Autonomous traveling vehicle and control method

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

[Technical field]

[0001] The present invention relates to an autonomous traveling vehicle that autonomously travels along a predetermined travel route within a specified area, and a control method thereof. [Background technology]

[0002] Conventionally, an autonomous traveling vehicle that autonomously travels along a predetermined travel route within a specified area has been known. For example, an autonomous traveling vehicle that autonomously reproduces a travel route taught by an operator is known (for example, see Patent Document 1). Also known is an autonomous vehicle that generates a path that "fills in" an area specified by an operator (fill-in path) and moves autonomously along the generated fill-in path (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6136543 [Patent Document 2] International Publication No. 2018 / 043180 Summary of the Invention [Problem to be solved by the invention]

[0004] In an autonomous vehicle that travels autonomously within a specified area, it may be necessary to divide the area into multiple partial areas, generate a partial travel path individually for each partial area, and have the vehicle travel autonomously continuously along the multiple partial travel paths generated for each partial area. For example, an operator may instruct a driving route in a certain partial area (e.g., a partial area where an obstacle exists) and generate a filled-in route in another partial area (e.g., a large partial area where no obstacle exists).

[0005] As described above, the multiple partial driving routes are generated individually for each partial area, and generally do not have common coordinate points (routes). In addition, the partial driving routes may not be defined as coordinate values ​​on a common coordinate system. Therefore, when multiple partial driving routes are to be autonomously driven continuously, in order to connect the multiple partial driving routes, it is necessary to perform a correspondence operation to match the end point of the partial driving route at the connection source with the start point of the partial driving route at the connection destination. When the matching work is performed manually, the time required for the matching work and the possibility of incorrect matching due to work errors increase depending on the number of partial driving routes to be matched, which places a burden on the worker. In addition, in order to perform the matching, restrictions are imposed on the method of teaching the driving route, such as matching the start point of one teaching with the end point of the other teaching, which reduces operability. Even if the matching is performed automatically by acquiring surrounding topographical information using a sensor without relying on human labor, there is a possibility of incorrect matching when the surrounding topography is similar.

[0006] An object of the present invention is to perform the correspondence between the end point of a connection source partial travel route and the start point of a connection destination partial travel route with high accuracy without placing a burden on an operator. [Means for solving the problem]

[0007] In the following, several aspects will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary. According to one aspect of the present invention, there is provided an autonomous traveling vehicle that autonomously travels along a predetermined autonomous traveling route within a designated area. The autonomous traveling vehicle includes a main body, a storage unit, an autonomous traveling route generating unit, and a traveling control unit. The main body has a driving unit. The memory unit stores a plurality of partial driving routes generated within a specified area. The autonomous driving route generation unit generates an autonomous driving route by connecting the plurality of partial driving routes. The driving control unit controls the driving unit to move the main body along the autonomous driving route.

[0008] In the above-mentioned autonomous traveling vehicle, each of the plurality of partial traveling paths includes, at least in part, a global coordinate value defined on a global coordinate system. The global coordinate system is a common coordinate system that includes at least a designated area in which the autonomous traveling vehicle autonomously travels. The autonomous driving route generation unit autonomously plans a connecting route that connects an end point of the connection source partial driving route and a start point of the connection destination partial driving route based on the global coordinate value. Furthermore, the autonomous driving route generation unit generates the autonomous driving route by linking the connection source partial driving route, the connection destination partial driving route, and the connecting route.

[0009] In the above-mentioned autonomous traveling vehicle, at least a part of the partial traveling path includes global coordinate values ​​defined on the global coordinate system, i.e., the partial traveling path includes coordinate values ​​defined in a common coordinate system (global coordinate system). By including coordinate values ​​defined in a common coordinate system (global coordinate system) in the partial driving routes that are connected in the generation of an autonomous driving route, it is possible to autonomously plan a connecting route that connects the partial driving routes using the coordinate values ​​defined in the common coordinate system. In other words, there is no need to manually associate the partial driving routes.

[0010] The end point of the connection source partial travel route and the start point of the connection destination partial travel route may be expressed in global coordinate values. This eliminates the need to convert the start point (end point of the source) and end point (start point of the destination) of a connecting route into coordinate values ​​in a common coordinate system, making it easy to plan a connecting route connecting these two points.

[0011] The autonomous traveling vehicle may further include a GNSS measurement unit that measures the position of the main body within a specified area as a combination of latitude and longitude. In this case, the global coordinate value is a coordinate value composed of the latitude and longitude. This makes it possible to measure the position of the autonomous vehicle in outdoor space. In principle, the global coordinate system can be a coordinate system that includes the entire surface of the Earth.

[0012] Either the connection source partial travel route or the connection destination partial travel route may be a route generated in an area where the latitude and longitude cannot be measured by the GNSS measurement unit. This allows the autonomous vehicle to autonomously travel both in outdoor spaces where its position can be measured by the GNSS measurement unit, and in areas where its position cannot be measured by the GNSS measurement unit.

[0013] The partial driving route of the connecting point or the partial driving route of the connecting point may be a route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit, and the other part may be a route generated in an area where latitude and longitude can be measured by the GNSS measurement unit. This allows the autonomous vehicle to autonomously travel both in outdoor spaces where the position can be measured by the GNSS measurement unit and in areas where the position cannot be measured by the GNSS measurement unit. Also, the position measured by the GNSS measurement unit can be easily included as a global coordinate value of the global coordinate system in at least a part of one of the routes.

[0014] A control method according to another aspect of the present invention is a control method for an autonomous traveling cart that includes a body having a traveling unit and autonomously travels along a predetermined autonomous traveling path within a specified area. The control method includes the following steps. A step of storing the multiple partial driving routes generated within the specified area. A step of generating an autonomous driving path by connecting multiple partial driving paths. ◎A step of moving the main body along an autonomous driving path by controlling the driving unit.

[0015] In the above control method, each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on a global coordinate system. The global coordinate system is a coordinate system that includes at least a designated area in which the autonomous traveling vehicle travels autonomously. In addition, the step of generating an autonomous driving route includes the following steps. A step of autonomously planning a connecting route that connects an end point of the connection source partial travel route and a start point of the connection destination partial travel route based on global coordinate values. A step of generating an autonomous driving route by linking the partial driving route of the connection source, the partial driving route of the connection destination, and the connecting route.

[0016] In the above-mentioned control method for the autonomous traveling vehicle, the autonomous traveling path is generated by connecting a plurality of partial traveling paths. In this case, in the above-mentioned control method, at least a part of the partial traveling path includes global coordinate values ​​defined on the global coordinate system. In other words, the partial traveling path includes coordinate values ​​defined in a common coordinate system (global coordinate system). This allows the partial travel routes to be linked to a common coordinate system without manual intervention, making it possible to autonomously plan a connecting route that connects the partial travel routes. In other words, the partial travel routes to be linked can be associated with each other accurately without manual intervention. Effect of the Invention

[0017] In the autonomous traveling vehicle according to this embodiment, the partial traveling routes to be connected are linked to a common coordinate system, and the correspondence between the partial traveling routes to be connected can be performed with high accuracy without manual effort. [Brief description of the drawings]

[0018] [Figure 1] Schematic plan view of a golf driving range. [Diagram 2] Schematic perspective view of a ball collecting machine (part 1). [Diagram 3] Schematic oblique view of a ball collecting machine (part 2). [Figure 4] FIG. 2 is a diagram showing the overall configuration of a control unit according to the first embodiment. [Diagram 5] 11 is a flowchart showing the general operation of the ball collecting machine. [Figure 6] 11 is a flowchart showing the generation of a partial travel route by copy travel. [Figure 7] A schematic plan view of a ball collecting volleyball machine. [Figure 8] FIG. 1 is a schematic plan view showing the return run of a ball collecting machine. [Figure 9] 11 is a flowchart showing an operation for generating a partial travel route by filling-in travel. [Figure 10] 11 is a flowchart showing details of a step of generating a partial driving schedule by filling-in driving. [Figure 11] A schematic diagram (part 1) showing the steps involved in creating a filled-in path within a driving area. [Figure 12] A schematic diagram (part 2) showing the steps involved in creating a filled-in path within a driving area. [Figure 13] A schematic diagram (part 3) showing the steps in which a fill-in path is created within a driving area. [Figure 14] A schematic diagram (part 4) showing the steps in which a fill-in path is created within a driving area. [Figure 15] 4 is a flowchart showing an operation for generating an autonomous driving route according to the first embodiment. [Figure 16] FIG. 13 is a diagram showing an example of a selected partial travel route. [Figure 17] FIG. 13 is a diagram showing an example in which a plurality of selected partial paths are connected by a connecting path. [Figure 18] 4 is a flowchart showing an autonomous driving operation. [Figure 19] FIG. 11 is a diagram showing the configuration of a control unit according to a second embodiment. [Figure 20] FIG. 11 is a diagram showing an example of generation of a partial travel route according to the second embodiment. [Figure 21] 10 is a flowchart showing a generating operation (copy travel) of a partial travel route according to the second embodiment. [Figure 22] 10 is a flowchart showing an operation of acquiring position information according to the second embodiment. [Diagram 23] FIG. 11 is a diagram showing an example of a partial travel route generated by a partial travel route generating method according to the second embodiment. [Figure 24] FIG. 13 is a diagram showing an example to explain a ball collecting machine according to the third embodiment. [Diagram 25]13 is a flowchart showing an operation for generating an autonomous driving route according to the third embodiment. [Figure 26] FIG. 13 is a diagram showing an example of an autonomous driving route generated in the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] 1. First embodiment (1) Outline of ball collecting volleyball machine The ball collecting machine 1 will be described below with reference to Figures 1 to 3. Figure 1 is a schematic plan view of a golf driving range. Figures 2 and 3 are schematic perspective views of the ball collecting machine. In this embodiment, the ball collecting machine 1 (an example of an autonomous traveling cart) is used in a golf driving range 2 (an example of a designated area). In the golf driving range 2, many golf balls B become scattered in a short period of time, and the ball collecting machine 1 collects and reuses them. The golf driving range 2 has a ball scattering area 3 in which a number of golf balls B are scattered, and a ball chute 7 into which the collected golf balls B are discharged. In this embodiment, the ball scattering area 3 is planted with grass. The ball chute 7 is a groove provided within the ball scattering area 3. The golf balls B placed in the ball chute 7 are carried to the collection pool by the discharged water.

