WO2017119385A1 - Autonomous vehicle - Google Patents

Autonomous vehicle Download PDF

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Publication number
WO2017119385A1
WO2017119385A1 PCT/JP2016/089055 JP2016089055W WO2017119385A1 WO 2017119385 A1 WO2017119385 A1 WO 2017119385A1 JP 2016089055 W JP2016089055 W JP 2016089055W WO 2017119385 A1 WO2017119385 A1 WO 2017119385A1
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WO
WIPO (PCT)
Prior art keywords
color
traveling vehicle
autonomous
autonomous traveling
provided
Prior art date
Application number
PCT/JP2016/089055
Other languages
French (fr)
Japanese (ja)
Inventor
松山 和弘
Original Assignee
シャープ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2016001854 priority Critical
Priority to JP2016-001854 priority
Priority to JP2016-237393 priority
Priority to JP2016237393A priority patent/JP2017124821A/en
Application filed by シャープ株式会社 filed Critical シャープ株式会社
Publication of WO2017119385A1 publication Critical patent/WO2017119385A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R13/00Elements for body-finishing, identifying, or decorating; Arrangements or adaptations for advertising purposes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60CVEHICLE TYRES; TYRE INFLATION; TYRE CHANGING OR REPAIRING; REPAIRING, OR CONNECTING VALVES TO, INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C23/00Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps, of tanks; Tyre cooling arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • B60K1/04Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions

Abstract

Provided is an autonomous vehicle configured such that devices on the exterior of the autonomous vehicle can be inexpensively kept from increasing in temperature. The autonomous vehicle (1) comprises an autonomous vehicle (1) body which travels autonomously on a travel route and monitoring cameras (110) which are disposed on the autonomous vehicle (1) body as devices for monitoring the travel route. A first color having a solar reflectivity greater than a first setting reflectivity is applied to the surface of regions (AR1, AR2) on the exterior of the autonomous vehicle (1) body where the monitoring cameras (110) are provided. A second color having a solar reflectivity less than a second setting reflectivity lower than the first setting reflectivity is applied to the surface of regions (AR11) on the exterior of the autonomous vehicle (1) body where components requiring heat are provided.

Description

Autonomous vehicle

The present invention relates to an autonomously traveling vehicle that autonomously travels. This application claims the benefit of priority to Japanese Patent Application Nos. 2016-001854 and 2016-237393 filed in Japan on January 7, 2016 and December 7, 2016. The contents of which are hereby incorporated by reference in their entirety.

Autonomous traveling vehicles that autonomously run by driving wheels have been developed. An autonomously traveling vehicle is used, for example, when monitoring an obstacle on a traveling route (circulating route). This autonomously traveling vehicle includes an apparatus main body, a motor for driving the apparatus main body, and a camera. The autonomous traveling vehicle controls the motor so that the apparatus main body autonomously travels on the traveling route, and controls the camera to monitor the obstacle.

Autonomous vehicles are used in harsh environments, such as under the hot summer heat and under the winter environment. For this reason, the exterior of an autonomous vehicle is exposed to a severe temperature environment. For example, a camera may cause a malfunction when its temperature exceeds a set temperature. Therefore, the camera is one of the devices that do not want to raise the temperature.

Patent Document 1 discloses a technique for controlling an air conditioner based on a comparison result between a set temperature in a vehicle and an outside air temperature. However, Patent Document 1 does not disclose a device such as a camera.

JP 2009-70101 A

When an autonomous vehicle is used under a hot summer sun, the temperature of a device such as a camera is easily affected by the temperature of the outside air temperature or the road surface. Therefore, it is conceivable to suppress a temperature rise of the device by attaching a cooling device around the device such as a camera. However, attaching a cooling device is extra cost.

The present invention has been made in view of the above-described conventional problems, and provides an autonomous traveling vehicle that can suppress an increase in the temperature of a device without costing the exterior of the autonomous traveling vehicle. Objective.

An autonomous traveling vehicle of the present invention includes an autonomous traveling vehicle main body that autonomously travels on a traveling route, and a monitoring device that is provided in the autonomous traveling vehicle main body and monitors the traveling route, and the autonomous traveling vehicle main body The surface of the first region in which the monitoring device is provided is provided with a first color, and the part of the exterior of the autonomous vehicle body that requires heat is provided. The surface of the second region is provided with a second color having a smaller reflectance than the first color.

In the present invention, in the exterior of the autonomous traveling vehicle body, the surface of the third region below the autonomous traveling vehicle body has a reflectance smaller than the first color and a reflectance smaller than the second color. It is preferable that a large third color is applied.

According to the present invention, in the exterior of an autonomous vehicle, the surface of an area where heat-requiring parts (for example, wheels) are provided is given a color with low solar reflectance (a color that is inferior in heat shielding effect). Therefore, the wheel itself can be warmed up and the gripping force of the wheel can be improved without cost.

In the exterior of autonomous vehicles, the surface of the area where the monitoring device is installed is colored with a high solar reflectance color (color with excellent heat shielding effect), so the temperature of the monitoring device rises without cost. Can be suppressed.
In the exterior of the autonomous traveling vehicle, the surface of the third region below the autonomous traveling vehicle main body has a reflectance smaller than that of the first color and smaller than that of the second color. A third color having a high reflectivity can be provided. In addition, the third region below the autonomously traveling vehicle is not a portion exposed to the sun, and the bottom surface of the main body is easily soiled. If the first color (for example, white) or the second color (for example, black) is used, the dirt is stained. Since it stands out, the surface of the lower third region of the autonomous vehicle is attached with the third color of the third set reflectance between the first set reflectance and the second set reflectance. It can be made inconspicuous without cost.
In the first area, if the second color is attached to the monitoring device itself or a holder for holding the monitoring device, a device such as a camera or an ultrasonic sensor is warmed as the monitoring device, Further, it is possible to prevent the irregularly reflected light from entering the camera.

