JP2020154719A - Autonomous travelling carriage and control method - Google Patents

Abstract

To precisely associate, within a short time, partial travelling routes to be coupled with each other.SOLUTION: A ball collecting and discharging machine 1 comprises a main body 11, a storing unit 13, a second travelling route generating unit 59, and a travel controlling unit 51. The main body 11 includes a travelling unit 21. The storing unit 13 stores a plurality of partial travelling schedules 101. The second travelling route generating unit 59 couples the plurality of partial travelling schedules 101 to generate an autonomous travelling schedules 103. The travel controlling unit 51 controls the travelling unit 21. At least some of the plurality of partial travelling schedules 101 include coordinate values defined by a latitude and a longitude. The second travelling route generating unit 59 autonomously plans a coupled route CR on the basis of the coordinate values defined by the latitude and the longitude. The second travelling route generating unit 59 associates the partial travelling schedule 101 that is a coupling origination, the partial travelling schedule 101 that is a coupling destination, and the coupled route CR with each other to generate the autonomous travelling schedule 103.SELECTED DRAWING: Figure 17

Description

The present invention relates to an autonomous driving vehicle that autonomously travels on a predetermined traveling route within a designated area, and a control method thereof.

Conventionally, an autonomous traveling trolley that autonomously travels on a predetermined traveling route within a designated area has been known. For example, an autonomous traveling trolley that autonomously reproduces a traveling route taught by an operator is known (see, for example, Patent Document 1).
Further, there is known an autonomous traveling trolley that generates a "filling route" (filling route) in an area designated by an operator and autonomously moves on the generated filling route (see, for example, Patent Document 2). ..

Patent No. 6136543 International Publication No. 2018/043180

In an autonomous driving vehicle that autonomously travels in a designated area, the area is divided into a plurality of subregions, partial travel routes are individually generated in each subregion, and a plurality of partial travel routes generated for each subregion are generated. There are cases where you want to drive autonomously continuously.
For example, in a certain partial area (for example, a partial area where an obstacle exists), the operator teaches a traveling route, and in another partial area (for example, a wide partial area where no obstacle exists), a filled route is generated. In some cases.

As described above, the plurality of partial traveling paths are individually generated for each partial area, and generally do not have a common coordinate point (route). Further, the partial travel path may not be defined as a coordinate value on a common coordinate system. Therefore, when it is desired to continuously autonomously drive a plurality of partial travel routes, the end point of the partial travel route of the connection source and the start point of the partial travel route of the connection destination are matched in order to connect the plurality of partial travel routes. It is necessary to perform the mapping work to make it.
When the association work is performed manually, the possibility of erroneous association due to the association work time and the work error increases according to the number of partial traveling routes to be associated, which is a burden on the operator. Further, in order to perform the association, the start point of one teaching and the end point of the other teaching are matched, and the teaching method of the traveling route is restricted, resulting in a decrease in operability. Even when the surrounding terrain information or the like is acquired by a sensor and automatically associated without relying on human hands, there is a possibility that erroneous association is performed in cases where the surrounding terrain is similar.

An object of the present invention is to perform an association for matching the end point of the partial travel path of the connection source with the start point of the partial travel path of the connection destination without imposing a burden on the operator and with high accuracy.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.
The autonomous driving vehicle according to the seemingly present invention is an autonomous driving vehicle that autonomously travels on a predetermined autonomous driving route within a designated area. The autonomous driving trolley includes a main body, a storage unit, an autonomous driving route generation unit, and a traveling control unit.
The main body has a traveling portion. The storage unit stores a plurality of partial travel routes generated in the designated area. The autonomous driving route generation unit generates an autonomous driving route by connecting a plurality of partial traveling routes. By controlling the traveling unit, the traveling control unit moves the main body along the autonomous traveling route.

In the above-mentioned autonomous driving trolley, each of the plurality of partial traveling paths includes at least a part of the global coordinate values defined on the global coordinates. The global coordinates are a coordinate system including at least a designated area in which the autonomous driving vehicle autonomously travels, and are a common coordinate system.
Further, the autonomous traveling route generation unit autonomously plans a connecting route for connecting the end point of the partial traveling route of the connection source and the start point of the partial traveling route of the connection destination based on the global coordinate values. Further, the autonomous traveling route generation unit generates an autonomous traveling route by associating the partial traveling route of the connection source, the partial traveling route of the connection destination, and the connecting route.

In the above autonomous driving trolley, the partial traveling path includes at least a part of the global coordinate values defined on the global coordinates. That is, the partial travel path includes coordinate values defined in a common coordinate system (global coordinate system).
By including the coordinate values defined in the common coordinate system (global coordinate system) in the partial travel path connected in the generation of the autonomous driving route, the partial using the coordinate values defined in the common coordinate system is used. It is possible to autonomously plan a connecting route that connects the traveling routes. That is, it is not necessary to manually associate the partial travel routes.

The end point of the partial travel path of the connection source and the start point of the partial travel route of the connection destination may be represented by global coordinate values.
This eliminates the need to convert the start point (end point of the connection source) and the end point (start point of the connection destination) of the connection path into coordinate values on a common coordinate system, so that the connection path connecting the above two points can be easily performed. I can plan.

The autonomous traveling vehicle described above may further include a GNSS measuring unit. The GNSS measuring unit measures the position of the main body in the designated area as a combination of latitude and longitude. In this case, the global coordinate value is a coordinate value composed of latitude and longitude.
This makes it possible to measure the position of the autonomous driving vehicle in the outdoor space. In principle, the global coordinate system can be a coordinate system that includes the entire surface of the earth.

Either the partial travel route of the connection source or the partial travel route of the connection destination may be a route generated in a region where the latitude and longitude cannot be measured by the GNSS measuring unit.
As a result, the autonomous driving vehicle can autonomously travel in both the outdoor space where the position can be measured by the GNSS measuring unit and the area where the position cannot be measured by the GNSS measuring unit.

The partial travel route of the connection source or the partial travel route of the connection destination is a route generated in a region where the latitude and longitude cannot be measured by the GNSS measurement unit in part, and the latitude and longitude in the other part. It may be a path generated within the region where can be measured.
As a result, the autonomous driving vehicle can autonomously travel in both the outdoor space where the position can be measured by the GNSS measuring unit and the area where the position cannot be measured by the GNSS measuring unit in a part. Further, the position measured by the GNSS measuring unit can be easily included as the global coordinate value of the global coordinate system in at least a part of the above one path.

A control method according to another aspect of the present invention is a control method for an autonomous driving vehicle that includes a main body having a traveling unit and autonomously travels on a predetermined autonomous traveling route within a designated area. This control method includes the following steps.
◎ A step to memorize multiple partial travel routes generated in the specified area.
◎ A step to generate an autonomous driving route by connecting multiple partial driving routes.
◎ A step to move the main body along an autonomous driving path by controlling the traveling unit.

In the above control method, each of the plurality of partial travel paths includes at least a part of the global coordinate values defined on the global coordinates. Global coordinates are a coordinate system that includes at least a designated area in which an autonomous vehicle travels autonomously.
Further, the step of generating the autonomous driving route has the following steps.
◎ A step of autonomously planning a connection route that connects the end point of the partial travel route of the connection source and the start point of the partial travel route of the connection destination based on the global coordinate values.
◎ A step of generating an autonomous driving route by associating a partial traveling route of a connection source, a partial traveling route of a connection destination, and a connection route.

In the above-mentioned control method of the autonomous driving vehicle, the autonomous driving route is generated by connecting a plurality of partial traveling routes. In this case, in the above control method, the partial travel path includes at least a part of the global coordinate values defined on the global coordinates. That is, the partial travel path includes coordinate values defined in a common coordinate system (global coordinate system).
As a result, the partial travel routes to be connected can be linked to the common coordinate system without manual operation, so that the connection route for connecting the partial travel routes can be autonomously planned. That is, it is possible to accurately associate the partial travel routes to be connected without manpower.

In the autonomous driving vehicle according to the present embodiment, the partial traveling routes to be connected can be linked to a common coordinate system, and the partial traveling routes to be connected can be associated with each other accurately without human intervention.

Schematic plan view of a driving range. A schematic perspective view of a ball collector / ejector (No. 1). FIG. 2 is a schematic perspective view of a ball collector / ejector. The figure which shows the whole structure of the control part which concerns on 1st Embodiment. The flowchart which shows the schematic operation of the ball collecting and ejecting machine. A flowchart showing the generation of a partial travel route by copy travel. Schematic plan view of the ball collector / ejector. The schematic plan view which shows the turn-back running of a ball collecting and ejecting machine. A flowchart showing an operation of generating a partial traveling path by a filled traveling. A flowchart showing the details of the steps for generating a partial running schedule by filling running. FIG. 1 is a schematic diagram showing a state in which a filled route is created in a traveling area step by step (No. 1). FIG. 2 is a schematic diagram showing a state in which a filled route is created in a traveling area stepwise. FIG. 3 is a schematic diagram showing a state in which a filled route is created in a traveling area step by step (No. 3). FIG. 4 is a schematic diagram showing a state in which a filled route is created in a traveling area stepwise. The flowchart which shows the generation operation of the autonomous driving path which concerns on 1st Embodiment. The figure which shows an example of the selected partial traveling route. The figure which shows an example of the case where a plurality of selected partial routes are connected by a connecting route. A flowchart showing an autonomous driving operation. The figure which shows the structure of the control part which concerns on 2nd Embodiment. The figure which shows an example of the generation of the partial traveling path which concerns on 2nd Embodiment. The flowchart which shows the generation operation (copy running) of the partial running path which concerns on 2nd Embodiment. The flowchart which shows the acquisition operation of the position information which concerns on 2nd Embodiment. The figure which shows an example of the partial running path generated by the method of generating the partial running path which concerns on 2nd Embodiment. The figure which shows the assumption example for demonstrating the ball collecting and ejecting machine which concerns on 3rd Embodiment. The flowchart which shows the generation operation of the autonomous driving path which concerns on 3rd Embodiment. The figure which shows an example of the autonomous driving path generated in 3rd Embodiment.

