Automatic driving control device

Abstract

To provide an automatic travel control method and an automatic travel control device whereby traveling means can inexpensively and automatically travel in a traveling place where position information by GNSS cannot be acquired.SOLUTION: According to the present invention, an automatic travel control method for causing traveling means to automatically travel in a traveling place where position information cannot be acquired by a global positioning satellite system, causes the traveling means to automatically travel in a traveling direction, based on light information from a plurality of light sources provided at predetermined intervals along a traveling direction of the traveling means in the traveling place. In addition, an automatic travel control device according to the present invention includes: a plurality of light sources 2, 2. provided at predetermined intervals along a traveling direction of the traveling means (a construction machine 3) in a traveling place; light detecting means (a camera 35) which is provided in the traveling means and detects light of the light sources; and control means (a PC 30) which is provided in the traveling means and performs automatic traveling control of the traveling means, based on information from the light detecting means.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention provides a method for automatically driving a vehicle in a location where position information cannot be obtained from a global navigation satellite system (hereinafter referred to as GNSS). self This relates to a dynamic driving control device. [Background technology]

[0002] Conventionally, known driving control methods for driving a driving means in a driving location where position information cannot be obtained by GNSS include a driving control method for automatically driving a moving body (driving means) such as a robot or an automatic guided vehicle along a predetermined route (see Patent Document 1), and a driving control method that utilizes position information obtained by SLAM technology for the automatic operation of construction machinery (see Non-Patent Document 1). Patent Document 1 discloses a method for automatically driving a moving object by using multiple cameras installed in a work area, which is the target location for the movement, to identify an image of a light source mounted on the moving object from image data captured by the cameras, recognizing the relative position information of the moving object from this light source image, and comparing the position information of the moving object with predetermined driving route information. Non-patent document 1 discloses a method for automatically driving construction machinery by simultaneously performing "environmental map creation" and "self-location estimation" to grasp the surrounding environment of the construction machinery from measurement information obtained by a sensing device mounted on the construction machinery, and acquiring the self-location information of the construction machinery based on this data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-214640 [Non-patent literature]

[0004] [Non-Patent Document 1] Taisei Corporation: June 11, 2021 Corporate Information What's New "Japan's first autonomous operation of unmanned construction machinery in mines where GPS and other location information cannot be received" https: / / www.taisei.co.jp / about_us / wn / 2021 / 210611_8304.html Summary of the Invention [Problem to be solved by the invention]

[0005] However, the method disclosed in Patent Document 1 requires the installation of multiple cameras in the work area and the processing of acquiring position information of the moving object, which results in high costs. Furthermore, the method disclosed in Non-Patent Document 1 also has the problem that 3D scanning of the construction machine is required to estimate the self-position, which increases costs. The present invention makes it possible to automatically drive a vehicle at low cost and easily in places where it is not possible to obtain position information by GNSS. by myself The present invention provides a dynamic driving control device. [Means for solving the problem]