1 is a left side view of an autonomous traveling vehicle 1 according to a first embodiment. It is a right view of the autonomous traveling vehicle 1 which concerns on 1st Embodiment. FIG. 2 is a cross-sectional view taken along the line A-A ′ of FIG. 1. It is a left view of the autonomous traveling vehicle 1 in case the boom 40 of the autonomous traveling vehicle 1 which concerns on 1st Embodiment is a telescopic boom. It is a left view of the autonomous traveling vehicle 1 in case the boom 40 of the autonomous traveling vehicle 1 which concerns on 1st Embodiment is a telescopic boom. It is a left view of the autonomous traveling vehicle 1 in case the boom 40 of the autonomous traveling vehicle 1 which concerns on 1st Embodiment is a telescopic boom. 1 is a block diagram showing an electrical configuration of an autonomous traveling vehicle 1 according to a first embodiment. It is a figure which shows the relationship between the brightness (color brightness) and the thermal-insulation effect (sunlight reflectance) in the autonomous vehicle 1 which concerns on 1st Embodiment. It is a left view of the autonomous traveling vehicle 1 which concerns on 2nd Embodiment. It is a block diagram which shows the electric constitution of the autonomous running vehicle 1 which concerns on 2nd Embodiment. It is a left view of the autonomous traveling vehicle 1 which concerns on 3rd Embodiment. It is a block diagram which shows the electric constitution of the autonomous running vehicle 1 which concerns on 3rd Embodiment. It is a left view of the autonomous traveling vehicle 1 which concerns on 4th Embodiment. It is a front view of the autonomous traveling vehicle 1 which concerns on 4th Embodiment. It is a perspective view of the autonomous running vehicle 1 which concerns on 4th Embodiment.

Hereinafter, embodiments will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is a left side view of the autonomous traveling vehicle 1 according to the first embodiment, and FIG. 2 is a right side view of the autonomous traveling vehicle 1 according to the first embodiment. FIG. 3 is a cross-sectional view taken along the line AA ′ of FIG.

As shown in FIGS. 1 and 2, the autonomous traveling vehicle 1 includes an apparatus main body 2 and four wheels 3. The four wheels 3 are divided into left and right front wheels 3-1 and left and right rear wheels 3-2.

Here, as shown in FIGS. 1 and 2, in this embodiment, the direction from the back surface (rear) of the apparatus main body 2 to the front surface (front) of the apparatus main body 2 is referred to as an X direction. A direction from the right side surface of the apparatus body 2 to the left side surface of the apparatus body 2 and perpendicular to the X direction is referred to as a Y direction. A direction from the bottom surface to the top surface of the apparatus main body 2 and perpendicular to the X direction and the Y direction is referred to as a Z direction.

As shown in FIG. 3, the autonomous traveling vehicle 1 further includes a driving device 10. The driving device 10 drives the wheel 3. The drive device 10 includes left and right motors 11, left and right transmissions 12, four axles 13, left and right front wheel sprockets 14-1, left and right rear wheel sprockets 14-2, and left and right belts 15; The left and right bearings 16 are provided. The four axles 13 are divided into left and right front wheel shafts 13-1 and left and right rear wheel shafts 13-2.

Among the drive devices 10, the mechanism portions (power sources) such as the left and right motors 11 are provided on one end side of the device main body 2 in the device main body 2. For example, when one end of the apparatus main body 2 is the front side (front side) of the apparatus main body 2, the power source (the left and right motors 11 and the like) is the front side (front side) of the apparatus main body 2 in the apparatus main body 2. ). In this case, of the four wheels 3, the left and right front wheels 3-1 are referred to as drive wheels, and the left and right rear wheels 3-2 are referred to as driven wheels.

Each of the left and right front wheel shafts 13-1 has one end connected to the left and right front wheels 3-1, and the other end connected to the left and right transmissions 12. The left and right transmissions 12 are respectively connected to the left and right motors 11. The left and right motors 11 are controlled by a control device 20 (see FIG. 7) described later.

Each of the left and right rear wheel shafts 13-2 has one end connected to the left and right rear wheels 3-2 and the other end connected to the left and right bearings 16.

At the center of the left front wheel sprocket 14-1 and the left rear wheel sprocket 14-2, a left front wheel shaft 13-1 and a left rear wheel shaft 13-2 are provided, respectively. The left belt 15 is provided on the outer periphery of the left front wheel sprocket 14-1 and the left rear wheel sprocket 14-2, and the left front wheel 3-1 (drive wheel) and the left rear wheel 3-2 ( The driven belt is connected to the belt 15 on the left side. Here, the belt 15 is cited as surrounding the front and rear wheels 3 (front wheel 3-1 and rear wheel 3-2). However, the belt 15 is not limited to this, and a caterpillar in which steel plates are connected in a strip shape may be used.

The left front wheel 3-1 (drive wheel) receives the power of the left motor 11 through the left transmission 12, and based on the power, the left front wheel shaft 13-1 and the left front wheel sprocket 14 are driven. Rotates with -1. The left rear wheel 3-2 (driven wheel) receives the rotational motion of the left front wheel 3-1 (drive wheel) by the left belt 15, and based on the rotational motion, the left rear wheel shaft 13- 2 and the left rear sprocket 14-2.

At the center of the right front wheel sprocket 14-1 and the right rear wheel sprocket 14-2, a right front wheel shaft 13-1 and a right rear wheel shaft 13-2 are provided, respectively. The right belt 15 is provided on the outer periphery of the right front wheel sprocket 14-1 and the right rear wheel sprocket 14-2, and the right front wheel 3-1 (drive wheel) and the right rear wheel 3-2 ( The right belt 15 is connected to the driven wheel. Here, the belt 15 is cited as surrounding the front and rear wheels 3 (front wheel 3-1 and rear wheel 3-2). However, the belt 15 is not limited to this, and a caterpillar in which steel plates are connected in a strip shape may be used.

The right front wheel 3-1 (drive wheel) receives the power of the right motor 11 via the right transmission 12, and based on the power, the right front wheel shaft 13-1 and the right front wheel sprocket 14 are driven. Rotates with -1. The right rear wheel 3-2 (driven wheel) receives the rotational motion of the right front wheel 3-1 (drive wheel) by the right belt 15, and based on the rotational motion, the right rear wheel shaft 13- 2 and the right rear sprocket 14-2.