1. 1. 1st Embodiment (1) Outline of a ball collecting machine The ball collecting machine 1 will be described below with reference to FIGS. 1 to 3. FIG. 1 is a schematic plan view of a driving range. 2 and 3 are schematic perspective views of a ball collecting and ejecting machine.
The ball collecting / ejecting machine 1 (an example of an autonomous traveling trolley) is used in the driving range 2 (an example of a designated area) in the present embodiment. In the driving range 2, a large number of golf balls B are scattered in a short time, so that the ball collecting / ejecting machine 1 collects and reuses them.
The driving range 2 has a ball scattering area 3 in which a plurality of golf balls B are scattered, and a ball ejection groove 7 in which the collected golf balls B are discharged. In this embodiment, a lawn is planted in the ball scattering area 3. The ball ejection groove 7 is a groove provided in the ball scattering area 3. The golf ball B distributed in the discharge groove 7 is sent to the collection pool by the discharged water.

That is, the ball collecting / ejecting machine 1 autonomously travels in the ball scattering area 3 and collects the golf balls B scattered in the area (ball collecting operation). Further, the golf ball B autonomously travels from the ball scattering area 3 to the side of the ball ejection groove 7 and ejects the golf ball B collected in the ball scattering area 3 into the ball ejection groove 7 (ball ejection operation). In other words, the ball collecting / ejecting machine 1 is a device that collects and ejects balls while performing teaching reproduction running at the driving range 2.

The above-mentioned "teaching reproduction driving" is to autonomously reproduce a route generated based on the information taught by the operator. The "teaching reproduction running" includes, for example, a "copy running" that autonomously reproduces the route itself taught by the operator in advance, and an autonomous driving on a route planned to fill the area taught by the worker in advance. "Filling running" to reproduce by doing is included.

The ball collecting / ejecting machine 1 according to the present embodiment continuously autonomously travels on a plurality of routes (partial traveling routes) individually taught or planned for the above-mentioned "teaching reproduction traveling". For that purpose, the ball collecting / ejecting machine 1 autonomously plans a connecting path CR for connecting a plurality of individually taught / planned partial traveling paths.

(2) Basic Configuration of Ball Collector / Discharge Machine The basic configuration of the ball collector / ejector 1 according to the present embodiment will be described below. The ball collecting / ejecting machine 1 includes a main body 11, a storage unit 13 (FIG. 4), and a control unit 15.
The main body 11 has a traveling unit 21 and a ball collecting / discharging unit 23 capable of collecting the golf ball B and discharging the golf ball B. Specifically, the traveling unit 21 is a device for traveling the ball collecting / ejecting machine 1. The traveling unit 21 has, for example, a traveling motor 31 (FIG. 4) provided on the main body 11 and wheels 33.
The ball collecting / ejecting machine 1 has a GNSS (Global Navigation Satellite System) receiver 35 (an example of a GNSS measuring unit) provided in the main body 11. The GNSS receiver 35 acquires information (position information) regarding the current position of the ball collecting / ejecting machine 1 on the ground in the driving range 2. As a result, the ball collecting / ejecting machine 1 can travel outdoors while grasping its own position.

The ball collecting / ejecting machine 1 has a direction detection sensor 41 (FIG. 4) provided in the main body 11. The direction detection sensor 41 measures the direction (direction) of the ball collecting / ejecting machine 1 (main body 11) at the driving range 2. The direction detection sensor 41 is, for example, a geomagnetic sensor that measures the direction of the geomagnetism at the position of the ball collector 1 or a GNSS compass.

In addition, the direction detection sensor 41 can be configured by providing a pair of the above-mentioned GNSS receivers 35 on the main body 11. For example, a pair of GNSS receivers 35 are arranged side by side on a predetermined axis of the main body 11 (for example, an axis parallel to the straight-ahead direction of the ball collecting / ejecting machine 1). Thereby, the orientation (direction) of the main body 11 in the driving range 2 can be calculated from the two coordinate values (combination of latitude and longitude) obtained from the pair of GNSS receivers 35 (moving baseline method). .. By calculating the direction using the coordinates obtained by the GNSS receiver 35, the direction of the ball collecting / ejecting machine 1 can be easily measured (calculated) without being affected by the surrounding magnetic material.

Further, the direction of the ball collecting / ejecting machine 1 can be calculated from, for example, the change of the latitude and longitude measured by the GNSS receiver 35 before and after the movement.

The ball collecting / discharging portion 23 is connected to the main body 11 by the connecting structure 26. The ball collecting / discharging unit 23 has a ball collecting unit 24 for collecting the golf ball B and a ball discharging unit 25 for discharging the golf ball B. The ball collecting unit 24 is a known technique, and is composed of a pickup rotor 24a that is rotated around as the main body 11 travels. The ball collecting unit 24 may be configured such that the pickup rotor 24a is rotated by a ball collecting unit motor (not shown). The ball ejection unit 25 is a known technique, and has a ball ejection unit motor 25a (FIG. 4) and a ball ejection gate 25b driven by the motor 25a (FIG. 4).

Further, the ball collecting / discharging unit 23 may have a ball storage amount detector (not shown). In the storage amount detector, when the storage amount of the ball exceeds the threshold value, the ball can be discharged. Specifically, the storage amount detector is, for example, a weight sensor that measures the weight of the stored golf ball B, and a photoelectric sensor that detects the upper surface of the stored golf ball B.

The storage unit 13 is provided in the control unit 15 in this embodiment. The storage unit 13 is a part or all of the storage area of the storage device of the computer system constituting the control unit 15, and stores various information about the ball collecting / ejecting machine 1. The storage unit 13 has, for example, data on a plurality of partial travel routes (referred to as a partial travel schedule 101) and data regarding an entire travel route (referred to as an autonomous travel route) in which the plurality of partial travel routes are connected by a connection route CR (referred to as an autonomous travel route). The autonomous driving schedule 103) is stored.

(3) Configuration of Control Unit The control unit 15 is a computer system including a CPU, a storage device (RAM, ROM, hard disk drive, SSD, etc.), various interfaces, and the like. The control unit 15 performs various controls related to the ball collecting / ejecting machine 1.

The configuration of the control unit 15 will be described in detail with reference to FIG. FIG. 4 is a diagram showing an overall configuration of the control unit according to the first embodiment. All or part of each functional block of the control unit 15 described below may be realized by a program that can be executed by the computer system constituting the control unit 15. In this case, the program may be stored in the memory unit and / or the storage device. All or part of each functional block of the control unit 15 may be realized as a custom IC such as a SoC (System on Chip).

The control unit 15 may be composed of one computer system or a plurality of computer systems. When the control unit 15 is configured by a plurality of computer systems, for example, the functions realized by the plurality of functional blocks of the control unit 15 can be distributed to the plurality of computer systems at an arbitrary ratio and executed.

The control unit 15 has a travel control unit 51. The travel control unit 51 controls the travel motor 31. The content of instruction from the travel route teaching unit 37 and the travel command from the travel command calculation unit 53 (described later) are input to the travel control unit 51.
The traveling route teaching unit 37 is, for example, an operating means of the ball collecting / ejecting machine 1 such as a handle. That is, the operation of the operator by the travel route teaching unit 37 is input to the travel control unit 51.

The control unit 15 has a travel command calculation unit 53. The travel command calculation unit 53 outputs a travel command to the travel control unit 51. The travel command calculation unit calculates the target rotation speed of the travel motor 31, and outputs the driving power for rotating the travel motor 31 at the target rotation speed to the travel motor 31. The data given to the travel command calculation unit 53 is the autonomous travel schedule 103.
Further, the traveling command calculation unit 53 receives input of the position information of the ball collecting / ejecting machine 1 from the position calculation unit 55 (described later), and based on the target position shown in the autonomous traveling schedule 103 and the above position information, the traveling motor The target rotation speed of 31 is calculated. The travel command calculation unit 53 outputs the drive power for rotating the travel motor 31 at the target rotation speed to the travel motor 31.

The control unit 15 has a position calculation unit 55. The position calculation unit 55 calculates the position information indicating the current position of the ball collecting / ejecting machine 1 in the driving range 2 based on the information acquired by the GNSS receiver 35. Specifically, the position calculation unit 55 measures the position of the current location obtained by RTK (Real Time Kinetic) positioning as a combination of latitude and longitude. In addition, the position of the current location by the centimeter-class positioning reinforcement service (Centi-meter Level Augmentation Service, CLASS) can also be used.
Further, the position calculation unit 55 calculates the direction (direction) of the ball collecting / ejecting machine 1 based on the signal from the direction detection sensor 41. That is, the position calculation unit 55 calculates the latitude and longitude of the existing position of the ball collecting machine 1 and the direction of the ball collecting machine 1 at that position as position information. The position calculation unit 55 expresses the direction to be included in the position information as, for example, an angle that increases clockwise with the north as a reference (0 °).