[0020] That is, the ball collecting machine 1 autonomously travels through the ball scattering area 3 and collects the golf balls B scattered in the area (ball collecting operation). It also autonomously travels from the ball scattering area 3 to the ball scattering groove 7 side, and deposits the golf balls B collected in the ball scattering area 3 into the ball scattering groove 7 (ball depositing operation). In other words, the ball collecting machine 1 is a device that collects and deposits balls while traveling in a teaching reproduction manner in the golf driving range 2.

[0021] The above-mentioned "instruction reproduction driving" refers to autonomously driving and reproducing a route generated based on information instructed by an operator. "Instruction reproduction driving" includes, for example, "copy driving" in which the robot autonomously drives and reproduces the route itself that was instructed in advance by an operator, and "fill-in driving" in which the robot autonomously drives and reproduces a route that was planned to fill in an area instructed in advance by an operator.

[0022] The ball collecting machine 1 according to this embodiment autonomously travels continuously along a plurality of routes (partial travel routes) individually taught or planned for the above-mentioned "instruction reproduction travel". For that purpose, the ball collecting machine 1 autonomously plans a connecting route CR for connecting a plurality of partial travel routes individually taught / planned.

[0023] (2) Basic configuration of ball collecting volleyball machine The basic configuration of the ball collecting machine 1 according to this embodiment will be described below. The ball collecting machine 1 includes a main body 11, a storage unit 13 (FIG. 4), and a control unit 15. The main body 11 has a running unit 21 and a ball collecting unit 23 capable of collecting golf balls B and discharging golf balls B. Specifically, the running unit 21 is a device that runs the ball collecting machine 1. The running unit 21 has, for example, a running motor 31 (FIG. 4) provided on the main body 11 and wheels 33. The ball collecting machine 1 has a GNSS (Global Navigation Satellite System) receiver 35 (an example of a GNSS measurement unit) provided in the main body 11. The GNSS receiver 35 acquires information (position information) about the current ground position of the ball collecting machine 1 in the golf driving range 2. This allows the ball collecting machine 1 to travel outdoors while knowing its own position.

[0024] The ball collecting machine 1 has a direction detection sensor 41 (FIG. 4) provided on the main body 11. The direction detection sensor 41 measures the orientation (direction) of the ball collecting machine 1 (main body 11) in the golf driving range 2. The direction detection sensor 41 is, for example, a geomagnetic sensor that measures the direction of the geomagnetic field at the position of the ball collecting machine 1, a GNSS compass, or the like.

[0025] Alternatively, a pair of the above GNSS receivers 35 may be provided on the main body 11 to serve as the direction detection sensor 41. For example, a pair of GNSS receivers 35 may be arranged side by side on a predetermined axis of the main body 11 (for example, an axis parallel to the straight-line direction of the ball collecting machine 1). This allows the direction (direction) of the main body 11 in the golf driving range 2 to be calculated from two coordinate values ​​(a 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 machine 1 can be easily measured (calculated) without being affected by surrounding magnetic objects.

[0026] Furthermore, the direction of the ball collecting device 1 can also be calculated, for example, from the changes in latitude and longitude measured by the GNSS receiver 35 before and after the movement.

[0027] Ball collecting section 23 is connected to main body 11 by connecting structure 26. Ball collecting section 23 has ball collecting section 24 for collecting golf balls B, and ball picking section 25 for picking golf balls B. Ball collecting section 24 is a known technology, and is composed of pickup rotor 24a that rotates with the movement of main body 11. Ball collecting section 24 may be configured such that pickup rotor 24a rotates by a ball collecting section motor (not shown). Ball picking section 25 is a known technology, and has ball picking section motor 25a (FIG. 4) and ball picking gate 25b driven thereby.

[0028] The ball collecting and volleying unit 23 may also have a ball storage amount detector (not shown). When the storage amount of the balls exceeds a threshold in the storage amount detector, the balls are ready to be volleyed. Specifically, the storage amount detector is, for example, a weight sensor that measures the weight of the stored golf balls B, and a photoelectric sensor that detects the top surface of the stored golf balls B.

[0029] In this embodiment, the memory unit 13 is provided in the control unit 15. The memory unit 13 is a part or all of the memory area of ​​the storage device of the computer system constituting the control unit 15, and stores various information related to the ball collecting machine 1. The memory unit 13 stores, for example, data related to a plurality of partial running routes (referred to as a partial running schedule 101) and data related to an entire running route (referred to as an autonomous running route) in which the plurality of partial running routes are connected by a connecting route CR (referred to as an autonomous running schedule 103).

[0030] (3) Configuration of the 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, etc. The control unit 15 performs various controls related to the ball collection machine 1.

[0031] The configuration of the control unit 15 will be described in detail with reference to Fig. 4. Fig. 4 is a diagram showing the 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 executable by a computer system constituting the control unit 15. In this case, the program may be stored in a memory unit and / or a storage device. All or part of each functional block of the control unit 15 may be realized as a custom IC such as a System on Chip (SoC).

[0032] The control unit 15 may be configured with one computer system or multiple computer systems. When the control unit 15 is configured with multiple computer systems, for example, the functions realized by the multiple functional blocks of the control unit 15 can be allocated to the multiple computer systems in any ratio and executed.

[0033] The control unit 15 has a driving control unit 51. The driving control unit 51 controls the driving motor 31. The driving control unit 51 receives inputs of instruction contents from the driving route teaching unit 37 and driving commands from a driving command calculation unit 53 (described later). The travel path teaching unit 37 is, for example, an operating means of the ball collecting machine 1, such as a handle. That is, the travel control unit 51 receives an operation of the travel path teaching unit 37 by the operator.

[0034] The control unit 15 has a driving command calculation unit 53. The driving command calculation unit 53 outputs a driving command to the driving control unit 51. The driving command calculation unit calculates a target rotation speed of the driving motor 31, and outputs driving power for rotating the driving motor 31 at the target rotation speed to the driving motor 31. Data provided to the driving command calculation unit 53 is the autonomous driving schedule 103. In addition, the driving command calculation unit 53 receives position information of the ball collecting machine 1 from the position calculation unit 55 (described later), and calculates the target rotation speed of the driving motor 31 based on the target position indicated in the autonomous driving schedule 103 and the position information. The driving command calculation unit 53 outputs to the driving motor 31 the driving power for rotating the driving motor 31 at the target rotation speed.

[0035] The control unit 15 has a position calculation unit 55. The position calculation unit 55 calculates position information indicating the current position of the ball collecting machine 1 in the golf driving range 2 based on the information acquired by the GNSS receiver 35. Specifically, the position calculation unit 55 measures the current position obtained by RTK (Real Time Kinematic) positioning as a combination of latitude and longitude. In addition, the current position by the Centi-meter Level Augmentation Service (CLAS) can also be used. In addition, the position calculation unit 55 calculates the direction (orientation) of the ball collecting 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 location of the ball collecting machine 1 and the direction of the ball collecting machine 1 at that location as position information. The position calculation unit 55 expresses the direction included in the position information as, for example, an angle that increases clockwise with north as the reference (0°).

[0036] The control unit 15 has a first driving route generation unit 57. The first driving route generation unit 57 generates partial driving routes that are connected in the autonomous driving schedule 103 as a partial driving schedule 101. The first running route generating unit 57 receives position information (latitude, longitude, direction) input from the position calculating unit 55 at predetermined time intervals (for example, at each control period in the control unit 15) when the ball collecting machine 1 is operated by the running route teaching unit 37. As a result, the first running route generating unit 57 acquires information representing the positions through which the ball collecting machine 1 has passed by running in the golf driving range 2 due to the operation and information representing the direction of the ball collecting machine 1 at the positions as a sequence of points of multiple position information. In other words, the partial running schedule 101 is a sequence of points of multiple position information stored.

[0037] In addition, the partial running schedule 101 may store the time when the ball collecting machine 1 passed the position indicated by each piece of position information included in the partial running schedule 101 in association with the position indicated by the corresponding position information.