The transmission 12 includes, for example, a clutch and a gear box. The gear box includes a shaft 12A, one end of which is connected to the motor 11, and a gear (not shown) provided on the outer periphery of the shaft 12A. The power of the power source (the motor 11) is converted into torque, rotation speed, and rotation. Change direction and communicate. Therefore, the transmission 12, the front wheel shaft 13-1, the rear wheel shaft 13-2, the front wheel sprocket 14-1, the rear wheel sprocket 14-2, and the belt 15 are configured as power transmission members.

The left and right motors 11 drive and stop the apparatus body 2 by driving the four wheels 3 by transmitting power to the left and right power transmission members, respectively. In other words, the autonomous vehicle 1 has a structure in which the front wheel 3-1 (drive wheel) and the rear wheel 3-2 (driven wheel) are rotated at the same speed by one motor 11.

Here, the transmission 12 may not be included as a power transmission member. In this case, the motor 11 and the left and right front wheel shafts 13-1 are coupled by a gear (fixed ratio) to control the rotation speed and rotation direction of the motor 11.

In the power transmission member, examples of the left and right belts 15 include, but are not limited to, timing belts, V belts, and ribbed belts. For example, instead of the belt 15, a chain may be used.

In the power source of the drive device 10, examples of the left and right motors 11 include a DC motor, a brushless DC motor, and an AC motor.

As shown in FIGS. 1 and 2, the autonomous vehicle 1 further includes an obstacle monitoring device 4. The obstacle monitoring device 4 includes a boom 40 (elevating device) and a base 50.

The base 50 is provided on the upper surface of the apparatus main body 2 in the exterior of the apparatus main body 2. When the one end side of the base 50 is the back side (rear side) of the apparatus main body 2, the one end 51 of the base 50 is provided with a protrusion.

The boom 40 is provided on the base 50. One end 40A (front end unit) of the boom 40 is provided with a monitoring camera 110 described later, and the other end 40B of the boom 40 is connected to one end 51 (protrusion) of the base 50.

The boom 40 may be a refractive boom, a telescopic boom, or a combination thereof.

4 to 6 are left side views of the autonomous traveling vehicle 1 when the boom 40 of the autonomous traveling vehicle 1 according to the first embodiment is a telescopic boom. The refracting boom 40 has boom members 41 and 42. One end of the boom member 41 is provided in the apparatus main body 2, and one end of the boom member 42 is provided in the tip unit 40A. The boom members 41 and 42 have a nested structure that is sequentially stacked. That is, the tip unit 40A can be raised or lowered by the expansion and contraction of the boom 40. The first color such as white is attached to the boom 40 so that the height of the boom 40 is increased, the person is easily touched, and is heated by sunlight and does not burn.

1 and 2, the obstacle monitoring apparatus 4 further includes a monitoring camera 110 as the monitoring device 100. The surveillance camera 110 captures an image on the travel route. As the monitoring camera 110, monitoring cameras 110A, 110B, 110F, 110L, and 110R are used.

The monitoring camera 110A is provided at one end 40A (tip unit) of the boom 40. The monitoring camera 110A captures all directions on the travel route.

The monitoring camera 110 </ b> F is provided on the front surface of the apparatus body 2 in the exterior of the apparatus body 2. The monitoring camera 110F photographs the front of the apparatus body 2 that is the traveling direction (X direction) on the travel route.

The monitoring camera 110B is provided on the back surface of the apparatus main body 2 in the exterior of the apparatus main body 2. The monitoring camera 110B captures an image of the rear side of the apparatus main body 2 in the direction opposite to the traveling direction (X direction) on the travel route.

The monitoring camera 110 </ b> L (see FIG. 1) is provided on the left side surface of the apparatus body 2 in the exterior of the apparatus body 2. The monitoring camera 110L images the left side of the apparatus main body 2 that is a direction (Y direction) perpendicular to the traveling direction (X direction) on the travel route.

The monitoring camera 110 </ b> R (see FIG. 2) is provided on the right side surface of the apparatus body 2 in the exterior of the apparatus body 2. The monitoring camera 110R captures the right side of the apparatus main body 2 that is opposite to the direction (Y direction) perpendicular to the traveling direction (X direction) on the travel route.

The obstacle monitoring device 4 detects an obstacle (or a suspicious object or a suspicious person) on the travel route by comparing the image captured by the monitoring camera 110 as described above with the background image of the travel route. .

FIG. 7 is a block diagram showing an electrical configuration of the autonomous traveling vehicle 1 according to the first embodiment. As shown in FIG. 7, the device main body 2 of the autonomous traveling vehicle 1 further includes a control device 20 and a battery 5.

The battery 5 supplies power to the apparatus main body 2. Examples of the battery 5 include a rechargeable secondary battery such as a lithium ion battery or a lithium iron phosphate battery. The battery 5 is charged when the autonomous vehicle 1 is in the charging area.

As shown in FIG. 7, the control device 20 is provided in the device main body 2 and includes a control unit 21 and a storage unit 22. The control unit 21 is a CPU (Central Processing Unit). The storage unit 22 stores a computer program executable by the computer, and the control unit 21 reads and executes the computer program.

As shown in FIG. 7, the control unit 21 includes an autonomous traveling control unit 210. The autonomous traveling control unit 210 causes the apparatus main body 2 to autonomously travel on the traveling route set in advance at a designated set speed by controlling the driving device 10. Specifically, the autonomous traveling control unit 210 controls the driving device 10 so that the apparatus main body 2 autonomously travels. The driving device 10 drives the wheels 3 (FIGS. 1 to 3) under the control of the autonomous traveling control unit 210. In addition, the autonomous traveling control unit 210 causes the apparatus main body 2 to autonomously travel on the traveling route in consideration of the obstacle detected by the obstacle monitoring device 4 (monitoring camera 110).