The control unit 15 has a first travel path generation unit 57. The first travel route generation unit 57 generates the partial travel routes connected in the autonomous travel schedule 103 as the partial travel schedule 101.
The first travel route generation unit 57 inputs from the position calculation unit 55 at predetermined time intervals (for example, every control cycle in the control unit 15) when the ball collecting / ejecting machine 1 is operated by the travel route teaching unit 37. Receive the location information (latitude, longitude, direction). As a result, the first traveling path generation unit 57 provides information indicating the position where the ball collecting machine 1 has passed by the operation in the golf driving range 2 and information indicating the direction of the ball collecting machine 1 at the position. , Acquire as a point sequence of multiple position information. That is, the partial travel schedule 101 stores a plurality of point sequences of position information.

In addition, the partial travel schedule 101 may store each of the position information included in the partial travel schedule 101 in association with the time when the ball collecting / ejecting machine 1 has passed the position indicated by the position information.

In the present embodiment, the position information is a coordinate value (for example, a position) composed of a latitude and longitude calculated based on a signal from the GNSS receiver 35 and a direction calculated based on the direction detection sensor 41. The information is expressed in coordinates with (latitude, longitude, direction)). That is, the position information based on the signals from the GNSS receiver 35 and the direction detection sensor 41 is represented as coordinate values ((latitude, longitude, direction)) on large coordinates (an example of global coordinates) including the earth's surface.

In addition, when a sequence of points surrounding a specific area of the driving range 2 is acquired, the first travel path generation unit 57 travels evenly (as if to "fill") the area. Can be generated as a partial travel schedule 101.
That is, the first travel route generation unit 57 can generate a partial travel route by "copy travel" and a partial travel route by "filled travel".

Whether the first travel route generation unit 57 generates a partial travel route by "copy travel" or a partial travel route by "filled travel" is determined by, for example, the operation mode of the ball collecting machine 1. It can be switched by switching.

The control unit 15 has a second travel route generation unit 59 (an example of an autonomous travel route generation unit). The second travel route generation unit 59 generates an autonomous travel route to be autonomously traveled by the ball collecting / ejecting machine 1. Specifically, the second travel route generation unit 59 generates the autonomous travel schedule 103 by connecting the plurality of partial travel schedules 101 stored in the storage unit 13.

The control unit 15 sets the ball ejection control unit 71 based on the information (ball ejection instruction) of whether or not to execute the ball ejection work stored in the autonomous traveling schedule 103 when the ball collecting ball ejecting machine 1 is autonomously driven. You may control it. As a result, the ball collecting / ejecting machine 1 can execute the ball ejecting operation at the instructed timing during autonomous driving according to the autonomous traveling schedule 103.

With the above configuration, the control unit 15 can generate the autonomous driving schedule 103 by connecting the partial traveling routes individually generated (teaching) in the individual regions of the driving range 2. As a result, the ball collecting / ejecting machine 1 according to the present embodiment can autonomously travel on the driving range 2 where traveling having different characteristics depending on the region is required.

For example, in an area where it is necessary to travel evenly in a wide area such as a ball scattering area 3 of a driving range 2, a partial travel path can be generated by "filled travel". On the other hand, in an area such as the ball ejection groove 7 where a skilled operation of the ball collecting ball ejector 1 is required for approaching, a partial travel path can be generated by "copy running" from the vicinity of the ball ejection groove 7 to the ball ejection groove 7.
Then, it is possible to plan a connection path CR that connects the partial travel path by the "filled travel" generated in the ball scattering area 3 and the partial travel route by the "copy travel" generated in the region near the ball ejection groove 7.
As described above, the control unit 15 having the above configuration collects the golf balls B scattered in the ball scattering area 3 and discharges the collected golf balls B in the ball ejection groove 7. Can be autonomously executed by the ball collecting / ejecting machine 1.

The control unit 15 has a volleyball teaching unit 39. The ball ejection teaching unit 39 is, for example, an operation panel including push buttons and the like. The ball ejection teaching unit 39 transmits, for example, the operation of the push button by the operator to the ball ejection control unit 71.
The ball ejection control unit 71 receives a button operation from the ball ejection teaching unit 39 and converts the operation into a ball ejection instruction. The ball ejection control unit 71 drives the ball ejection gate 25b by outputting the ball ejection instruction to the ball ejection unit motor 25a.

The ball ejection control unit 71 can store the ball ejection instruction output by itself and the timing at which the instruction is generated in the partial traveling schedule 101 while teaching the partial traveling route. In addition, the partial travel schedule 101 can be edited and stored in association with the ejection instruction and the timing of issuing the instruction.
On the other hand, during autonomous driving according to the autonomous driving schedule 103, the ball ejection control unit 71 outputs the ball ejection instruction at the timing stored in the autonomous driving schedule 103. As a result, the ball collecting / ejecting machine 1 can autonomously execute the ball ejecting operation according to the timing stored in the autonomous traveling schedule 103 during the autonomous driving.

(4) Schematic operation of the ball collecting / ejecting machine Hereinafter, using FIG. 5, the control unit 15 generates an autonomous traveling path and outlines the control operation until the autonomous traveling path is autonomously driven by the ball collecting / ejecting machine 1. To explain. FIG. 5 is a flowchart showing a schematic operation of the ball collecting / ejecting machine.
In step S1, the first travel route generation unit 57 of the control unit 15 generates a plurality of partial travel routes in the driving range 2 and stores the storage unit 13. At this time, the first travel route generation unit 57 determines the global coordinate values (latitude, longitude, and direction) defined on the global coordinates including at least the driving range 2 in at least a part of each of the plurality of partial travel routes. Consists of coordinate values).

In step S2, the second travel route generation unit 59 of the control unit 15 connects a plurality of partial travel routes to generate an autonomous travel route. At this time, the second travel route generation unit 59 connects the end point of the partial travel route of the connection source and the start point of the partial travel route of the connection destination based on the global coordinate values included in the partial travel route. To plan autonomously.
Further, the second travel route generation unit 59 generates an autonomous travel route by associating the partial travel route of the connection source, the partial travel route of the connection destination, and the connection route CR.

In step S3, the travel control unit 51 moves the main body 11 along the autonomous travel route by controlling the travel unit 21 according to the autonomous travel route generated in step S2.

(5) Detailed Description of Partial Travel Route Generation Operation (5-1) Partial Travel Route Generation Operation by Copy Travel Hereinafter, the operation of step S1 of FIG. 5 will be described in detail. As described above, in the present embodiment, a route by "copy travel" and a route by "filled travel" can be generated as a partial travel route.
First, the generation of a partial travel path by copy travel will be described with reference to FIG. FIG. 6 is a flowchart showing the generation of a partial travel path by copy travel.

The generation of the partial travel route by the copy travel is realized by acquiring the route traveled by the ball collecting / ejecting machine 1 as a sequence of points of a plurality of passing points by operating the travel route teaching unit 37.
Specifically, the first travel route generation unit 57 receives position information ("Yes" from the position calculation unit 55) in a predetermined cycle ("Yes" in step S12) during the operation of the travel route teaching unit 37 (step S11). (Latitude, longitude, direction)) is acquired (step S13). The predetermined cycle is, for example, the control cycle of the control unit 15.

In step S14, the first travel route generation unit 57 stores the position information acquired in step S13 and the acquired time in association with each other in the partial travel schedule 101.
When the ball ejection operation is performed during the copy traveling, the ball ejection control unit 71 acquires the presence / absence of the ball ejection instruction in the predetermined cycle, and stores the presence / absence of the instruction and the acquired time in the partial travel schedule 101.

The steps S11 to S14 are repeatedly executed unless the operation by the traveling route teaching unit 37 is continued or the stop of the copy traveling is instructed (“No” in step S15).
On the other hand, when the operation by the travel route teaching unit 37 is stopped or the stop of the copy travel is commanded (“Yes” in step S15), the acquisition of the position information and the storage in the partial travel schedule 101 are stopped. ..

In step S16, the first travel route generation unit 57 has coordinate values on global coordinates, that is, coordinate values composed of latitude, longitude, and direction at least a part of the passing points of the partial travel schedule 101 by copy travel. Include (latitude, longitude, direction). For example, at the start position (start point) and end position (end point) of the partial travel schedule 101, the original coordinate values and the coordinate values composed of latitude, longitude, and direction may be duplicated.

In this embodiment, all the passing points of the partial travel schedule 101 are represented by coordinate values with (latitude, longitude, direction). As described above, if the partial travel schedule 101 includes the coordinate values on the global coordinates at the stage of executing steps S11 to S15, the above step S16 is not executed.

The coordinate value composed of the above latitude, longitude and direction is acquired in advance at a predetermined position (for example, the start point and the end point of the copy run) during the copy run.

By executing the above steps S11 to S16, the first travel route generation unit 57 can include coordinate values in the combination of latitude, longitude, and direction in at least a part of the partial travel schedule 101 by copy travel. ..

