JP5903352B2 - Automatic unloading device - Google Patents

Description

  The present invention relates to an automatic unloading apparatus that unloads a vehicle automatically to a position of a user located in the vicinity of the vehicle.

  2. Description of the Related Art Conventionally, a position recognition system has been proposed in which a user who has a predetermined mobile terminal is notified of a parking position of a vehicle parked in a large parking lot at a position away from the vehicle.

  In this position recognition system, a plurality of wireless base stations (fixed stations) covering a predetermined area are installed in the wide parking lot, and when a vehicle carrying a user carrying the mobile terminal is parked at a specific position, The mobile terminal is registered that the position of the radio base station installed in the vicinity of the specific position is the target position of the vehicle ([0018] of Patent Document 1).

  In [0019] of Patent Document 1, the user who has the mobile terminal moves the target position displayed on the display unit of the mobile terminal from the position away from the vehicle, the direction of the target position, It is disclosed that the distance can be visually recognized.

  However, such a position recognition system has a problem that it is necessary to develop an infrastructure including a plurality of radio base stations, and the cost becomes extremely high, and the use range is limited to a range where the infrastructure is established.

  In [0053]-[0059] of Patent Document 2, when a vehicle is parked in a narrow place, a user gives a leaving instruction to the vehicle by a mobile phone from the vicinity of the parking position, so that the vehicle is There has been proposed an automatic delivery system for vehicles that exit and stop by automatic driving to a position.

Japanese Patent Laid-Open No. 10-141962 JP 2005-96703 A

  In Patent Document 2 which proposes an automatic delivery system, first, a parking position of a vehicle acquired by a GPS receiver of the mobile phone at the time of parking is stored in the mobile phone. Next, in the vicinity of the parking position, when the vehicle is automatically delivered to the calling position (also referred to as the current position) that is the position of the mobile phone, the parking position of the vehicle and the vehicle It is disclosed that the vehicle can be automatically delivered from the parking position to the current position by displaying the current position and a user issuing a delivery instruction on the screen ([0053] of Patent Document 2). -[0059]).

  However, in the prior art according to this Patent Document 2, the parking position storing operation and the leaving instruction operation are complicated, and furthermore, a map is displayed on the portable terminal, and the vehicle parking position and the user's It is configured so that automatic driving can be performed on the assumption that the current position is displayed.

  For this reason, it is necessary that the vehicle parking position and the calling position of the user who owns the mobile terminal are already known on the map, and a GPS receiver and map data are required. Even in the disclosed technique, there is a problem that the system becomes complicated and the cost cannot be reduced so much.

  In addition, since a GPS receiver is used, there is a problem that automatic parking cannot be performed in a parking lot in a building or an underground shopping center where GPS radio waves do not reach or are difficult to reach.

  Further, in [0053] of Patent Document 2, a video around a parking position may be taken by a camera of a mobile terminal, a measurement error in GPS positioning may be corrected, and a more accurate current position and parking position may be obtained. However, nothing specifically describes how to process and correct the measurement error of GPS positioning.

  The present invention has been made in consideration of such problems, and automatically uses a simple configuration and operation at a low cost without using map data up to the user's position in the vicinity of the vehicle. An object is to provide an automatic delivery device that enables delivery.

The automatic delivery device according to the present invention causes a vehicle in a parking position to be delivered from a delivery direction, which is a direction of a center line of the vehicle in the parking position, by a calling radio wave transmitted from a mobile communication terminal , and along the calling direction. wherein a mobile communication automatic unloading device Ru is stopped summoned to the position of the terminal, the vehicle includes an automatic operation unit for automatic operation of the vehicle, as viewed in plan view, said vehicle receives about said vehicle The radio wave reception area is divided into at least two front and rear divisions in the front and rear direction of the vehicle or at least four front and rear left and right divisions in the front and rear and left and right directions of the vehicle, and a threshold value that does not detect radio waves between adjacent reception areas mounting a receiving unit for receiving the radio wave by providing a region, the said goods issue direction is maintained until the call completion, summoned the said unloading direction If countercurrent Prefecture is the same direction, the receiving unit, upon receiving the summons waves of the vehicle transmitted from the mobile communication terminal at a location remote from the vehicle, the automatic operation unit is in the receiving area The automatic operation is performed toward the reception area where the radio field intensity is high, and the automatic operation is stopped when the reception area where the radio field intensity is high is switched to the adjacent reception area.

According to the invention, it is possible to induce the vehicle to the position of precisely the mobile communication terminal in easy easy Do construction and operation. Of course, there is no need for infrastructure such as a base station, and there is no need to use map data.