As shown in FIG. 3, the autonomous vehicle 1 has a structure in which a single motor 11 rotates the front wheel 3-1 (drive wheel) and the rear wheel 3-2 (driven wheel) at the same speed. When the autonomous traveling vehicle 1 goes straight, the autonomous traveling control unit 210 (FIG. 7) controls the driving device 10 so that the left and right front wheels 3-1 (driving wheels) of the wheels 3 rotate at the same rotational speed. The left and right motors 11 are controlled. In addition, the autonomous traveling control unit 210 (FIG. 7) drives so that when the traveling direction of the autonomous traveling vehicle 1 is changed, the rotational speed of the left and right front wheels 3-1 (drive wheels) of the wheels 3 is different. The left and right motors 11 of the apparatus 10 are controlled. Further, when the autonomous traveling control unit 210 (FIG. 7) turns the autonomous traveling vehicle 1 so as to make a stationary rotation, the rotational directions of the left and right front wheels 3-1 (drive wheels) of the wheels 3 are opposite to each other. Thus, the left and right motors 11 of the drive device 10 are controlled.

As shown in FIG. 7, the device main body 2 of the autonomous traveling vehicle 1 further includes a position detection device 30.

The position detection device 30 measures (detects) position information representing the current position outdoors. For example, GPS (Global Positioning System) in the United States, Quasi-Zenith Satellite System (QZSS) in Japan, GLONASS (Global Navigation Satellite System) in Russia Technologies using satellites such as Galileo of the European Union (EU), North Star of China, and IRNSS (Indian Regional Navigation Satellite System) of India are used. In the case of GPS, the position detection device 30 has a GPS receiver. The GPS receiver measures position information indicating the position of the apparatus body 2 based on the difference in reception time when receiving radio waves from a plurality of GPS satellites (not shown). The autonomous traveling control unit 210 causes the apparatus main body 2 to autonomously travel on the traveling route based on the position information.

When the autonomous vehicle 1 is traveling outdoors and enters a tunnel or the like, the GPS receiver may not be able to receive radio waves from a plurality of GPS satellites. In this case, the position detection device 30 measures (detects) position information representing the current position indoors. As a technique for measuring position information representing the current position indoors, a technique using a sensor, a technique using short-range wireless communication, a technique using light, a technique using a monitoring camera 110, and the like are used.

For example, a sensor technology is used as a technology for measuring position information indicating the current position indoors. In this case, the position detection device 30 includes a position detection sensor (not shown) such as a gyro sensor, an acceleration sensor, or an orientation sensor. In this case, the position detection device 30 measures position information indicating the position of the device body 2 based on the vehicle speed pulse and the output of the position detection sensor. The autonomous traveling control unit 210 causes the apparatus main body 2 to autonomously travel on the traveling route based on the position information.

For example, as a technique for positioning position information representing the current position indoors, a technique using short-range wireless communication is used. In this case, the position detection device 30 includes a receiver (short-range wireless receiver) for performing short-range wireless communication. In this case, the short-range wireless receiver measures the position information indicating the position of the apparatus main body 2 by receiving a radio wave from a radio station installed indoors or a high-frequency signal such as infrared rays. The autonomous traveling control unit 210 causes the apparatus main body 2 to autonomously travel on the traveling route based on the position information. Examples of short-range wireless communication include beacon, Bluetooth, wireless LAN (Local Area Network), ZigBee, Wi-Fi, and the like.

For example, a technique using light is used as a technique for positioning position information indicating the current position in the room. In this case, the position detection device 30 includes, for example, a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) system. In this case, the LIDAR system measures position information indicating the position of the apparatus main body 2 based on the time difference from when the light is emitted until the reflected light is detected. The autonomous traveling control unit 210 causes the apparatus main body 2 to autonomously travel on the traveling route based on the position information. Here, techniques for emitting light for sensing include lasers, infrared rays, visible light, ultrasonic waves, electromagnetic waves, and the like.

For example, the position detection device 30 may compare the image captured by the monitoring camera 110 with the background image of the travel route, and position information based on the comparison result. Alternatively, the position detection device 30 may measure position information by a method in which the above-described technique (a technique using a sensor or a technique using light) and the monitoring camera 110 are combined.

As shown in FIG. 7, the control unit 21 further includes a lift control unit 211. When an obstacle (for example, a suspicious object or a suspicious person) is detected by the monitoring camera 110, the lifting control unit 211 moves the position of the one end 40A (tip unit) of the boom 40 to a specified height. The boom 40 is controlled (see FIGS. 4 to 6).

The surveillance camera 110 may cause a malfunction when its own temperature exceeds the set temperature. Therefore, the monitoring camera 110 is one of devices (monitoring device 100) that does not want to increase the temperature.

The main body (the apparatus main body 2, the boom 40, and the base 50 in FIGS. 1 and 2) of the autonomously traveling vehicle 1 in FIGS. 1 and 2 is irradiated with light such as sunlight. When the surface of an object (in this case, the main body of the autonomous vehicle 1 in FIGS. 1 and 2) is irradiated with light such as sunlight, the light is not reflected unless it is reflected from the surface of the object as another light. It is absorbed by the heat and replaced with heat. In this case, heat is the movement of the atoms and molecules of the object. Thus, heat is generated from the object in response to light irradiation. In particular, when the autonomous vehicle 1 is used under a hot summer sun, the temperature of the monitoring device 100 (FIG. 7) is easily affected by the temperature of the outside air temperature, the road surface, and the like.

Therefore, it is conceivable to suppress the temperature rise of the monitoring device 100 (FIG. 7) by attaching a cooling device around the monitoring device 100 (FIG. 7). However, attaching a cooling device is extra cost. In order to suppress the temperature rise of the monitoring device 100 (FIG. 7) without incurring costs, it is conceivable to provide heat shielding (or a heat shielding effect) that blocks the movement of heat due to light irradiation. The heat shielding effect is to reflect the light as another light from the object so that the light (sunlight) is not absorbed by the object.

