JP4988507B2 - Traveling car - Google Patents

Description

  The present invention relates to a traveling vehicle that travels autonomously or remotely, and particularly to a traveling vehicle that is suitable for traveling on rough terrain where there is a puddle.

In the above-mentioned traveling vehicle, the external environment data in the traveling direction obtained by the sensor mounted on the vehicle body is processed, and the road surface state estimated from this is compared with the traveling performance of the vehicle so as to determine whether or not traveling is possible. It has become.
In this case, the sensor includes a non-contact type sensor and a contact type sensor, and examples of the non-contact type sensor include a sonar, a laser range finder, a stereo camera, and image processing. Sonar, laser range finder, and stereo camera can measure the shape of an object, and image processing can estimate the attribute of an object. Since these sensors can be measured from a distance, they are an advantageous method for increasing the traveling speed.

On the other hand, examples of the contact sensor include a pressure sensor and a strain gauge. By estimating the contact with the outside of the vehicle body and the force applied to the wheel contact point, attributes such as the hardness of the outside can be estimated. Since these sensors can measure only the area in the vicinity of the vehicle body, it is necessary to make the traveling speed very slow or to repeat the stop and the traveling.
Therefore, in a traveling vehicle that runs at high speed, the non-contact sensor is used as a main sensor, and the non-contact sensor is combined with another sensor such as a contact sensor to measure and estimate the outside environment with higher accuracy. (For example, refer to Patent Document 1).

Here, in the case of an unmanned traveling vehicle that performs autonomous traveling, due to errors or misrecognition of sensors, etc. In order to operate unattended for a long time, it may be necessary to let the vehicle autonomously attempt to escape even if the vehicle is in the above-mentioned non-running state. A conventional self-propelled vacuum cleaner based on this idea is described in Patent Document 2.
Patent No.2769972 JP 2005-211360

However, in the past, when there is a puddle on the road surface in the traveling direction of the traveling vehicle, if a stereo camera is used as a non-contact type sensor for measuring the outside world, the surface of the puddle causes total reflection, and the background is An erroneous measurement occurs due to reflection.
In addition, when a laser range finder is used as a non-contact type sensor for external measurement, the irradiated laser light is totally reflected by the surface of the water pool, and a distance value to an object in the reflected direction is obtained. Or if there is nothing in that direction, the distance value cannot be acquired.

In particular, when sunlight or the like is reflected on the surface of a puddle, the optical sensor such as an image processing camera or a laser range finder makes measurement impossible due to saturation, etc. It is very difficult to travel in a region where there is a water surface such as a puddle that is difficult to measure with a contact sensor.
The present invention has been made paying attention to the above-described conventional problems, and can improve the unmanned running performance in an environment including a puddle without complicating the sensor system. An object of the present invention is to provide a traveling vehicle that can prevent damage and the like.

  The invention according to claim 1 of the present invention measures a vehicle body traveling autonomously or remotely, wheels disposed at least at four positions on the front, rear, left and right of the vehicle body, and a road surface condition in the traveling direction mounted on the vehicle body. In a traveling vehicle equipped with an external measurement unit, the vehicle measurement unit decelerates the traveling vehicle body when the external measurement unit captures an indeterminate puddle part where water is estimated to be present on the road surface in the traveling direction. When the front wheel of the vehicle body that moves forward at a low speed and the front wheel of the vehicle body that moves forward at a low speed enters the uncertain water pool portion, the bottom portion of the vehicle body becomes an edge portion of the uncertain water pool portion. A contact sensor for detecting whether or not the vehicle is grounded; and when the contact sensor detects the grounding of the bottom portion of the vehicle body with respect to the edge portion of the uncertain water pool portion, by a command from the control unit or the remote control unit in front An escape mechanism for escaping the vehicle body from the uncertain water pool site, and detecting the presence of moisture in the uncertain water pool site at the stage where the front wheel of the vehicle body moving forward at a slow speed is submerged in the uncertain water pool site. The control unit or the remote control unit is provided with a water detection sensor for urging the vehicle body to move backward from the uncertain water pool portion. As a means to solve.

