path of the magnetic tape 12 for explaining the magnetic tape 12 in FIG.

In this way, as shown in FIG. 10, after the map generation unit 160 generates the map image 101G of the area in which the autonomous traveling device 10 travels, the speed at which the autonomous traveling device 10 is not derailed along the magnetic tape 12. The magnetic sensor array 140 acquires information on the travel route by the magnetic tape 12, and the map generation unit 160 generates the travel route 12G on which the autonomous travel device mark 10G moves on the map image 101G (step S107). ).

Then, the position coordinate information of the traveling path 12G detected by the magnetic sensor array 140 is stored in the storage unit 190 as the magnetic tape information 1401.

For example, when the position coordinates of the vehicle body 110 change by a predetermined distance or more, or when the orientation of the vehicle body 110 changes by a predetermined angle or more, the respective position coordinates are memorized, and the traveling path is a set of line segments connecting the respective position coordinates. It can express 12G.

Next, as shown in FIG. 11, the reference position RFID card 1751 is arranged at a specific position (for example, a standby position) on the magnetic tape 12 laid on the floor surface (step S109).

Then, as shown in FIG. 12, the map generation unit 160 sets the reference position coordinates 1751G as the reference position on the travel path 12G of the map image 101G on the PC screen corresponding to the reference position RFID card 1751 (step S111). ).

The reference position RFID card 1751 is used to associate the actual position on the magnetic tape 12 with the reference position on the travel path 12G of the map image 101G on the PC screen.

The reference position coordinates 1751G set on the travel path 12G become the initial coordinates for self-position estimation on the map image 101G of the autonomous travel device 10.

When the reference position RFID card 1751 is detected, the position coordinates are called from the reference position RFID card 1751 and the self-position of the autonomous traveling device 10 is corrected. It can be restored to the coordinates 1751G.

Then, a virtual RFID including information for identifying the traveling of the autonomous traveling device 10 is set on the traveling path 12G of the autonomous traveling device 10 of the map image 101G on the PC screen (step S113).

In this way, by setting the virtual RFID on the travel path 12G of the map image 101G on the PC screen, the autonomous travel device 10 is based on the information that identifies the travel included in the virtual RFID at the timing of detecting the virtual RFID. It becomes possible to control the running.

In the present embodiment, the reference position RFID card 1751 is used to automatically read the position reference position information by the RFID reader 175 to estimate the self-position of the autonomous traveling device 10, but for example, the user from a PC. May manually specify the current position of the vehicle body 110 as the reference position.

(Setting of virtual RFID on the travel path of the autonomous travel device on the map)
Next, in the autonomous traveling device 10, a case where a virtual RFID is set on the traveling path 12G of the map image 101G generated by the map generation unit 160 will be specifically described.

FIG. 13 is an explanatory diagram showing a state in which a virtual RFID corresponding to the travel path is arranged on the travel path of the autonomous travel device on the map image displayed on the PC screen.

In the first embodiment, a virtual RFID is set on the travel path 12G of the map image 101G generated by the map generation unit 160 corresponding to the point where the path of the magnetic tape 12 on which the autonomous travel device 10 travels changes.

At the point where the path of the magnetic tape 12 on which the autonomous traveling device 10 travels changes from a straight line to a curved line (entrance of the curve), in order to reduce the traveling speed so that the autonomous traveling device 10 does not derail, as shown in FIG. , The derailment virtual RFID 1711G is set at a position where the route on the traveling route 12G on the map image 101G changes from a straight line to a curved line.

Further, as shown in FIG. 12, at a point where the path of the magnetic tape 12 on which the autonomous traveling device 10 travels changes from a curved line to a straight line (entrance of the straight path), the autonomous traveling device 10 increases the traveling speed. , Traveling path on the map image 101G A virtual RFID 1712G for speeding up is set at a position where the route on the 12G changes from a curved line to a straight line.

As described above, the virtual RFID 1711G for deceleration and the virtual RFID 1711G for deceleration are provided on the travel path 12G of the map image 101G generated by the map generation unit 160 corresponding to the point where the path of the magnetic tape 12 on which the autonomous travel device 10 travels changes. By setting the virtual RFID 1712G for speeding up, the autonomous traveling device 10 can be smoothly controlled to travel.

(Traveling control along the magnetic tape of the autonomous traveling device)
Next, in the autonomous traveling device 10, traveling along the magnetic tape 12 of the autonomous traveling device 10 when the virtual RFID is set on the traveling path 12G of the autonomous traveling device 10 on the map image 101G. The control will be described.

FIG. 14 is a flowchart showing travel control in a travel path on a map image when traveling on a magnetic tape in an autonomous travel device, and FIG. 15 is an explanatory diagram and a diagram showing a travel start position on the magnetic tape on which the autonomous travel device travels. 16 is an explanatory diagram showing a display state of a map image on a PC screen at the start of traveling of the autonomous traveling device, and FIG. 17 is an explanatory diagram showing a state in which the autonomous traveling device detects a reference position RFID card on a magnetic tape. Is an explanatory diagram showing the display state of the map image on the PC screen when the autonomous traveling device detects the reference position RFID card on the magnetic tape. FIG. 19 shows the autonomous traveling device detecting the reference position RFID card on the magnetic tape. Explanatory drawing showing the later state, FIG. 20 is an explanatory view showing the display state of the map image on the PC screen after the autonomous traveling device detects the reference position RFID card on the magnetic tape, and FIG. 21 shows the autonomous traveling device using the PC. An explanatory diagram showing a state in which the vehicle is closer than a predetermined distance to the virtual RFID for deceleration of the travel route of the map image on the screen, and FIG. 22 is an explanatory diagram showing a state in which the autonomous traveling device is traveling on the curved portion of the magnetic tape. FIG. 23 is an explanatory diagram showing a state in which the autonomous traveling device is traveling on the curved portion of the traveling path of the map image on the PC screen, and FIG. 24 is an explanatory diagram in which the autonomous traveling device travels from the curved portion of the magnetic tape toward the straight portion. An explanatory diagram showing a state of being in the state, FIG. 25 is an explanatory diagram showing a state in which the autonomous traveling device approaches the virtual RFID for speeding up the traveling path of the map image on the PC screen.