FIG. 8 is a diagram showing the relationship between the brightness (color brightness) and the heat shielding effect (solar reflectance) in the autonomous vehicle 1 according to the first embodiment. The rate at which the light is reflected from the surface with respect to the light irradiation is called solar reflectance. When the heat shielding effect is applied, the solar reflectance is affected by the brightness of the color of the surface of the peripheral region of the monitoring device 100 (FIG. 7). Regarding the relationship between the brightness of the color and the heat shielding effect (solar reflectance), the white color has the highest heat shielding effect (solar reflectance), and the black color has the lowest heat shielding effect (solar reflectance).

As shown in FIG. 8, in this embodiment, a set reflectance SR1 (first set reflectance) and a set reflectance SR2 (second set reflectance) are set for the solar reflectance. The set reflectance SR2 is lower than the set reflectance SR1. Here, the first color in which the solar reflectance is higher than the set reflectance SR1 is defined as a color CR1. The color CR1 includes white having the highest solar reflectance. The second color whose solar reflectance is lower than the set reflectance SR2 is defined as a color CR2. The color CR2 includes black having the lowest solar reflectance.

Therefore, the monitoring camera 110 (FIG. 1) is used as the monitoring device 100 (FIG. 7) in the exterior of the main body (the apparatus main body 2, the boom 40, and the base 50 in FIGS. 1 and 2) of the autonomous traveling vehicle 1 in FIGS. The surface of the area where 2) is provided is colored CR1 (FIG. 8). Preferably, it is attached in white. Examples of the method of applying white color include painting and coating.

Specifically, of the exterior of the boom 40 (FIGS. 1 and 2), the surface of the tip unit (one end 40A of the boom 40 in FIGS. 1 and 2) provided with the monitoring camera 110A (FIGS. 1 and 2) is It is marked in white. In addition, the surface of the area AR1 (FIGS. 1 and 2) where the surveillance cameras 110B and 110F (FIGS. 1 and 2) are provided in the exterior of the apparatus main body 2 (FIGS. 1 and 2) is white. . Moreover, the surface of area | region AR2 (FIG. 1) in which surveillance camera 110L (FIG. 1) was provided among the exteriors of apparatus main body 2 (FIG. 1, 2) is attached | subjected white. Of the exterior of the apparatus main body 2 (FIGS. 1 and 2), the surface of the area AR3 (FIG. 2) where the surveillance camera 110R (FIG. 2) is provided is white.

Wheel 3 (FIGS. 1 and 2) requires heat due to warming up of wheel 3 (FIGS. 1 and 2) itself and improvement of gripping force of wheel 3 (FIGS. 1 and 2). Therefore, the wheel 3 (FIGS. 1 and 2) is one of the parts that require heat. Here, the color of the wheel 3 (FIGS. 1 and 2) is black.

Therefore, the surface of the region of the exterior of the main body (the apparatus main body 2, the boom 40, the base 50) of the autonomous traveling vehicle 1 where the parts that require heat are provided is colored CR2 (FIG. 8). ing. Preferably, it is attached in black. Examples of the black method include painting and coating.

Specifically, as shown in FIGS. 1 and 2, the surface of the area AR <b> 11 in which the wheel 3 is provided in the exterior of the apparatus main body 2 is black.

Furthermore, since the autonomous traveling vehicle 1 shown in FIGS. 1 and 2 is a vehicle that monitors an obstacle (suspicious object, suspicious person), the main body of the autonomous traveling vehicle 1 (device main body 2, boom 40, base 50). For example, it is also effective to make the exterior color (pattern) appear to a suspicious person like a patrol car.

Specifically, as shown in FIGS. 1 and 2, the boom member 41 in the exterior of the boom 40 is painted or coated in white, and the surface of the boom member 42 is black. .

1 and 2, since the surface of the area AR1 where the monitoring cameras 110B and 110F are provided is white, the surface of the base 50 is black.

Further, as shown in FIG. 1, the surface of the area AR1 where the monitoring cameras 110B and 110F are provided and the surface of the area AR2 where the monitoring camera 110L is provided are white in the exterior of the apparatus main body 2. Therefore, the surface of the area AR12 between the area AR1 and the area AR2 is black.

Also, as shown in FIG. 2, the surface of the area AR1 where the monitoring cameras 110B and 110F are provided and the surface of the area AR3 where the monitoring camera 110R is provided are white in the exterior of the apparatus body 2. Therefore, the surface of the area AR13 between the area AR1 and the area AR3 is black.

As described above, the autonomous traveling vehicle 1 according to the first embodiment includes the autonomous traveling vehicle 1 main body, the autonomous traveling control unit 210 that controls the autonomous traveling vehicle 1 main body to autonomously travel on the traveling route, and the autonomous traveling. And a monitoring device 100 that is provided in the vehicle 1 body and monitors a traveling route. Of the exterior of the autonomous vehicle 1 main body, the surface of the areas AR1 to AR3 where the monitoring device 100 is provided has a first color (color CR1) in which the solar reflectance exceeds the first set reflectance (set reflectance SR1). It is attached. Of the exterior of the autonomous vehicle 1 main body, the surface of the area AR11 where the heat-requiring parts are provided has a second set reflectivity in which the solar reflectance is lower than the first set reflectivity (set reflectivity SR1). The second color (color CR2) is less than (set reflectance SR2). Here, the monitoring device 100 includes a monitoring camera 110 for photographing a travel route.

As described above, according to the autonomous traveling vehicle 1 according to the first embodiment, the surfaces of the areas AR1 to AR3 in which the monitoring device 100 (the monitoring camera 110) is provided on the exterior of the autonomous traveling vehicle 1 have the solar reflectance. Since it is attached with a high color CR1 (color CR1 excellent in heat shielding effect), the temperature rise of the monitoring device 100 can be suppressed without cost.

Moreover, according to the autonomous traveling vehicle 1 which concerns on 1st Embodiment, the surface of area | region AR11 provided with the components (wheel 3) which requires heat in the exterior of the autonomous traveling vehicle 1 is a color with low solar reflectance. Since it is attached with CR2 (color CR2 inferior in heat shielding effect), the warm-up of the wheel 3 itself and the gripping force of the wheel 3 can be improved without cost.