In the traveling vehicle of the present invention, during traveling, when the external measurement unit captures an uncertain puddle part where the presence of water is estimated on the road surface in the traveling direction, the vehicle is decelerated by a command from the control unit or the remote control unit. Then, it moves forward slowly to the indeterminate water reservoir, and gradually advances the front wheels.
If the contact sensor does not detect the ground contact of the bottom part of the vehicle body with respect to the edge part of the indeterminate puddle part, it continues to advance at a slow speed, and then the water detection sensor detects the presence of moisture in the indeterminate puddle part. If not, it is determined as a travelable area, the speed is returned to the original, and the travel is continued.

On the other hand, when the contact sensor detects the ground contact of the bottom part of the vehicle body with respect to the edge part of the indeterminate puddle part, the escape mechanism is activated in response to a command from the control unit or the remote control unit, and the car body is escaped from the indeterminate puddle part. Therefore, the vehicle body is prevented from falling out of the indeterminate water reservoir portion.
In addition, when the contact sensor does not detect the ground contact of the bottom part of the vehicle body with respect to the edge part of the indeterminate puddle part, and the front wheel of the vehicle body moving forward at a slow speed is submerged in the indeterminate puddle part. The water detection sensor detects the presence of moisture in the uncertain water pool part and prompts the control unit or remote control unit to move backward from the uncertain water pool part, so that the vehicle body is submerged in the uncertain water pool part. Doing so will be avoided.

  In the traveling vehicle according to claim 2 of the present invention, the escape mechanism includes an arm that is supported so as to be rotatable about a horizontal axis with respect to the vehicle body and to be fixed at an appropriate position, and the wheel is disposed at a tip portion. The wheel has a wheel body and a drive mechanism that rotates the wheel body forward and backward so that the wheel body can be fixed at an appropriate position, and in the step of escaping from the indeterminate water pool portion, The arm is rotated so that the front wheels are turned around the horizontal axis to be grounded and rotated in the escape direction.

  In the traveling vehicle according to claim 3 of the present invention, a jack disposed between the front and rear wheels of the vehicle body is used as the escape mechanism.

  According to the traveling vehicle according to the present invention, since it has the above-described configuration, it is possible to improve unmanned running performance in an environment including a puddle without complicating the sensor system, and in addition, damage to the vehicle body It is possible to prevent such problems and the like.

Hereinafter, a traveling vehicle according to the present invention will be described with reference to the drawings.
1 to 5 show an embodiment of a traveling vehicle according to the present invention.
As shown in FIG. 1, the traveling vehicle 1 is a traveling vehicle that autonomously travels with various equipments, and includes a vehicle body 2, wheels 4 arranged at four locations on the front, rear, left and right of the vehicle body 2, and the vehicle body. 4 is a non-contact type sensor (external measurement unit) 3 such as a laser range finder or a stereo camera that measures the road surface condition in the traveling direction, and the presence of water on the road surface in the traveling direction. At the stage where the uncertain puddle portion is estimated, the control unit 5 that decelerates the traveling vehicle body 2 and moves forward to the uncertain puddle portion at a low speed, and the pressure sensitivity that is disposed on almost the entire bottom portion of the vehicle body 4. A contact sensor 6 such as a sensor, and two capacitance type water detection sensors 7 disposed near the front and rear ends of the bottom portion of the vehicle body 4 are provided.

The non-contact sensor 3 can acquire normal measurement values when the measurement target is concrete, soil, or the like, and determines whether or not the vehicle can travel based on the acquired shape information. In such a case, since a normal measurement value cannot be obtained due to total reflection, saturation, or the like, such a region is determined to be an indeterminate pool of water.
As shown in FIG. 4A, the contact sensor 6 is configured such that when the front wheel 4 of the vehicle body 2 that moves forward at a low speed enters the indeterminate puddle portion M, the bottom portion of the vehicle body 2 is in the indefinite puddle portion M. On the other hand, the water detection sensor 7 detects whether or not the front wheel 4 of the vehicle body 2 moving forward at a low speed is submerged in the indeterminate water pool portion M as shown in FIG. Thus, the presence of moisture in the uncertain water pool portion M is detected, and the control unit 5 is urged to retreat the vehicle body 2 from the uncertain water pool portion M.