[0038] In this embodiment, the location information is a coordinate value (for example, the location information is expressed in coordinates of (latitude, longitude, direction)) composed of latitude and longitude calculated based on the signal from the GNSS receiver 35 and a direction calculated based on the direction detection sensor 41. In other words, the location information based on the signals from the GNSS receiver 35 and the direction detection sensor 41 is expressed as coordinate values ​​((latitude, longitude, direction)) on a large coordinate system (an example of a global coordinate system) including the surface of the Earth.

[0039] In addition, when a sequence of points that surrounds a specific area of ​​the golf driving range 2 is acquired, the first driving route generation unit 57 is capable of generating a partial driving route that drives evenly (as if "filling in") within that area as a partial driving schedule 101. That is, the first travel route generating unit 57 can generate a partial travel route by "copy travel" and a partial travel route by "fill-in travel".

[0040] In addition, whether the first running path generating unit 57 generates a partial running path by "copy running" or by "filling in running" can be switched, for example, by switching the operating mode of the ball collecting machine 1.

[0041] The control unit 15 has a second running path generating unit 59 (an example of an autonomous running path generating unit). The second running path generating unit 59 generates an autonomous running path along which the ball collecting machine 1 is to run autonomously. Specifically, the second running path generating unit 59 generates an autonomous running schedule 103 by linking a plurality of partial running schedules 101 stored in the storage unit 13.

[0042] In addition, when the control unit 15 causes the ball collecting machine 1 to travel autonomously, the ball collecting machine 71 may be controlled based on information (ball volley instruction) on whether or not to perform a ball volleying task stored in the autonomous travel schedule 103. This allows the ball collecting machine 1 to perform a ball volleying task at the timing taught during autonomous travel according to the autonomous travel schedule 103.

[0043] With the above configuration, the control unit 15 can generate the autonomous driving schedule 103 by connecting the partial driving routes that are individually generated (instructed) in the individual areas of the golf driving range 2. As a result, the ball collecting machine 1 according to the present embodiment can autonomously travel in the golf driving range 2, which requires driving with different characteristics depending on the area.

[0044] For example, in an area where it is necessary to travel evenly over a wide area such as the ball scattering area 3 of the golf driving range 2, a partial travel route can be generated by "filling in travel". On the other hand, in an area such as the ball groove 7 where the skilled operation of the ball collecting machine 1 is required to approach, a partial travel route can be generated by "copying travel" from the vicinity of the ball groove 7 to the ball groove 7. Then, a connecting route CR can be planned that connects the partial running route generated by "filling in running" in the ball scattering area 3 and the partial running route generated by "copy running" in the area near the ball groove 7. In this manner, the control unit 15 having the above-described configuration can cause the ball collecting machine 1 to autonomously execute a series of operations from collecting the golf balls B scattered in the ball scattering area 3 to throwing the collected golf balls B in the ball throwing groove 7.

[0045] The control unit 15 has a volleyball instruction unit 39. The volleyball instruction unit 39 is, for example, an operation panel made up of push buttons and the like. The volleyball instruction unit 39 transmits, for example, the operation of the push buttons by the operator to the volleyball control unit 71. The volley control unit 71 receives button operations from the volley instruction unit 39 and converts the operations into volley instructions. The volley control unit 71 drives the volley gate 25b by outputting the volley instruction to the volley motor 25a.

[0046] While teaching a partial running route, the volleyball control unit 71 can associate the volleyball instructions it outputs with the timing at which the instructions were issued, and store them in the partial running schedule 101. In addition, the partial running schedule 101 can be edited to associate the volleyball instructions with the timing at which the instructions are issued, and store them. On the other hand, during autonomous driving according to the autonomous driving schedule 103, the volleyball control unit 71 outputs volleyball instructions at the timings stored in the autonomous driving schedule 103. This allows the ball collecting machine 1 to autonomously perform volleyball work according to the timings stored in the autonomous driving schedule 103 during autonomous driving.

[0047] (4) Outline of the operation of the ball collecting machine Hereinafter, an outline of the control operation in which the control unit 15 generates an autonomous travel route and causes the ball collecting machine 1 to autonomously travel along the autonomous travel route will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an outline of the operation of the ball collecting machine. In step S1, the first driving route generation unit 57 of the control unit 15 generates a plurality of partial driving routes within the golf driving range 2 and stores them in the memory unit 13. At this time, the first driving route generation unit 57 includes global coordinate values ​​(coordinate values ​​consisting of latitude, longitude, and direction) defined on a global coordinate system including at least the golf driving range 2 in at least a portion of each of the plurality of partial driving routes.

[0048] In step S2, the second driving route generating unit 59 of the control unit 15 generates an autonomous driving route by connecting a plurality of partial driving routes. At this time, the second driving route generating unit 59 autonomously plans a connecting route CR that connects an end point of a connection source partial driving route and a start point of a connection destination partial driving route based on global coordinate values ​​included in the partial driving routes. In addition, the second travel route generation unit 59 generates an autonomous travel route by linking the partial travel route of the connection source, the partial travel route of the connection destination, and the connecting route CR.

[0049] In step S3, the traveling control unit 51 controls the traveling unit 21 according to the autonomous traveling route generated in step S2, thereby moving the main body 11 along the autonomous traveling route.

[0050] (5) Detailed explanation of partial route generation operation (5-1) Generation of partial travel paths by copy running Hereinafter, a detailed description will be given of the operation of step S1 in Fig. 5. As described above, in this embodiment, a route by "copy run" and a route by "fill-in run" can be generated as partial run routes. First, the generation of a partial travel route by copy travel will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the generation of a partial travel route by copy travel.

[0051] The generation of a partial running path by copy running is realized by operating the running path teaching unit 37 to obtain the path traveled by the ball collecting machine 1 as a sequence of multiple passing points. Specifically, the first driving route generating unit 57 acquires position information (latitude, longitude, direction) from the position calculating unit 55 at a predetermined period ("Yes" at step S12) during the operation of the driving route teaching unit 37 (step S11) (step S13). The predetermined period is, for example, a control period of the control unit 15.

[0052] In step S14, the first driving route generation unit 57 stores the position information acquired in step S13 in the partial driving schedule 101 in association with the time at which the information was acquired. When a ball-spinning operation is performed during a copy run, the ball-spinning control unit 71 obtains the presence or absence of a ball-spinning instruction at the above-mentioned predetermined cycle, and stores the presence or absence of an instruction in the partial run schedule 101 in association with the time at which it was obtained.

[0053] The above steps S11 to S14 are repeatedly executed unless the operation by the travel path teaching unit 37 is continued or an instruction to stop the copy travel is given ("No" in step S15). On the other hand, when the operation by the travel route teaching unit 37 is stopped or when a command to stop the copy travel is issued ("Yes" in step S15), the acquisition of position information and storage in the partial travel schedule 101 are stopped.

[0054] In step S16, the first driving route generating unit 57 includes coordinate values ​​on the global coordinate system, i.e., coordinate values ​​(latitude, longitude, direction) consisting of latitude, longitude, and direction, in at least some of the passing points of the partial driving schedule 101 by the copy driving. For example, the original coordinate values ​​and the coordinate values ​​consisting of latitude, longitude, and direction may be overlapped at the start position (start point) and end position (end point) of the partial driving schedule 101.

[0055] In this embodiment, all passing points in the partial driving schedule 101 are expressed by coordinate values ​​(latitude, longitude, direction). Thus, if the partial driving schedule 101 includes coordinate values ​​in the global coordinate system at the stage of executing steps S11 to S15, the above step S16 is not executed.

[0056] The coordinate values ​​consisting of the latitude, longitude and direction are acquired in advance at predetermined positions (for example, the start and end points of the copy run) during the copy run.

[0057] By executing the above steps S11 to S16, the first driving route generating unit 57 can include coordinate values ​​in a combination of latitude, longitude, and direction in at least a part of the partial driving schedule 101 by the copied driving.

[0058] (5-2) Generation of partial travel paths by filling in the gaps (5-2-1) Driving characteristics Next, the operation of generating a partial running path by filling in the running will be described. Before describing the specific generation process of the partial running path by filling in, the running characteristics of the ball collecting machine 1 will be described using Fig. 7 and Fig. 8. Fig. 7 is a schematic plan view of the ball collecting machine. Fig. 8 is a schematic plan view showing the return running of the ball collecting machine. As mentioned above, the ball collecting section 23 is connected to the running section 21 (main body 11) by the connecting structure 26, and the minimum radius during rotation becomes large. Therefore, when the ball collecting machine 1 turns around, a large gap is formed between the outward and return paths as shown in Figure 8. For example, if the width of the ball collecting section 23 is 1.4 m and the minimum turning radius is 2.4 m, the gap W, which is the width of the unpainted area, becomes 3.4 m. One solution to the above problem is to create a partial travel route by filling in multiple circuitous routes by shifting them sideways and connecting them with each other.

[0059] (5-2-2) Generation of partial travel path by filling in the gaps A specific operation for generating a partial travel route by filling-in travel will be described below with reference to Fig. 9. Fig. 9 is a flowchart showing the operation for generating a partial travel route by filling-in travel. In step S17, the first running path generating unit 57 acquires a point sequence (coordinate values) of position information representing the running area TA. Specifically, the user runs the ball collecting machine 1 along the boundary of the running area TA using the running path teaching unit 37. During this running, the first running path generating unit 57 acquires position information at a predetermined cycle (control cycle).