When the autonomous traveling device 10 according to the first embodiment travels along the magnetic tape 12, it is performed according to the flowchart shown in FIG.

When the autonomous traveling device 10 starts traveling on the magnetic tape 12, as shown in FIG. 15, the autonomous traveling device 10 starts traveling from the front side of the reference position RFID card 1751 (step S121).

At this time, as shown in FIG. 16, the autonomous traveling device 10 is not displayed on the traveling path 12G on the map image 101G displayed on the PC screen. Reference position coordinates 1751G, deceleration virtual RFID 1711G, and speed increase virtual RFID 1712G are displayed on the travel path 12G.

Then, as shown in FIG. 17, when the autonomous traveling device 10 detects the reference position RFID card 1751 on the magnetic tape 12, the position coordinates of the autonomous traveling device 10 on the map image 101G are determined (step S123).

As a result, as shown in FIG. 18, the autonomous traveling device mark 10G is displayed. Then, the control unit 100 initializes the position coordinates in the traveling path 12G on the map image 101G.

Then, as shown in FIG. 19, the autonomous traveling device 10 detects the lidar sensor 150 and measures the mileage when the autonomous traveling device 10 travels, and as shown in FIG. 20, autonomous traveling on the map image 101G. The position coordinates (self-position) of the device mark 10G are updated (step S125).

The position coordinates of the autonomous traveling device 10 are estimated by the self-position estimation unit 180, for example, the position coordinates of the vehicle body 110 estimated from the rotation speed of the wheels 130, the obstacles detected by the lidar sensor 150, and the obstacles on the map image 101G. It can be estimated by querying.

Then, the autonomous traveling device mark 10G moves in response to traveling on the magnetic tape 12 of the autonomous traveling device 10, and as shown in FIG. 21, the virtual RFID 1711G for deceleration on the traveling path 12G is detected and autonomous. The speed information for decelerating the traveling device 10 is acquired (step S127).

In the detection of the deceleration virtual RFID 1711G by the autonomous traveling device mark 10G, the distance L1 between the position coordinates of the autonomous traveling device mark 10G on the traveling path 12G of the map image 101G and the deceleration virtual RFID 1711G is less than a preset predetermined value. At that time, it is determined by the control unit 100 that the autonomous traveling device mark 10G has detected the deceleration virtual RFID 1711G.

The autonomous traveling device 10 is subjected to deceleration traveling control, and as shown in FIG. 22, traveling is controlled in a state where the traveling speed is reduced on the curved portion 12 on the magnetic tape (step S129).

On the PC screen, as shown in FIG. 23, the autonomous traveling device mark 10G is displayed so as to move along the curved portion of the traveling path 12G of the map image 101G.

Then, as shown in FIG. 24, the autonomous traveling device mark 10G moves in response to the operation of the autonomous traveling device 10 traveling on the magnetic tape 12, and the autonomous traveling device mark 10G moves to increase on the traveling path 12G. The virtual RFID 1712G for speed is detected, and speed information for accelerating the autonomous traveling device 10 is acquired (step S131).

In the detection of the speed-up virtual RFID 1712G by the autonomous traveling device mark 10G, the distance L1 between the position coordinates of the autonomous traveling device mark 10G on the traveling path 12G of the map image 101G and the speed-up virtual RFID 1712G is a predetermined value set in advance. When the distance falls below, it is determined by the control unit 100 that the autonomous traveling device mark 10G has detected the speed-up virtual RFID 1712G.

The autonomous traveling device 10 is subjected to deceleration traveling control, and when the path of the path 12 on the magnetic tape changes from the curved portion to the straight portion, the traveling speed is increased and the traveling is controlled (step S133).

On the PC screen, the autonomous traveling device mark 10G is displayed so as to move from the curved portion to the straight portion of the traveling path 12G of the map image 101G.

In this way, when the autonomous traveling device 10 travels on the magnetic tape 12, a reference including information on the position information of the autonomous traveling device 10 on the traveling path 12G of the map image 101G generated by the map generation unit 160. By setting the reference position coordinates 1751G corresponding to the position RFID 1751, the virtual RFID 1711G for deceleration and the virtual RFID 1712G for speeding up including the information related to the traveling control, the same as the autonomous traveling device mark 10G whose traveling is controlled on the PC screen. In addition, it is possible to control the traveling of the autonomous traveling device 10 traveling on the magnetic tape 12.

Therefore, acceleration / deceleration control can be performed only by the setting in the PC without laying an RFID card at the entrance or exit of the curve of the traveling path of the magnetic tape 12 on which the autonomous traveling device 10 travels, without derailment. It becomes possible to run along the magnetic tape 12.