In this case, when the contact sensor 6 detects the ground contact of the bottom portion of the vehicle body 2 with respect to the edge portion Ma of the uncertain water pool portion M, the vehicle body 2 is caused to escape from the uncertain water pool portion M by a command from the control unit 5. An escape mechanism 10 is provided.
The escape mechanism 10 includes an arm 11 that is supported so as to be rotatable about a horizontal axis with respect to the vehicle body 2 and can be fixed at an appropriate position, and has a wheel 4 disposed at a tip portion thereof. 4a and a drive mechanism 4b for rotating the wheel body 4a forward and backward so that the wheel body 4a can be fixed at an appropriate position, and turning the arm 11 on the front wheel 4 side of the vehicle body 2 at the stage of escaping from the uncertain water pool portion M. Thus, the front wheel 4 is turned around the horizontal axis to be grounded and rotated in the escape direction.

In the traveling vehicle 1 having such a configuration, when the non-contact sensor 3 catches an uncertain water pool portion M on the road surface in the traveling direction during traveling in step S1 in FIG. As a result, the vehicle is decelerated in step S2 in FIG. 2 and moves forward to the indeterminate water reservoir portion M at a slow speed, and gradually moves the front wheels 4 as shown in FIG.
Then, if the contact sensor 6 does not detect the ground contact of the bottom portion of the vehicle body 2 with respect to the edge portion Ma of the uncertain water pool portion M in step S3 in FIG. 2, the slow forward movement is continued, and then the step in FIG. In S4, when the water detection sensor 7 does not detect the presence of moisture in the uncertain water pool portion M, it is determined as a travelable region, and the process returns to step S1 to return to the original speed and continue traveling.

  On the other hand, when the contact sensor 6 detects the ground contact of the bottom portion of the vehicle body 2 with respect to the edge portion Ma of the uncertain water pool portion M as shown in FIG. 4A in step S3 in FIG. 2, the step in FIG. In S5, as shown in FIGS. 4B and 4C, the arm 11 of the escape mechanism 10 and the drive mechanism 4b of the wheel 4 are actuated by an instruction from the control unit 5, and the vehicle body 2 is moved to an indefinite water pool portion. 2 and the search for another route is started in step S6 in FIG. 2, it is avoided that the vehicle body 2 cannot escape from the indeterminate water reservoir portion M.

  Further, when the contact sensor 6 does not detect the ground contact of the bottom portion of the vehicle body 2 with respect to the edge portion Ma of the indeterminate water pool portion M, and as shown in FIG. 4 is submerged in the uncertain water pool part M, the water detection sensor 7 detects the presence of moisture in the uncertain water pool part M, and the controller 5 detects from the uncertain water pool part M of the vehicle body 2. Therefore, it is avoided that the vehicle body 2 is submerged in the indeterminate water pool portion M.

Therefore, in this traveling vehicle 1, the unmanned running ability in an environment including a water pool can be improved without making the sensor system complicated.
In the above-described embodiment, the wheels 4 are arranged one by one at the four positions on the front, rear, left and right of the vehicle body 2, and the escape mechanism 10 is supported so as to be rotatable about the horizontal axis with respect to the vehicle body 2 and to be fixed at an appropriate position. And an arm 11 having a wheel 4 disposed at the tip thereof, and the wheel 4 has a wheel body 4a and a drive mechanism 4b for rotating the wheel body 4a forward and backward so that the wheel body 4a can be fixed at an appropriate position. However, the present invention is not limited to this.