[0006] The present invention Automatic driving control device is a system for automatically driving a vehicle in a location where location information from a global positioning satellite system cannot be obtained. For and automatically traveling the traveling means along the traveling direction based on light information from a plurality of light sources provided at a predetermined interval along the traveling direction of the traveling means at the traveling location. self Automatic driving control device for realizing dynamic driving control method And The vehicle includes a plurality of light sources provided at predetermined intervals along the traveling direction of the vehicle at a travel location, a light detection means provided on the vehicle to detect light from the light sources, and a control means provided on the vehicle to automatically control the traveling of the vehicle based on information from the light detection means. 、 The light detection means is a camera provided on the traveling means, and the control means detects an image of the traveling direction of the traveling means photographed by the camera. Multiple inThe device is characterized by being equipped with an automatic driving control processing means that executes a process of calculating the area of ​​the light source, a process of determining the direction of travel of the traveling means when the area of ​​the light source is equal to or larger than a certain area, and a process of making the traveling means travel at a predetermined speed in the determined direction of travel. In addition, the image captured by the camera of the direction of travel of the traveling vehicle is a digital image, and the process of calculating the area of ​​the light source is characterized in that the part of the digital image whose brightness is equal to or greater than a predetermined value is determined to be the light source, and the area of ​​the light source in the digital image is calculated from the number of pixels. In addition, in the process of determining the direction of travel of the traveling vehicle, the direction of travel of the traveling vehicle is determined by calculating a vector that points from a position in the image where the area of ​​the light source is large to a position where the area of ​​the light source is small. The present invention self The automatic driving control device makes it possible to automatically drive a vehicle at low cost and easily in places where it is not possible to obtain position information from GNSS. In addition, as the light source to be installed corresponding to the location at which it is desired that the traveling means travel at a speed slower or faster than a predetermined speed, a light source of a different color or shape from the color or shape of the light source to be installed corresponding to the location at which it is desired that the traveling means travel at a predetermined speed is installed, and the automatic traveling control processing means is characterized in that when it recognizes the light source installed corresponding to the location at which it is desired that the traveling means travel at a slow or fast speed from an image taken of the traveling direction of the traveling means by a camera, it causes the traveling means to travel at a slow or fast speed in the location at which it is desired that the traveling means travel at a slow or fast speed, thereby making it possible to realize automatic traveling control that changes the traveling speed of construction machinery. Furthermore, the automatic driving control processing by the automatic driving control processing means is characterized in that it is performed every time the driving means is driven a predetermined distance or every time the driving means is driven for a predetermined time, making it possible to realize automatic driving control that stops the driving means every predetermined distance or every predetermined time, or automatic driving control that causes the driving means to drive continuously. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of the tunnel from the tunnel entrance toward the tunnel face (embodiment 1). [Figure 2] FIG. 1 is a schematic diagram showing how a construction machine is automatically controlled to travel back and forth between a tunnel entrance and a tunnel face (first embodiment). [Figure 3] FIG. 1 is a block diagram showing the configuration of a driving control device (first embodiment). [Figure 4]FIG. 2 is a diagram showing a control flow by the driving control device (first embodiment). [Figure 5] FIG. 10 is a schematic diagram showing how a construction machine is automatically controlled to travel back and forth between the tunnel entrance and the tunnel face (second embodiment). [Figure 6] FIG. 10 is a diagram showing a control flow by the driving control device (second embodiment). [Figure 7] FIG. 10 is an explanatory diagram of an automatic driving control process (third embodiment). [Figure 8] FIG. 10 is a diagram showing a control flow by a driving control device (Embodiment 4). DETAILED DESCRIPTION OF THE INVENTION

[0008] Embodiment 1 The driving control method of embodiment 1 is an automatic driving control method for automatically driving a driving means in a driving location where position information cannot be obtained by GNSS, and is an automatic driving control method for automatically driving the driving means along its direction of travel based on light information from a plurality of light sources provided at the driving location at predetermined intervals along the direction of travel of the driving means.In addition, an automatic driving control device for realizing this driving control method is configured to include a plurality of light sources provided at the driving location at predetermined intervals along the direction of travel of the driving means, a light detection means provided in the driving means to detect light from the light sources, and a control means provided in the driving means to perform automatic driving control of the driving means based on information from the light detection means.

[0009] Hereinafter, an example will be described in which the GNSS is, for example, a global positioning system (hereinafter referred to as GPS), and the travel location where position information cannot be obtained by the GPS is the travel surface 1R inside the tunnel 1 during tunnel construction.

[0010] As shown in Figures 1 and 2, inside a tunnel 1, multiple light sources 2, 2... are usually provided at predetermined intervals on the tunnel wall 1C between the tunnel entrance 1A and the tunnel face 1B along the direction from the tunnel entrance 1A toward the tunnel face 1B. In the first embodiment, the construction machine 3 serving as the traveling means is automatically caused to travel along the traveling direction based on the light information from the plurality of light sources 2, 2 . . . The light source 2 is a fluorescent lamp, an incandescent lamp, an LED, or the like. The predetermined intervals between adjacent light sources 2, 2 are, for example, intervals of several tens of centimeters or intervals of several meters. The predetermined intervals are preferably equal, but do not necessarily have to be equal. In addition, in embodiment 1, as shown in Figure 3, in order to allow the construction machine 3 to automatically travel on the running surface 1R of the tunnel interior 1 based on the light information from the multiple light sources 2, 2..., the construction machine 3 is configured to be equipped with a camera 35 as a light detection means for acquiring the light information from the multiple light sources 2, 2... and a PC (personal computer) 30 as a control means for inputting the light information acquired by the camera 35 and controlling the automatic traveling of the construction machine 3. Furthermore, the monitoring room 4 that monitors the automatic running of the construction machine 3 is configured to be equipped with a PC (personal computer) 40 as a control means for monitoring.