(5-2) Operation of generating a partial travel path by filled running (5-2-1) Running characteristics Next, an operation of generating a partial running route by filled running will be described. Before explaining the specific process of generating the partial traveling path by filling, the traveling characteristics of the ball collecting / ejecting machine 1 will be described with reference to FIGS. 7 and 8. FIG. 7 is a schematic plan view of the ball collector / ejector. FIG. 8 is a schematic plan view showing a turn-back running of the ball collecting / ejecting machine.
As described above, the ball collecting / discharging portion 23 is connected to the traveling portion 21 (main body 11) by the connecting structure 26, and the minimum radius at the time of rotation becomes large. Therefore, when the ball collecting / ejecting machine 1 turns back and travels, a large interval is formed between the outward path and the return path, as shown in FIG. For example, if the width of the ball collecting / discharging portion 23 is 1.4 m and the minimum turning radius is 2.4 m, the interval W, which is the unpainted width, is 3.4 m.
In order to solve the above problem, one solution is to create a partial travel route by filling traveling by shifting a plurality of orbital routes sideways and connecting them to each other.

(5-2-2) Operation of generating a partial travel path by a filled run The specific operation of generating a partial travel route by a filled run will be described below with reference to FIG. 9. FIG. 9 is a flowchart showing an operation of generating a partial traveling path by the filled traveling.
In step S17, the first travel route generation unit 57 acquires a point sequence (coordinate value) of position information representing the travel area TA. Specifically, the user uses the traveling route teaching unit 37 to drive the ball collecting / ejecting machine 1 along the boundary of the traveling area TA. During this travel, the first travel route generation unit 57 acquires position information at predetermined intervals (control cycles).

In step S18, the first travel path generation unit 57 determines the travel region TA.
In step S19, the first travel route generation unit 57 creates a partial travel schedule 101 by filling the travel area TA and stores it in the storage unit 13.

(5-2-3) Detailed Description of Operation of Creating a Partial Travel Path by Filling Travel Step S19 of FIG. 9 will be described in detail with reference to FIGS. 10 to 14. FIG. 10 is a flowchart showing the details of the steps for generating the partial running schedule by the filled running. 11 to 14 are schematic views showing a state in which a filled route is created in the traveling region stepwise.
In step S20, as shown in FIG. 11, the first travel path generation unit 57 divides the travel region TA into 2N regions in a strip shape. The number of divisions may be an odd number (2N + 1). At this time, the width of the divided region shall be equal to or less than the width of the ball collecting / discharging portion 23.
In step S21, as shown in FIG. 12, the first travel path generation unit 57 is divided into the first region → N + 1th region → the second region → N + the second region → ... Determine the running order of the area.
In step S22, as shown in FIG. 13, the first travel route generation unit 57 sets travel routes in each of the 2N regions. In this case, the traveling direction of the 1st to Nth regions and the traveling direction of the N + 1 to 2N regions are set in reverse. At this time, the first travel route generation unit 57 sets the travel route of each region as a point sequence of passing points, and the passing points are coordinate values (latitude, longitude, direction) represented by (latitude, longitude, direction). (Coordinate value composed of direction).

In step S23, the routes are connected to each other as shown in FIG. Specifically, the end point of the m (1, 2, ... N-1) th travel path and the start point of the m + Nth travel path are connected, and the end point of the m + Nth travel path and the m + 1th travel path. Connect with the starting point of the travel route. This connection operation is repeated by starting m from 1 and increasing it by 1 until it becomes N-1.
Further, the end point of the Nth travel route and the start point of the 2Nth travel route are connected, and then the end point of the 2Nth travel route is connected to the start point of the first travel route, and the generation of the partial travel route is completed. To do.
When connecting the two traveling paths as described above, as shown in FIG. 14, the connecting line of the two traveling paths is provided with a curve of 90 °. The radius of this curve shall be equal to or greater than the minimum radius of the ball collector 1 during rotation.

In this way, it is possible to create a partial travel route that evenly fills the travel area TA set by the user. By setting (coordinate values) passing points (coordinate values) at predetermined intervals on the traveling route, a partial traveling schedule 101 by filled traveling can be generated.

In step S24, the first travel route generation unit 57 includes a coordinate value composed of latitude, longitude, and direction in at least a part of the partial travel schedule 101 generated by executing steps S20 to S23. As described above, when the partial travel schedule 101 includes coordinate values (latitude, longitude, direction) composed of latitude, longitude, and direction, step S24 is not executed.

When step S24 is executed, the first travel route generation unit 57 uses the coordinate values of the point sequence of the travel region TA to, for example, add latitude and longitude to the partial travel schedule 101 by the filled travel as follows. Coordinate values composed of directions can be included. This is because the point sequence of the traveling area TA is the position information calculated based on the signal from the GNSS receiver 35. That is, the point sequence of the traveling region TA is represented by coordinate values composed of latitude, longitude, and direction.

First, the first travel route generation unit 57 calculates the distance in the real space between the start position of the route when the travel region TA is taught and the passing point of any one of the partial travel schedule 101 due to the filled travel.
Next, the first travel path generation unit 57 calculates the latitude and longitude deviations between the passing point and the start position of the travel region TA from the distance in this real space. In addition, the deviation between the direction at the passing point and the direction at the start position of the traveling region TA is calculated.
After that, the first travel route generation unit 57 adds the latitude and longitude deviation calculated above to the latitude and longitude of the route start position when the travel region TA is taught, thereby setting the passing point to the latitude. It is represented by a coordinate value composed of latitude, longitude and direction. Further, the direction of the passing point is calculated by adding the deviation of the direction calculated above to the direction (angle) at the start position of the route when the traveling area TA is taught.

The first travel route generation unit 57 replaces or overlaps the passage point represented by the coordinate value composed of latitude, longitude, and direction with the corresponding passage point of the partial travel schedule 101. As a result, a passing point represented by a coordinate value composed of latitude, longitude, and direction can be included in a part of the partial travel schedule 101.

For example, by executing the above processing for the start point and the end point of the partial travel schedule 101 by the filled travel, the first travel route generation unit 57 has coordinates in which the start point and the end point are composed of latitude, longitude, and direction. It is possible to generate the partial travel schedule 101 by the filled traveling, which is expressed by the value.

(6) Operation of generating an autonomous traveling route After generating a partial traveling route and storing it in the storage unit 13, in step S2 of FIG. 5, a plurality of partial traveling routes are connected to generate an autonomous traveling route. Hereinafter, the operation of step S2 of FIG. 5 will be described in detail with reference to FIGS. 15 to 17.
FIG. 15 is a flowchart showing an operation of generating an autonomous traveling route according to the first embodiment. FIG. 16 is a diagram showing an example of the selected partial travel route. FIG. 17 is a diagram showing an example in the case where a plurality of selected partial routes are connected by a connecting route.
First, in step S31, a partial travel route to be included in the autonomous travel route is selected from the plurality of partial travel routes (partial travel schedule 101) stored in the storage unit 13.
Specifically, for example, the second travel route generation unit 59 displays a list of partial travel schedules 101 stored in the storage unit 13 on a display (not shown) of the control unit 15. The user selects a plurality of partial travel schedules 101 from the displayed list by using the input means (for example, a touch panel) of the control unit 15.

For example, it is assumed that two partial travel routes (partial travel schedules 101a and 101b) as shown in FIG. 16 are selected.
In FIG. 16, the partial travel schedule 101a is a partial travel route by fill-in travel, and the partial travel schedule 101b is a partial travel route by copy travel. The partial travel schedule 101b is a travel route for approaching the ball ejection groove 7, and is a route that requires skillful operation.

In the example shown in FIG. 16, the start point and end point of the partial travel schedule 101a are the same, and the coordinate values composed of latitude, longitude, and direction are (latitude, longitude, direction) = (LA1, LO1, Θ1). expressed.
Further, the start point of the partial travel schedule 101b is expressed as (latitude, longitude, direction) = (LA2, LO2, Θ2), and the end point is expressed as (latitude, longitude, direction) = (LA3, LO3, Θ3).

After selecting the plurality of partial travel routes, in step S32, the second travel route generation unit 59 specifies the travel order of the plurality of partial travel routes within the autonomous travel route. The traveling order of the plurality of partial traveling routes can be, for example, the selection order of the partial traveling routes in step S31. In addition, in step S31 above, the user may set the traveling order when selecting the partial traveling route.
In the example shown in FIG. 16, the ball collecting / ejecting machine 1 collects the golf ball B by traveling according to the partial traveling schedule 101a, and then moves to the ejection groove 7 to eject the golf ball B. Therefore, in this case, the first is the partial travel schedule 101a and the second is the partial travel schedule 101b.

Hereinafter, in the two selected partial travel routes, the partial travel route that travels first is referred to as a "partial travel route of the connection source" that is connected by the connection route CR. On the other hand, the partial travel route to be traveled later is referred to as a "partial travel route of the connection destination" to be connected by the connection route CR.
In the example shown in FIG. 16, in the ball collecting / ejecting machine 1, the partial traveling schedule 101a is the partial traveling route of the connection source, and the partial traveling schedule 101b is the partial traveling route of the connection destination.