  As another configuration, as shown in FIGS. 6 and 7, two wheels 4 are arranged at four locations on the front and rear, left and right of the vehicle body 2, and the escape mechanism 10 can rotate about the horizontal axis with respect to the vehicle body 2. The arm 11 is supported so as to be fixed at an appropriate position and the intermediate wheel 4 is disposed at the tip portion, and can be rotated around the axis of the intermediate wheel 4 and can be fixed at the appropriate position. It is good also as a structure which has the arm 12 which has arrange | positioned the front-end | tip wheel 4, and has the drive mechanism 4b which the wheel 4 rotates forward / reverse so that this wheel main body 4a and this wheel main body 4a can be fixed to an appropriate position suitably.

  Moreover, as shown in FIG.8 and FIG.9, it is good also as a structure which used the jack 20 arrange | positioned between the front-and-rear wheels 4 in the vehicle body 2 as an escape mechanism.

It is side explanatory drawing (a) and front explanatory drawing (b) which show one Embodiment of the traveling vehicle which concerns on this invention. It is a flowchart which shows the driving | running | working sequence at the time of running through the indefinite water pool part of the traveling vehicle in FIG. It is side surface explanatory drawing of the state which approached the uncertain water pool part which the traveling vehicle in FIG. 1 can drive through. It is side surface explanatory drawing (a)-(c) which shows the escape procedure from the indefinite water reservoir site | part which cannot run through the traveling vehicle in FIG. It is side surface explanatory drawing of the state which the traveling vehicle in FIG. 1 approached into the uncertain water pool part which cannot run. It is side explanatory drawing (a) and front explanatory drawing (b) which show other embodiment of the traveling vehicle which concerns on this invention. It is side surface explanatory drawing (a)-(c) which shows the escape procedure from the uncertain water pool part which cannot run through the traveling vehicle in FIG. It is side explanatory drawing (a) and front explanatory drawing (b) which show other embodiment of the traveling vehicle which concerns on this invention. It is side surface explanatory drawing (a), (b) which shows the escape procedure from the uncertain water pool part which cannot run through the traveling vehicle in FIG.

Explanation of symbols

1 traveling vehicle 2 vehicle body 3 non-contact type sensor (external measurement unit)
4 Wheel 5 Control unit 6 Contact sensor 7 Water detection sensor 10 Escape mechanism 11, 12 Arm
20 Jack (escape mechanism)
M Uncertain water pool part Ma Uncertain water pool part edge part

Claims (3)

In a traveling vehicle equipped with a vehicle body that travels autonomously or remotely, wheels disposed at least at four locations on the front, rear, left, and right sides of the vehicle body, and an external measurement unit that is mounted on the vehicle body and measures a road surface state in a traveling direction.
A control unit or remote control that decelerates the traveling vehicle body and moves forward slowly to the indeterminate puddle part at the stage where the external measurement unit catches the indeterminate puddle part where water is assumed to be present on the road surface in the traveling direction. And
A contact sensor that detects whether or not a bottom portion of the vehicle body touches an edge portion of the indeterminate puddle portion when a front wheel of the vehicle body that moves forward at a low speed enters the indeterminate puddle portion;
When the contact sensor detects the ground contact of the bottom portion of the vehicle body with respect to the edge portion of the uncertain water pool portion, the vehicle body is caused to escape from the uncertain water pool portion by a command from the control unit or the remote control unit. An escape mechanism;
When the front wheel of the vehicle body moving forward at a low speed is submerged in an indeterminate puddle part, the presence of moisture in the indeterminate puddle part is detected, and the indeterminacy of the car body is detected in the control unit or the remote control unit. A traveling vehicle comprising a water detection sensor that prompts the user to move backward from the pool.   The escape mechanism includes an arm that is pivotally supported about a horizontal axis with respect to a vehicle body and is supported so as to be fixed at an appropriate position, and has the wheel disposed at a tip portion. The wheel includes a wheel body and the wheel. A drive mechanism for rotating the main body forward and backward so that it can be fixed at an appropriate position, and at the stage of escaping from the indeterminate water reservoir, the front wheel side arm of the vehicle body is rotated to move the front wheel to a horizontal axis The traveling vehicle according to claim 1, wherein the vehicle is turned around to be grounded and rotated in the escape direction.   The traveling vehicle according to claim 1, wherein a jack disposed between front and rear wheels of the vehicle body is the escape mechanism.

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