According to the first embodiment, in the autonomous traveling device 10 that travels along the laid magnetic tape 12, the device includes a magnetic sensor array 140 that detects the magnetic tape 12 and a magnetic sensor array 140 that detects the magnetic tape 12. It is equipped with a lidar sensor 150 that detects obstacles around the device, and a map generator 160 that generates a map by SLAM technology using the detection result of the lidar sensor 150 and the detection result of the magnetic sensor array 140. While the device 10 is running on the magnetic tape 12, the map generation unit 160 generates a map image 101G on which the autonomous traveling device 10 travels, and based on the information of the map image 101G, the traveling control of the autonomous traveling device 10 is performed. Therefore, it is possible to realize an autonomous traveling device capable of accurately controlling traveling by eliminating work inability to manage and install an information storage medium such as an RFID tag for controlling the traveling of the autonomous traveling device 10.

Further, in the first embodiment, the self-position estimation unit 180 estimates the self-position while the autonomous traveling device 10 travels on the magnetic tape 12, so that the traveling path 12G of the magnetic tape 12 is a map image 101G. Can be placed on top. As a result, the traveling position of the autonomous traveling device 10 while traveling on the magnetic tape 12 can be acquired.

Further, in the first embodiment, the virtual RFID generation unit 170 is provided to generate a virtual RFID 1711G for deceleration and a virtual RFID 1712G for speeding up, and the virtual RFID 1711G for deceleration and the virtual RFID 1712G for speeding up are generated as virtual RFIDs on the map image 101G. By detecting the virtual RFID from the self-position of the autonomous traveling device 10 on the map image 101G, it is possible to perform the same control as when the RFID card is actually placed on the magnetic tape 12.

Specifically, a case where the control for stopping the autonomous traveling device 10 is performed by the setting on the PC screen will be described.
FIG. 26 is an explanatory diagram showing an example of setting a deceleration virtual RFID in the traveling path of the map image on the PC screen.

When the control for stopping the autonomous traveling device 10 is performed on the PC screen, as shown in FIG. 26, for stopping first in the traveling direction of the autonomous traveling device mark 10G in the traveling path 12G on the map image 101G on the PC screen. When setting the virtual RFID 1752G, the deceleration virtual RFID 1753G may be automatically set in front of the virtual RFID 175 2G.

With this configuration, before controlling to stop the autonomous traveling device mark 10G at the position of the stop virtual RFID1752G, the deceleration virtual RFID1753G is detected in front of the stop virtual RFID1752G and the deceleration control is performed. , It can be stopped accurately at the position of the virtual RFID 1752G for stopping.

(Second Embodiment)
Next, the second embodiment will be described with reference to the drawings.
The second embodiment is characterized in that, when the traveling control of the autonomous traveling device is performed, the traveling control of the autonomous traveling device is performed without using the virtual RFID in the first embodiment.

FIG. 27 is a block diagram showing an electrical configuration of the autonomous traveling device according to the second embodiment, and FIG. 28 shows deceleration / acceleration control in a traveling path on a map image when traveling on a magnetic tape in the autonomous traveling device. The flowchart, FIG. 29 is an explanatory diagram of an example in which the reference position RFID card is installed on the path of the magnetic tape on which the autonomous traveling device travels, and FIG. 30 shows the reference position coordinates arranged on the traveling path on the map image displayed on the PC screen. FIG. 31 is an explanatory diagram showing a state in which the autonomous traveling device moves along a curved portion of a traveling path on a map image displayed on a PC screen.
Regarding the configuration of the autonomous traveling device according to the second embodiment, the same components as those of the autonomous traveling device of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 27, the autonomous traveling device 20 according to the second embodiment mainly includes a control unit 200, a drive motor 120, a magnetic sensor array 140, a lidar sensor 150, and a map generation unit. It includes 160, an RFID reader 175, a self-position estimation unit 180, and a storage unit 190.

When the autonomous traveling device 20 travels along the magnetic tape 12, it is performed according to the flowchart shown in FIG. 28.

Similar to the first embodiment, the autonomous traveling device 20 starts traveling from the front side of the reference position RFID card 1751 (step S221), and as shown in FIG. 29, moves the reference position RFID card 1751 on the magnetic tape 12 to the reference position RFID card 1751. When detected, the position coordinates of the autonomous traveling device 20 on the map image 101G are determined (step S223).

As a result, as shown in FIG. 30, the autonomous traveling device mark 20G is displayed. Then, the control unit 200 initializes the position coordinates in the traveling path 12G on the map image 101G.

Then, the autonomous traveling device 20 updates the position coordinates (self-position) of the autonomous traveling device mark 10G on the map image 101G from the detection of the lidar sensor 150 and the measurement of the mileage when the autonomous traveling device 20 travels (self-position). Step S225).

Then, the autonomous traveling device 20 generates a map, a reference position coordinate acquired from the position information RFID card 1751, a position coordinate of the autonomous traveling device 20 estimated from the rotation speed of the wheel 130, an obstacle detected by the lidar sensor 150, and a map. The self-position is estimated by inquiring the obstacle on the map image 101G generated by the part 160.

Then, the position on the magnetic tape 12 is obtained from the position coordinates of the autonomous traveling device 20 (step S227). For example, it is possible to identify the traveling magnetic tape by calculating the line segment of the closest traveling path from the position coordinates of the autonomous traveling device 20.

Then, from the coordinate data of the traveling path 12G on the map image 101G, the curvature R1 of the curved portion toward the traveling direction of the magnetic tape 1G traveling by the autonomous traveling device 20 is calculated (step S229).

Here, in the second embodiment, the traveling speed of traveling on the curved portion of the traveling path 12G is set in advance according to the curvature R1 of the curved portion.

It is determined whether or not the curvature R1 of the curved portion on which the autonomous traveling device 20 travels is larger than a predetermined value with respect to the traveling speed of the autonomous traveling device 20 (step S231).