After specifying the travel order, in step S33, the second travel route generation unit 59 autonomously plans the connection route CR that connects the partial travel route of the connection source and the partial travel route of the connection destination. Specifically, the second travel route generation unit 59 generates a route connecting the end point of the partial travel route of the connection source and the start point of the partial travel route of the connection destination by the route plan.
In the two partial travel schedules 101a and 101b shown in FIG. 16, the second travel route generation unit 59 includes the end point (LA1, LO1) of the partial travel schedule 101a and the start point (LA2, LO2) of the partial travel schedule 101b. The route connecting the two is planned as the connecting route CR. Further, in the second travel route generation unit 59, the direction of the ball collecting / ejector 1 is changed from Θ1 (direction of the end point of the partial travel schedule 101a) to Θ2 (direction of the start point of the partial travel schedule 101b) in the connection route CR. Plan the route so that it changes. That is, the connection path CR also includes information regarding the direction of the ball collecting / ejecting machine 1.

For example, as shown in FIG. 17, the second travel route generation unit 59 has a start point (LA1, LO1) and an end point (LA2, LO2), and can plan a connection route CR connecting these in the shortest time. Further, in the connection path CR, the direction of the ball collecting / ejecting machine 1 changes from Θ1 to Θ2.
In addition, when an obstacle exists between the two points, the second traveling route generation unit 59 can plan a connecting route CR that avoids the obstacle. Further, for example, a connecting route CR that passes through a predetermined point other than the above two points can be planned.

When planning the connection route CR, the second travel route generation unit 59 plans the connection route CR as a sequence of passing points through which the ball collecting / ejecting machine 1 passes.
As described above, the start point (end point of the connection source) and the end point (start point of the connection destination) of the connection path CR are represented by coordinate values composed of latitude and longitude. Therefore, the second traveling route generation unit 59 plans the connecting route CR on the coordinates composed of latitude and longitude, and represents all the passing points of the connecting route CR by latitude and longitude.

After generating the connection route CR, in step S34, the second travel route generation unit 59 links the partial travel route of the connection source, the partial travel route of the connection destination, and the connection route CR to the autonomous travel route ( The autonomous driving schedule 103) is generated.
If all the passing points of the partial travel schedule 101 are represented as coordinate values (coordinate values on global coordinates) composed of latitude, longitude, and direction as in the present embodiment, the second travel route generator For example, the 59 can generate the autonomous driving schedule 103 as one data (electronic file) by combining the partial traveling schedules 101a and 101b and the connecting path CR which is a point sequence of passing points.

The steps S33 and S34 are repeatedly executed until a connecting route is planned for all the selected partial travel schedules 101.
On the other hand, when the planning of the connection route for all the partial travel schedules 101 is completed (“Yes” in step S35), the generation of the autonomous travel schedule 103 is completed.

(7) Summary up to the generation of the autonomous driving route The operation up to the generation of the autonomous driving route described above can be summarized as follows.
In the ball collecting / ejecting machine 1 described above, each of the plurality of partial traveling routes (partial traveling schedule 101) stored in the storage unit 13 is at least partly coordinated by a combination of latitude and longitude (global coordinates). ) Includes coordinate values (global coordinate values) composed of latitude and longitude defined above. Since the coordinates based on the combination of latitude and longitude define the surface of the earth, the driving range 2 in which the ball collecting / ejecting machine 1 autonomously travels is included in the above coordinates.

Further, the second travel route generation unit 59 sets the end point of the connection source partial travel schedule 101 and the connection destination partial travel schedule 101 based on the coordinate values composed of the latitude and longitude included in the partial travel schedule 101. Autonomously plan the connection route that connects the starting point.
Further, the second travel route generation unit 59 generates an autonomous travel route (autonomous travel schedule 103) by associating the partial travel schedule 101 of the connection source, the partial travel schedule 101 of the connection destination, and the connection route. ..

In the above-mentioned ball collecting / ejecting machine 1, each of the plurality of partial traveling schedules 101 stored in the storage unit 13 includes coordinate values composed of latitude and longitude at least in part. That is, the plurality of partial travel schedules 101 include coordinate values defined in a common coordinate system.
Since the partial travel schedule 101 connected in the generation of the autonomous driving schedule 103 includes the coordinate values defined in the common coordinate system, the partial travel schedule is used by using the coordinate values defined in the common coordinate system. The connection route for connecting 101 can be planned autonomously. That is, the partial travel schedule 101 to be connected can be associated with each other accurately without manpower.

In the first embodiment, the end point of the connection source partial travel schedule 101 and the start point of the connection destination partial travel schedule 101 are coordinate values composed of latitude and longitude.
This eliminates the need to convert the start point (end point of the connection source) and the end point (start point of the connection destination) of the connection path into coordinate values on a common coordinate system, so that the connection path connecting the above two points can be easily performed. I can plan.

The above-mentioned ball collecting / ejecting machine 1 includes a GNSS receiver 35. The GNSS receiver 35 measures the position of the main body 11 in the driving range 2 as a combination of latitude and longitude.
As a result, the position of the ball collecting / ejecting machine 1 can be measured in the outdoor space. Further, the common coordinate system can be a coordinate system including the entire surface of the earth in principle.

(8) Autonomous Driving Operation Hereinafter, the operation of the ball collecting / ejecting machine 1 when autonomously traveling according to the autonomous driving schedule 103 (autonomous traveling route) created as described above will be described with reference to FIG. FIG. 18 is a flowchart showing an autonomous driving operation.
First, in step S41, the travel command calculation unit 53 identifies a target passage point (referred to as a target passage point) from a plurality of passage points included in the autonomous travel schedule 103. For example, in the autonomous driving schedule 103, when each passing point and the time to pass the passing point are associated, the passing point associated with the time closest to the elapsed time from the start of autonomous driving is targeted. It can be identified as a passing point.
In the same manner as described above, the ball ejection control unit 71 specifies from the autonomous driving schedule 103 whether or not to execute the ball ejection work at the target passing point.

Next, in step S42, the travel command calculation unit 53 acquires the current position information of the ball collecting / ejecting machine 1 from the position calculation unit 55.
After acquiring the position information, in step S43, the travel command calculation unit 53 calculates the control amount of the travel motor 31 based on the target passing point specified in step S41 and the position information acquired in step S42. .. For example, the control amount of the traveling motor 31 can be calculated based on the difference between the target passing point and the current position information or the ratio between the target passing point and the current position information.

In step S44, the travel command calculation unit 53 outputs the control amount of the travel motor 31 calculated in step S43 to the travel control unit 51. The travel control unit 51 supplies electric power based on the received control amount to the travel motor 31. As a result, the ball collecting / ejecting machine 1 autonomously travels toward the target passing point while changing its posture so as to face the target direction at the target passing point.
When the ball collecting and ejecting machine 1 has not yet passed the target passing point (“No” in step S45) after a predetermined time (for example, a control cycle) has elapsed since the start of traveling toward the target passing point. The autonomous traveling operation returns to step S42, and steps S42 to S44 are executed until the target passing point is passed.

On the other hand, if the ball collecting / ejecting machine 1 has passed the target passing point (“Yes” in step S45) but has not yet passed all the passing points of the autonomous driving schedule 103 (“No” in step S46), it is autonomous. The traveling operation returns to the above step S41, identifies the next target passing point, and executes steps S42 to S44 to control the traveling motor 31. As a result, the ball collecting / ejecting machine 1 travels toward the next target passing point.

At this time, the ball ejection control unit 71 controls the ball ejection unit motor 25a based on whether or not the ball ejection work is performed at the reached target passing point. As a result, the ball ejection work can be executed at the designated position of the driving range 2.

On the other hand, the ball collecting / ejecting machine 1 passes the target passing point (“Yes” in step S45), and the target passing point is the end point of the autonomous driving schedule 103 (that is, all the passing points of the autonomous driving schedule 103). (Passed) (“Yes” in step S46), the autonomous driving operation ends.

By autonomously traveling according to the autonomous driving schedule 103, the ball collecting and ejecting machine 1 can autonomously travel on a plurality of partial traveling schedules 101. That is, the ball collecting / ejecting machine 1 can continuously autonomously travel a plurality of partial traveling schedules 101, each of which is individually created, as if it were one traveling route.

2. 2. Second Embodiment (1) Outline of the ball collecting ball ejector according to the second embodiment In the above first embodiment, the ball collecting ball ejector 1 travels outdoors where the GNSS receiver 35 can receive the GNSS signal. It was a thing. Not limited to this, the ball collecting / ejecting machine 1 according to the second embodiment can travel not only outdoors but also in an area where the position can be estimated by other means.
For example, on the side of a building (an example of a semi-outdoor) of the outdoors, latitude and longitude cannot be measured accurately due to multiple reflection of GNSS signals. In such a place, the position can be estimated more accurately by other means. The ball collecting / ejecting machine 1 according to the second embodiment can travel in such a “semi-outdoor” manner.

Hereinafter, the ball collecting / ejecting machine 1 according to the second embodiment will be described. The ball collecting / ejecting machine 1 according to the second embodiment has a detector for position estimation other than the GNSS receiver 35, and a method of generating a partial traveling route (partial traveling schedule 101) is the same as that of the first embodiment. Is different, and other configurations and functions are the same as those of the first embodiment.
Therefore, in the following, only the configuration of the control unit in the second embodiment and the method of generating the partial traveling path will be described, and the description of the other configuration of the ball collecting / ejecting machine 1 will be omitted.