[0060] In step S18, the first travel route generating unit 57 determines the travel area TA. In step S19, the first driving route generation unit 57 creates a partial driving schedule 101 by filling-in driving within the driving area TA, and stores it in the storage unit 13.

[0061] (5-2-3) Detailed explanation of partial route generation by filling in the gaps Step S19 in Fig. 9 will be described in detail with reference to Fig. 10 to Fig. 14. Fig. 10 is a flow chart showing the details of the step of generating a partial driving schedule by filling-in driving. Fig. 11 to Fig. 14 are schematic diagrams showing the step-by-step state of creating a filling-in route within a driving area. In step S20, as shown in Fig. 11, the first travel path generating unit 57 divides the travel area TA into 2N rectangular areas. The number of divisions may be an odd number (2N+1). At this time, the width of the divided areas is set to be equal to or smaller than the width of the ball collecting area 23. In step S21, as shown in FIG. 12, the first driving route generation unit 57 determines the driving order of the divided areas as follows: 1st area → N+1th area → 2nd area → N+2th area → ... In step S22, as shown in Fig. 13, the first driving route generation unit 57 sets a driving route for each of the 2N areas. In this case, the driving direction for the 1st to Nth areas is set to be opposite to the driving direction for the N+1th to 2Nth areas. At this time, the first driving route generation unit 57 sets the driving route for each area as a series of passing points, and the passing points are expressed as coordinate values ​​(coordinate values ​​composed of latitude, longitude, and direction) represented by (latitude, longitude, direction).

[0062] In step S23, the routes are connected together as shown in Fig. 14. Specifically, the end point of the m (1, 2, ... N-1)th travel route is connected to the start point of the m+Nth travel route, and the end point of the m+Nth travel route is connected to the start point of the m+1th travel route. This connection operation is repeated, starting with m being 1 and incrementing by 1 until it becomes N-1. Furthermore, the end point of the Nth travel route is connected to the start point of the 2Nth travel route, and then the end point of the 2Nth travel route is connected to the start point of the first travel route, thereby completing the generation of the partial travel route. When connecting the two travel paths as described above, a 90° curve is provided on the connection line between the two travel paths as shown in Figure 14. The radius of this curve is set to be equal to or greater than the minimum radius of rotation of the ball collecting machine 1.

[0063] In this way, a partial driving route that fills in the driving area TA set by the user can be created. By setting pass points (coordinate values) at predetermined intervals on the driving route, a partial driving schedule 101 based on filling-in driving can be generated.

[0064] In step S24, the first driving route generating unit 57 includes coordinate values ​​consisting of latitude, longitude, and direction in at least a part of the partial driving schedule 101 generated by executing steps S20 to S23. Note that, as described above, when the partial driving schedule 101 includes coordinate values ​​consisting of latitude, longitude, and direction (latitude, longitude, direction), step S24 is not executed.

[0065] When step S24 is executed, the first driving route generation unit 57 can include coordinate values ​​consisting of latitude, longitude, and direction in the partial driving schedule 101 by filling-in driving, for example, as follows, using the coordinate values ​​of the point sequence of the driving area TA. This is because the point sequence of the driving area TA is position information calculated based on a signal from the GNSS receiver 35. In other words, the point sequence of the driving area TA is represented by coordinate values ​​consisting of latitude, longitude, and direction.

[0066] First, the first driving route generating unit 57 calculates the distance in real space between the start position of the route when the driving area TA is taught and any of the passing points of the partial driving schedule 101 by filling-in driving. Next, the first driving route generation unit 57 calculates the latitude and longitude deviation between the passing point and the start position of the driving area TA from the distance in real space. It also calculates the deviation between the direction at the passing point and the direction at the start position of the driving area TA. Thereafter, the first driving route generating unit 57 expresses the passing point with coordinate values ​​consisting of latitude, longitude, and direction by adding the latitude and longitude deviation calculated above to the latitude and longitude of the starting position of the route when the driving area TA was taught. Also, the first driving route generating unit 57 calculates the direction of the passing point by adding the direction deviation calculated above to the direction (angle) of the starting position of the route when the driving area TA was taught.

[0067] The first driving route generation unit 57 replaces or overlaps a passing point represented by coordinate values ​​consisting of latitude, longitude, and direction with a corresponding passing point of the partial driving schedule 101. This makes it possible to include a passing point represented by coordinate values ​​consisting of latitude, longitude, and direction in a part of the partial driving schedule 101.

[0068] For example, by performing the above processing on the start point and end point of a partial driving schedule 101 by fill-in driving, the first driving route generation unit 57 can generate a partial driving schedule 101 by fill-in driving in which the start point and end point are represented by coordinate values ​​consisting of latitude, longitude, and direction.

[0069] (6) Autonomous driving route generation After the partial travel routes are generated and stored in the storage unit 13, in step S2 in Fig. 5, a plurality of partial travel routes are linked to generate an autonomous travel route. Hereinafter, the operation of step S2 in 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 driving route according to the first embodiment. Fig. 16 is a diagram showing an example of a selected partial driving route. Fig. 17 is a diagram showing an example in which a plurality of selected partial routes are connected by a connecting route. First, in step S31, from the multiple partial travel routes (partial travel schedule 101) stored in the storage unit 13, partial travel routes to be included in the autonomous travel route are selected. Specifically, for example, the second driving route generation unit 59 displays a list of the partial driving 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 driving schedules 101 from the displayed list using an input means (e.g., a touch panel, etc.) of the control unit 15.

[0070] For example, assume that two partial driving routes (partial driving schedules 101a and 101b) as shown in FIG. 16 are selected. In Fig. 16, partial run schedule 101a is a partial run route by filling in run, and partial run schedule 101b is a partial run route by copy run. Partial run schedule 101b is a run route for approaching ball groove 7, and is a route that requires skilled operation.

[0071] In the example shown in FIG. 16, the start point and end point of the partial driving schedule 101a are the same, and are expressed by coordinate values ​​consisting of latitude, longitude, and direction as (latitude, longitude, direction)=(LA1, LO1, Θ1). The starting point of the partial driving schedule 101b is expressed as (latitude, longitude, direction)=(LA2, LO2, Θ2), and the end point is expressed as (latitude, longitude, direction)=(LA3, LO3, Θ3).

[0072] After selecting the multiple partial driving routes, in step S32, the second driving route generation unit 59 specifies the driving order of the multiple partial driving routes in the autonomous driving route. The driving order of the multiple partial driving routes can be, for example, the order in which the partial driving routes were selected in step S31. Alternatively, in step S31, the user may set the driving order when selecting the partial driving routes. In the example shown in Fig. 16, the ball collecting machine 1 collects the golf ball B by running according to the partial running schedule 101a, and then moves to the ball running groove 7 to bowl the ball. Therefore, in this case, the running order is the partial running schedule 101a first, and the partial running schedule 101b second.

[0073] Hereinafter, of the two selected partial travel routes, the partial travel route that travels first is referred to as the "connecting partial travel route" that is connected by the connecting route CR. On the other hand, the partial travel route that travels later is referred to as the "connecting partial travel route" that is connected by the connecting route CR. In the example shown in FIG. 16, the ball collecting machine 1 has a partial running schedule 101a as a connection source partial running route and a partial running schedule 101b as a connection destination partial running route.

[0074] After the travel order is specified, in step S33, the second travel route generation unit 59 autonomously plans a connecting route CR that connects the connection source partial travel route and the connection destination partial travel route. Specifically, the second travel route generation unit 59 generates a route that connects the end point of the connection source partial travel route and the start point of the connection destination partial travel route by route planning. In the two partial running schedules 101a and 101b shown in Fig. 16, the second running route generation unit 59 plans a route connecting the end point (LA1, LO1) of the partial running schedule 101a and the start point (LA2, LO2) of the partial running schedule 101b as a connecting route CR. In addition, the second running route generation unit 59 plans a route so that the direction of the ball collecting machine 1 changes from Θ1 (the direction of the end point of the partial running schedule 101a) to Θ2 (the direction of the start point of the partial running schedule 101b) on the connecting route CR. In other words, the connecting route CR also includes information about the direction of the ball collecting machine 1.

[0075] The second travel route generating unit 59 can plan a connection route CR that connects the start point (LA1, LO1) and the end point (LA2, LO2) in the shortest possible time, as shown in Fig. 17. In addition, in the connection route CR, the direction of the ball collecting machine 1 changes from Θ1 to Θ2. In addition, if an obstacle exists between the above two points, the second travel route generating unit 59 can plan a connected route CR that avoids the obstacle. Also, for example, the second travel route generating unit 59 can plan a connected route CR that passes through a predetermined point other than the above two points.

[0076] When planning the connected path CR, the second travel path generating unit 59 plans the connected path CR as a sequence of passing points through which the ball collecting machine 1 passes. As described above, the start point (end point of the connection source) and end point (start point of the connection destination) of the connected route CR are represented by coordinate values ​​consisting of latitude and longitude. Therefore, the second travel route generation unit 59 plans the connected route CR on the coordinate system consisting of latitude and longitude, and represents all passing points of the connected route CR by latitude and longitude.