In step S231, when it is determined that the value of the curvature R1 is larger than the predetermined value with respect to the traveling speed of the autonomous traveling device 20, the traveling speed of the autonomous traveling device 20 is controlled to be reduced (step S233). ..

On the other hand, in step S231, when it is determined that the value of the curvature R1 is not larger than the predetermined value with respect to the traveling speed of the autonomous traveling device 20, the traveling speed of the autonomous traveling device 20 is not changed. It is controlled (step S235).

Then, at the point where the curved portion of the traveling path 12G transitions to the straight portion, it is determined whether or not the traveling speed of the autonomous traveling device 20 has been reduced at the curved portion (step S237).

When it is determined that the traveling speed of the autonomous traveling device 20 has been reduced in the curved portion, the traveling speed of the autonomous traveling device 20 is controlled to be returned to the original speed to travel (step S239).

On the other hand, when it is determined in the curved portion that the traveling speed of the autonomous traveling device 20 is not decelerated, the vehicle is controlled to travel without changing the traveling speed of the autonomous traveling device 20 (step S241).

As described above, by controlling the traveling speed of the autonomous traveling device 20, the autonomous traveling device 20 can travel without derailing.

According to the second embodiment, in the autonomous traveling device 20 traveling along the laid magnetic tape 12, the control unit 200 causes the autonomous traveling device 20 to travel on the magnetic tape 12. However, the self-position of the autonomous traveling device 20 is estimated by the self-position estimation unit 180, the traveling position on the traveling path 12G on the map image 101G is specified based on the self-position of the autonomous traveling device 20, and the curved portion of the magnetic tape 12 By calculating the curvature R1 of the above and determining the traveling speed in the curved portion from the curvature R1, the autonomous traveling device 20 can travel without derailing.

In the second embodiment, the traveling speed of the autonomous traveling device 20 is controlled according to the flowchart shown in FIG. 28, but the control of increasing or decreasing the traveling speed according to the traveling conditions is an example. It is not limited to.

Further, in the second embodiment, the speed control in the curved portion and the straight portion of the path of the magnetic tape 12 of the autonomous traveling device 20 is described, but the traveling state of the other autonomous traveling device 20 in the path of the magnetic tape 12 is described. It can be deployed accordingly.

(Modification example 1)
Modification 1 describes a case where the autonomous traveling device 20 travels on the path of the magnetic tape 12 in a state close to an obstacle close to the traveling path.

FIG. 32 is an explanatory diagram showing a state in which the autonomous traveling device travels at a position close to an obstacle in the path of the magnetic tape on which the autonomous traveling device travels, and FIG. 33 shows traveling on the traveling route on the map displayed on the PC screen. It is explanatory drawing which shows the moving state of the autonomous traveling device.

In the first modification, the configuration of the autonomous traveling device similar to that of the autonomous traveling device of the second embodiment is designated by the same reference numerals, and the description thereof will be omitted.

Generally, when the lidar sensor 150 detects an obstacle in a predetermined area where the autonomous traveling device 20 travels, the traveling speed of the autonomous traveling device 20 is reduced for safety, and when the autonomous traveling device 20 approaches further, the vehicle stops. Be made.

In the first modification, as shown in FIG. 32, when the obstacle 1510 detected by the lidar sensor 150 is detected near the path of the magnetic tape 12 on which the autonomous traveling device 20 travels, the storage unit 190 is stored as the obstacle information 1501. Is remembered in. Then, as shown in FIG. 33, on the PC screen, it is displayed as an obstacle mark 1510G in the vicinity of the traveling path 12G on the map image 101G.

The control unit 200 determines that the detected obstacle 1510 is a known object such as factory equipment, and controls the autonomous traveling device 20 to travel in the vicinity of the obstacle 1510 without deceleration control or stopping.

With this configuration, according to the first modification, in the traveling control of the autonomous traveling device 20, when the traveling of the autonomous traveling device 20 is not hindered based on the detected information such as obstacles. Makes it possible to perform efficient operation without performing unnecessary deceleration control and the like.

(Modification 2)
Modification 2 describes a case where the autonomous traveling device 20 returns to self-propelled when the autonomous traveling device 20 derails in the path of the magnetic tape 12.

FIG. 34 is an explanatory diagram showing a state in which the autonomous traveling device derails in the path of the magnetic tape on which the autonomous traveling device travels, and FIG. 35 shows the autonomous traveling device traveling on the traveling route on the map displayed on the PC screen derailed. It is explanatory drawing which shows the state which was done.

In the second modification, the description of the configuration of the autonomous traveling device will be omitted by assigning the same reference numerals to the configurations of the autonomous traveling device similar to those of the second embodiment.

In the second modification, as shown in FIG. 34, when the autonomous traveling device 20 derails from the path of the traveling magnetic tape 12, the control unit 200 is on the map image 101G of the PC screen as shown in FIG. 35. In, the derailed state of the autonomous traveling device 20 can be detected from the positional relationship between the autonomous traveling device mark 20G and the traveling path 12G.

The control unit 200 determines whether to turn the autonomous traveling device 20 to the right or to the left based on the positional relationship between the autonomous traveling device mark 20G and the traveling path 12G.

For example, the control unit 200 calculates the line segment of the travel path 12G closest to the position coordinate of the autonomous travel device mark 20G based on the reference position coordinate 1751G, and turns right when there is a line segment on the right side of the autonomous travel device mark 20G. When it is on the left side, it is controlled to turn left.

