AUTOMATIC TRAVEL VEHICLE

• Main Authors: KOBAYASHI TAKANORI, AIHARA YUKIE, KIMURA SHIGENORI, TANAKA HIDEAKI
• Format: Patent
• Language: English; Japanese
• Published: 28.04.2016
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

PROBLEM TO BE SOLVED: To provide an automatic travel vehicle capable of traveling automatically.SOLUTION: An automatic travel vehicle 1 comprises: a target setting unit 12 setting at least two objects detected by an object detection unit 11 as targets; a reference line setting unit 13 setting a reference line serving as a reference during travel while the set at least two targets are passed; a distance calculation unit 14 calculating a distance from the reference line to a vehicle body; and a travel control unit 16 allowing the vehicle to reciprocatively travel along the reference line in a zone while a distance is maintained within a preset range in accordance with a travel route when the vehicle reciprocatively travels in a preset zone. The target setting unit 12 stores each distance between the targets when the vehicle travels separately from the objects in line, sets a detection area at a position, in response to the stored distance, separated from the target at a depth side in a traveling direction relating to a current reference line when the vehicle travels near the objects in line, and sets an object present in the detection area as a new target.SELECTED DRAWING: Figure 3 【課題】自動で走行可能な自動走行車両を提供する。【解決手段】自動走行車両１は、物体検出部１１により検出された少なくとも２つの物体を目標物として設定する目標物設定部１２と、当該少なくとも２つの目標物を通り、走行時の基準となる基準線を設定する基準線設定部１３と、基準線から車体までの距離を演算する距離演算部１４と、距離を予め設定された区画内を往復走行する際の走行経路に応じて予め設定された範囲内に維持しつつ、区画内において基準線に沿って往復走行させる走行制御部１６と、を備え、目標物設定部１２は、物体の列から離れて走行する際の目標物間の夫々の距離を記憶し、物体の列に近づいて走行する際には、現在の基準線に係る進行方向奥側の目標物から、記憶されている距離に応じて離間した位置に検出領域を設定し、当該検出領域内に存在する物体を新たな目標物として設定する。【選択図】図３