(2) Configuration of Control Unit According to Second Embodiment Hereinafter, the control unit 15'of the ball collecting / ejecting machine 1 according to the second embodiment will be described with reference to FIG. FIG. 19 is a diagram showing a configuration of a control unit according to the second embodiment.
As shown in FIG. 19, a position information acquisition device (position detector) 36 provided in the main body 11 is connected to the control unit 15'. The position detector 36 detects information about the position of the ball collecting / ejecting machine 1 by means other than the GNSS signal. The position detector 36 is, for example, a laser range finder, an encoder, a beacon receiver, or the like. The position detector 36 may include all of the above three types of detectors, or may include only one or two of the above types. Further, the direction detection sensor 41 may also be provided with a plurality of sensors. For example, the direction detection sensor 41 can be configured by the GNSS compass and the geomagnetic sensor.
In addition, indoors, for example, the direction of the ball collecting / ejecting machine 1 may be detected based on a signal from the indoor position detector 36 (for example, a laser range finder).

Further, the control unit 15'has a position calculation unit 55'. The position calculation unit 55'calculates position information based on not only the coordinate values composed of latitude and longitude but also the information acquired by the position detector 36. The position information based on the information acquired by the position detector 36 is defined as the coordinate value of the x'−y'coordinates.
When the laser range finder is used as the position detector 36, the position detector 36 acquires information on walls, obstacles, and the like existing around the ball collecting / ejecting machine 1. In this case, the position calculation unit 55'has a map (global map) showing the running environment of the ball collecting machine 1 and map information (local map) showing the existence of walls, obstacles, etc. around the ball collecting machine 1. And, the position can be estimated by map matching.

When the encoder is used as the position detector 36, the position detector 36 acquires the amount of rotation of the traveling motor 31 (that is, the wheel 33). In this case, the position calculation unit 55'estimates the position based on the mileage of the ball collecting / ejecting machine 1 calculated based on the amount of rotation of the wheel 33.
When the beacon receiver is used as the position detector 36, the position detector 36 receives the signal of the beacon transmitter fixed at a predetermined position. In this case, the position calculation unit 55'between the beacon transmitter and the ball collector 1 from the time from the time when the beacon signal is transmitted from the beacon transmitter to the time when the position detector 36 receives the beacon signal. Calculate the distance of. After that, the position of the ball collecting / ejecting machine 1 is estimated based on the distance. In the case of position estimation using a beacon signal, there are three or more beacon transmitters. This is because at least three distance information is required to calculate the two-dimensional coordinate value information.

The position calculation unit 55'according to the second embodiment can switch between position estimation based on the signal from the GNSS receiver 35 and position estimation based on the signal from the position detector 36.
For example, if the signal acquired by the GNSS receiver 35 or the position detector 36 contains noise of a predetermined level or higher, the position calculation unit 55'uses the signal from the one with less noise to estimate the position. Can be executed.

In addition, for example, when the position of the ball collecting / ejecting machine 1 is within a range equal to or less than a predetermined distance from the wall of the building, the position calculation unit 55'from the position estimation based on the GNSS receiver 35, the position detector 36 It is also possible to switch to position estimation based on. Further, the position calculation unit 55'can simultaneously execute both the position estimation based on the GNSS receiver 35 and the position estimation based on the position detector 36, and the position estimation may be performed using both position estimations. Absent.

When the direction detection sensor 41 is composed of a plurality of types of sensors, the position calculation unit 55'is based on which sensor can detect the direction more accurately, as in the case of the position detector 36 described above. You may decide which sensor is used to measure the direction.

Since the other configurations and functions of the control unit 15'are the same as the corresponding configurations and functions of the control unit 15 according to the first embodiment, description thereof will be omitted here.

(3) Operation of generating a partial travel path according to the second embodiment The operation of generating a partial travel route according to the second embodiment will be described below with reference to FIGS. 20 to 22. FIG. 20 is a diagram showing an example of generation of a partial traveling route according to the second embodiment. FIG. 21 is a flowchart showing a partial travel path generation operation (copy travel) according to the second embodiment. FIG. 22 is a flowchart showing a position information acquisition operation according to the second embodiment.
In the present embodiment, as shown in FIG. 20, in a building having an internal space SP, a partial travel route by copy traveling is set in the vicinity of the wall W of the building as the start point ST and the predetermined position in the internal space SP as the end point ED. The generation of (partial travel schedule 101c) will be described as an example.

The internal space SP is provided with a roof (not shown), and the GNSS receiver 35 cannot receive the GNSS signal in the internal space SP. On the other hand, based on the signal from the position detector 36, the position information of the ball collecting / ejecting machine 1 in the internal space SP can be estimated accurately.
Further, a boundary line BOR1 is provided at a predetermined distance from the wall W of the building to the outside. The region between the boundary line BOR1 and the wall W is defined as the "critical region CA". In the critical region CA, both the estimation of the position information based on the GNSS signal and the estimation of the position information based on the signal from the position detector 36 can be executed.

The region farther from the wall W than the critical region CA is outdoors, and the position information can be estimated accurately based on the GNSS signal. On the other hand, the position cannot be estimated based on the signal from the position detector 36 (or the estimation accuracy is low).

First, the first travel route generation unit 57 acquires position information from the position calculation unit 55 in a predetermined cycle (“Yes” in step S12 ′) during the operation of the travel route teaching unit 37 (step S11 ′). (Step S13').

The acquisition of the position information according to the second embodiment is executed according to the flowchart shown in FIG. First, the control unit 15'estimates at which position (outdoor, in the critical region CA, in the internal space SP) the ball collecting / ejecting machine 1 exists. This estimation can be realized, for example, based on the strength of the GNSS signal received by the GNSS receiver 35 and the strength and position estimation accuracy of the signal obtained from the position detector 36.

For example, when the GNSS receiver 35 can receive the GNSS signal, but the position detector 36 does not provide a sufficient signal for estimating the position information, the first traveling path generation unit 57 uses the ball collector 1 outdoors. (“Yes” in step S51). In this case, the position calculation unit 55'calculates the position information based on the signal from the GNSS receiver 35.
Therefore, in step S52, the first travel route generation unit 57 acquires the coordinate value composed of the latitude, longitude, and direction as the position information.

Further, for example, when the GNSS receiver 35 can receive the GNSS signal and the position detector 36 can obtain a signal sufficient for estimating the position information, the first traveling path generation unit 57 may be used by the ball collecting / ejecting machine 1. It is determined that it exists in the critical region CA (“No” in step S51, “Yes” in step S53). In this case, the position calculation unit 55'calculates the position information based on the signal from the GNSS receiver 35, and calculates the position information based on the signal from the position detector 36.
Therefore, in step S54, the first travel route generation unit 57 has a coordinate value (latitude, longitude, direction) composed of latitude, longitude, and direction, and a coordinate value calculated from the signal of the position detector 36 (that is, that is). , The coordinate values of the xy coordinates (x, y, θ). θ: The direction (direction) of the ball collector 1 at the xy coordinates) and both are acquired as position information.

Further, for example, when the GNSS receiver 35 cannot receive the GNSS signal, while the position detector 36 can obtain a signal sufficient for estimating the position information, the first traveling path generation unit 57 may use the ball collecting / ejecting machine 1 It is determined that it exists in the internal space SP (“No” in step S51, “No” in step S53). In this case, the position calculation unit 55'calculates the position information based on the signal from the position detector 36.
Therefore, in step S55, the first travel path generation unit 57 acquires the coordinate value calculated from the signal of the position detector 36 as the position information (that is, the coordinate value of the xy coordinate).

After acquiring the position information, in step S14', the position information acquired in step S13'is associated with the acquired time and stored in the partial travel schedule 101.
The steps S11'to S14' are repeatedly executed unless the operation by the traveling route teaching unit 37 is continued or the stop of the copy traveling is instructed ("No" in step S15'). On the other hand, when the operation by the travel route teaching unit 37 is stopped or the stop of the copy travel is commanded (“Yes” in step S15'), the acquisition of the position information and the storage in the partial travel schedule 101 are completed. To do.

When the above steps S11'to S15' are executed in the example shown in FIG. 20, a partial travel route (partial travel schedule 101c) as shown in FIG. 23 is generated. FIG. 23 is a diagram showing an example of a partial travel route generated by the method for generating a partial travel route according to the second embodiment.
That is, from the start point ST of the partial travel schedule 101c to the intermediate point MP (near the entrance to the internal space SP), it is calculated from the coordinate values composed of latitude, longitude and direction, and the signal from the position detector 36. Coordinate values (coordinate values of xy coordinates) and the coordinate values are duplicated. This is because the points from the start point to the intermediate point MP of the partial travel schedule 101c are included in the critical region CA.

On the other hand, from the intermediate point MP to the end point ED, only the coordinate value (coordinate value of the xy coordinate) calculated from the signal from the position detector 36 exists. This is because the part from the midpoint MP to the end point of the partial travel schedule 101c is included in the internal space SP.

In the case of the partial traveling route shown in FIG. 23, the starting point ST has a coordinate value (LA4, LO4, Θ4) composed of latitude, longitude and direction, and a coordinate value of xy coordinates (x4, y4, θ4). ) And both exist. On the other hand, at the end point ED, only the coordinate values (x5, y5, θ5) of the xy coordinates exist.