Here, as shown in FIG. 35, since the traveling path 12G is located on the right side of the traveling direction of the autonomous traveling device mark 20G on the PC screen, the autonomous traveling device 20 is turned right in actual traveling. By controlling the traveling, it is possible to return to the magnetic tape 12.

With this configuration, according to the second modification, the position coordinates of the autonomous traveling device mark 20G are known based on the reference position coordinates 1751G on the map image 101G, so that the autonomous traveling device 20 derails from the path of the magnetic tape 12. Even if this is the case, the restoration process can be easily performed.

Conventionally, when the autonomous traveling device 20 is derailed, the work of manually restoring the vehicle body on the path of the magnetic tape 12 has been performed, but in the second modification, the vehicle body can be automatically restored.

(Third Embodiment)
Next, the third embodiment will be described with reference to the drawings.
A third embodiment relates to an autonomous traveling management system including an autonomous traveling device and a management server, and controlling and controlling the autonomous traveling device traveling on the laid magnetic tape by the management server.

FIG. 36 is an explanatory diagram showing a configuration of an autonomous travel management system according to a third embodiment, FIG. 37 is a block diagram showing an electrical configuration of an autonomous travel device constituting the autonomous travel management system, and FIG. 38 is a block diagram showing an autonomous travel management system. It is a block diagram which shows the electrical configuration of the constituent server.

In the autonomous travel management system according to the third embodiment, the same components as those of the autonomous travel device according to the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

(Configuration of autonomous driving management system)
As shown in FIG. 36, the autonomous travel management system 1 according to the third embodiment is configured such that a plurality of autonomous travel devices 30 and a management server (server) 50 can be communicated and connected via a network NW, and the autonomous travel device 1 is configured. The management server 50 controls the autonomous traveling device 30 based on the information transmitted from the 30.

(Configuration of autonomous traveling device)
In the third embodiment, the autonomous traveling device 30 includes a first autonomous traveling device 31 and a second autonomous traveling device 32. Here, when the term "autonomous traveling device 30" is simply used, it means the first autonomous traveling device 31 and the second autonomous traveling device 32.

As shown in FIG. 37, the autonomous traveling device 30 mainly includes a control unit 300, a drive motor 120, a magnetic sensor array 140, a lidar sensor 150, a map generation unit 160, and a virtual RFID. It includes a generation unit 170, a self-position estimation unit 180, a storage unit 190, and a communication unit 310.

The control unit 300 generates a map on which the autonomous traveling device 30 travels by the map generation unit 160 while traveling the autonomous traveling device 30 on the magnetic tape. Then, it has a function of transmitting the map information to the management server 50.

(Management server configuration)
As shown in FIG. 38, the management server 50 mainly includes a control unit 500, a communication unit 510, a control unit 530, and a storage unit 590 as an electrical configuration.

The control unit 500 is configured to control the travel of the autonomous traveling device 30 by the control unit 530.

The control unit 530 controls and controls the travel of the autonomous travel device 30 based on the map image information 1601 of the map image 101G transmitted from the autonomous travel device 30.

The storage unit 590 stores the map image information 1601 of the map image 101G transmitted from the autonomous traveling device 30. In the third embodiment, the storage unit 590 stores the map image information 1601 for the autonomous traveling device 30 to generate the map image 101G.

The map image information 1601 includes magnetic tape information 1401, obstacle information 1501, virtual RFID information 1710a, self-position information 1801, and the like as information for generating the map image 101G.

(Regarding control control of autonomous traveling devices by the management server)
Next, the control control of the autonomous traveling device 30 traveling on the path of the magnetic tape 312 will be described by the management server 50 using the autonomous traveling management system 1.

FIG. 39 is an explanatory diagram showing a state in which an autonomous traveling device traveling on a path of a magnetic tape is controlled and controlled by a management server in an autonomous traveling management system, and FIG. 40 is an explanatory diagram showing an example in which the path of the magnetic tape is branched. 41 is an explanatory diagram showing an example in which the paths of the magnetic tapes intersect, FIG. 42 is an explanatory diagram showing a state in which the traveling route is displayed on the map image on the PC screen, and FIG. 43 is the traveling route of the map image on the PC screen. It is explanatory drawing which shows the state which the virtual RFID is set in.

As shown in FIG. 39, the autonomous travel management system 1 is a system in which the management server 50 controls and controls the first autonomous travel device 31 and the second autonomous travel device 32 that travel on the path of the magnetic tape 312.

As shown in FIG. 40, the path of the magnetic tape 312 is a branch point where the first path R31 to the second path R32 branch off, and as shown in FIG. 41, the third path R33 intersects the first path R31. Includes crossroads.

As shown in FIG. 39, RFID cards 3751 to 759 in which route information is stored are required at the branch points and intersections of the paths of the magnetic tape 312.

The route information includes, for example, as attributes, information on a direction (straight ahead, turning direction) for specifying a course at a branch point (Y-shaped road), an intersection (crossroad), speed information on the route, and the like.

As shown in FIG. 42, the autonomous traveling device 30 generates the map image 301G displayed on the PC screen based on the obstacle information 1501 detected by the lidar sensor 150 by the map generation unit 160 while traveling. Then, a traveling path 312G is generated on the map image 301G based on the magnetic tape information 1401 detected by the magnetic sensor array 140. Reference numeral 31G indicates a first autonomous traveling device mark, and 32G indicates a second autonomous traveling device mark.

The virtual RFID generation unit 170 generates virtual RFIDs 3751G to 3759G corresponding to RFID cards 3751 to 759, respectively.

