Automatic operation vehicle

• US 10,067,511 B2
• Filed: 03/16/2017
• Issued: 09/04/2018
• Est. Priority Date: 03/18/2016
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Shiromizu, Yasuyuki, Mizoroke, Tsutomu, Yamanaka, Makoto, Hirose, Yoshihisa, Kigami, Minami, Yamashita, Kensei
• Primary Examiner(s): Harandi, Siamak
• Application Number:
  US15/460,524
• Publication Number:
  US 20170269604A1
• Time in Patent Office: 537 Days
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

An automatic operation vehicle that automatically performs an operation in an operation area is provided. A survey unit acquires the position information of the marker using a first angle between the moving direction and a direction to the marker from a first point through which the vehicle passes during the movement in a constant moving direction, a second angle between the moving direction and a direction to the marker from a second different point through which the vehicle passes during the movement in the moving direction, and a distance between the first point and the second point. The survey unit determines the first point and/or the second point during the movement of the vehicle in the moving direction such that the angle difference between the first angle and the second angle becomes close to 90°.

Claims

1. An automatic operation vehicle that automatically performs an operation in an operation area, the vehicle comprising:

a behavior acquisition unit configured to acquire behavior information including a distance of a movement of the automatic operation vehicle and a direction of the movement;

an image analysis unit configured to extract a marker included in an image captured by a camera provided on the automatic operation vehicle; and

a survey unit configured to acquire, by triangulation, position information of the marker extracted by the image analysis unit,

wherein the survey unit acquires the position information of the marker using a first angle that is an angle difference between the moving direction and a direction to the marker from a first point through which the automatic operation vehicle passes during the movement in a constant moving direction, a second angle that is an angle difference between the moving direction and a direction to the marker from a second point through which the automatic operation vehicle passes during the movement in the moving direction, and a distance between the first point and the second point, the second point being different from the first point, and

the survey unit determines the first point and the second point during the movement of the automatic operation vehicle in the moving direction such that the angle difference between the first angle and the second angle approaches 90°

.

2. The vehicle according to claim 1, wherein during the movement of the automatic operation vehicle in the moving direction, the survey unit determines the first point such that the first angle approaches 45°

, and determines the second point such that the second angle approaches 135°

.

3. The vehicle according to claim 1, wherein during the movement of the automatic operation vehicle in the moving direction, if the angle difference between the moving direction and the direction from the current position of the automatic operation vehicle to the marker is closer to 45°

than the first angle at the already determined first point, the survey unit determines the current position as the first point in place of the already determined first point, and if the angle difference between the moving direction and the direction from the current position of the automatic operation vehicle to the marker is not closer to 45°

than the first angle at the already determined first point, the survey unit uses the first angle at the already determined first point to acquire the position information of the marker.

4. The vehicle according to claim 1, wherein during the movement of the automatic operation vehicle in the moving direction, if the angle difference between the moving direction and the direction from the current position of the automatic operation vehicle to the marker is closer to 135°

than the second angle at the already determined second point, the survey unit determines the current position as the second point in place of the already determined second point, and if the angle difference between the moving direction and the direction from the current position of the automatic operation vehicle to the marker is not closer to 135°

than the second angle at the already determined second point, the survey unit uses the second angle at the already determined second point to acquire the position information of the marker.

5. A method of controlling an automatic operation vehicle that automatically performs an operation in an operation area, the method comprising:

acquiring behavior information including a distance of a movement of the automatic operation vehicle and a direction of the movement;

extracting a marker included in an image captured by a camera provided on the automatic operation vehicle; and

acquiring, by triangulation, position information of the extracted marker,

wherein the acquiring the position information includes;

acquiring the position information of the marker using a first angle that is an angle difference between the moving direction and a direction to the marker from a first point through which the automatic operation vehicle passes during the movement in a constant moving direction, a second angle that is an angle difference between the moving direction and a direction to the marker from a second point through which the automatic operation vehicle passes during the movement in the moving direction, and a distance between the first point and the second point, the second point being different from the first point, and

determining the first point and the second point during the movement of the automatic operation vehicle in the moving direction such that the angle difference between the first angle and the second angle approaches 90°

.

6. An automatic operation vehicle that automatically performs an operation in an operation area, the vehicle comprising:

one or more processors;

memory; and

one or more programs stored in the memory and configured to be executed by the one or more processors, the programs including instructions for;

acquiring behavior information including a distance of a movement of the automatic operation vehicle and a direction of the movement;

extracting a marker included in an image captured by a camera provided on the automatic operation vehicle; and

acquiring, by triangulation, position information of the extracted marker,

wherein the acquiring the position information includes;

acquiring the position information of the marker using a first angle that is an angle difference between the moving direction and a direction to the marker from a first point through which the automatic operation vehicle passes during the movement in a constant moving direction, a second angle that is an angle difference between the moving direction and a direction to the marker from a second point through which the automatic operation vehicle passes during the movement in the moving direction, and a distance between the first point and the second point, the second point being different from the first point, and

determining the first point and the second point during the movement of the automatic operation vehicle in the moving direction such that the angle difference between the first angle and the second angle approaches 90°

.

7. A non-transitory computer readable medium storing a program causing an automatic operation vehicle that automatically performs an operation in an operation area, to execute a process, the process comprising:

acquiring behavior information including a distance of a movement of the automatic operation vehicle and a direction of the movement;

extracting a marker included in an image captured by a camera provided on the automatic operation vehicle; and

acquiring, by triangulation, position information of the extracted marker,

wherein the acquiring the position information includes;

acquiring the position information of the marker using a first angle that is an angle difference between the moving direction and a direction to the marker from a first point through which the automatic operation vehicle passes during the movement in a constant moving direction, a second angle that is an angle difference between the moving direction and a direction to the marker from a second point through which the automatic operation vehicle passes during the movement in the moving direction, and a distance between the first point and the second point, the second point being different from the first point, and

determining the first point and the second point during the movement of the automatic operation vehicle in the moving direction such that the angle difference between the first angle and the second angle approaches 90°

.