[0077] After generating the connecting route CR, in step S34, the second driving route generation unit 59 links the partial driving route of the connection source, the partial driving route of the connection destination, and the connecting route CR to generate an autonomous driving route (autonomous driving schedule 103). If, as in this embodiment, all passing points of the partial driving schedule 101 are expressed as coordinate values ​​(coordinate values ​​on the global coordinate system) consisting of latitude, longitude, and direction, the second driving route generation unit 59 can generate the autonomous driving schedule 103 as a single data (electronic file) by, for example, combining the partial driving schedules 101a, 101b and the connecting route CR, which is a sequence of passing points.

[0078] The above steps S33 and S34 are repeatedly executed until connecting routes are planned for all the selected partial driving schedules 101. On the other hand, when planning of connecting routes has been completed for all partial driving schedules 101 ("Yes" in step S35), generation of the autonomous driving schedule 103 ends.

[0079] (7) Summary of autonomous driving route generation The operations up to the generation of the autonomous driving route described above can be summarized as follows. In the ball collecting machine 1 described above, each of the multiple partial running routes (partial running schedule 101) stored in the memory unit 13 includes, at least in part, coordinate values ​​(global coordinate values) composed of latitude and longitude defined on coordinates (global coordinates) composed of a combination of latitude and longitude. Since the coordinates composed of a combination of latitude and longitude define the surface of the Earth, the golf driving range 2 on which the ball collecting machine 1 autonomously runs is included in the above coordinates.

[0080] In addition, the second driving route generation unit 59 autonomously plans a connecting route connecting the end point of the partial driving schedule 101 to be connected and the start point of the partial driving schedule 101 to be connected to, based on coordinate values ​​consisting of latitude and longitude contained in the partial driving schedule 101. Furthermore, the second driving route generation unit 59 generates an autonomous driving route (autonomous driving schedule 103) by linking the partial driving schedule 101 of the connection source, the partial driving schedule 101 of the connection destination, and the connecting route.

[0081] In the above-mentioned ball collecting machine 1, each of the plurality of partial running schedules 101 stored in the memory unit 13 includes, at least in part, coordinate values ​​composed of latitude and longitude. That is, the plurality of partial running schedules 101 include coordinate values ​​defined in a common coordinate system. By including coordinate values ​​defined in a common coordinate system in the partial driving schedules 101 that are linked in generating the autonomous driving schedule 103, it is possible to autonomously plan a linking route that links the partial driving schedules 101 using the coordinate values ​​defined in the common coordinate system. In other words, it is possible to accurately associate the partial driving schedules 101 to be linked without manual effort.

[0082] In the first embodiment, the end point of the connection source partial driving schedule 101 and the start point of the connection destination partial driving schedule 101 are represented by coordinate values ​​formed of latitude and longitude. This eliminates the need to convert the start point (end point of the source) and end point (start point of the destination) of a connecting route into coordinate values ​​in a common coordinate system, making it easy to plan a connecting route connecting these two points.

[0083] The ball collecting machine 1 is equipped with a GNSS receiver 35. The GNSS receiver 35 measures the position of the main body 11 within the golf driving range 2 as a combination of latitude and longitude. This allows the position of the ball collecting machine 1 to be measured in an outdoor space. In addition, the common coordinate system can, in principle, be a coordinate system that includes the entire surface of the Earth.

[0084] (8)Autonomous Driving Operation Hereinafter, the operation of the ball collecting machine 1 when autonomously traveling according to the autonomous traveling schedule 103 (autonomous traveling route) created as described above will be described with reference to Fig. 18. Fig. 18 is a flowchart showing the autonomous traveling operation. First, in step S41, the driving command calculation unit 53 identifies a target passing point (referred to as a target passing point) from among a plurality of passing points included in the autonomous driving schedule 103. For example, when each passing point is associated with a time to pass through the passing point in the autonomous driving schedule 103, the passing point associated with the time closest to the elapsed time from the start of the autonomous driving can be identified as the target passing point. In the same manner as described above, the volleyball control unit 71 determines from the autonomous traveling schedule 103 whether or not to execute a volleyball task at the target passing point.

[0085] Next, in step S42, the running command calculation unit 53 acquires the current position information of the ball collecting machine 1 from the position calculation unit 55. After acquiring the position information, in step S43, the traveling command calculation unit 53 calculates the control amount of the traveling motor 31 based on the target passing point identified 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.

[0086] 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 power based on the received control amount to the travel motor 31. As a result, the ball collecting 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. If the ball collecting machine 1 has not yet passed the target passing point after a predetermined time (e.g., a control period) has elapsed since starting to travel toward the target passing point ("No" in step S45), the autonomous traveling operation returns to step S42, and the above steps S42 to S44 are executed until the target passing point is passed.

[0087] On the other hand, if the ball collecting machine 1 has passed the target passing point ("Yes" in step S45) but has not yet passed all the passing points in the autonomous traveling schedule 103 ("No" in step S46), the autonomous traveling operation returns to the above step S41 to identify the next target passing point, and executes steps S42 to S44 to control the traveling motor 31. As a result, the ball collecting machine 1 travels toward the next target passing point.

[0088] At this time, the volleyball control unit 71 controls the volleyball unit motor 25a based on whether or not to perform volleyball work at the reached target passing point. This allows volleyball work to be performed at a specified position in the golf driving range 2.

[0089] On the other hand, if the ball collecting 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 (i.e., it has passed all passing points in the autonomous driving schedule 103) ("Yes" in step S46), the autonomous driving operation ends.

[0090] By autonomously traveling according to the autonomous traveling schedule 103, the ball collecting machine 1 can autonomously travel along the multiple partial traveling schedules 101. In other words, the ball collecting machine 1 can autonomously travel along the multiple partial traveling schedules 101, each of which is created individually, continuously as if it were a single traveling route.

[0091] 2. Second embodiment (1) Overview of the ball collecting machine according to the second embodiment In the first embodiment, the ball collecting machine 1 runs outdoors where the GNSS signal can be received by the GNSS receiver 35. However, the ball collecting machine 1 according to the second embodiment can run not only outdoors but also in an area where the position can be estimated by other means. For example, when outdoors, next to a building (an example of semi-outdoors), the latitude and longitude cannot be measured accurately due to multiple reflections of the GNSS signal. In such places, the position can be estimated more accurately by other means. The ball collecting machine 1 according to the second embodiment is capable of running in such "semi-outdoors".

[0092] The ball collecting machine 1 according to the second embodiment will be described below. The ball collecting machine 1 according to the second embodiment is different from the first embodiment only in that a detector for position estimation other than the GNSS receiver 35 is present and in that a method for generating a partial running route (partial running schedule 101) is different from the first embodiment, 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 travel path will be described, and the description of other configurations of the ball collecting machine 1 will be omitted.

[0093] (2) Configuration of the control unit according to the second embodiment Hereinafter, the control unit 15' of the ball collecting machine 1 according to the second embodiment will be described with reference to Fig. 19. Fig. 19 is a diagram showing the configuration of the control unit according to the second embodiment. As shown in FIG. 19, the control unit 15' is connected to a position information acquisition device (position detector) 36 provided in the main body 11. The position detector 36 detects information about the position of the ball collecting 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, etc. The position detector 36 may include all of the above three types of detectors, or may include only one or two types. In addition, multiple sensors may be provided for the direction detection sensor 41. For example, the direction detection sensor 41 can be configured by a GNSS compass and a geomagnetic sensor. Indoors, the direction of the ball collecting machine 1 may be detected based on a signal from an indoor position detector 36 (for example, a laser range finder).

[0094] The control unit 15' also has a position calculation unit 55'. The position calculation unit 55' calculates position information based on not only coordinate values ​​configured of latitude and longitude but also information acquired by the position detector 36. The position information based on the information acquired by the position detector 36 is defined as coordinate values ​​of x'-y' coordinates. When a laser range finder is used as the position detector 36, the position detector 36 acquires information on walls, obstacles, etc. that exist around the ball collecting machine 1. In this case, the position calculation unit 55' can estimate the position by map matching a map (global map) that represents the running environment of the ball collecting machine 1 with map information (local map) that represents the presence of walls, obstacles, etc. around the ball collecting machine 1.

[0095] When an encoder is used as the position detector 36, the position detector 36 acquires the amount of rotation of the traveling motor 31 (i.e., the wheel 33). In this case, the position calculation unit 55' estimates the position of the ball collecting machine 1 based on the travel distance calculated based on the amount of rotation of the wheel 33. When a beacon receiver is used as the position detector 36, the position detector 36 receives a signal from a beacon transmitter fixed at a predetermined position. In this case, the position calculation unit 55' calculates the distance between the beacon transmitter and the ball collecting machine 1 from the time from when the beacon signal is transmitted from the beacon transmitter to when the position detector 36 receives the beacon signal. Then, the position of the ball collecting machine 1 is estimated based on the distance. Note that in the case of position estimation using a beacon signal, there are three or more beacon transmitters. This is because at least three pieces of distance information are required to calculate two-dimensional coordinate value information.

[0096] The position calculation section 55' according to the second embodiment can switch between position estimation based on a signal from the GNSS receiver 35 and position estimation based on a signal from the position detector . For example, if the signal acquired by the GNSS receiver 35 or the position detector 36 contains noise at or above a predetermined level, the position calculation unit 55' can perform position estimation using the signal from the one with less noise.

