Automatic driving system

Abstract

The objective of the present invention is to provide an automatic travel device capable of traveling on a desired route automatically without carrying out position measurement. An automatic travel device 100 executes prescribed work on crops S, which are objects to be detected and are arranged in the direction of advance. A camera 101 acquires image data by capturing an image of the crops S toward the direction of advance of the automatic travel device 100. A recognition unit 102 arranges a plurality of determination windows (determination window 1L, 1R, and the like) at predetermined positions in the image data, and recognizes the crops S in the plurality of determination windows 1R and the like. An adjustment unit 104 adjusts the direction of advance of the automatic travel device 100 on the basis of a recognition result from the recognition unit 102.

Claims

1. In an automated driving device that performs a predetermined operation on objects to be detected arranged in the direction of travel, The acquisition unit captures image data of a target object in the direction of travel of the aforementioned automatic driving device, Multiple determination windows are placed at predetermined positions on the aforementioned image data, and a recognition unit is provided to recognize the object to be detected in the multiple determination windows. Based on the recognition result by the recognition unit, an adjustment unit adjusts the direction of travel of the automatic driving device, Equipped with, Each of the aforementioned multiple determination windows is positioned offset from one another according to the shooting range of the camera that photographs the object to be detected. The recognition unit, If it is determined that the number of determination windows containing the detected object is greater than or equal to a predetermined number, it is determined that the predetermined conditions have been met. Using a division determination window obtained by dividing the entire image data screen into predetermined units, it is recognized which of the division determination windows contains the object to be detected. The adjustment unit adjusts the direction of travel based on the recognition. Automatic driving system.

2. Multiple sets of determination windows, each consisting of at least two determination windows, are arranged on the left and right sides of the image data, and each determination window in the set of determination windows is offset from the others. The automatic driving device according to claim 1.

3. The automatic driving device according to claim 2, wherein each of the aforementioned determination windows is arranged to be adjacent to the left and right as a pair of determination windows.

4. The recognition unit performs recognition processing using at least four sets of determination windows. Of the four sets of judgment windows, two sets are arranged at the bottom of the image data, with each set separated to the left and right. The other two sets of judgment windows are arranged above the image data, with each set separated to the left and right. The automatic driving device according to claim 2 or 3.

5. Of the four sets of determination windows, the two sets of determination windows located at the top of the image data are smaller than the two sets of determination windows located at the bottom of the image data. The automatic driving device according to claim 4.

6. The automatic driving device according to any one of claims 1 to 5, wherein the adjustment unit adjusts the direction of travel based on the area of ​​the determination window that includes the object to be detected.

7. The termination determination window is positioned above the image data, between the determination windows. The recognition unit recognizes the end of the sequence of objects to be detected based on the image contained in the end determination window. An automatic driving device according to any one of claims 1 to 6.

8. The aforementioned predetermined conditions refer to the case where the adjustment unit recognizes that adjustment is impossible based on the recognition result by the recognition unit. An automatic driving device according to any one of claims 1 to 7.

9. The aforementioned predetermined conditions refer to the case where the direction of travel of the automatic driving device is changed beyond a predetermined range. An automatic driving device according to any one of claims 1 to 8.

Images