JPS59195175A - Obstruction searching system for unmanned self- traveling body - Google Patents

Abstract

PURPOSE:To enable exact judgement of whether an external object provides an actual obstruction for traveling of a self-traveling body by providing an image sensor, ultrasonic sensor, turning angle sensor and vehicle speed sensor. CONSTITUTION:An obstruction searching system is provided with an image sensor 1, an ultrasonic sensor 2, a turning angle sensor 3 and a vehicle speed sensor 4, respectively. The sensor 2 is so arranged as to detect the distance and bearing of the external object detected by the sensor 1 from the self-traveling body. The sensor 3 is so arranged as to detect the steering angle during traveling of the self-traveling body. The sensor 4 detects the engine speed or the number of revolutions of the wheel provided to a final drive system during traveling of the self-traveling body. Whether the external object provides an obstruction to the self-traveling body or not is exactly decided according to such system.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention targets self-propelled objects that run unmanned, such as construction machines, transport machines, and other types of moving objects. The present invention relates to an obstacle search system as a countermeasure to prevent collisions, which searches by itself to see if there is an obstacle on the course.

For example, collision prevention devices using ultrasonic waves, infrared rays, etc. have been known as one of the safety measures for unmanned vehicles such as loaders and dump trucks.

All of these conventional devices merely detect the moving direction of a machine or vehicle or the approach of an external object, and have various problems as follows.

This is because the above-mentioned conventional devices are generally intended only for detecting objects in the straight direction (forward or backward) of a vehicle, etc., and cannot search for obstacles by considering the turning trajectory of the vehicle. Not yet reached.

That is, when the vehicle A shown in FIG. 1 makes a °ζ curve along its own planned travel course (set trajectory) B, if there is an external object C in front of the vehicle in the direction in which the vehicle is traveling straight, the object is deviated from the course. It is considered an obstacle.

Furthermore, to explain in detail, the external object C exists outside the planned travel course of the vehicle A, so it does not actually become an obstacle when the vehicle is traveling; however, the object is still regarded as an obstacle. You end up making a judgment.

As a result of this determination, vehicle A will automatically stop, resulting in a work cycle time spent on running the vehicle, resulting in a significant drop in work efficiency.

This means that although the danger search distance for obstacles between self-propelled objects such as vehicles should originally be set based on the relative speed of those self-propelled objects and the obstacle, in the case of the conventional device described above, the distance search distance for obstacles is fixed distance type. This is due to the fact that

In addition, it is extremely important to consider the braking function (braking ratio) of the self-propelled vehicle when setting the search distance for such obstacles.
The above-mentioned conventional device does not take this into consideration at all.

Therefore, when searching for an obstacle, if the search distance is shorter than the vehicle braking distance, there is still a risk of collision. Furthermore, even in the opposite case, there are various disadvantages in running the unmanned self-propelled body, such as the vehicle stopping far before the obstacle.

This invention was newly devised as a result of intensive research in view of the above circumstances.

The main purpose of this invention is to determine whether or not the object will actually become an obstacle to the self-propelled vehicle when it searches for an external object in a position that is likely to be an obstacle during unmanned travel of the self-propelled vehicle. To provide an obstacle search system for an unmanned self-propelled vehicle that enables accurate judgment.

Another object of the present invention is to determine, when the external object is determined to be an obstacle to the running of the self-propelled body, the safe running of the self-propelled body against the obstacle based on the braking distance and predicted trajectory of the self-propelled body from that point in time. An object of the present invention is to provide an obstacle search system for an unmanned self-propelled vehicle that can accurately determine an area.

Another object of the present invention is to correctly evaluate the possibility of a self-propelled object contacting or colliding with the obstacle at the time of searching for the obstacle, and as a result, determine whether or not the self-propelled object needs to avoid the obstacle. The object of the present invention is to provide an obstacle search system for an unmanned self-propelled vehicle that can perform appropriate automatic control according to the situation.

Hereinafter, a preferred embodiment of the present invention will be described based on FIG.