[0011] Furthermore, wireless information communication between the PC 30 mounted on the construction machine 3 and the monitoring PC 40 in the monitoring room 4 is carried out via a wireless communication system such as a WiFi router installed on the PC 30 side, an access point installed inside the tunnel 1, and a WiFi router installed on the PC 40 side.

[0012] For example, as shown in FIG. 2, a case will be described in which rubble generated at a tunnel face 1B is carried out of the tunnel using a construction machine 3. In the process of transporting debris generated at the tunnel face 1B out of the tunnel, the construction machine 3 is made to travel back and forth multiple times between the tunnel entrance 1A and the tunnel face 1B, so it is effective to employ the automatic travel control method and automatic travel control device of the present invention.

[0013] As shown in Figure 2, when the construction machine 3 is made to travel back and forth between the tunnel entrance 1A and the tunnel face 1B, the starting position for the outbound journey near the tunnel entrance 1A and the starting position for the return journey near the tunnel face 1B are determined in advance, and the construction machine 3 is directed in a predetermined state at these starting positions toward the desired traveling directions D1, D2, and the camera 35 is installed at a predetermined position on the construction machine 3 so that it can photograph the light source 2 near the starting position and multiple light sources 2, 2... located in the traveling direction. For example, the camera 35 is installed on the construction machine 3 so that it can photograph the traveling direction of the construction machine 3. Specifically, the camera 35 is installed at an upper front position of the construction machine 3. Furthermore, the light source 2 is provided on the tunnel wall surface 1C on the right side as viewed from the tunnel entrance 1A side as shown in Figure 1, or on the tunnel wall surface 1C on the left side as viewed from the tunnel entrance 1A side as shown in Figure 2, or on both the left and right tunnel wall surfaces 1C as viewed from the tunnel entrance 1A side. Therefore, it is preferable to use a wide-angle lens camera as the camera 35, which can capture an overall image of the tunnel interior 1 in the direction of travel when the construction machine 3 is positioned at the outbound journey departure position or the return journey departure position.

[0014] First, the engine of the construction machine 3 is started, and then the construction machine 3 is moved to the starting position for the outbound journey near the tunnel entrance 1A by the driver or by remote control from the monitoring room 4 based on video information transmitted from PC 30 to PC 40, and the automatic driving control processing of the construction machine 3 is then started. For example, based on a start instruction from the monitoring room 4 to the PC 30 or a start instruction directly to the PC 30, the PC 30 executes an automatic travel control process for the construction machine 3 as shown in FIG.

[0015] An example of the automatic travel control process for the construction machine 3 according to the first embodiment will be described below with reference to FIG. First, the PC 30 operates the camera 35 mounted on the construction machine 3 positioned at the outbound start position to photograph the tunnel interior 1 in the traveling direction D1 of the construction machine 3 (step S1). Next, the PC 30, which has input the digital image captured by the camera 35, calculates the area of ​​the light sources 2, 2... in the image (step S2). That is, it determines that the parts of the image whose brightness is equal to or greater than a predetermined value are the light sources 2, 2..., and calculates the area of ​​the light sources 2, 2... in the digital image from the number of pixels. Then, it is determined whether the calculated area of ​​the light sources 2, 2... is equal to or larger than a predetermined fixed area (step S3). If the calculated area of ​​the light sources 2, 2... is equal to or larger than a predetermined fixed area (Yes in step S3), the process proceeds to step S4, where processing is performed to determine the traveling direction of the construction machine 3, and then the process proceeds to step S5, where the construction machine 3 is caused to travel a predetermined distance X at a predetermined speed in the traveling direction determined in step S4. That is, the PC 30 adjusts the accelerator opening of the construction machine 3 to automatically travel the construction machine 3. Then, after the construction machine 3 has traveled the distance X, the construction machine 3 is temporarily stopped (step S6). The traveling direction determined in step S4 can be found by the PC 30 calculating a vector from a position in the image where the area of ​​the light source 2 is large to a position where the area of ​​the light source 2 is small. One method for calculating this vector is to find the centers of the figures drawn by each light source in the image and connect the centers using the least squares method.

