KR20130090495A - Providing method of driving path information for caterpillar type vehicle - Google Patents

Abstract

PURPOSE: A driving route providing method provides users with the shorts route to the destination considering the rate of travel and the time consumed for redirection. CONSTITUTION: The location information of obstacles and start points is input to an input unit (S10). A control unit estimates several driving routes for users to reach the destination (S20). The control unit calculates expected time of each route required to reach the destination (S30), and selects the shortest route. An output unit outputs the same (S40). [Reference numerals] (AA) Start; (BB) End; (S10) Inputting driving device information and map information; (S20) Estimating driving paths; (S30) Calculating the time requested for each driving path; (S40) Outputting driving paths for minimum time

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a driving path for a caterpillar type vehicle,

The present invention relates to a method of providing a traveling route of a traveling device equipped with an endless track, and more particularly, to a method of providing a traveling route of a traveling device equipped with an endless track, The present invention relates to a traveling route providing method which is configured to provide a user with a route having the shortest time required to reach a destination.

Among the various construction machinery equipments, excavators are the most used earthworks equipment at the construction site. Recently, many researches have been made about providing excursion routes to excavators so that excavators can be unmanned and remotely controlled.

The excavator can be classified into a wheel type excavator which has a high running speed and can change its running direction easily and an infinite track type excavator which can run stable even in a place where the ground is uneven and unstable. In the case of an endless track type excavator, It is difficult to rotate along the curvature and it is possible to change the direction only in the stop state, so that it takes much time to change the direction. Therefore, in the case of the infinite track type excavator, even if the total distance of the traveling route is short, it takes a lot of time to move from the starting point to the arrival point when the number of turning directions is large. In other words, an infinite-track excavator is more efficient to travel along a route with a smaller number of turnovers, even if the distance is shorter than that of a route having a shorter distance and a greater number of turnovers.

However, since the general path finding algorithm only finds the shortest path among the various paths from the starting point to the destination, it does not take into consideration the number of direction changes. Therefore, it is difficult to find the optimal path of the endless track type excavator by the general path finding algorithm.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to provide a route that takes the shortest time to reach a destination, The present invention also provides a method of providing a traveling path of an infinite-orbit-type traveling apparatus that can be provided to a user.

According to another aspect of the present invention, there is provided a method for providing a traveling path of an endless track traveling device, the method including: inputting a traveling speed and a direction switching time of the endless track traveling device; A first step of receiving destination position information; A second step of the control unit estimating a plurality of traveling routes from the starting point to the destination point; A third step of the control unit calculating a time required for each travel route estimated in the third step; And a fourth step of outputting a traveling route having a minimum time required for the output unit.

The time required to change the direction is determined based on the time required until the endless track type traveling device that was traveling at a speed higher than the reference value is completely stopped, the time required to change the traveling direction of the endless type traveling device, And the time required until the traveling speed of the traveling device reaches the reference value.

The endless track type traveling device is configured to be able to change a direction of straight traveling and in place.

The map indicating the traveling route is divided into a plurality of rectangular cells arranged in a checkerboard pattern, and the caterpillar type traveling device is set to be able to rotate 45 degrees and 90 degrees in place.

The second step is configured to estimate a plurality of travel routes using an A-star algorithm.

The map indicating the traveling path is divided into a plurality of cells. In the first step, when the user selects one or more cells, the input unit is configured to recognize the selected cell as a point where the obstacle is located.

The map indicating the traveling route is divided into a plurality of cells. In the first step, when the user selects two cells, the input unit recognizes one of the cells as a starting point and recognizes another cell as a destination point do.

The method for providing the traveling path of the endless track traveling apparatus according to the present invention takes into consideration not only the time required for traveling the unit distance but also the time required for the direction change, It is possible to provide the user with a path that takes a short time.

1 is a block diagram illustrating components for implementing a traveling path of an endless track type traveling device according to the present invention.
2 is a flowchart of a method of providing a traveling path of an endless track type traveling device according to the present invention.
3 to 7 show an embodiment of a method of providing a traveling path of an endless track type traveling device according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, an embodiment of a method of providing a traveling path of an endless track type traveling device according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing components for implementing a traveling path of an endless track type traveling device according to the present invention, and FIG. 2 is a flowchart of a method for providing a traveling path of an endless type traveling device according to the present invention.

A method for providing a traveling route according to the present invention is a method for providing a traveling route in which a traveling device capable of moving in a straight line direction and capable of changing a direction in a straight line is installed in an endless track, . A traveling device having a tire wheel, such as a general automobile, can perform a curved traveling because it can change its direction while traveling. However, a traveling device having an infinite orbit has difficulty in turning a curve during traveling, There is a difference. Therefore, when the infinite-orbit-type traveling device tries to change the direction while the vehicle is traveling, it is necessary to stop the traveling, stop the traveling, change the direction, and then start traveling again after the direction change is completed. .