The system of this invention is installed in unmanned self-propelled vehicles such as construction machines, 1ift machines, and other types of mobile machines.
2, a turning angle sensor 3, and a vehicle speed sensor 4.

In this sensor, the image sensor 1 is used to detect the presence of an external object on or near the course the self-propelled vehicle is scheduled to travel on.

The ultrasonic sensor 2 detects the distance 1 from the self-propelled object of the external object detected by the image sensor 1. i11 and direction are detected.

The turning angle sensor 3 detects the steering angle when the self-propelled vehicle is running.

The vehicle speed sensor 4 detects the engine rotation speed when the self-propelled vehicle is running, the rotation speed of the final drive system boiler, etc.

Each of these sensors 1 to 4 is connected to a processing mechanism (
It is connected to the input section of CP [J] 9 hereinafter.

The CPU 9 is responsible for information such as the model, model, and specifications of the self-propelled vehicle.
It is equipped with a memory 0 for presetting self-propelled body performance data, the total weight of the self-propelled body, and a running command program.

The CPU 9 has various function implementation means based on input data from each of the sensors 1 to 4 and read data from the memory 10.

As shown in more detail in FIG. 2, the means for realizing this function includes an object determination function section 11 in the image sensor 1 system, its pattern classification function section 12, and a function for calculating the distance and direction to the object in the two ultrasonic sensor systems. Part 13, turning angle sensor 3
System turning angle calculation function unit 14, traveling speed calculation function unit 15 of four vehicle speed sensor systems, in addition to these function units, a ζ trajectory prediction function unit 16, a braking distance calculation function unit 17, and a safe driving area determination function. 18, a risk determination function section 19 that evaluates whether there is a possibility of contact 1, and a function section 20 that determines whether or not self-propelled object avoidance is necessary.

In this way, if the system configured as described above is started at the same time as the unmanned self-propelled vehicle starts traveling, if an external object exists on or near the course scheduled for the self-propelled vehicle to travel, the object will be detected by the image sensor. l captures.

When the CP tJ 9 inputs the resulting data, the object determination function section 11 determines the shape of the external object from the input data. Next, the pattern classification function unit 12 determines what type (size, etc.) of the external object is based on the determination data.

At the same time, the CPU 9 uses the image sensor l as described above.
The calculation function unit 13 of the system calculates the distance and direction of the external object captured by the self-propelled object based on input data from the ultrasonic sensor 2.

In addition, the turning angle calculation function section 14 in the CPU 9 calculates the self-propelled vehicle steering angle based on the input data from the sensor 3 of the system, and the traveling speed calculation function section 15 calculates the self-propelled vehicle steering angle based on the input data from the vehicle speed sensor 4. The calculation of the running speed of each self-propelled vehicle has been carried out.

Therefore, the trajectory prediction function section 16 predicts the trajectory of the planned course of the self-propelled object from the respective data calculated by the turning angle calculation function section 14 and the running speed calculation function section 15. This allows the actual running direction of the self-propelled object to be grasped.

Further, the braking distance calculation function section 17 reads performance data such as the total weight, model, type, and specifications of the self-propelled object from the memory 10, and based on the read data and the data from the traveling speed calculation function section 15. Calculate the braking distance that matches the road conditions of the self-propelled vehicle. Based on the resulting braking distance data and data from the trajectory prediction function section 16, the safe travel area determination function section 18 determines a plane area necessary for safe travel of the self-propelled vehicle.

Next, the risk level determination function unit 19 calculates the actual driving condition based on the data calculated by the calculation function unit 13 of the two combined sensor systems and the safe driving area determination function unit 18 and the driving command program read from the memory 10. It is evaluated whether there is a possibility that the self-propelled object will come into contact with or (φi) collide with an external object.

That is, the risk level determination function unit 19 determines whether the external object becomes an obstacle for the self-propelled vehicle to travel.

If it is determined that the object will become an obstacle, the self-propelled object decides whether to stop running or to avoid the obstacle based on the data of the judgment result and the data from the pattern classification function unit 12. Body avoidance necessity determination function unit 20
makes a selection decision.