As described above, when the partial travel path travels in the critical region CA, the partial travel schedule 101 of the partial travel route has at least a part of the coordinate values composed of latitude and longitude and the position detector 36. Includes coordinate values calculated from the signal (coordinate values of xy coordinates). As a result, the process of including the coordinate value composed of latitude and longitude in the partial traveling path (for example, step S16 described in the first embodiment) can be omitted.
In the example shown in FIG. 20, the start point ST of the partial travel path is in the critical region CA, and the start point ST of the partial travel schedule 101c of this partial travel route includes coordinate values composed of latitude and longitude. .. Therefore, in this case, it is possible to omit the process of converting the start point ST of the partial travel schedule 101c into a coordinate value composed of latitude and longitude.

As described above, by making it possible to connect the partial traveling path generated outdoors and the partial traveling path into the internal space SP, it is autonomous from the outdoor to the indoor (inside the internal space SP) or vice versa. It is possible to generate an autonomous driving schedule 103 capable of traveling.

When the partial travel schedule 101 is generated in the second embodiment, the position information is calculated based on the GNSS signal, the position detector 36, or both at each passing point. Information indicating whether or not it was calculated by may be associated with the information.
As a result, when the ball collecting / ejecting machine 1 autonomously travels according to the autonomous driving schedule 103, the traveling command calculation unit 53 determines which position information (position information based on the GNSS signal or position information based on the signal from the position detector 36). ) Can be used to easily determine whether to calculate the control amount for the traveling motor 31.

3. 3. Third Embodiment (1) Outline of the ball collecting / ejecting machine according to the third embodiment In the above-mentioned first embodiment, the partial traveling route is generated outdoors. Further, in the second embodiment, it was possible to generate a partial travel path having a start point existing in the critical region CA and an end point existing in the internal space SP.
Not limited to this, the ball collecting / ejecting machine 1 according to the third embodiment connects the partial traveling path generated outdoors and the partial traveling path generated only in the internal space SP (indoor) to autonomously travel. You can generate a route. That is, even if the connected partial travel route is a route generated in an area where latitude and longitude cannot be measured, an autonomous travel route can be generated.

Hereinafter, the ball collecting / ejecting machine 1 according to the third embodiment will be described. The ball collecting / ejecting machine 1 according to the third embodiment is different only in the method of including the coordinate value composed of latitude and longitude in a part of the partial traveling path and the method of generating the autonomous traveling schedule 103. The function is the same as that of the first embodiment and the second embodiment. Therefore, in the following, only the method of generating the autonomous driving schedule 103 in the third embodiment will be described, and the description of other configurations of the ball collecting / ejecting machine 1 will be omitted.

Hereinafter, the ball collecting / ejecting machine 1 according to the third embodiment will be described with reference to an assumed example as shown in FIG. 24. FIG. 24 is a diagram showing a hypothetical example for explaining the ball collecting / ejecting machine according to the third embodiment.
In the example shown in FIG. 24, a partial travel route (partial travel schedule 101d) is generated outdoors by painting, and a partial travel route (partial travel schedule 101e) is generated by copy travel in the internal space SP (indoor). It shall be.

The start point and end point of the partial travel path according to the partial travel schedule 101d are represented by coordinate values composed of latitude and longitude, and (latitude, longitude, direction) = (LA6, LO6, Θ6).
On the other hand, in the internal space SP, the position information that can be measured based on the signal from the position detector 36 is the information defined in the xy coordinates.
In this case, each of the start point ST and the end point ED of the indoor partial travel schedule 101e is represented as coordinate values of xy coordinates. The start point ST of the partial travel path according to 101e of the partial travel schedule is expressed as (x, y, θ) = (x7, y7, θ7), and the end point ED is (x, y, θ) = (x8, y8, θ8). It is expressed as.

Further, a fixed first reference point SD1 and a second reference point SD2 are set in the internal space SP. In these reference points, not only the coordinate values defined in the xy coordinates but also the coordinate values composed of latitude and longitude are defined.
Specifically, the coordinate values of (x, y) = (x9, y9) and (latitude, longitude) = (LA9, LO9) are set at the first reference point SD1. On the other hand, coordinate values of (x, y) = (x10, y10) and (latitude, longitude) = (LA10, LO10) are set at the second reference point SD2. The latitude and longitude of these reference points can be calculated from, for example, the latitude and longitude of a building having an internal space SP.

(2) Coordinate conversion method of partial traveling path The generation of the partial traveling path in the internal space SP will be described below. Even in the internal space SP, a partial traveling route can be generated by executing steps S11 to S16 described in the first embodiment using the position information based on the signal from the position detector 36. Since the GNSS receiver 35 cannot receive the GNSS signal in the internal space SP, the partial travel schedule 101e in the internal space SP does not include the coordinate value composed of latitude and longitude.
In such a case, in order to plan the route of the connected route, at least the start point ST and the end point ED (outdoor) of the partial travel schedule 101e are used by using the coordinate values set at the first reference point SD1 and the second reference point SD2. (Points connected to the partial travel path) are subjected to coordinate conversion. At the same time, the original coordinate values are also duplicated at the start point ST and the end point ED.

Hereinafter, the coordinate conversion method will be described by taking as an example the case where the coordinate values (x7, y7, θ7) of the start point of the partial travel schedule 101e are converted into the coordinate values composed of latitude, longitude and direction. Coordinate conversion of other passing points of the partial travel schedule 101e can be executed in the same manner.
First, the distance D1 between the start point ST and the first reference point SD1 and the distance D2 between the start point ST and the second reference point SD2 in the xy coordinates are calculated. When the position detector 36 is a beacon receiver and a beacon transmitter is provided at each reference point, the distance can be calculated from the time from the transmission to the reception of the beacon signal.

Next, the latitude and longitude are converted into a coordinate system of distance units (for example, ECEF coordinate system) by a known algorithm, and the distance D1 between the start point ST and the first reference point SD1 and the start point ST and the second reference are Formulate an equation for the distance D2 to the point SD2. Subsequently, the latitude and longitude of the starting point ST can be obtained by formulating simultaneous equations for the distances D1 and D2 and finding the solutions.

(3) Operation of Generating an Autonomous Driving Route According to the Third Embodiment Hereinafter, a method of generating an autonomous driving route (autonomous driving schedule 103) according to the third embodiment will be described with reference to FIG. 25. FIG. 25 is a flowchart showing an operation of generating an autonomous driving route according to the third embodiment.
Step S31'for selecting the partial traveling route to be connected, step S32' for specifying the traveling order of the partial traveling route, and step S33' for executing the route plan of the connected route CR have been described in the first embodiment, respectively. Since it is the same as steps S31 to S33, the description thereof will be omitted here.

As described above, since the connecting path CR is planned on the coordinates composed of latitude, longitude and direction, each passing point of the connecting path CR is represented by the coordinate values composed of latitude, longitude and direction. Has been done. When connecting the outdoor partial travel path and the indoor partial travel path as in the third embodiment, a part of the connection path CR is included in the region where the GNSS receiver 35 cannot receive the GNSS signal.
In such a case, if all the passing points of the connecting path CR are represented by coordinate values composed of latitude, longitude and direction, in the region where the GNSS signal cannot be received, the ball collector 1 is set according to the connecting path CR. It cannot be driven autonomously properly. This is because, in the region where the GNSS signal cannot be received, the position information is calculated based on the signal from the position detector 36, and the position information and the coordinate value composed of the latitude, longitude and direction are defined on the same coordinates. Because it has not been done.

Therefore, after the route planning of the connection route CR is performed in step S33', the second traveling route generation unit 59 sets the coordinate value of the connection route CR composed of latitude, longitude and direction in the internal space SP in step S34'. Convert to the coordinate value of the coordinates defined in.
Specifically, for example, the second traveling route generation unit 59 converts the latitude, longitude, and direction of each passing point of the connecting route CR into the coordinate values of the xy coordinates defined in the internal space SP. , Create a conversion table that converts the coordinate values of the xy coordinates after the coordinate conversion into the coordinate values composed of the latitude, longitude, and direction before the coordinate conversion.

Contrary to the above, the second traveling route generation unit 59 leaves each passing point of the connecting route CR as a coordinate value composed of the latitude, longitude and direction, and the latitude, longitude and direction of the connecting route CR. A conversion table may be created to convert the coordinate value composed of and into the coordinate value of the xy coordinate.

After the coordinate conversion of the connection route CR is performed in step S34', the second travel route generation unit 59 executes steps S35'and S36' (generation of the autonomous travel route). Since steps S35'and S36'are the same as steps S34 and S35 described in the first embodiment, respectively, description thereof will be omitted here.

By executing the above steps S31'to S36' and steps S61 to S63, the autonomous driving route as shown in FIG. 26 is generated in the assumed example shown in FIG. 24. FIG. 26 is a diagram showing an example of an autonomous driving route generated in the third embodiment. In this way, by making it possible to connect the partial traveling route generated outdoors and the partial traveling route generated indoors, autonomous driving from outdoors to indoors (inside the internal space SP) or vice versa. Can generate an autonomous driving schedule 103 capable of

(4) Autonomous Traveling Operation of the Ball Collectoring Machine According to the Third Embodiment Hereinafter, the ball collecting ball ejector 1 uses the autonomous traveling path (autonomous traveling schedule 103) generated as described above to set the connection path CR. The operation of autonomous driving will be briefly explained. In the following description, it is assumed that each passing point of the connecting path CR is converted into the coordinate value of the xy coordinate.
While the ball collecting / ejecting machine 1 autonomously travels along the connection path CR toward the internal space SP, the traveling command calculation unit 53 receives a signal from the position calculation unit 55'from either the GNSS receiver 35 or the position detector 36. Check if the position information is calculated based on.
If the position calculation unit 55'calculates the current position based on the signal from the GNSS receiver 35, the travel command calculation unit 53 uses the conversion table created together with the connection path CR to obtain the xy coordinates. The passing point of the connecting path CR represented by the coordinate value is converted into a coordinate value composed of latitude, longitude and direction. After that, the travel command calculation unit 53 is based on the position information calculated by the position calculation unit 55'and the target passing point of the connection path CR converted into coordinate values composed of latitude, longitude and direction. The control amount of the traveling motor 31 is calculated.