In addition, the automatic delivery device according to the present invention provides a delivery of a vehicle in a parking position by a call signal including a delivery signal and a call guidance signal transmitted from a mobile communication terminal in the direction of the center line of the vehicle in the parking position. An automatic unloading device that makes a right turn or a left turn after leaving the direction, calls to the position of the mobile communication terminal along the calling direction orthogonal to the leaving direction, and stops the vehicle automatically. An automatic driving unit for driving, and when viewed in plan view, the reception area of the radio wave received by the vehicle with the vehicle as a center is divided into front / rear / left / right divisions divided into at least four front / rear and left / right sides, and adjacent to the vehicle A reception unit that receives the radio wave by providing a threshold area that does not detect radio waves between the reception areas, and the reception unit is mounted on the vehicle. When the vehicle exit signal transmitted from the mobile communication terminal is received at the position, the automatic operation unit automatically operates in the exit direction toward the reception region having a high radio wave intensity in the reception region. When the reception area having a high radio field intensity is switched to the adjacent reception area, a call confirmation signal is transmitted from the automatic operation unit, and the call communication confirmation signal is received by the portable communication terminal. The portable communication terminal switches the delivery signal to the calling guidance signal, and continues the automatic driving along the calling direction by the automatic driving unit, and the automatic driving unit has the reception area having a high radio wave intensity in the receiving area. While the automatic operation along the calling direction is continued toward the reception area where the radio field intensity is large When that has switched to the reception area, characterized by stopping the automatic operation.

The automatic leaving device according to the present invention allows a vehicle in a parking position to be sent from a mobile communication terminal by a calling signal including a leaving signal and a calling guidance signal from a leaving direction that is a direction of a center line of the vehicle in the parking position. An automatic unloading device that makes a right turn or a left turn after unloading, calls to the position of the mobile communication terminal along the calling direction orthogonal to the unloading direction, and stops the vehicle automatically. The driving unit and the reception area of the radio wave received by the vehicle centered on the vehicle in a plan view are divided into at least two and a threshold area that does not detect radio waves is provided between the adjacent reception areas. And a receiving unit that receives the radio wave, before the receiving unit is transmitted from the portable communication terminal at a position away from the vehicle. When receiving the exit signal of the vehicle, the automatic operation unit sets the reception area as a reception area obtained by dividing at least the left and right of the vehicle, and the exit direction toward the reception area having a high radio wave intensity in the reception area. The automatic driving unit is configured to turn the turning direction with respect to the receiving unit during a right turn or a left turn when the vehicle starts to leave and the direction of the vehicle is toward the position of the mobile communication terminal. The automatic operation unit continues the automatic operation by rotating each reception area by 90 degrees in the opposite direction, and the automatic operation unit automatically operates along the calling direction toward the reception area having a high radio wave intensity in the reception area. The automatic operation is stopped when the reception area where the radio field intensity is high is switched to the adjacent reception area during the operation.

  According to the present invention, it is possible to automatically issue a vehicle accurately and at low cost with a simple configuration and operation without using map data up to the position of a user who has a mobile terminal located in the vicinity of the vehicle. it can.

It is a block diagram which shows the system configuration | structure of the automatic shipping apparatus which concerns on embodiment of this invention. It is a typical top view explaining the receiving area etc. of the antenna mounted in the vehicle. It is a sequence diagram explaining the process which makes a vehicle go out automatically to the position (calling position) of a mobile communication terminal. It is a schematic plan view explaining switching of the reception area (radio wave arrival direction determination area) at the position (calling position) of the mobile communication terminal. It is explanatory drawing of the switch of the radio wave arrival direction in the position (calling position) of a mobile communication terminal. It is a schematic plan view explaining a structure, operation | movement, etc. of the automatic cargo delivery apparatus which concern on other embodiment.

  Hereinafter, an automatic delivery device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 shows a system configuration of an automatic delivery device 10 according to an embodiment of the present invention.

  The automatic delivery device 10 includes a remote controller 12 and a vehicle 14 as portable communication terminals that can be carried by a user such as a driver.

  The remote controller 12 is a two-way wireless remote control device having a communication distance using low-power radio waves, that is, a communication range of about several tens of meters. The remote controller 12 (also referred to as the bidirectional remote controller 12) is used as the vehicle 14. Can be replaced with an electronic key with a display that locks and unlocks the door lock. Moreover, you may make it incorporate in portable communication terminals, such as a smart phone and a tablet terminal.

  The remote control 12 and the vehicle 14 are wirelessly connected by a local line 16.

  The remote controller 12 includes an ECU (Electronic Control Unit) 18 that is a control unit, a display unit 20 that is a display connected to the ECU 18, an operation unit 22, and a communication unit 24 including an antenna. The display unit 20 may also be used as the operation unit 22 as a touch screen.