In the autonomous vehicle 1 according to the first embodiment, the first color (color CR1) is white and the second color (color CR2) is black. Here, a plurality of monitoring devices 100 (monitoring cameras 110) are provided in the autonomous vehicle 1 main body. In order to make the exterior of the autonomous vehicle 1 main body look like a patrol car to a suspicious person, the surface of the area between the areas where the monitoring device 100 is provided (the area AR1 and the monitoring camera where the monitoring cameras 110B and 110F are provided) The surface of the area AR12 between the area AR2 provided with 110L and the area AR13 between the area AR1 provided with the monitoring cameras 110B and 110F and the area AR3 provided with the monitoring camera 110R) It is attached in black.

As described above, according to the autonomous traveling vehicle 1 according to the first embodiment, the exterior of the autonomous traveling vehicle 1 is provided with white and black alternately. Can look like a patrol car.

[Second Embodiment]
FIG. 9 is a left side view of the autonomous traveling vehicle 1 according to the second embodiment. FIG. 10 is a block diagram showing an electrical configuration of the autonomous traveling vehicle 1 according to the second embodiment. In the second embodiment, changes from the first embodiment will be described.

9 and 10, the obstacle monitoring apparatus 4 further includes a LIDAR system 120 as the monitoring device 100. As the LIDAR system 120, a LIDAR system applied to the position detection device 30 described above may be used.

As shown in FIG. 9, the LIDAR system 120 is provided on the front surface of the apparatus main body 2 in the exterior of the apparatus main body 2. The LIDAR system 120 is based on the time difference from the time when the reflected light is detected after the light is emitted in front of the device body 2 to the obstacle (or suspicious object or suspicious person) on the travel route. Detect the distance. Here, techniques for emitting light for sensing include lasers, infrared rays, visible light, ultrasonic waves, electromagnetic waves, and the like.

The autonomous traveling control unit 210 (FIG. 10) considers the obstacle detected by the monitoring camera 110 and the distance detected by the LIDAR system 120 (FIGS. 9 and 10) to move the device body 2 on the traveling route. Let it run autonomously.

As shown in FIG. 10, the above-described LIDAR system 120 may cause a malfunction when its own temperature exceeds a set temperature. For this reason, the above-described LIDAR system 120 is one of the devices (monitoring device 100) that does not want to increase in temperature together with the monitoring camera 110.

Therefore, the surface of the region where the LIDAR system 120 is provided in the exterior of the main body (the apparatus main body 2, the boom 40, and the base 50) of the autonomous vehicle 1 has the highest heat shielding effect (sunlight reflectance). Painted or coated in (white).

Specifically, as shown in FIG. 9, the surface of the area AR <b> 1 in which the surveillance cameras 110 </ b> B and 110 </ b> F and the LIDAR system 120 are provided in the exterior of the apparatus main body 2 is white.

Other than that, the exterior color (pattern) of the main body (device main body 2, boom 40, base 50) of the autonomous traveling vehicle 1 is the same as that of the first embodiment.

As described above, in the autonomous traveling vehicle 1 according to the second embodiment, the monitoring device 100 further includes the LIDAR system 120 for detecting the distance to the obstacle on the traveling route.

Thus, according to the autonomous traveling vehicle 1 according to the second embodiment, the surfaces of the areas AR1 to AR3 in which the monitoring device 100 (the monitoring camera 110, the LIDAR system 120) is provided on the exterior of the autonomous traveling vehicle 1, Since the color CR1 having a high solar reflectance (color CR1 having an excellent heat shielding effect) is used, an increase in temperature of the monitoring device 100 can be suppressed without cost.

[Third Embodiment]
FIG. 11 is a left side view of the autonomous traveling vehicle 1 according to the third embodiment. FIG. 12 is a block diagram showing an electrical configuration of the autonomous traveling vehicle 1 according to the third embodiment. In the third embodiment, changes from the second embodiment will be described.

11 and 12, the obstacle monitoring apparatus 4 further includes an infrared camera 130 as the monitoring device 100.

As shown in FIG. 11, the infrared camera 130 is provided on the front side of the apparatus main body 2 at one end 40 </ b> A (tip unit) of the boom 40. For example, the infrared camera 130 captures an image of the front of the apparatus main body 2 in the traveling direction (X direction) on the travel route at night vision or in a night vision place such as a tunnel.

The autonomous running control unit 210 (FIG. 12) is detected by the obstacle detected by the monitoring camera 110 (FIGS. 11 and 12) and the infrared camera 130 (FIGS. 11 and 12) and the LIDAR system 120 (FIGS. 11 and 12). The apparatus main body 2 is allowed to autonomously travel on the travel route in consideration of the measured distance.

As shown in FIG. 12, the above-described infrared camera 130 may cause a malfunction when its own temperature exceeds a set temperature. Therefore, the above-described infrared camera 130 is one of the devices (monitoring device 100) that does not want to raise the temperature together with the monitoring camera 110 and the LIDAR system 120.

Therefore, the surface of the area where the infrared camera 130 is provided in the exterior of the main body (the apparatus main body 2, the boom 40, and the base 50) of the autonomous vehicle 1 has the highest heat shielding effect (solar reflectance). Painted or coated in (white).

Specifically, as shown in FIG. 11, the surface of the tip unit (one end portion 40A of the boom 40) provided with the monitoring camera 110A and the infrared camera 130 in the exterior of the boom 40 is white. ing.

Other exterior colors (patterns) of the main body (device main body 2, boom 40, base 50) of the autonomous traveling vehicle 1 are the same as in the second embodiment.

As described above, in the autonomous traveling vehicle 1 according to the third embodiment, the monitoring device 100 further includes the infrared camera 130 for photographing the traveling route in the night vision place.

Thus, according to the autonomous traveling vehicle 1 according to the third embodiment, the areas AR1 to AR3 in which the monitoring device 100 (the monitoring camera 110, the LIDAR system 120, the infrared camera 130) is provided on the exterior of the autonomous traveling vehicle 1. Since the surface of the tip unit 40A is colored with a color CR1 having a high solar reflectance (color CR1 having an excellent heat shielding effect), the temperature rise of the monitoring device 100 can be suppressed without cost. .

