UNMANNED TRANSPORT APPARATUS AND OPERATING METHOD THEREOF

• US 20100235032A1
• Filed: 06/25/2009
• Published: 09/16/2010
• Est. Priority Date: 03/12/2009
• Status: Active Grant

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: Byun, Jaemin, SUNG, Junyong, Kim, Sung Hoon, Roh, Myung Chan
• Granted Patent: US 8,380,382 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0212 Driverless passenger transport vehicle
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar

Abstract

An unmanned transport apparatus, includes: a call unit for providing destination information corresponding to a call location according to a call signal of a communication device; a navigation guide unit for recognizing a current location using an electronic map and searching an optimum route from the current location to a destination location of the destination information; and an image recognition unit for determining a travelling route and recognizing landmarks, stop lines, and intersections on the determined travelling route. Further, the unmanned transport apparatus includes an image capture unit for capturing input images to produce image; and a control unit for controlling a steering angle by determining a steering value from the current location to the destination location based on the travelling route and landmarks, and controlling velocity and brakes by determining velocity and brake values based on the stop lines and intersections.

Claims

1. An unmanned transport apparatus, comprising:

a call unit for providing destination information corresponding to a call location according to a call signal of a communication device;

a navigation guide unit for recognizing a current location using an electronic map and searching an optimum route from the current location to a destination location of the destination information;

an image recognition unit for determining a travelling route and recognizing landmarks, stop lines, and intersections on the determined travelling route;

an image capture unit for capturing input images to produce image; and

a control unit for controlling a steering angle by determining a steering value from the current location to the destination location based on the travelling route and landmarks, and controlling velocity and brakes by determining velocity and brake values based on the stop lines and intersections.

2. The apparatus of claim 1, wherein the call unit includes:

a remote call unit for providing destination information to the navigation guide unit to call the unmanned transport apparatus to the destination corresponding to a user location in accordance with a remote call signal; and

an advance call unit for providing destination information including a reservation time to call the unmanned transport apparatus to a destination location corresponding to the reserved time and location in accordance with an advance call signal.

3. The apparatus of claim 2, wherein the communication device is one of a personal digital assistance (PDA), a mobile phone, and a personal computer (PC) which is internet accessible through the internet.

4. The apparatus of claim 1, wherein the navigation guide unit includes:

a location recognition unit for recognizing a current location using landmarks stored in the electronic map; and

an optimum route search unit for deciding the destination information at the current location based on the current location, and searching the optimum route by deciding directions to every landmarks stored in the electronic map to arrive at the destination location.

5. The apparatus of claim 4, wherein the landmark includes an intersection, a crosswalk, a speed bump, building information, and a stop line.

6. The apparatus of claim 1, wherein image recognition unit includes:

a lane recognition unit for determining a travelling route by collecting lane images captured by the image capture unit and recognizing lanes on both sides by an image processing technique;

a landmark recognition unit for recognizing landmarks on the determined travelling route; and

a stop line and intersection recognition unit for recognizing stop lines and intersections on the determined travelling route.

7. The apparatus of claim 6, wherein the image capture unit includes a camera device installed in the unmanned transport apparatus.

8. The apparatus of claim 7, wherein the camera device is a CCD camera or a CMOS camera.

9. The apparatus of claim 1, wherein the control unit includes:

a steering control unit for controlling a steering angle by recognizing a current location based on the optimum route, the travelling route and landmarks, and determining a steering value using the landmarks from the recognized current location to the destination location; and

a velocity and brake control unit for controlling velocity and brakes by determining velocity and brake values based on the stop lines and intersections to the destination location.

10. A method of operating an unmanned transport apparatus, comprising:

providing destination information corresponding to a call location in accordance with a call signal;

recognizing a current location using an electric map;

searching an optimum route from the recognized current location to the location of the destination information;

determining a travelling route using an image capture unit;

recognizing each of landmarks, stop lines, and intersections on the determined travelling route;

determining a steering value from the current location to the location of the destination information based on the travelling route and landmarks and determining velocity and brake values based on the stop lines and intersections; and

controlling a steering angle, velocity, and brakes using the steering value, and the velocity and brake values.

11. The method of claim 10, wherein said providing destination information includes:

determining a call signal inputted from the communication device;

when the call signal is determined as a remote call signal, providing the destination information to the navigation guide unit to call the unmanned transport apparatus to the destination which corresponds to a user location; and

when the call signal is determined as an advance call signal, providing the destination information which includes reservation time to reserve and call the unmanned transport apparatus to the destination information corresponding to the reserved time and location.

12. The method of claim 11, wherein the communication device is one of an internet accessible personal digital assistant (PDA), a mobile phone, or a personal computer (PC)

13. The method of claim 10, wherein in said recognizing the current location, the current location is recognized through landmarks stored in the electronic map or a navigation system.

14. The method of claim 13, wherein the landmark is one of an intersection, a crosswalk, a speed bump, building information, and a stop line.

15. The method of claim 10, wherein in said searching the optimum route, the destination information at the current location is determined through a navigation system based on the current location and to search an optimum route by determining a direction every landmark stored in the electronic map to arrive at the destination information.

16. The method of claim 10, wherein in said determining the travelling route, road images taken by the image capture unit are collected and lanes on both sides of the road are recognized by an image processing technique.

17. The method of claim 10, wherein the image capture unit is a CCD camera or a CMOS camera which obtains input images to perform image processing.

18. The method of claim 10, wherein said determining includes:

determining a steering value by recognizing a current location based on the optimum route and the travelling route and landmarks and using the landmarks from the recognized current location to the location of the destination information; and

determining velocity and brake values based on the stop lines and intersections to the location of the destination information.

19. The method of claim 10, wherein controlling a steering angle, velocity, and brakes including:

controlling a steering angle by regulating a steering device from the current location to the location of the destination information in accordance with the determined steering value;

controlling velocity by regulating an accelerator from the current location to the location of the destination information in accordance with the determined velocity value; and

controlling brakes by regulating a brake pedal from the current location to the location of the destination information in accordance with the determined brake value.

20. The method of claim 19, wherein the steering angle is left/right turn or straight drive information in accordance with the route of the destination information.