If the determination result is that the self-propelled body stops running, the functional unit 20 transmits a control command signal to the braking system of the self-propelled body to automatically stop the self-propelled body.

In addition, if the result of the function section 20
When the self-propelled body is in an evasive run, the functional unit 20 sends a steering command signal to the steering system of the self-propelled body to automatically control the steering. Through this automatic control, the self-propelled vehicle continues to run safely and unmanned while avoiding (detouring) around obstacles.

In the obstacle search system of the above embodiment, the object determination function section 11 is not limited to the one that grasps the shape of an external object, but can simply determine the presence or absence of the object. good.

Furthermore, when the self-propelled body is a transport machine such as a bald sotroder or a dump truck, the loaded weight is added to the total weight of the self-propelled body set in the memory IO.

In this case, an automatic loading power measuring means is added to the above system, and the weight value δI measured by the means and a memo IJ10 are added.
The data obtained by adding the total weight value read from the total weight value may be used as the weight-related data in the case of braking distance calculation.

As described above, in this invention, the 1hlt road is predicted based on the turning angle and traveling speed of the unmanned self-propelled vehicle, and the obstacle search is performed with consideration given to the braking distance. It is possible to accurately determine whether an external object existing nearby becomes an obstacle for the self-propelled object.

Therefore, even if an external object is located in a position where it is likely to be determined as an obstacle, as long as the existing position is outside the planned travel course of the self-propelled object, there is no possibility that the external object will be mistakenly determined as an obstacle. It disappears.

Therefore, unless an external object is determined to be an obstacle, the self-propelled object will continue to run smoothly and unmanned along the planned course without automatically stopping.

Also, if an external object is determined to be an obstacle,
In the case of C, it is also possible to make the self-propelled body run around obstacles without automatically stopping it, depending on the road conditions, etc. in this case.

Therefore, according to the system of the present invention, it is possible to significantly improve the safe running of an unmanned self-propelled body and to significantly improve the work efficiency of the self-propelled body.

[Brief explanation of drawings]

FIG. 1 is a schematic 1113 diagram for explaining the prior art. FIG. 2 is a block diagram that also serves as a functional chart of a system according to a preferred embodiment of the present invention. Applicant Tsuneo Hisatake

Claims (1)

[Scope of Claims] (1) A system for unmanned self-propelled objects such as various vehicles and other moving objects having a traveling trajectory prediction function to search for obstacles on their own planned travel course, a sensor for detecting the presence of an external object on the course; a sensor for detecting the distance between the self-propelled object and the external object and the orientation of the object; and a sensor for detecting the turning angle of the self-propelled object. , a sensor for detecting the running speed of the self-propelled body, a means for inputting and setting performance data such as the model, type, and specifications of the self-propelled body, a functional unit for inputting and setting travel command information for the self-propelled body, and the sensor. a functional unit that predicts the traveling trajectory of the self-propelled body based on the detected turning angle data and traveling speed data of the self-propelled body; a functional unit that calculates the braking distance of the self-propelled body based on the traveling speed data; a functional unit that determines a safe travel area of the self-propelled object based on braking distance data from the functional unit and data from the trajectory prediction function unit; a risk determination function unit that evaluates whether there is a possibility of a self-propelled object coming into contact with the object based on the distance and direction of the object; and a risk determination function unit that evaluates the necessity of avoiding the self-propelled object with respect to the object based on the evaluation data and the type of the external object. An obstacle search system for an unmanned self-propelled vehicle, characterized by comprising a functional unit for determining. (2. In the system according to claim 1,
An unmanned self-propelled object characterized in that the braking distance calculation function section calculates the moving distance of the self-propelled object by taking into account the total weight data of the self-propelled object in addition to the performance data of the self-propelled object. Obstacle search system. (3) In the system set forth in claim 1, the self-propelled object avoidance necessity determination function section uses a control command signal based on the data of the determination result to control the braking, steering system, etc. of the self-propelled object. An obstacle search system for an unmanned self-propelled vehicle, which is characterized by automatic control.