In this case, generally, the A-star algorithm, which is widely known as a route-finding algorithm, is used when searching for a traveling route. The A-star algorithm recommends the shortest- It is not possible to find an optimum traveling route of the traveling device for the caterpillar which uses more time than the time required for the straight traveling by using the algorithm alone. That is, even if the infinite track type traveling device has a short distance, the travel time increases when traveling along a route having a large number of direction changes, so that the shortest travel route can not be the optimum travel route.

The method for providing a traveling path of an endless track type traveling device according to the present invention has been developed to solve the above problems. It is an object of the present invention to provide a traveling path providing method for an endless track type traveling device by calculating separately the time required for traveling, The traveling route of which the arrival time of the vehicle is minimum is notified to the user. As shown in FIG. 1, in order to implement a traveling path of an endless track type traveling device according to the present invention, an input unit 100 for receiving various information from the outside, a driving unit for operating the endless type traveling device, A GPS receiving unit 500 for receiving the GPS signal and tracking the position of the endless track type traveling device, an output unit 400 for informing the user of the traveling route, an operation unit for controlling the operation of each of the above- The control unit 200 is used. In this case, the GPS receiver 500 for tracking the position of the caterpillars is widely used in navigation systems, mobile phones, etc., and detailed description of the operation and configuration of the GPS receiver 500 will be omitted.

When it is desired to provide a traveling path of the endless track type traveling apparatus by the method according to the present invention, the user first inputs information related to the running performance of the infinite track type traveling apparatus, such as the traveling speed of the infinite track type traveling apparatus, The obstacle position information, the starting point (A) position information, and the arrival point (A) position information such that the position of the obstacle, the starting point A and the destination point B appear on the map 10, (B) position information and the like to the input unit 100 (S10). In this case, the input unit 100 may be an input-only device such as a mouse or a keypad, and the output unit 400 may be applied as an output-only device such as a monitor. However, the input unit 100 and the output unit 400 may be integrally formed That is, a touch screen having both a function of outputting information and a function of inputting a signal.

When the driving unit information and the map information are input as described above, the control unit 200 estimates a plurality of traveling routes starting from the starting point A and arriving at the arrival point B (S20). Estimating the driving route (S20) is preferably configured to efficiently estimate the driving routes from the starting point (A) to the arrival point (B) by using the most widely known A-star algorithm in the path finding mode.

When the driving routes from the starting point A to the destination B are selected, the controller 200 selects the most suitable driving route among the selected plurality of driving routes. At this time, the controller 200 selects the most suitable driving route The driving route that can be completed in the shortest time is selected as the optimum traveling route instead of the driving route. That is, the control unit 200 calculates the required travel times for each of the plurality of selected travel routes (S30), selects the shortest travel route, and the output unit 400 selects the shortest travel route The driving route is outputted (S40). Hereinafter, the process of calculating the time required for each traveling route will be described in detail with reference to another drawing.

3 to 7 show an embodiment of a method of providing a traveling path of an endless track type traveling device according to the present invention.

The present embodiment describes a case where the input unit 100 and the output unit 400 are composed of a single touch screen. The map 10 output to the touch screen is divided into a plurality of square cells 12 arranged in a grid pattern Respectively. When the user inputs information such as the moving speed of the endless track type traveling device and the time required for switching the direction and selects one or more of the plurality of cells 12, the selected cell 12 is selected as shown in FIG. (Hereinafter abbreviated as the 'obstacle region 14') where the obstacle is located, while being displayed differently from the cell 12 which is not used. When the selection of the obstacle region 14 is completed, the user selects the starting point A and the destination point B from among the cells 12 not selected as the obstacle region 14 as shown in Fig.

When the selection of the obstacle region 14 and the start point A and the end point B is completed, the control unit 200 estimates a plurality of travel paths from the start point A to the arrival point B. In this case, the traveling path estimated by the controller 200 may be a pattern passing immediately beside the obstacle region 14 as shown in FIG. 5, or may be a pattern surrounding the obstacle region 14 as shown in FIG. 6 The pattern may be a pattern in which the number of direction changes is reduced or a pattern in which the number of direction changes can be minimized even if the mileage increases slightly as shown in FIG.

초가 소요된다고 하며, 무한궤도형 주행장치가 제자리에서 45°및 90°방향전환하는데 각각 소요되는 시간을 각각 5초 및 7초인 경우를 예로 들어 각 주행거리 별 소요시간을 계산해 보도록 한다. In the following description, it is assumed that the infinite track type traveling device takes one second to move from one cell 12 to the adjacent cell 12 in the up, down, left, and right directions, To

And the time required for switching between 45 ° and 90 ° in situ is 5 seconds and 7 seconds, respectively. For example, calculate the time required for each mileage.

At this time, in order to change the direction of the infinite-orbit traveling device, the vehicle must stop driving before stopping to turn left and right, and stop the vehicle in place. Therefore, the time required for the infinite-orbit-type traveling device to change directions is not limited to the time required for the infinite-orbit-type traveling device to rotate from place to side, And the time required until the running speed of the stopped endless track type traveling device reaches the reference value. For the above reason, when the endless track type traveling device takes 5 seconds to rotate by 45 degrees, it takes 10 seconds, which is twice as long as the time required when rotating the 90 degrees, It may take a short 7 seconds.