  The vehicle 14 basically includes a transmission / reception unit 30 and an automatic operation unit 32.

  The transmission / reception unit 30 includes an antenna 38 having directivity such as an array antenna that can change directivity (also referred to as transmission / reception area or reception area), and further includes a communication unit 34 connected to the antenna 38. The processing unit 36 is included. As shown in FIG. 2, the antenna 38 is mounted on the roof portion of the vehicle 14, for example, vertically above the position of the center of gravity.

  The communication unit 34 includes a power supply / communication circuit 40 that supplies power to the antenna 38 and a directivity changing circuit 42, and the processing unit 36 includes a reception signal processing circuit 44 and a radio wave arrival direction determination circuit 46. The directivity changing circuit 42 changes the directivity (reception area) of the antenna 38 to an arbitrary direction (area).

  On the other hand, the automatic operation unit 32 includes an automatic start system 51, an automatic turning device 52, an automatic transmission device 53, an automatic transmission device 53, an automatic starter device 52 connected through a communication line 50 such as a CAN (Controller Area Network), etc. A brake 54 and a surrounding obstacle recognition device 55 are provided. The peripheral obstacle recognition device 55 is configured by a camera and an ultrasonic sensor. The automatic delivery system unit 48 changes the directivity (reception area) of the antenna 38 through the directivity changing circuit 42.

  FIG. 2 is a schematic plan view for explaining a reception area and the like based on the directivity direction / directivity characteristic of the antenna 38 according to this embodiment mounted on the vehicle 14.

  The reception areas A, B, C, and D (radio wave arrival direction determination reception areas) expressed with the position of the antenna 38 as the center are divided into four parts in front, rear, left, and right of the vehicle 14 in a plan view, and are drawn with icons. The area | region which discriminate | determines the arrival direction of the electromagnetic wave from the remote control 12 which a user possesses is shown. The reception area A represents the right rear area of the vehicle 14, the reception area B represents the left rear area of the vehicle 14, the reception area C represents the left front area of the vehicle 14, and the reception area D represents the right front area of the vehicle 14. , B, C, and D cover the entire peripheral range (360 °) of the vehicle 14 as a reception area when viewed in plan view.

  The threshold areas E, F, G, and H (non-reception areas) indicate boundary portions (cuts) between the reception areas A to D that determine the arrival directions of radio waves. For example, the threshold area E indicates a boundary portion between adjacent reception areas A and D.

  Reception areas A, B, C, and D (reception areas I, J, K, and L in FIG. 6 described later) and threshold areas E, F, G, and H (threshold areas M, N, R, and T in FIG. 6 described later) The area division / change is performed by switching the connection of the array antenna element groups by the directivity changing circuit 42, for example.

  Calling positions a, b, c, and d indicate positions where the vehicle 14 is called using the remote controller 12 that transmits radio waves from the communication unit 24 (also the position of the remote controller 12).

  In FIG. 2, directions 1 a, 1 b, 1 c, and 1 d indicate directions in which the processing unit 36 determines the arrival direction of radio waves from the corresponding calling positions a, b, c, and d and the vehicle 14 is automatically issued. . In the case of FIG. 2, the direction of the vehicle 14 at the start of shipping (direction in which the vehicle can be driven) and the direction of the vehicle at the calling positions a to d, which are remote control positions, are orthogonal to each other when seen in a plan view. Become. In a normal case, an approach / retreat path to the parking position is provided perpendicular to the center line (axis) direction (traveling direction) of the vehicle 14 existing at the parking position.

  The directions 1a to 1d are referred to as the exit direction (the direction of the center line of the vehicle 14 at the parking position) at the start of the exit of the vehicle 14, and before the completion of the call toward the attracting positions a to d, It may be referred to as being divided into a direction perpendicular to the center line direction of the vehicle 14 at the parking position. When the direction of the vehicle 14 at the start of leaving is maintained until the completion of the call, the leaving direction and the calling direction are the same direction.

  Next, with regard to the operation of the automatic delivery device 10 according to this embodiment basically configured as described above, a process of automatically leaving the vehicle 14 from the calling position d where the remote controller 12 is located and stopping at the calling position d. Will be described with reference to the sequence diagram shown in FIG. The control subject on the remote control 12 side is the ECU 18, and the control subject on the vehicle 14 side is the automatic delivery system unit 48.