As shown in FIG. 43, the virtual RFIDs 3751G to 3759G are set at positions corresponding to the positions of the RFID cards 3751 to 759 required for the path of the magnetic tape 312 on the traveling path 312G of the map image 301G on the PC screen. ..

Then, the autonomous traveling device 30 transmits the map image information 1601 including the virtual RFID information 1710a and the like of the virtual RFIDs 3751G to 3759G to the management server 50.

The map image information 1601 transmitted from the autonomous traveling device 30 is stored in the storage unit 590 of the management server 50.

The management server 50 controls the travel of the autonomous travel device 30 by the control unit 530 using the map image 301G based on the map image information 1601 transmitted from the autonomous travel device 30.

As shown in FIG. 43, the control unit 530 controls the traveling of the autonomous traveling device 30 by using the traveling route 312G on the PC screen and the virtual RFIDs 3751G to 3759G set at the branch points and intersections on the traveling route 312G. Organize traffic.

The travel control of the autonomous travel device 30 by the control unit 530 is performed by the autonomous travel device mark (first autonomous travel device mark 31G, second autonomous travel) on the travel path 312G of the map image 301G on the PC screen corresponding to the autonomous travel device 30. When the distance between the position coordinates of the device mark 32G) and the position coordinates of the virtual RFID is equal to or less than a predetermined value, it is determined that the autonomous traveling device 30 has detected the virtual RFID, and the traveling control based on the route information of the virtual RFID is determined. Is executed.

Further, the traveling control of the autonomous traveling device 30 by the control unit 530 can also control the passing of the plurality of autonomous traveling devices 30 at the branch point or the intersection.

According to the third embodiment, in the autonomous travel management system 1 in which the autonomous travel device 30 traveling on the magnetic tape 312 is controlled and controlled by the management server 50, the management server 50 controls the autonomous travel device 30. Since the control control of the autonomous traveling device 30 is performed based on the map image information 1601 of the map image 301G on which the autonomous traveling device 30 travels transmitted from 30, the magnetic tape 312 on which the autonomous traveling device 30 actually travels is performed. The autonomous traveling device 30 can be accurately controlled and controlled based on the virtual RFID information 1710a included in the map image information 1601 without installing an information storage medium such as an RFID card on the top.

In the third embodiment, the travel path of the map image 301G generated by the autonomous travel device 30 is assumed by assuming an RFID card that stores the route information arranged on the route of the magnetic tape 312 on which the autonomous travel device 30 travels. Although the user sets the virtual RFID required for the autonomous traveling device 30 on the 312G, the setting of the virtual RFID is not limited to the method of the present embodiment.

(Fourth Embodiment)
Next, the fourth embodiment will be described with reference to the drawings.
In the fourth embodiment, when the autonomous travel management system 1 is traveling to record the travel path of the magnetic tape 312 by the magnetic sensor array 140 of the autonomous travel device 30, the detection pattern of the magnetic sensor array 140 changes with time. The feature is that the virtual RFID is automatically set by observing the above and detecting the branch point or intersection of the traveling route from the observation result.

FIG. 44 is an explanatory diagram showing an example of a branch point of the magnetic tape path in the autonomous travel management system according to the fourth embodiment, and FIG. 45 shows a transition of the detection pattern of the magnetic sensor array that detects the branch point of the magnetic tape path. Explanatory drawing, FIG. 46 is an explanatory diagram showing an example of display near a branch point of a traveling route of a map image displayed on a PC screen, and FIG. 47 is an explanatory diagram showing an example of an intersection point of a magnetic tape route, FIG. 48. Is an explanatory diagram showing the transition of the detection pattern of the magnetic sensor array that detects the intersection of the path of the magnetic tape, and FIG. 49 is an explanatory diagram showing an example of the display near the intersection of the traveling route of the map image displayed on the PC screen. 50 is an explanatory diagram showing an example of a three-way path which is a branch point of a magnetic tape path, and FIG. 51 is an explanatory diagram showing a transition of a detection pattern of a magnetic sensor array that detects a three-way path of a magnetic tape path. FIG. 52 is an explanatory diagram showing a state in which the autonomous traveling device derails from the three-way path of the magnetic tape path, and FIG. 53 is an explanatory diagram showing an operation of the autonomous traveling device returning to the three-way path of the magnetic tape path.

In the autonomous travel management system according to the fourth embodiment, the same components as those of the autonomous travel management system 1 according to the third embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the autonomous travel management system 1 according to the fourth embodiment, when the autonomous travel device 30 travels on the magnetic tape 312, the magnetic sensor array 140 detects and detects the detection pattern for detecting the magnetic tape 312 over time. Based on the results, the branch points and intersections of the route are identified by the change of the detection pattern.

In the path of the magnetic tape 312 of the autonomous travel management system 1, as shown in FIG. 44, the second path R42 extends diagonally to the right in the figure from the first path R41 along the traveling direction (arrow direction) of the autonomous travel device 30. The branching point A1 that is branched can be specified.

The detection of the path by the magnetic sensor array 140 at the branch point A1 of the path of the magnetic tape 312 is detected as shown in FIG. 45.

Specifically, as shown in FIG. 45, before the magnetic sensor array 140 reaches the branch point A1, the magnetic tape 312 passes through the central portion of the magnetic sensor array 140, so that the detection pattern of the magnetic sensor array 140 In (a), S3 and S4 of the magnetic sensors S1 to S6 are in the detection state.

When the magnetic sensor array 140 reaches the branch point A1, the second path R42 in addition to the first path R41 of the magnetic tape 312 comes to a position facing the magnetic sensor array 140, so that the range detected by the magnetic sensor array 140 As the detection pattern, the magnetic sensors S3 to S6 are in the detection state as in (b), (c), and (d).

