JPH0755609Y2 - Obstacle detection device for unmanned vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial application field" The present invention relates to an obstacle detection device for an unmanned vehicle, which is applied to transportation of articles and the like and is controlled so as to travel along a certain route.

“Prior Art and Problems” Conventionally, in the above-mentioned unmanned vehicle, a detecting means for an obstacle existing on a traveling route, for example, an optical sensor called a beam sensor for detecting a light beam reflected by an object and reflected. A sensor is mounted, and safety is ensured by stopping the unmanned vehicle when the detecting means detects an obstacle.

FIG. 3 shows a conventional example of the driving pattern of the unmanned vehicle. The unmanned vehicle 1 starts at the point A, runs as shown by the arrow in the figure, turns 90 degrees at the point B, and then reaches the point C. It is designed to run.

By the way, if any object 2 exists at a position outside the travel route in front of point B in the travel route, the obstacle sensor identifies the object 2 as an obstacle and stops the unmanned vehicle 1. There is a problem of letting it go.

That is, the obstacle sensor has the ability to discriminate an obstacle by detecting a light ray reflected up to a position (shown by a chain line in the figure) up to a position separated by l ₁ toward the front of the vehicle body. Therefore, if the object 2 exists inside the range (for example, at a position away from the unmanned vehicle 1 by l ₂ as shown in the figure), the unmanned vehicle irrespective of whether the object 2 actually interferes with traveling or not. There was a problem that the car 1 was stopped.

The present invention has been proposed in view of the above circumstances, and an object thereof is to obtain a control device that does not mistakenly identify an object existing outside a traveling route as an obstacle.

[Means for Solving Problems] In order to achieve the above-mentioned object, the present invention has a detector for detecting whether or not an object exists in front of the traveling direction of an unmanned vehicle, and the sensor detects an obstacle. Under this condition, a distance sensor that measures the distance between the object and the unmanned vehicle is mounted on the unmanned vehicle, and detection signals of these are input to the obstacle discrimination unit.

"Operation" The obstacle discrimination unit discriminates whether or not the object is an obstacle existing between the unmanned vehicle and the predetermined point, based on the input signals from the obstacle detector and the distance sensor. If it is an obstacle, the traveling control unit of the traveling unmanned vehicle is operated to stop the drive mechanism.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

That is, this control device determines the distance between the object 2 existing in front of the unmanned vehicle 1 in the traveling direction, such as a beam sensor that optically detects the object 2, and the distance between the object 2 and an ultrasonic wave, for example. By the distance sensor 11 to measure by, the obstacle determination unit 12 for determining the presence or absence of an obstacle based on the input signals from the obstacle detector 10 and the distance sensor 11, the determination result of the obstacle determination unit 12, The unmanned vehicle 1 includes a drive control section 13 that controls a drive section (including an engine, a motor, a transmission mechanism, and a braking device) 14 of the unmanned vehicle 1.

The operation of the control device will be described with reference to the flowchart of FIG. In the following description, Sn indicates the nth step in the flowchart.

S1: Drive the unmanned vehicle 1 along a predetermined route.

S2: It is determined whether or not the obstacle detector 10 is ON (whether or not an obstacle is detected), and YES is taken as a condition to proceed to the next step.

S3: With the distance sensor 11 facing forward, the obstacle detector 10
The distance l'between the object 2 and the vehicle body 1 detected by is measured. Note that the distance sensor 11 that performs this operation normally detects another distance, such as a distance to a wall along the travel route that is directed to the side of the unmanned vehicle 1 and travels this detection signal. It has a function of outputting to a route determination means (not shown), and therefore, after measuring the distance to the object 2,
Immediately, it is returned to a predetermined orientation to perform its normal function.