[0097] In addition, for example, when the position of the ball collecting machine 1 enters a range within a predetermined distance from the wall of a building, the position calculation unit 55' can switch from position estimation based on the GNSS receiver 35 to position estimation based on the position detector 36. Furthermore, the position calculation unit 55' can simultaneously perform both position estimation based on the GNSS receiver 35 and position estimation based on the position detector 36, and may also perform position estimation using both position estimations.

[0098] When the direction detection sensor 41 is composed of multiple types of sensors, the position calculation unit 55' may determine which sensor to use to measure the direction based on which sensor can detect the direction more accurately, as in the case of the position detector 36 described above.

[0099] 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, and therefore description thereof will be omitted here.

[0100] (3) Operation of generating partial travel routes according to the second embodiment Hereinafter, the operation of generating a partial travel route according to the second embodiment will be described with reference to Figs. 20 to 22. Fig. 20 is a diagram showing an example of generating a partial travel route according to the second embodiment. Fig. 21 is a flowchart showing the operation of generating a partial travel route (copy travel) according to the second embodiment. Fig. 22 is a flowchart showing the operation of acquiring position information according to the second embodiment. In this embodiment, as shown in FIG. 20, in a building having an interior space SP, the generation of a partial driving route (partial driving schedule 101c) by copy driving is explained as an example, in which a starting point ST is near the wall W of the building and a predetermined position within the interior space SP is the end point ED.

[0101] The above-mentioned internal space SP is provided with a roof (not shown), and the GNSS receiver 35 cannot receive GNSS signals 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 machine 1 in the internal space SP can be estimated with high accuracy. In addition, a boundary line BOR1 is provided at a predetermined distance from a wall W of the building to the outdoors. The area between this boundary line BOR1 and the wall W is defined as a "critical area CA." In the critical area CA, it is possible to perform both estimation of position information using GNSS signals and estimation of position information based on a signal from the position detector 36.

[0102] An area farther from the wall W than the critical area CA is outdoors, and position information can be estimated with high accuracy based on the GNSS signal. On the other hand, position estimation cannot be performed (or the estimation accuracy is low) based on the signal from the position detector 36.

[0103] First, while the driving route teaching unit 37 is being operated (step S11'), the first driving route generating unit 57 acquires position information from the position calculating unit 55 (step S13') at a predetermined period ("Yes" in step S12').

[0104] The acquisition of position information according to the second embodiment is executed according to the flowchart shown in Fig. 22. First, the control unit 15' estimates the location (outdoors, in the critical area CA, or in the internal space SP) of the ball collecting machine 1. 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.

[0105] For example, if the GNSS receiver 35 can receive a GNSS signal, but the position detector 36 does not provide a signal sufficient for estimating the position information, the first travel path generating unit 57 determines that the ball collecting machine 1 is outdoors (step S51: Yes). In this case, the position calculating unit 55' calculates the position information based on the signal from the GNSS receiver 35. Therefore, in step S52, the first driving route generation unit 57 acquires coordinate values ​​consisting of latitude, longitude, and direction as position information.

[0106] Also, 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 travel path generating unit 57 determines that the ball collecting machine 1 is present within the critical area CA (step S51: No, step S53: Yes). 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 running path generation unit 57 acquires both the coordinate values ​​(latitude, longitude, direction) composed of latitude, longitude and direction, and the coordinate values ​​calculated from the signal of the position detector 36 (i.e., coordinate values ​​(x, y, θ) in the xy coordinate system; θ: direction (direction) of the ball collecting machine 1 in the xy coordinate system) as position information.

[0107] Furthermore, for example, when the GNSS receiver 35 cannot receive the GNSS signal, but the position detector 36 can provide a signal sufficient for estimating the position information, the first travel path generating unit 57 determines that the ball collecting machine 1 is present in the internal space SP (step S51: No, step S53: No). In this case, the position calculating 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 values ​​calculated from the signal of the position detector 36 as position information (that is, coordinate values ​​of the x and y coordinates).

[0108] After acquiring the position information, in step S14', the position information acquired in step S13' is stored in the partial driving schedule 101 in association with the time at which it was acquired. The above steps S11' to S14' are repeatedly executed unless the operation by the travel route teaching unit 37 is continued or the stop of copy travel is commanded ("No" in step S15'). On the other hand, when the operation by the travel route teaching unit 37 is stopped or the stop of copy travel is commanded ("Yes" in step S15'), the acquisition of position information and storage in the partial travel schedule 101 are terminated.

[0109] 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 partial travel route generating method according to the second embodiment. That is, from the start point ST of the partial driving schedule 101c to the midpoint MP (near the entrance to the internal space SP), the coordinate values ​​composed of latitude, longitude, and direction and the coordinate values ​​(xy coordinate values) calculated from the signal from the position detector 36 overlap each other. This is because the partial driving schedule 101c from the start point to the midpoint MP is included in the critical area CA.

[0110] On the other hand, from the midpoint MP to the end point ED, there are only coordinate values ​​(xy coordinate values) calculated from the signal from the position detector 36. This is because the partial running schedule 101c from the midpoint MP to the end point is included in the internal space SP.

[0111] 23, the starting point ST has both coordinate values ​​(LA4, LO4, Θ4) consisting of latitude, longitude, and direction, and coordinate values ​​(x4, y4, θ4) in the xy coordinate system, while the end point ED has only coordinate values ​​(x5, y5, θ5) in the xy coordinate system.

[0112] As described above, when a partial travel route travels through the critical area CA, the partial travel schedule 101 of the partial travel route at least partially includes coordinate values ​​composed of latitude and longitude, and coordinate values ​​(xy coordinate values) calculated from a signal from the position detector 36. This makes it possible to omit the process of including coordinate values ​​composed of latitude and longitude in the partial travel route (for example, step S16 described in the first embodiment). In the example shown in Fig. 20, the start point ST of the partial driving route is within the critical area CA, and the start point ST of the partial driving schedule 101c of this partial driving route includes coordinate values ​​composed of latitude and longitude. Therefore, in this case, the process of converting the start point ST of the partial driving schedule 101c into coordinate values ​​composed of latitude and longitude can be omitted.

[0113] As described above, by making it possible to connect a partial driving route generated outdoors with a partial driving route into the internal space SP, it is possible to generate an autonomous driving schedule 103 that enables autonomous driving from outdoors to indoors (inside the internal space SP) or vice versa.

[0114] In addition, when generating the partial driving schedule 101 in the second embodiment, each passing point may be associated with information indicating whether the position information was calculated based on a GNSS signal, based on a signal from the position detector 36, or both. This allows the driving command calculation unit 53 to easily determine which position information (position information based on the GNSS signal, or position information based on the signal from the position detector 36) to use when the ball collecting machine 1 drives autonomously according to the autonomous driving schedule 103 to calculate the control amount for the driving motor 31.

[0115] 3. Third embodiment (1) Overview of the ball collecting machine according to the third embodiment In the first embodiment, the partial travel route is generated outdoors. In the second embodiment, a partial travel route having a start point in the critical area CA and an end point in the internal space SP can be generated. Not limited to this, the ball collecting machine 1 according to the third embodiment can generate an autonomous driving route by connecting a partial driving route generated outdoors and a partial driving route generated only in the internal space SP (indoors). That is, even if the partial driving route to be connected is a route generated in an area where latitude and longitude cannot be measured, an autonomous driving route can be generated.

[0116] The ball collecting machine 1 according to the third embodiment will be described below. The ball collecting machine 1 according to the third embodiment is different only in the method of including coordinate values ​​consisting of latitude and longitude in a part of the partial travel route and the method of generating the autonomous travel schedule 103, and other configurations and functions are the same as those of the first and second embodiments. Therefore, only the method of generating the autonomous travel schedule 103 in the third embodiment will be described below, and the description of other configurations of the ball collecting machine 1 will be omitted.

[0117] In the following, the ball collecting machine 1 according to the third embodiment will be described using an assumed example as shown in Fig. 24. Fig. 24 is a diagram showing an assumed example for explaining the ball collecting machine according to the third embodiment. In the example shown in FIG. 24, a partial driving route (partial driving schedule 101d) is generated outdoors by filling in driving, and a partial driving route (partial driving schedule 101e) is generated within the internal space SP (indoors) by copy driving.

[0118] The start point and end point of the partial travel route according to the partial travel schedule 101d are expressed by coordinate values ​​consisting of latitude and longitude, that is, (latitude, longitude, direction)=(LA6, LO6, Θ6). On the other hand, within the internal space SP, position information that can be measured based on the signal from the position detector 36 is information defined in xy coordinates. In this case, the start point ST and end point ED of the indoor partial running schedule 101e are expressed as coordinate values ​​of x and y coordinates. The start point ST of the partial running route of the partial running schedule 101e is expressed as (x, y, θ) = (x7, y7, θ7), and the end point ED is expressed as (x, y, θ) = (x8, y8, θ8).

[0119] In addition, a fixed first reference point SD1 and a fixed second reference point SD2 are set in the internal space SP. At these reference points, not only coordinate values ​​defined in xy coordinates but also coordinate values ​​consisting of latitude and longitude are defined. Specifically, the first reference point SD1 has coordinate values ​​of (x,y)=(x9,y9) and (latitude,longitude)=(LA9,LO9). Meanwhile, the second reference point SD2 has coordinate values ​​of (x,y)=(x10,y10) and (latitude,longitude)=(LA10,LO10). The latitude and longitude of these reference points can be calculated, for example, from the latitude and longitude of the building having the internal space SP.