초)+(8회×5초) 즉, 61.32초가 소요됨을 알 수 있다.First, as shown in FIG. 5, the required time of a route running from the starting point A to the destination point B on the side of the obstacle region 14 is calculated as follows. In the case of the traveling route shown in Fig. 5, the movement in the up-and-down and left-right directions occurs five times, the movement in the diagonal directions occurs four times, (4 times

Sec) + (8 times 5 seconds), that is, 61.32 seconds.

초)+(4회×5초) 즉, 41.32초로 현저히 감소된다. 이와 같이 무한궤도형 주행장치는 일반 차량에 비해 직선 주행을 하는데 소요되는 시간보다 방향전환을 하는데 소요되는 시간이 매우 크므로, 주행거리가 동일하다 할지라도 방향전환 횟수가 감소되면 출발점(A)에서 도착점(B)까지 주행하는데 소요되는 시간은 현저히 감소됨을 알 수 있다.In the case of the travel route shown in Fig. 6, the movement in the up, down, left, and right directions is five times and the movement in the diagonal direction is four times, and the travel distance is the same when compared with the travel route shown in Fig. However, since the number of turns in the 45 ° direction decreases from 8 times to 4 times, the time required to travel from the starting point (A) to the arrival point (B) is (5 times × 1 second) +

Sec) + (4 times 5 seconds), i.e., 41.32 seconds. Since the infinite track type traveling apparatus has a much longer time than the time required for the straight traveling compared to the ordinary vehicle, the traveling time is very long. Therefore, And the time required to travel to the destination (B) is remarkably reduced.

As shown in FIG. 7, in the case of a pattern that minimizes the number of direction changes even when the travel distance is slightly increased, the movement in the up-and-down and left-right directions occurs 13 times and the 90- Times × 1 second) + (2 times × 7 seconds) That is, it is possible to travel from the starting point (A) to the arrival point (B) within 40 seconds. 6 has a longer travel distance than the travel route shown in FIG. 6, but the number of direction changes is reduced. Therefore, the endless track type traveling device is more likely to travel in the traveling route shown in FIG. 7 than in the traveling route shown in FIG. The vehicle can reach the destination B more quickly when traveling along the traveling path shown in FIG.

If the number of turns is minimized, the time required for traveling from the starting point A to the arrival point B may be reduced even if the mileage increases somewhat. Therefore, the optimum traveling route of the traveling device for the caterpillar It is necessary to calculate and compare the time required for reaching the arrival point B by estimating a plurality of routes as in the method of providing the traveling route of the endless track type traveling device according to the present invention, . That is, the method of providing the traveling path of the endless track type traveling device according to the present invention is advantageous in that substantially the fastest traveling route can be provided regardless of the traveling distance.

In this embodiment, only a case where a plurality of rectangular cells 12 are arranged in a checkerboard pattern and the endless track type traveling device is set to be capable of rotating 45 degrees and 90 degrees in place, And the rotation angle of the endless track type traveling device can be variously changed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It will also be appreciated that many modifications and variations will be apparent to those skilled in the art without departing from the scope of the present invention.

10: map 12: cell
14: obstacle 100: input
200: control unit 300:
400: output unit 500: GPS receiver

Claims (7)

A first step of receiving input information of the traveling speed and direction of the infinite track type traveling device, the obstacle position information on the plane, and the starting point and the arrival point position information;
A second step of the control unit estimating a plurality of traveling routes from the starting point to the destination point;
A third step of calculating, by the controller, a required time for each driving route estimated in the third step;
A fourth step of outputting, by the output unit, a driving route having a minimum required time;
The caterpillar traveling device providing a driving route comprising a.
The method of claim 1,
The time required to change the direction is determined based on the time required until the endless track type traveling device that is traveling at a speed higher than the reference value is completely stopped, the time required to change the traveling direction of the endless type traveling device, Type traveling device is calculated by summing up the time required for the traveling speed of the traveling device to reach the reference value.
The method of claim 1,
Wherein the endless track type traveling device is capable of performing a straight traveling and a change of direction in place.
The method of claim 3,
Wherein the map indicating the traveling route is divided into a plurality of rectangular cells arranged in a checkerboard pattern, and the endless track type traveling device is capable of rotating 45 degrees and 90 degrees in place.
The method of claim 1,
And the second step is configured to estimate a plurality of driving routes using an A-star algorithm.
The method of claim 1,
A map representing a traveling route is divided into a plurality of cells,
Wherein the first step is configured so that when the user selects one or more cells, the input unit recognizes the selected cell as a point where the obstacle is located.
The method of claim 1,
A map representing a traveling route is divided into a plurality of cells,
Wherein when the user selects two cells, the input unit recognizes one of the cells as a starting point and recognizes the other cell as a destination. Delivery method.

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