S4: From the measured distance data, determine whether the object is an obstacle (whether it is in the travel route), YES
And proceed to the next step. That is, the measurement data of the current position is always (or intermittently) stored in the unmanned vehicle.
When the distance x to the predetermined turn point B is recognized by inputting, the distance x to the turn point is compared with the distance l'measured by the distance sensor, and when x> l ' , It is determined that there is an obstacle in the traveling route of the unmanned vehicle 1 (YES), and the process proceeds to the next step on the condition of this YES determination. Also, as shown by the solid line in FIG.
Is not present between the unmanned vehicle 1 and the point B, that is, when x <1, it is determined that there is no obstacle (NO), and the process returns to S1.

S5: The traveling control unit 13 operates the drive unit 14 to suspend the unmanned vehicle 1.

S6: The same determination as S4 is performed again, and if YES (the obstacle exists) is determined, the process proceeds to the next step. Therefore, when the obstacle detected in S4 is artificially removed by the worker, or when the worker who happens to cross the traveling route of the unmanned vehicle 1 or another unmanned vehicle is detected as the obstacle. For example, it is determined that there is no obstacle (NO), the process returns to S1 and the unmanned vehicle 1 starts traveling.

S7: It is determined whether a certain time (for example, the time required to remove the obstacle) has passed. If not (NO), return to S6 and repeat the determination of the presence of the obstacle. , If it has passed (YES), proceed to the next step.

S8: It is determined that the unmanned vehicle 1 cannot be driven.

The operations of the obstacle discrimination unit and the traveling control unit are the same as those in S1.
Not limited to the flow of S8, it is possible to determine whether the object is inside or outside the traveling route from both the detection data regarding the existence of the object and the detection data regarding the distance between the object and the object. Of course, any other flow may be used as long as it is performed.

Further, in the above-mentioned one embodiment, the optical sensor is used for detecting the obstacle and the ultrasonic sensor is used for measuring the distance to the obstacle, but it is possible to use another method capable of performing the same function. A sensor may be applied.

"Effect of Invention" As is clear from the above description, the present invention includes a sensor for detecting whether or not an object exists in front of the unmanned vehicle in the traveling direction,
The sensor for measuring the distance between the object and the unmanned vehicle is mounted on the unmanned vehicle, and the detection signals of these sensors are input to the obstacle discrimination unit. Based on the input signal from the sensor, the obstacle discriminating unit can discriminate whether or not the object is an obstacle existing between the unmanned vehicle and the predetermined point, and therefore the obstacle is traveling. If it is in the route, operate the traveling control unit of the traveling unmanned vehicle to stop the drive mechanism,
Further, when the vehicle exists outside the traveling route, it is possible to drive the unmanned vehicle without being affected by the object.

[Brief description of drawings]

FIGS. 1, 2 and 4 show an embodiment of the present invention. FIG. 1 is a block diagram of a control device, FIG. 2 is a flow chart showing its operation, and FIG. FIG. 3 is an explanatory diagram of the positional relationship with the obstacle, and FIG. 3 is an explanatory diagram of the positional relationship between the traveling route of the unmanned vehicle using the conventional control device and the obstacle. 1 ... Unmanned vehicle, 2 ... Object, 10 ... Obstacle detector, 11 ...
… Distance sensor, 12 …… Obstacle discriminating unit, 13 …… Running control unit, 14 …… Drive unit.

Claims (1)

[Scope of utility model registration request] 1. An unmanned vehicle that is automatically driven along a certain traveling route through a direction changing operation at a predetermined point,
An obstacle detector that detects whether or not an object exists in the front of the traveling direction of the unmanned vehicle, and a distance sensor that measures the distance between the obstacle detector and the object when the obstacle detector detects the object, An obstacle discriminating unit for discriminating whether or not the object is an obstacle existing between the unmanned vehicle and the predetermined point based on an input signal from the distance sensor, and an obstacle for discriminating the existence of the obstacle. An obstacle detection device for an unmanned vehicle, comprising: a traveling control unit that is operated by a determination unit to stop a drive mechanism of the unmanned vehicle.