[0120] (2) Coordinate conversion method for partial travel path The generation of a partial driving route within the internal space SP will be described below. Even within the internal space SP, a partial driving route can be generated by executing steps S11 to S16 described in the first embodiment using position information based on a signal from the position detector 36. Since the GNSS receiver 35 cannot receive GNSS signals within the internal space SP, the partial driving schedule 101e within the internal space SP does not include coordinate values ​​composed of latitude and longitude. In such a case, in order to plan a connecting route, coordinate conversion is performed on at least the start point ST and end point ED (points connected to the outdoor partial running route) of the partial running schedule 101e using the coordinate values ​​set for the first reference point SD1 and the second reference point SD2. At the same time, the original coordinate values ​​are also duplicated for the start point ST and end point ED.

[0121] The coordinate conversion method will be described below by taking as an example the case where the coordinate value (x7, y7, θ7) of the start point of the partial driving schedule 101e is converted to a coordinate value consisting of latitude, longitude, and direction. Coordinate conversion of other passing points of the partial driving schedule 101e can be performed in the same manner. First, the distance D1 between the start point ST and the first reference point SD1 in the xy coordinate system, and the distance D2 between the start point ST and the second reference point SD2 are calculated. If the position detector 36 is a beacon receiver and a beacon transmitter is provided at each reference point, the distances can be calculated from the time from transmission to reception of the beacon signal.

[0122] Next, the latitude and longitude are converted into a coordinate system in distance units (e.g., the ECEF coordinate system) using a known algorithm, and equations are established for 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. Subsequently, simultaneous equations are established for the distances D1 and D2, and the latitude and longitude of the start point ST can be obtained by solving the equations.

[0123] (3) Generation of autonomous driving route according to the third embodiment Hereinafter, a method for 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 the operation of generating an autonomous driving route according to the third embodiment. Step S31' of selecting the partial driving routes to be connected, step S32' of specifying the driving order of the partial driving routes, and step S33' of executing the route plan for the connecting route CR are the same as steps S31 to S33 described in the first embodiment, and therefore will not be described here.

[0124] As described above, since the connecting route CR is planned on a coordinate system consisting of latitude, longitude, and direction, each passing point of the connecting route CR is represented by a coordinate value consisting of latitude, longitude, and direction. When an outdoor partial travel route and an indoor partial travel route are connected as in the third embodiment, a part of the connecting route CR is included in an area where the GNSS receiver 35 cannot receive GNSS signals. In such a case, if all passing points of the connecting route CR are expressed by coordinate values ​​consisting of latitude, longitude, and direction, the ball collecting machine 1 cannot be driven autonomously according to the connecting route CR in an area where the GNSS signal cannot be received. This is because, in an area 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 values ​​consisting of latitude, longitude, and direction are not defined on the same coordinate system.

[0125] Therefore, after planning the connecting route CR in step S33', in step S34', the second driving route generation unit 59 converts the coordinate values ​​of the connecting route CR, which are composed of latitude, longitude and direction, into coordinate values ​​of coordinates defined within the internal space SP. Specifically, for example, the second driving route generation unit 59 converts the latitude, longitude, and direction of each passing point on the connecting route CR into x- and y-coordinate coordinate values ​​defined within the internal space SP, and creates a conversion table that converts the x- and y-coordinate coordinate values ​​after the coordinate conversion into coordinate values ​​composed of the latitude, longitude, and direction before the coordinate conversion.

[0126] Conversely to the above, the second driving route generation unit 59 may leave each passing point of the connecting route CR as a coordinate value consisting of latitude, longitude, and direction, and create a conversion table that converts the coordinate values ​​consisting of the latitude, longitude, and direction of the connecting route CR into x- and y-coordinate coordinate values.

[0127] After the coordinate conversion of the connected route CR in step S34', the second driving route generation unit 59 executes steps S35' and S36' (generation of an autonomous driving route). Steps S35' and S36' are the same as steps S34 and S35 described in the first embodiment, respectively, and therefore will not be described here.

[0128] By executing the above steps S31' to S36' and steps S61 to S63, an 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 a partial driving route generated outdoors and a partial driving route generated indoors, it is possible to generate an autonomous driving schedule 103 that enables autonomous driving from outdoors to indoors (inside the internal space SP) or in the reverse direction.

[0129] (4) Autonomous driving operation of the ball collecting machine according to the third embodiment The following briefly describes the operation of the ball collecting machine 1 autonomously traveling along the connecting path CR using the autonomous traveling path (autonomous traveling schedule 103) generated as described above. In the following description, it is assumed that each passing point on the connecting path CR is converted into a coordinate value of the xy coordinate system. While the ball collecting machine 1 is autonomously traveling along the connecting path CR toward the internal space SP, the traveling command calculation unit 53 checks whether the position calculation unit 55' is calculating the position information based on a signal from the GNSS receiver 35 or the position detector 36. If the position calculation unit 55' has calculated the current position based on the signal from the GNSS receiver 35, the driving command calculation unit 53 converts the passing points of the connected route CR, which are expressed by coordinate values ​​of x and y coordinates, into coordinate values ​​consisting of latitude, longitude, and direction, using a conversion table created together with the connected route CR. After that, the driving command calculation unit 53 calculates the control amount of the traveling motor 31 based on the position information calculated by the position calculation unit 55' and the target passing points of the connected route CR converted into coordinate values ​​consisting of latitude, longitude, and direction.

[0130] 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 midpoint MP' in FIG. 26), the running command calculation unit 53 stops the coordinate conversion of the connected path CR using the conversion table when the ball collecting machine 1 reaches the midpoint MP. Therefore, the running command calculation unit 53 calculates the control amount of the running motor 31 based on the position information calculated by the position calculation unit 55' and the target passing point of the connected path CR expressed by the coordinate value of the xy coordinate.

[0131] In this way, the running command calculation unit 53 calculates the control amount of the running motor 31 based on the position information calculated by the position calculation unit 55' and the target point expressed by the coordinate values ​​of the xy coordinate system, so that the ball collecting machine 1 can autonomously run along the remaining connecting path CR and the partial running path (partial running schedule 101e) within the internal space SP.

[0132] 4. Common features of the embodiments The above first to third embodiments have the following features in common. The autonomous traveling cart (e.g., the ball collecting machine 1) is an autonomous traveling cart that autonomously travels along a predetermined autonomous traveling route within a specified area (e.g., the golf driving range 2). The autonomous traveling cart includes a main body (e.g., the main body 11), a memory unit (e.g., the memory unit 13), an autonomous traveling route generating unit (e.g., the second traveling route generating unit 59), and a traveling control unit (e.g., the traveling control unit 51). The main body has a driving unit (e.g., driving unit 21). The storage unit stores a plurality of partial driving routes (e.g., partial driving schedule 101) generated within a specified area. The autonomous driving route generation unit generates an autonomous driving route (e.g., autonomous driving schedule 103) by connecting the plurality of partial driving routes. The driving control unit controls the driving unit to move the main body along the autonomous driving route.

[0133] In the above-mentioned autonomous traveling vehicle, each of the multiple partial traveling paths includes, at least in part, a global coordinate value (e.g., a coordinate value composed of latitude, longitude, and direction) defined on a global coordinate system (e.g., a coordinate value composed of latitude, longitude, and direction). The global coordinate system is a coordinate system that includes at least a specified area in which the autonomous traveling vehicle autonomously travels, and is a common coordinate system.

[0134] The autonomous driving route generation unit autonomously plans a connecting route (e.g., a connecting route CR) that connects an end point of the connection source partial driving route and a start point of the connection destination partial driving route based on the global coordinate value. Furthermore, the autonomous driving route generation unit generates the autonomous driving route by linking the connection source partial driving route, the connection destination partial driving route, and the connecting route.

[0135] In the above-mentioned autonomous traveling vehicle, at least a part of the partial traveling path includes global coordinate values ​​defined on the global coordinate system, i.e., the partial traveling path includes coordinate values ​​defined in a common coordinate system (global coordinate system). By including coordinate values ​​defined in a common coordinate system (global coordinate system) in the partial driving routes that are connected in the generation of an autonomous driving route, it is possible to autonomously plan a connecting route that connects the partial driving routes using the coordinate values ​​defined in the common coordinate system. In other words, there is no need to manually associate the partial driving routes.

[0136] 5. Other embodiments Although several embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned embodiments, and various modifications are possible without departing from the gist of the invention. In particular, several embodiments and modifications described in this specification can be arbitrarily combined as necessary.

[0137] (A) The partial running route (partial running schedule 101) may be created by a computer separate from the control units 15, 15' of the ball collecting machine 1 and stored in the memory unit 13. For example, the partial running route by the "fill-in running" described above can be generated by a separate computer. In addition, for example, a CAD or the like can be used to draw any (partial) driving route on a map representing a specified area (e.g., golf driving range 2), and the route can be converted into a sequence of points to create a partial driving route (partial driving schedule 101).