[0016] Furthermore, if the area 2,2... of the light source in the image is smaller than a predetermined area (No in step S3), PC 30 determines that the direction of travel of construction machine 3 is not within the allowable range, and transmits information to PC 40 in the monitoring room that automatic driving is not possible. When PC 40 in the monitoring room 4 receives information from PC 30 that automatic driving is not possible, it instructs PC 30 to end the automatic driving control process and switches the control mode by PC 30 to a remote control mode in which the construction machine 3 is remotely controlled from the operation room 4 (step S7). In the remote operation mode, as shown in Fig. 3, a monitor in the monitoring room 4 transmits control information for remotely operating the construction machine 3 to the PC 30 while watching the video information successively captured by the camera 35 of the construction machine 3 and transmitted to the PC 40 via the PC 30. The PC 30 then controls the construction machine 3 in accordance with the control information transmitted from the monitoring room 4 and the procedures of the remote operation control program stored in the memory of the PC 30. Then, after the monitor in the monitoring room 4 confirms that the direction of the construction machine 3 has been corrected by remote control, he instructs PC 30 via PC 40 to resume the automatic driving control process. Upon receiving the instruction to resume the automatic driving control process, PC 30 executes steps S4 and S5 if the answer is Yes in step S3, and transmits information to PC 40 in the monitoring room that automatic driving is not possible if the answer is No in step S3. In this way, automatic travel control processing of the construction machine 3 is performed, and if automatic travel is not possible, the construction machine 3 is remotely controlled from the monitoring room 4. The turning back process of the construction machine 3 near the working face 1B may be performed by the driver or by remote control from the monitoring room 4.

[0017] In other words, the PC 30 as a control means is equipped with an automatic driving control means that performs the following processes: calculates the area of ​​the light sources 2, 2... from an image taken by the camera 35 of the direction of travel of the construction machine 3; determines the direction of travel of the construction machine if the area of ​​the light sources 2, 2... is equal to or larger than a certain area; and makes the construction machine 3 travel at a predetermined speed in the determined direction of travel. The automatic driving control means is composed of an automatic driving control processing program loaded in the memory of the PC 30 and hardware resources such as a processor of the PC 30 that executes each of the above-mentioned processes in accordance with the procedures of the automatic driving control processing program. In the first embodiment, a series of automatic travel control processes in steps S1, S2, S3, S4, S5, and S6 in Fig. 4 are executed when the construction machine 3 starts to travel automatically, and further executed each time the construction machine 3 is moved by a distance X. The distance X may be determined arbitrarily, for example, to several tens of centimeters or several meters.

[0018] According to the first embodiment, the construction machine 3 can be automatically driven inexpensively and easily inside the tunnel 1 where position information cannot be obtained by GPS. In particular, inside the tunnel 1, a plurality of light sources 2, 2... are usually provided at predetermined intervals on the tunnel wall 1C between the tunnel entrance 1A and the tunnel face 1B in the direction from the tunnel entrance 1A to the tunnel face 1B, and in embodiment 1, these plurality of light sources 2, 2... are used, so that the labor required to install the plurality of light sources 2, 2... and the cost of purchasing new plurality of light sources 2, 2... can be reduced in order to realize the automatic traveling control of the present invention, and an automatic traveling control method and automatic traveling control device for a construction machine 3 can be realized cheaply and simply. Furthermore, the automatic travel control processing program executed by the PC 30 can be realized by a simple image recognition processing program, so that the automatic travel control method and automatic travel control device for the construction machine 3 can be realized inexpensively and simply. Furthermore, according to the first embodiment, the construction machine 3 is temporarily stopped every time the construction machine 3 has traveled a predetermined distance, so that automatic travel control that takes safety into consideration can be realized.

[0019] Embodiment 2 The travel speed of the construction machine 3 may be changed based on the color of the light source. For example, as shown in Figure 5, a light source 2A of a different color is installed inside a tunnel 1 corresponding to a section L where the construction machine 3 is desired to travel at a speed slower than the above-mentioned predetermined speed, and a light source 2A of a different color is installed corresponding to a section other than section L where the construction machine 3 is desired to travel at the predetermined speed. For example, the light source 2 is a white light source, and the light source 2A is a red light source. Then, the PC 30 is caused to carry out processing to change the traveling speed of the construction machine 3. In other words, in this case, the PC 30 is configured to have an automatic driving control processing program that performs a process of recognizing the light source 2A installed corresponding to the location where the construction machine 3 is desired to travel at a low speed from the image captured by the camera 35, and a process of causing the construction machine 3 to travel a certain distance at a low speed when the light source 2A is recognized in the recognition process of the light source 2A.