[Fourth Embodiment]
FIG. 13 is a left side view of the autonomous traveling vehicle 1 according to the fourth embodiment. FIG. 14 is a front view of the autonomous traveling vehicle 1 according to the fourth embodiment. FIG. 15 is a perspective view of the autonomous traveling vehicle 1 according to the fourth embodiment. Below, the changes in the fourth embodiment from the third embodiment will be described. The parts having similar functions are denoted by the same reference numerals.

An autonomous traveling vehicle 1 according to the fourth embodiment includes a device main body (autonomous traveling vehicle main body) 2 that autonomously travels on a travel route, and a monitoring device (first device) that is provided in the device main body 2 and monitors the travel route. And the second device) 100).
The monitoring device 100 includes a first monitoring device and a second monitoring device with different installation positions. Specifically, the first monitoring device is used by a monitoring camera 110A that is provided at one end 40A (tip unit) of the boom 40 and photographs all directions on the traveling route so as to photograph the traveling route. It is done. As the second monitoring device, the LIDAR system 120, the ultrasonic sensor 140, the front camera 110F, the rear camera 110B, the right side camera 110R, and the left side 110L are used.

In the exterior of the autonomous traveling vehicle main body, the surface of the first region where the predetermined first monitoring device 110A of the monitoring devices 100 is provided (in the embodiment, the upper surface and the surface of the side surface of the boom member 41). The first reflectance is higher than the first set reflectance, and is CR1 in FIG. 8, for example, white. Specifically, as shown in FIGS. 13 and 14, the boom member 41 of the exterior of the boom 40 is painted or coated in white, and the surface of the boom member 42 is attached in black. . That is, the boom 40 has boom members 41 and 42. One end of the boom member 41 is provided in the apparatus main body 2, and one end of the boom member 42 is provided in the tip unit 40A. The boom members 41 and 42 have a nested structure that is sequentially stacked. That is, the tip unit 40A can be raised or lowered by the expansion and contraction of the boom 40. The boom member 41 is provided with a first color such as white on the upper side and side of the boom member 41 so that the boom 40 is tall and easy to touch, and is heated by solar radiation to prevent burns.

In the exterior, the surface of the surrounding second region where the second monitoring device other than the predetermined first monitoring device is provided has a lower solar reflectance than the first set reflectance. 2 It is attached with the second color below the set reflectance. The second color lower than the second set reflectance is the CR2 in FIG. 8 similar to that shown in FIG. 8 as in the first to third embodiments, and can be black, for example. The setting of the solar reflectance for the first color and the second color is merely an example. In the present invention, the reflectance of the second color may be smaller than that of the first color.

In this way, the surrounding exterior is set to the second color to warm the sensor and other devices to prevent irregular reflection on the camera.

In the exterior, the surface of the lower third region of the autonomous vehicle is attached with a third color of the third set reflectance between the first set reflectance and the second set reflectance. This third color is CR3 in FIG. 8 and can be gray.

The first color is white and the second color is black. The third color is gray.
In order to make the exterior of the autonomous vehicle body appear to a suspicious person as a patrol car, the area AR2 from the front to the side is the first color white, the area around the light part AR4 and the surface of the side area AR5 Are marked in black.

And the exterior of area | region AR6 of the bottom part of the said apparatus main body 2 is attached | subjected gray. As described above, the bottom surface of the apparatus main body 2 is not a portion exposed to sunlight, and the bottom surface of the main body is easily contaminated. If white or black is used, the dirt becomes conspicuous. Can be inconspicuous.
Further, as shown in FIG. 13, a bumper portion 2 </ b> F is formed to protrude forward and a bumper portion 2 </ b> B is formed to protrude rearward near the center position in the vertical direction on the front and rear surfaces of the device body 2 of the autonomous vehicle. . The colors of these bumper portions 2F and 2B are also integrated with the side area AR5 and can be the second color. However, since the bumper portions 2F and 2B also have a collision sensor, it is lighter than black, which should avoid an increase in heat. Gray (the fourth color between the second color and the third color) may be darker than the third color because it is not as easily soiled as the bottom (third area AR6).

A LIDAR (Light Detection and Ranging, Laser Detection and Detection) system 120 for detecting the distance to the obstacle on the travel route as the monitoring device 100 is provided on the front surface of the apparatus main body 2. In this case, the LIDAR system 120 may be a 2D or 3D LIDAR system.

Further, the monitoring cameras 110B, 110F, 110R, and 110L as the monitoring device 100 include an infrared camera for capturing an image of the traveling route in a night vision place, in addition to an image sensor that captures visible light.

Further, as shown in FIG. 14, the front monitoring device 100 has a monitoring camera 110F positioned above the LIDAR system 120 at the center of the front.

As the monitoring device 100, ultrasonic sensors 140 are provided on the front surface, side surface, and rear surface of the apparatus main body 2, respectively. As shown in FIG. 13, the ultrasonic sensor 140 on the side surface of the apparatus main body 2 is provided above the rear wheel 3-2.

The monitoring cameras 110B, 110F, 110R, and 110L, the LIDAR system 120, and the ultrasonic sensor 140 of each of the monitoring devices 100 described above can be made inconspicuous with a second color such as black.

As shown in FIG. 14, a pair of lamp portions 160 are provided on the left and right of the front surface of the apparatus body 2. The lamp unit 160 is provided with a pair of left and right headlights 160A that can illuminate far and spotlights 160B that can illuminate a narrow area.

The front ultrasonic sensors 140 are provided in pairs on the inner side (or outer side) near the pair of headlights 160A and 160A. The area AR4 around the left and right lamp parts 160 and the front ultrasonic sensor 140 (for example, (holder part (support part)) is black of the second color.