[0138] When a partial travel route is created by an individual computer as described above, for example, at least a part of the sequence of points included in the partial travel schedule 101 of the partial travel route includes coordinate values ​​that are a combination of latitude and longitude. It is preferable that the start point and the end point are coordinate values ​​that are composed of latitude and longitude. In addition, if necessary, the distance between the sequence of points in the travel schedule created by the individual computer may be associated with the actual distance. By doing this, the second driving route generation unit 59 automatically plans a connecting route CR that connects partial driving routes created by individual computers, etc. with other partial driving routes, and links these together to generate an autonomous driving route (autonomous driving schedule 103).

[0139] (B) The second driving route generation unit 59 may plan a connecting route CR for each of a plurality of partial driving routes that can be connected to one partial driving route. This allows various combinations of partial driving routes and connecting routes CR to generate various autonomous driving routes.

[0140] (C) When the second travel route generation unit 59 selects an inappropriate connecting partial travel route for one partial travel route, the second travel route generation unit 59 may notify the user of an error.

[0141] (D) Coordinate values ​​consisting of latitude, longitude, and direction may be overlapped on passing points other than the start point and end point of the partial driving route (partial driving schedule 101). In this case, the latitude, longitude, and direction of the starting point of the partial driving route can be calculated based on the distance between the starting point and the passing point including the coordinate values ​​consisting of latitude, longitude, and direction. In addition, the latitude, longitude, and direction of the end point can be calculated based on the distance between the end point and the passing point including the coordinate values ​​consisting of latitude, longitude, and direction. [Industrial Applicability]

[0142] The present invention can be widely applied to autonomous vehicles that autonomously travel along a predetermined travel route within a designated area. [Explanation of symbols]

[0143] 1 Ball collecting machine 2. Golf Driving Range 3 Sphere Scattering Area 7 Ball groove 11 Main unit 13 Storage section 15, 15' Control section 21 Running part 23 Ball collecting volleyball section 24 Ball Collection Section 24a Pickup rotor 25 Volleyball Club 25a Volleyball motor 25b Volleyball Gate 26 Connection structure 31 Travel motor 33 wheels 35 GNSS receiver 36 Position detector 37 Driving route teaching section 39 Volleyball Teaching Department 41 Direction detection sensor 51 Driving control unit 53 Driving command calculation unit 55, 55' Position calculation section 57 First driving route generation unit 59 Second driving route generation unit 71 Volleyball control section 101 Partial Running Schedule 101a~101e Partial Operation Schedule 103 Autonomous Driving Schedule B. Golf balls BOR1 border CA critical region CR connection route SD1 1st Reference Point SD2 2nd reference point SP internal space TA running area W wall

Claims

1. An autonomous traveling vehicle that autonomously travels along a predetermined autonomous traveling route within a specified area, A main body having a running portion; A storage unit that stores a plurality of partial travel routes generated within the specified area; an autonomous driving route generation unit that generates the autonomous driving route by connecting the plurality of partial driving routes; A travel control unit that controls the traveling unit to move the main body along the autonomous traveling path; a GNSS measurement unit that measures the position of the main body within the specified area as a combination of latitude and longitude; A position detector that detects information regarding the position of the main body by means other than a GNSS signal; A position calculation unit that calculates position information of the main body composed of coordinate values ​​of a global coordinate system including at least the specified area based on a signal from the GNSS measurement unit, or calculates position information of the main body composed of coordinate values ​​of a coordinate system different from the global coordinate system based on a signal from the position detector; Equipped with Each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on the global coordinate system; The autonomous driving route generation unit, autonomously planning a connected route including a first passing point that is configured by the coordinate values ​​of the global coordinates and that connects an end point of a connection source partial travel route and a start point of a connection destination partial travel route based on the global coordinate values; generating the autonomous driving route by linking the partial driving route of the connection source, the partial driving route of the connection destination, and the connection route; Either the connection source partial travel route or the connection destination partial travel route is a route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit, A route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit is configured by coordinate values ​​of the coordinate system different from the global coordinate system, the autonomous driving path generation unit converts the first pass point included in the connected path into a second pass point configured by coordinate values ​​in the coordinate system different from the global coordinate system, and creates a conversion table for converting the second pass point into the first pass point.

2. An autonomous traveling vehicle that autonomously travels along a predetermined autonomous traveling route within a specified area, A main body having a running portion; A storage unit that stores a plurality of partial travel routes generated within the specified area; an autonomous driving route generation unit that generates the autonomous driving route by connecting the plurality of partial driving routes; A travel control unit that controls the traveling unit to move the main body along the autonomous traveling path; a GNSS measurement unit that measures the position of the main body within the specified area as a combination of latitude and longitude; A position detector that detects information regarding the position of the main body by means other than a GNSS signal; A position calculation unit that calculates position information of the main body composed of coordinate values ​​of a global coordinate system including at least the specified area based on a signal from the GNSS measurement unit, or calculates position information of the main body composed of coordinate values ​​of a coordinate system different from the global coordinate system based on a signal from the position detector; Equipped with Each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on the global coordinate system; The autonomous driving route generation unit, autonomously planning a connected route including a first passing point that is configured by the coordinate values ​​of the global coordinates and that connects an end point of a connection source partial travel route and a start point of a connection destination partial travel route based on the global coordinate values; generating the autonomous driving route by linking the partial driving route of the connection source, the partial driving route of the connection destination, and the connection route; 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 a route generated in a region where latitude and longitude can be measured by the GNSS measurement unit, A route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit is configured by coordinate values ​​of the coordinate system different from the global coordinate system, the autonomous driving route generation unit converts the first pass point included in the connected route into a second pass point configured by coordinate values ​​in the coordinate system different from the global coordinate system, and creates a conversion table for converting the second pass point into the first pass point. Autonomous driving cart.

3. The autonomous traveling vehicle according to claim 1 or 2, wherein an end point of the connection source partial travel route and a start point of the connection destination partial travel route are expressed by the global coordinate values.

4. 4. The autonomous traveling vehicle according to claim 1, wherein the global coordinate values ​​are coordinate values ​​formed of latitude and longitude.

5. A method for controlling an autonomous traveling vehicle that includes a main body having a traveling unit and that autonomously travels along a predetermined autonomous traveling route within a specified area, comprising: storing a plurality of partial travel routes generated within the specified area; generating the autonomous driving route by connecting the plurality of partial driving routes; A step of moving the main body along the autonomous driving path by controlling the traveling unit; measuring the position of the main body within the specified area as a combination of latitude and longitude by a GNSS measurement unit; a position detector detecting information relating to the position of the body by means other than GNSS signals; Calculating position information of the main body based on a signal from the GNSS measurement unit, the position information being configured by coordinate values ​​of a global coordinate system including at least the specified area, or calculating position information of the main body based on a signal from the position detector, the position information being configured by coordinate values ​​of a coordinate system different from the global coordinate system; Equipped with Each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on the global coordinate system; The step of generating the autonomous driving route includes a step of autonomously planning a connected route including a first pass point that is configured by a coordinate value of the global coordinate system by connecting an end point of a connection source partial driving route and a start point of a connection destination partial driving route based on the global coordinate system value. generating the autonomous driving route by linking the connection source partial driving route, the connection destination partial driving route, and the connecting route; having Either the connection source partial travel route or the connection destination partial travel route is a route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit, A route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit is configured by coordinate values ​​of the coordinate system different from the global coordinate system, The step of generating the autonomous driving route includes a step of converting the first pass point included in the connected route into a second pass point configured by coordinate values ​​of the coordinate system different from the global coordinate system, and creating a conversion table for converting the second pass point into the first pass point. Control methods.

6. A method for controlling an autonomous traveling vehicle that includes a main body having a traveling unit and that autonomously travels along a predetermined autonomous traveling route within a specified area, comprising: storing a plurality of partial travel routes generated within the specified area; generating the autonomous driving route by connecting the plurality of partial driving routes; A step of moving the main body along the autonomous driving path by controlling the traveling unit; measuring the position of the main body within the specified area as a combination of latitude and longitude by a GNSS measurement unit; a position detector detecting information relating to the position of the body by means other than GNSS signals; Calculating position information of the main body based on a signal from the GNSS measurement unit, the position information being configured by coordinate values ​​of a global coordinate system including at least the specified area, or calculating position information of the main body based on a signal from the position detector, the position information being configured by coordinate values ​​of a coordinate system different from the global coordinate system; Equipped with Each of the plurality of partial travel paths includes, at least in part, a global coordinate value defined on the global coordinate system; The step of generating the autonomous driving route includes a step of autonomously planning a connected route including a first pass point that is configured by a coordinate value of the global coordinate system by connecting an end point of a connection source partial driving route and a start point of a connection destination partial driving route based on the global coordinate system value. generating the autonomous driving route by linking the connection source partial driving route, the connection destination partial driving route, and the connecting route; having 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 a route generated in a region where latitude and longitude can be measured by the GNSS measurement unit, A route generated in an area where latitude and longitude cannot be measured by the GNSS measurement unit is configured by coordinate values ​​of the coordinate system different from the global coordinate system, The step of generating the autonomous driving route includes a step of converting the first pass point included in the connected route into a second pass point configured by coordinate values ​​of the coordinate system different from the global coordinate system, and creating a conversion table for converting the second pass point into the first pass point. Control methods.

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