As a result, it can be determined that the second path R42 branches to the right side with respect to the traveling direction of the autonomous traveling device 30.

On the other hand, in the detection pattern of the magnetic sensor array 140, when the magnetic sensors S1 to S4 are in the detection state, it can be determined that the second path R42 branches to the left side with respect to the traveling direction of the autonomous traveling device 30.

The autonomous traveling device 30 stores the position coordinates at which the branch point A1 is detected in the storage unit 590, and the virtual RFID generation unit 170 stores the route information for determining the traveling route according to the detection pattern by the magnetic sensor array 140 described above. Generate the virtual RFID 4754G.

Then, as shown in FIG. 46, by setting the virtual RFID 4754G at a position in front of the branch point A1 on the travel path 312G of the map image 401G on the PC screen, the travel of the autonomous travel device 30 at the branch point A1 is controlled. can do.

Further, in the path of the magnetic tape 312 of the autonomous travel management system 1, as shown in FIG. 47, the third path R43 is substantially perpendicular to the first path R41 along the traveling direction (arrow direction) of the autonomous travel device 30. The intersection point A2 where is intersecting can be identified.

The detection of the path by the magnetic sensor array 140 at the intersection A2 of the path of the magnetic tape 312 is detected as shown in FIG. 48.

Specifically, as shown in FIG. 48, before the magnetic sensor array 140 reaches the intersection A2, the magnetic tape 312 passes through the center of the magnetic sensor array 140, so that the detection pattern of the magnetic sensor array 140 In (a), S3 and S4 of the magnetic sensors S1 to S6 are in the detection state.

When the magnetic sensor array 140 reaches the intersection point A2, the crossed third path R43 in addition to the first path R41 of the magnetic tape 312 comes to a position facing the magnetic sensor array 140, so that the width of the third path R43 Since the range detected by the magnetic sensor array 140 becomes wider in the range, the magnetic sensors S1 to S6 are in the detection state as in the detection patterns (b) and (c).

As a result, it can be determined that the third path R43 intersects the traveling direction of the autonomous traveling device 30 in a direction substantially perpendicular to the traveling direction.

Then, when the magnetic sensor array 140 advances on the magnetic tape 312 as it is, the third path R43 deviates from the position facing the magnetic sensor array 140, so that the detection pattern of the magnetic sensor array 140 is as shown in (d). S3 and S4 are in the detection state. As a result, it can be determined that the first path R41 has passed through the third path R43.

The autonomous traveling device 30 stores the position coordinates at which the intersection A2 is detected in the storage unit 590, and the virtual RFID generation unit 170 stores the route information for determining the traveling route according to the detection pattern by the magnetic sensor array 140 described above. Generate the virtual RFIDs 4756G, 4757G, 4758G, 4759G.

Then, as shown in FIG. 49, by setting virtual RFIDs 4756G, 4757G, 4758G, 4759G at a position in front of the intersection A2 on the traveling path 312G of the map image 401G on the PC screen, the intersection of the autonomous traveling device 30 Traveling at point A2 can be controlled.

Further, in the path of the magnetic tape 312 of the autonomous travel management system 1, as shown in FIG. 50, the fourth path R44 is substantially perpendicular to the first path R41 along the traveling direction (arrow direction) of the autonomous travel device 30. The T-shaped branch point A3 provided with the above can be specified.

The detection of the path by the magnetic sensor array 140 at the branch point A3 of the path of the magnetic tape 312 is detected as shown in FIG. 51.

Specifically, as shown in FIG. 51, before the magnetic sensor array 140 reaches the branch point A3, the magnetic tape 312 passes through the central portion of the magnetic sensor array 140, so that the detection pattern of the magnetic sensor array 140 In (a), S3 and S4 of the magnetic sensors S1 to S6 are in the detection state.

When the magnetic sensor array 140 reaches the branch point A3, the fourth path R44 branched from the first path R41 of the magnetic tape 312 in a T shape comes to a position facing the magnetic sensor array 140, so that the fourth path R44 Since the range detected by the magnetic sensor array 140 increases along the path direction, the magnetic sensors S1 to S6 are in the detection state as the detection pattern as shown in (b).

Then, when the magnetic sensor array 140 further moves along the direction of the first path R41, it derails from the fourth path R44, so that the magnetic sensor array 140 is not detected as in (c).

As a result, it can be determined that the fourth route R44 is a three-way junction branched in a direction substantially perpendicular to the traveling direction of the autonomous traveling device 30.

When it is determined that the branch point A3 is a three-way junction, as shown in FIG. 52, when the autonomous traveling device 30 derails from the fourth route R44, as shown in FIG. 53, the autonomous traveling device By controlling the 30 to turn, the fourth route R44 can be detected again, so that the traveling control along the fourth route R44 can be restarted.

According to the fourth embodiment, in the autonomous travel management system 1 in which the autonomous travel device 30 traveling on the magnetic tape 312 is controlled and controlled by the management server 50, the magnetic sensor array of the autonomous travel device 30 is configured. Based on the detection result detected by 140, the branch point A1 and the intersection point A2 of the traveling route are detected, and the virtual RFID generator 170 stores the route information for determining the traveling route according to the detection pattern by the magnetic sensor array 140. By generating a virtual RFID and automatically setting the virtual RFID in front of the branch point A1 and the intersection point A2, an information storage medium such as an RFID card is placed on the magnetic tape 312 on which the autonomous traveling device 30 actually travels. The autonomous traveling device 30 can be accurately controlled and controlled without installing the device.