As shown in FIG. 13 and FIG. 14, cover units 110R1 and 110L1 are provided on the upper sides of the left and right side monitoring cameras 110R and 110L in the monitoring device 100 of the apparatus main body 2, and around the monitoring device. The area AR5 is black of the second color, and the cover portion is white of the first color.
Further, as shown in FIG. 13, a switch unit 150 such as a semi-emergency stop switch for stopping the apparatus main body 2 is provided on the side surface of the main body. The side area AR5 is the second color, and the surface of the switch section 150 is also the second color that is the same color as AR5.

Also, a chemical sensor may be provided, and it can be provided at the front part or the side part of the vehicle body to assimilate the chemical sensor housing part with the second color. The chemical sensor is a chemical detection device that detects chemical substances or radiation in the air around the vehicle body, and various sensors such as a semiconductor gas sensor, a solid electrolyte sensor, an electrochemical gas sensor, a catalytic combustion sensor, and an ion sensor can be used. .

In the present embodiment, the set reflectance SR1 (first set reflectance) and the set reflectance SR2 (second set reflectance) are set for the solar reflectance. The second set reflectance SR2 is lower than the first set reflectance SR1. Here, the first color in which the solar reflectance exceeds the first set reflectance SR1 is defined as a color CR1. The first color CR1 includes white having the highest solar reflectance. A second color whose solar reflectance is lower than the second set reflectance SR2 is defined as a color CR2. The second color CR2 includes black having the lowest solar reflectance.

As described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. That is, embodiments obtained by combining technical means appropriately modified within the scope of the claims are also included in the technical scope of the present invention.
For example, the first color and the second color of claim 1 and the first color and the second color of claim 3 and after are not necessarily the same color (same reflectance) (for example, they may be close colors) ). For example, as shown in FIG. 8 above, when a predetermined standard such as the first set reflectance or the second set reflectance is set, the first color is higher than the first set reflectance. In this range, the second color only needs to be in a range lower than the second set reflectance. For example, if it is within the range, the first color and the second color attached to each region or member have different reflectances. Are within the scope of the present invention.

The present invention can be used for autonomously traveling vehicles that autonomously travel.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling vehicle 2 Apparatus main body 3 Wheel 3-1 Front wheel 3-2 Rear wheel 4 Obstacle monitoring apparatus 5 Battery 10 Drive apparatus 11 Motor (power source)
DESCRIPTION OF SYMBOLS 12 Transmission 12A Axis 13 Axle 13-1 Front wheel shaft 13-2 Rear wheel shaft 14-1 Front wheel sprocket 14-2 Rear wheel sprocket 15 Belt 16 Bearing 20 Control device 21 Control portion 22 Storage portion 30 Position detection device 40 Boom (elevating device)
40A One end (tip unit)
40B Other end 41 Boom member 42 Boom member 50 Base 51 One end (projection)
100 surveillance device 110 surveillance camera 110A surveillance camera (omnidirectional)
110B surveillance camera (rear)
110F surveillance camera (front)
110L surveillance camera (left side)
110R surveillance camera (right side)
120 LIDAR system 130 Infrared camera 140 Ultrasonic sensor 210 Autonomous travel control unit 211 Lift control unit AR1 Area (white)
AR2 area (white)
AR3 area (white)
AR4 area (black)
AR5 area (black)
AR6 area (gray)
AR11 area (black)
AR12 area (black)
AR13 area (black)

Claims (14)

  1. An autonomous vehicle body that autonomously travels on the travel route;
    A monitoring device provided on the autonomous traveling vehicle main body and monitoring the traveling route;
    Of the exterior of the autonomous mobile vehicle body, the first color is attached to the surface of the first region where the monitoring device is provided,
    Of the exterior of the autonomously traveling vehicle body, the surface of the second region where the part that requires heat is provided is provided with a second color having a reflectance lower than that of the first color. A featured autonomous vehicle.
  2. In the exterior of the autonomous traveling vehicle body, the surface of the third region below the autonomous traveling vehicle body is provided with a third color having a reflectance smaller than the first color and greater reflectance than the second color. The autonomous traveling vehicle according to claim 1, wherein the vehicle is an autonomous traveling vehicle.
  3. 2. The autonomous traveling vehicle according to claim 1, wherein in the first region, the monitoring device itself or a holder for holding the monitoring device is given a second color.
  4. The autonomous traveling vehicle according to claim 1, wherein the monitoring device includes a monitoring camera for photographing the traveling route.
  5. The autonomous vehicle according to claim 1, wherein the monitoring device includes a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) system for detecting a distance to an obstacle on the travel route. .
  6. The autonomous traveling vehicle according to claim 1, wherein the monitoring device includes an infrared camera for photographing the traveling route in a night vision place.
  7. 2. The autonomous traveling vehicle according to claim 1, wherein the vehicle main body has an elevating device that moves up and down by providing the monitoring device at a tip, and the elevating device is attached to the first color.
  8. The autonomous traveling vehicle according to claim 1, wherein a top part of the monitoring device has a cover part, and the cover part is a first color.
  9. 2. The autonomous traveling vehicle according to claim 1, wherein a periphery of a lamp portion in front of the autonomous traveling vehicle is the second color.
  10. The autonomous traveling vehicle according to claim 1, further comprising a switch portion on a side surface of the main body, wherein the periphery of the switch portion is the second color.
  11. The autonomous traveling vehicle according to claim 1, wherein the autonomous traveling vehicle is provided with a chemical sensor, and a housing portion of the chemical sensor is in the second color.
  12. The autonomously traveling vehicle according to claim 1, wherein the first color is white and the second color is black.
  13. The autonomously traveling vehicle according to claim 2, wherein the third color is gray.
  14. The monitoring device is provided in a plurality of locations on the autonomous vehicle body,
    The surface of the region between the regions where the monitoring device is provided is marked with black in order to make the exterior of the autonomous vehicle body appear to a suspicious person like a patrol car. 9. The autonomous traveling vehicle according to 9.
PCT/JP2016/089055 2016-01-07 2016-12-28 Autonomous vehicle WO2017119385A1 (en)

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JP2016001854 2016-01-07
JP2016-001854 2016-01-07
JP2016-237393 2016-12-07
JP2016237393A JP2017124821A (en) 2016-01-07 2016-12-07 Autonomous travel vehicle

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