On the other hand, if the position calculation unit 55'calculates the position information based on the signal from the position detector 36 (for example, when the calculation method of the position information is switched at the intermediate point MP' in FIG. 26), the travel command When the ball collecting / ejecting machine 1 reaches the intermediate point MP, the calculation unit 53 stops the coordinate conversion of the connection path CR using the conversion table. Therefore, the travel command calculation unit 53 uses the travel motor 31 based on the position information calculated by the position calculation unit 55'and the target passing point of the connection path CR represented by the coordinate values of the xy coordinates. Calculate the control amount of.

In this way, the travel command calculation unit 53 controls the travel motor 31 based on the position information calculated by the position calculation unit 55'and the target point represented by the coordinate values of the xy coordinates. By calculating the amount, the ball collecting / ejecting machine 1 can autonomously travel on the remaining connected path CR and the partial traveling path (partial traveling schedule 101e) in the internal space SP.

4. Common items of the first to third embodiments The common items of the first to third embodiments are as follows.
The autonomous traveling trolley (for example, the ball collecting and ejecting machine 1) is an autonomous traveling trolley that autonomously travels on a predetermined autonomous traveling route in a designated area (for example, a driving range 2). The autonomous driving trolley includes a main body (for example, main body 11), a storage unit (for example, a storage unit 13), an autonomous traveling route generation unit (for example, a second traveling route generation unit 59), and a traveling control unit (for example, traveling). A control unit 51) is provided.
The main body has a traveling unit (for example, a traveling unit 21). The storage unit stores a plurality of partial travel routes (for example, partial travel schedule 101) generated in the designated area. The autonomous driving route generation unit connects a plurality of partial driving routes to generate an autonomous driving route (for example, an autonomous driving schedule 103). By controlling the traveling unit, the traveling control unit moves the main body along the autonomous traveling route.

In the above autonomous traveling trolley, each of the plurality of partial traveling paths has a global coordinate value (for example, latitude) defined on global coordinates (for example, coordinates composed of latitude, longitude, and direction), at least in part. And the coordinate value composed of the longitude and the direction). The global coordinates are a coordinate system including at least a designated area in which the autonomous driving vehicle autonomously travels, and are a common coordinate system.

Further, the autonomous driving route generation unit autonomously establishes a connecting route (for example, connecting route CR) that connects the end point of the partial traveling route of the connection source and the start point of the partial traveling route of the connection destination based on the global coordinate values. To plan. Further, the autonomous traveling route generation unit generates an autonomous traveling route by associating the partial traveling route of the connection source, the partial traveling route of the connection destination, and the connecting route.

In the above autonomous driving trolley, the partial traveling path includes at least a part of the global coordinate values defined on the global coordinates. That is, the partial travel path includes coordinate values defined in a common coordinate system (global coordinate system).
By including the coordinate values defined in the common coordinate system (global coordinate system) in the partial travel path connected in the generation of the autonomous driving route, the partial using the coordinate values defined in the common coordinate system is used. It is possible to autonomously plan a connecting route that connects the traveling routes. That is, it is not necessary to manually associate the partial travel routes.

5. Other Embodiments Although the plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.

(A) The partial travel route (partial travel schedule 101) may be created by a computer separate from the control units 15 and 15'of the ball collecting / ejecting machine 1 and stored in the storage unit 13. For example, a partial running route by the "filled running" described above can be generated by an individual computer.
In addition, for example, using CAD or the like, an arbitrary (partial) traveling route is drawn on a map representing a designated area (for example, a driving range 2), and it is converted into a point sequence to be converted into a partial traveling route (for example, a driving range 2). A partial travel schedule 101) can be created.

When the partial travel route is created by an individual computer as described above, for example, in at least a part of the point sequence included in the partial travel schedule 101 of the partial travel route, the coordinate value by the combination of latitude and longitude is set. Include it. It is preferable that the start point and the end point are coordinate values composed of latitude and longitude. Further, if necessary, the distance between the points of the traveling schedule created by an individual computer may be associated with the actual distance.
By doing so, the second travel route generation unit 59 automatically plans the connection route CR that connects the partial travel route created by an individual computer or the like with the other partial travel routes, and these Can be linked to generate an autonomous driving route (autonomous driving schedule 103).

(B) The second travel route generation unit 59 may plan the connection route CR for each of the plurality of partial travel routes that can be the connection destination of the partial travel route for one partial travel route. As a result, various autonomous driving routes can be generated by variously combining the partial traveling route and the connecting route CR.

(C) The second travel route generation unit 59 may notify the user of an error when an inappropriate partial travel route of the connection destination is selected for one partial travel route.

(D) Coordinate values composed of latitude, longitude, and direction may be duplicated at passing points other than the start point and end point of the partial travel route (partial travel schedule 101). In this case, the latitude, longitude and direction of the start point of the partial travel path can be calculated based on the distance between the passing point and the start point including the coordinate value composed of the latitude, longitude and direction. Further, the latitude, longitude and direction of the end point can be calculated based on the distance between the passing point and the end point including the coordinate value composed of the latitude, longitude and direction.

The present invention can be widely applied to an autonomous driving vehicle that autonomously travels on a predetermined traveling route within a designated area.

1 Volleyball ejector 2 Golf practice field 3 Ball scattering area 7 Volleyball groove 11 Main body 13 Storage unit 15, 15'Control unit 21 Traveling unit 23 Ball collecting volleyball unit 24 Ball collecting unit 24a Pickup rotor 25 Volleyball unit 25a Volleyball unit motor 25b Ball ejection gate 26 Connection structure 31 Traveling motor 33 Wheels 35 GNSS receiver 36 Position detector 37 Traveling route teaching unit 39 Ball ejection teaching unit 41 Direction detection sensor 51 Traveling control unit 53 Traveling command calculation unit 55, 55'Position calculation unit 57 1st Travel route generation unit 59 Second travel route generation unit 71 Ball ejection control unit 101 Partial travel schedule 101a-101e Partial travel schedule 103 Autonomous travel schedule B Golf ball BOR1 Boundary line CA Critical region CR Connection route SD1 First reference point SD2 Second reference Point SP Internal space TA Travel area W Wall

Claims (6)

An autonomous driving vehicle that autonomously travels on a predetermined autonomous driving route within a designated area.
The main body with the running part and
A storage unit that stores a plurality of partial travel paths generated in the designated area, and a storage unit.
An autonomous driving route generation unit that connects the plurality of partial traveling routes to generate the autonomous driving route,
A traveling control unit that moves the main body along the autonomous traveling path by controlling the traveling unit, and
With
Each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on the global coordinates including at least the specified region.
The autonomous driving route generation unit
Based on the global coordinate values, a connection route that connects the end point of the partial travel route of the connection source and the start point of the partial travel route of the connection destination is autonomously planned.
The autonomous traveling route is generated by associating the partial traveling route of the connection source, the partial traveling route of the connecting destination, and the connecting route.
Autonomous trolley. The autonomous driving vehicle according to claim 1, wherein the end point of the partial traveling path of the connection source and the start point of the partial traveling path of the connection destination are represented by the global coordinate values. Further provided with a GNSS measuring unit that measures the position of the main body in the designated area as a combination of latitude and longitude.
The autonomous driving vehicle according to claim 1 or 2, wherein the global coordinate value is a coordinate value composed of latitude and longitude. The autonomous driving according to claim 3, wherein either the partial traveling route of the connection source or the partial traveling route of the connection destination is a route generated in a region where latitude and longitude cannot be measured by the GNSS measuring unit. Traveling trolley. The partial travel route of the connection source or the partial travel route of the connection destination is a route generated in a region where latitude and longitude cannot be measured by the GNSS measurement unit, and the other is the GNSS measurement unit. The autonomous traveling vehicle according to claim 3, which is a route generated in an area where latitude and longitude can be measured. It is a control method of an autonomous driving vehicle that has a main body having a traveling unit and autonomously travels on a predetermined autonomous driving route within a designated area.
A step of storing a plurality of partial travel paths generated in the designated area, and
A step of connecting the plurality of partial traveling routes to generate the autonomous traveling route, and
A step of moving the main body along the autonomous driving path by controlling the traveling unit, and
With
Each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on the global coordinates including at least the specified region.
The step of generating the autonomous traveling route includes a step of autonomously planning a connecting route for connecting the end point of the partial traveling route of the connection source and the start point of the partial traveling route of the connection destination based on the global coordinate values.
A step of generating the autonomous traveling route by associating the partial traveling route of the connection source, the partial traveling route of the connecting destination, and the connecting route.
A control method having.

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