[0020] An example of the automatic travel control process for the construction machine 3 according to the second embodiment will be described below with reference to FIG. First, the PC 30 inputs the digital image captured by the camera 35 and determines whether or not the light sources 2, 2... have been detected (step S11). If it is determined that the light sources 2, 2... have been detected (Yes in step S11), the process proceeds to light source color determination processing (step S12). That is, in step S11, if the PC 30 that has input the digital image captured by the camera 35 has executed steps S2 to S4 described in the first embodiment, the process proceeds to the light source color determination process (step S12). Furthermore, in step S11, if the PC 30 that has input the digital image taken by the camera 35 judges No in step S3 described in embodiment 1, it transmits information that automatic traveling is not possible to the PC 40 in the monitoring room 4. When the PC 40 in the monitoring room 4 receives the information that automatic traveling is not possible from the PC 30, it instructs the PC 30 to end the automatic traveling control process, and switches the control mode by the PC 30 to a remote operation mode in which the construction machine 3 is remotely operated from the operation room 4 (step S17).

[0021] In the light source color determination process of step S12, the PC 30 inputs the digital image captured by the camera 35 and determines whether the color of the light source in the image is a color indicating low speed (for example, red). In this light source color determination process, the area of ​​each of all light sources 2, 2... in the image is actually calculated, and the light source with the largest area is identified. If the light source with the largest area is a color that indicates slow speed, the process proceeds to step S13, where the construction machine 3 is caused to travel a predetermined distance XX in the direction of travel determined in step S4 above at a speed slower than the predetermined speed. Thereafter, the construction machine 3 is temporarily stopped (step S14). That is, the light source color determination process (step S12) includes the steps of calculating the area of ​​each light source in the digital image captured by the camera 35, identifying the light source with the largest area, and determining whether the color of the light source with the largest area is a color that indicates low speed. Furthermore, if the PC 30 determines in the light source color determination process (step S12) that the color of the light source with the largest area is not a color that indicates low speed, the process proceeds to step S15, where the construction machine 3 is caused to travel a distance X at a predetermined speed in the direction of travel determined in step S4 above. Thereafter, the construction machine 3 is brought to a temporary halt (step S16).

[0022] According to the second embodiment, it is possible to realize automatic travel control that changes the travel speed of the construction machine 3. For example, as shown in Fig. 5, in a section L where it is desired that the construction machine 3 travel at a speed slower than the above-mentioned predetermined speed, automatic travel control that causes the construction machine 3 to travel at a speed slower than the above-mentioned predetermined speed is possible.

[0023] In addition, in the second embodiment, a series of automatic travel control processes of steps S11, S12, S13, and S14 in FIG. 6 are executed each time the construction machine 3 is moved a distance XX, or a series of automatic travel control processes of steps S11, S12, S15, and S16 in FIG. 6 are executed each time the construction machine 3 is moved a distance X. In the second embodiment, the distances X and XX may also be determined arbitrarily, but by setting the lengths of the distances X and XX to be short, the PC 30 can more accurately and reliably recognize the boundary position between the section where the construction machine 3 travels at a predetermined speed and the section where the construction machine 3 travels at a low speed, and the speed change process for the construction machine 3 can be performed appropriately. Also in the second embodiment, the construction machine 3 is temporarily stopped every time it travels a predetermined distance, so that automatic travel control that takes safety into consideration can be realized.

[0024] Furthermore, in the light source color determination process in step S12 in the second embodiment, the distance traveled in step S13 may be changed depending on the proportion of the area of ​​the light source 2A whose color indicates a low speed.