In the above-described embodiments and modifications, the magnetic tapes 12 and 312 of the magnetic guidance system are used as the derivative for guiding the autonomous traveling device, but the guidance system is not limited to the magnetic guidance system, for example. , Optical guidance type, electromagnetic induction type and other guidance methods may be used.

Further, the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the claims. That is, an embodiment obtained by combining technical means appropriately modified within a range that does not deviate from the gist of the present invention is also included in the technical scope of the present invention.

1 Autonomous driving management system 10, 20, 30 Autonomous driving device 10G, 20G Autonomous driving device mark 12, 312 Magnetic tape (derivative)
12G, 312G Travel route 50 Management server (server)
101G, 301G, 401G Map image 140 Magnetic sensor array (derivative detector)
150 Lidar sensor (surrounding detector)
160 Map generation unit 170 Virtual RFID generation unit 175 RFID reader 180 Self-position estimation unit 530 Control unit 1601 Map image information 1710a Virtual RFID information 1710G, 3751G to 3759G,
4751G, 4756G, 4757G, 4758G, 4759G Virtual RFID
1711G Virtual RFID for deceleration
1712G Virtual RFID for speed increase
1751 Reference position RFID card 1751a Reference position information 1751G Reference position coordinates 1751 Reference position RFID
1752G Virtual RFID for stopping
1753G Virtual RFID for deceleration
1801 Self-location information 3753-1759 RFID card A1 Branch point A2 Crossing point A3 Branch point S1 to S6 Magnetic sensor

Claims (10)

With the car body
The drive unit that runs the vehicle body and
Derivative detection unit that detects the laid derivative and
Surrounding detectors that detect surrounding obstacles and
A control unit that controls the drive unit and
A map generation unit that generates a map by SLAM technology using the detection result of the surrounding detection unit and the detection result of the derivative detection unit.
With
The control unit
While the vehicle body is driven on the derivative, the map generation unit generates a map on which the autonomous traveling device travels.
An autonomous traveling device characterized in that traveling control of the autonomous traveling device is performed based on the information on the map. It is provided with a self-position estimation unit that inquires about the map generated by the map generation unit and the obstacle detected by the surrounding detection unit and estimates the self-position of the autonomous traveling device on the map.
The self-position estimation unit estimates the self-position while the autonomous traveling device travels on the derivative.
The autonomous traveling device according to claim 1, wherein the map generation unit captures the path of the derivative as a coordinate sequence on the map. Equipped with a virtual RFID generator that generates a virtual RFID (radio frequency identifier)
The autonomous traveling device according to claim 2, wherein the control unit sets a virtual RFID in the path of the derivative on the map generated by the map generation unit. The control unit
While the autonomous traveling device is traveling, the coordinates of the self-position on the map are compared with the coordinates of the virtual RFID.
When the distance between the self-position on the map and the virtual RFID is equal to or less than a predetermined value, it is determined that the virtual RFID has been detected.
The autonomous traveling device according to claim 3, wherein the traveling control is performed based on the attribute of the virtual RFID. The virtual RFID is
Equipped with running speed as an attribute,
The path of the derivative on the map is set at a point where the route changes from a straight line to a curved line and from a curved line to a straight line.
The control unit
The autonomous traveling device according to claim 4, wherein the driving unit is controlled so that the autonomous traveling device travels at a speed that does not separate from the derivative based on the detection result of the virtual RFID. The virtual RFID is
Equipped with an obstacle detection range as an attribute
It is set near the obstacle set on the map,
The control unit
When the autonomous traveling device travels near an obstacle, it is characterized in that the obstacle detection range by the surrounding detection unit is narrower than the detection range other than the vicinity of the obstacle based on the attribute of the virtual RFID to control the traveling. The autonomous traveling device according to claim 4. The control unit
While the autonomous traveling device is driven on the derivative, the self-position of the autonomous traveling device is estimated by the self-position estimation unit.
Based on the detection result of the derivative by the derivative detection unit, the branch position and the intersection position of the derivative are detected.
The autonomous traveling device according to claim 2, wherein a virtual RFID is arranged around the branch position and the intersection position on the route of the derivative on the map. The control unit
While the autonomous traveling device is driven on the derivative, the self-position of the autonomous traveling device is estimated by the self-position estimation unit.
Based on the self-position of the autonomous traveling device, the traveling position on the route of the derivative on the map is specified, and the traveling position is specified.
Calculate the curvature of the curved part of the path of the derivative,
The autonomous traveling device according to claim 2, wherein the traveling speed in the curved portion is determined from the curvature. An autonomous travel management system that includes an autonomous travel device and a server, and controls and controls the autonomous travel device that travels on the laid derivative by the server.
The autonomous traveling device and the server are configured to be communicatively connectable.
The autonomous traveling device is
With the car body
The drive unit that runs the vehicle body and
Derivative detection unit that detects the laid derivative and
Surrounding detectors that detect surrounding obstacles and
A control unit that controls the drive unit and
A map generation unit that generates a map by SLAM technology using the detection result of the surrounding detection unit and the detection result of the derivative detection unit.
With
The control unit
While the vehicle body is driven on the derivative, the map generation unit generates a map on which the autonomous traveling device travels.
The server
A control unit that controls the control of the autonomous traveling device is provided.
The control unit
An autonomous travel management system characterized in that control control of the autonomous travel device is performed based on information on a map on which the autonomous travel device travels transmitted from the autonomous travel device. The autonomous traveling management system according to claim 9, wherein the autonomous traveling device according to any one of claims 1 to 8 is used as the autonomous traveling device.

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