[0025] In addition, in embodiment 2, the light source installed in a location where it is desired to run the construction machine 3 at a speed faster than the above-mentioned predetermined speed may be a light source of a different color from the light source 2 installed in a location where it is desired to run the construction machine 3 at the predetermined speed. Furthermore, as a light source to be installed in a location where it is desired to make the construction machine 3 travel at a speed slower or faster than the above-mentioned predetermined speed, a light source of a different shape from the light source 2 to be installed in a location where it is desired to make the construction machine 3 travel at a predetermined speed may be installed.

[0026] Embodiment 3 In the first and second embodiments, the automatic travel control process is executed each time the construction machine 3 is moved a distance X or a distance XX, but as shown in Fig. 7, the automatic travel control process may be executed at a position a distance a before the position of distance X or distance XX, that is, at the point where the construction machine 3 has traveled (Xa) from the starting point of distance X or (XX-a) from the starting point of distance XX. In this way, the construction machine 3 can be automatically traveled continuously.

[0027] An automatic travel control process according to the third embodiment, for example, an automatic travel control process for changing the travel speed of the construction machine 3, will be described. In this case, for example, if the light source color determination process (step S12) in Fig. 6 returns No, a process of traveling the distance X at a predetermined speed is performed, and the light source detection determination process (step S11) and the light source color determination process (step S12) are performed at the point when the construction machine 3 has traveled a distance (Xa) from the starting point of the distance X. Then, if the light source detection determination process (step S11) returns No at this time, the construction machine 3 is temporarily stopped and switched to remote operation mode. 6, if the result is Yes, the construction machine 3 is caused to travel a distance XX at a low speed, and at the point where the construction machine 3 has traveled a distance (XX-a) from the starting point of the distance XX, the construction machine 3 is caused to perform a light source detection determination process (step S11) and a light source color determination process (step S12).If the result is No in the light source detection determination process (step S11), the construction machine 3 is temporarily stopped and switched to remote operation mode. According to the third embodiment, the construction machine 3 can be made to travel automatically continuously, and the travel speed of the construction machine 3 can be changed. In the third embodiment, it is also possible to automatically drive the construction machine 3 continuously at a constant predetermined speed.

[0028] Embodiment 4 In the first to third embodiments, an example has been shown in which the automatic travel control processing is performed every time the construction machine 3 travels a predetermined distance, but the automatic travel control processing may also be performed every time the construction machine 3 travels for a predetermined time.

[0029] An automatic travel control process according to the fourth embodiment, for example, an automatic travel control process for changing the travel speed of the construction machine 3, will be described. In this case, as shown in FIG. 8, the same light source detection determination process (step S21) as in step S11 described above and the same light source color determination process (step S22) as in step S12 are performed. If the result of the light source color determination process (step S22) is Yes, a process of causing the construction machine 3 to travel at a speed slower than a predetermined speed (step S23) is performed. If the result of the light source color determination process (step S22) is No, the process of running the construction machine 3 at a predetermined speed (step S24) is performed. Then, after a predetermined time has elapsed (step S25) since the start of the process (step S23) of running the construction machine 3 at a speed slower than a predetermined speed, or the start of the process (step S24) of running the construction machine 3 at a predetermined speed, a light source detection determination process (step S21) and a light source color determination process (step S22) are performed. If the result of the light source detection determination process (step S21) is No, the construction machine 3 is temporarily stopped (step S26) and switched to remote control mode (step S27). In the fourth embodiment, similarly to the third embodiment, the construction machine 3 can be made to travel automatically continuously, and the travel speed of the construction machine 3 can be changed. In the fourth embodiment, it is also possible to automatically drive the construction machine 3 continuously at a constant predetermined speed.

[0030] In the fourth embodiment, an example has been shown in which the construction machine 3 is temporarily stopped when the light source detection determination process (step S21) returns No, but the construction machine 3 may also be temporarily stopped every time a predetermined time has elapsed (step S25). In this way, automatic travel control that takes safety into consideration can be achieved in the fourth embodiment as well.

[0031] In other words, in the automatic driving control device of the present invention, the automatic driving control processing by the automatic driving control processing means may be performed every time the construction machine 3 is driven a predetermined distance, or every time the construction machine 3 is driven for a predetermined time. In this case, if the construction machine 3 is temporarily stopped after traveling a predetermined distance or after a predetermined time has elapsed, automatic driving control that takes safety into consideration can be realized, and if the construction machine 3 is allowed to travel continuously, efficient automatic driving control can be realized.

[0032] Embodiment 5 The construction machine 3 is equipped with a camera 35 and an optical sensor (not shown), and the distance between the construction machine 3 and the light source 2 is obtained from the information on the received light intensity obtained from the optical sensor.By controlling the distance between the tunnel wall 1C and the construction machine 3 to be constant, more accurate and safer automatic driving control can be achieved.

[0033] In each embodiment, in order to perform the process of determining the direction of travel of the construction machine 3 (step S4), the camera 35 is installed on the construction machine 3 so that the direction of travel of the construction machine 3 can be photographed, but the camera 35 may also be installed on the construction machine 3 so that the camera 35 faces toward the tunnel wall surface 1C. In this way, if the camera 35 is installed facing the tunnel wall 1C, it becomes difficult to perform the process of determining the direction of travel of the construction machine 3 (step S4). However, for example, as in the above-mentioned embodiment 5, by performing control to keep the distance between the tunnel wall 1C and the construction machine 3 constant, it becomes possible to control the direction of travel of the construction machine 3.

[0034] Also, monitoring does not have to be performed in the monitoring room 4. In this case, if the result is No in step S3 of Fig. 4, No in step S11 of Fig. 6, or No in step S21 of Fig. 8, the PC 30 may issue a notice such as an alarm or display indicating that autonomous driving is not possible.

[0035] Furthermore, according to the present invention, since the traveling means can be made to travel automatically in a traveling location where location information cannot be obtained by GNSS, the traveling means can be of any configuration that allows it to travel, and the traveling location can be of any location where location information cannot be obtained by GNSS. The light source on the wall may be a floodlight such as an LED balloon. [Explanation of symbols]

[0036] 1. Inside the tunnel, 1R. Running surface (running location) inside the tunnel, 2,2A light source, 3 construction machines (travel means), 30 PCs (control means), 35 Camera (light detection means), D1, D2 direction of travel.

Claims

1. In order to automatically drive a vehicle in a driving location where location information from a global positioning satellite system cannot be obtained, An automatic travel control device for realizing an automatic travel control method for automatically traveling a traveling means along a traveling direction based on light information from a plurality of light sources provided at a traveling location at predetermined intervals along the traveling direction of the traveling means, a plurality of light sources provided at predetermined intervals along the traveling direction of the traveling means at the traveling location; a light detection means provided on the traveling means for detecting light from the light source; a control means provided in the traveling means for automatically controlling the traveling means based on information from the light detection means; the light detection means is a camera provided on the traveling means, The control means An automatic driving control device characterized by comprising an automatic driving control processing means that executes a process of calculating the area of ​​a plurality of light sources in an image captured by a camera in the direction of travel of the traveling vehicle, a process of determining the direction of travel of the traveling vehicle if the area of ​​the light sources is equal to or larger than a certain area, and a process of making the traveling vehicle travel at a predetermined speed in the determined direction of travel.

2. The image captured by the camera in the direction of travel of the vehicle is a digital image, The automatic driving control device according to claim 1, characterized in that in the process of calculating the area of ​​the light source, a part in the digital image whose brightness is equal to or greater than a predetermined value is determined to be the light source, and the area of ​​the light source in the digital image is calculated from the number of pixels.

3. An automatic driving control device as described in Claim 1, characterized in that in the process of determining the direction of travel of the driving means, the direction of travel of the driving means is obtained by calculating a vector pointing from a position in the image where the area of ​​the light source is large to a position where the area of ​​the light source is small.

4. As a light source to be installed corresponding to a location in the travel location where it is desired that the travel means travel at a speed slower or faster than a predetermined speed, a light source having a color or shape different from the color or shape of a light source to be installed corresponding to a location in the travel location where it is desired that the travel means travel at the predetermined speed is installed; An automatic driving control device as claimed in any one of claims 1 to 3, characterized in that when the automatic driving control processing means recognizes a light source installed in a location where the traveling means is desired to travel at a low or high speed from an image taken by a camera in the direction of travel of the traveling means, the automatic driving control processing means causes the traveling means to travel at a low or high speed in the location where the traveling means is desired to travel at a low or high speed.

5. 5. The automatic driving control device according to claim 1, wherein the automatic driving control processing by the automatic driving control processing means is performed every time the driving means is driven a predetermined distance, or every time the driving means is driven for a predetermined time.

Images