  When the ECU 18 detects that the user holding the remote controller 12 has operated the operation unit 22 of the remote control 12 (operation of pressing a delivery button or the like) in the sequence S1 at the calling position d, the ECU 18 A radio wave that modulates the calling signal is transmitted via

  The radio wave modulated by the calling signal is received by the antenna 38 through the local line 16, demodulated through the power supply / communication circuit 40 of the communication unit 34 and the received signal processing circuit 44 of the processing unit 36, and automatically issued in sequence S11. The system unit 48 receives a call signal including an identification signal of the vehicle 14 and the like.

  The automatic delivery system unit 48 that has received the calling signal transmits a radio wave obtained by modulating the response signal through the communication unit 34 and the antenna 38 in sequence S12.

  In order to avoid complication, the following description will be made as an exchange between the ECU 18 of the remote controller 12 and the automatic delivery system unit 48 of the vehicle 14.

  In sequence S2, when the ECU 18 receives the response signal, the ECU 18 transmits a delivery signal in sequence S3 and maintains a delivery state of the delivery signal (for example, keeps pressing the delivery button).

  When the automatic delivery system unit 48 receives the delivery signal in sequence S13, in sequence S14, among the reception areas A to D, the automatic delivery system unit 48 transmits the reception area D having the highest reception sensitivity (radio wave intensity) of the delivery signal. Recognizing the arrival direction, the delivery direction is determined to be direction 1d (forward right direction).

  In sequence S15, the automatic delivery system unit 48 starts the engine by the engine starting device 51, sets the automatic transmission 53 to a so-called drive position while applying the automatic brake 54, and then uses the surrounding obstacle recognition device 55 to While confirming the obstacle, the automatic brake 54 is released and the automatic delivery operation is started in the direction 1d.

  Next, the automatic delivery system unit 48 passes through the processing of sequence S16 according to another embodiment to be described later, and has the highest radio field intensity in sequence S17 during a right turn while continuing automatic delivery operation. When the area transitions from the reception area D to the reception area C, a call confirmation signal is transmitted.

  In sequence S4, the ECU 18 that has received the call confirmation signal transmits the outgoing signal instead of the call guidance signal in sequence S5, and maintains the transmission state of the call guidance signal. In practice, the user automatically pushes the shipping button and the shipping signal is automatically switched to the calling guidance signal.

  In sequence S18, the automatic delivery system unit 48 that has received the call guidance signal determines the call direction and continues the automatic operation while receiving the call guidance signal in the reception area C.

  Next, in step S19, the automatic delivery system unit 48 confirms whether or not the calling guidance signal has caused a transition of the radio wave arrival direction determination area.

  The processing of this sequence S19 will be described in detail.

  As shown in FIG. 4, for example, when the vehicle 14 travels a position P1 immediately before the position P2, which is a position immediately before the calling position d, while receiving the calling guidance signal, the calling guidance is performed in the reception area C. Continue automatic operation while receiving signals.

  When the installation position of the antenna 38 of the vehicle 14 passes through the position P2 immediately before the calling position d, the area where the reception intensity (reception radio wave intensity) is the highest, that is, the arrival direction of the radio wave from the reception area C is a threshold value. After the region G (the threshold region G has the lowest reception intensity), the transition to the reception region B is made at the position P3 immediately after the position P2.

  That is, as shown in FIG. 5, at the position P2, the reception intensity of the reception area C and the reception intensity of the reception area B are inverted {relatively, the arrival direction of the radio wave (calling guidance signal) is changed from the reception area C to the reception area B. Switch to}.

  With this transitioned position P2 as the calling position d, in sequence S20, the automatic delivery system unit 48 stops the vehicle 14 through the automatic operation unit 32, turns off the engine, and stops the automatic delivery operation. In sequence S21, the vehicle stop signal (Calling completion signal) is transmitted and the automatic delivery calling process is terminated.

  ECU18 which received the vehicle stop signal in sequence S6 complete | finishes transmission of a calling guidance signal, and complete | finishes automatic warehousing calling processing in sequence S7.

  FIG. 6 shows a partial configuration / operation of an automatic delivery device 10A according to another embodiment in which the automatic delivery system unit 48 performs the processing of sequence S16, and also indicates the directivity direction / directivity of the antenna 38A according to the other embodiment. It is a typical top view explaining a characteristic etc.

  The vehicle 14A that constitutes the automatic delivery device 10A includes an antenna 38A. The antenna 38A has a configuration in which a reception area, which is a discrimination area of the arrival direction of radio waves, is divided into two reception areas I and J, and the discrimination area can be rotated by a directivity changing circuit 42.

  Receiving areas I and J, centered on the position of the antenna 38A, indicate areas in which the left and right sides of the vehicle 14A are divided into two to determine the direction of arrival of radio waves from the remote control 12A possessed by the user drawn with icons. . The reception area I indicates the right half area of the vehicle 14A, the reception area J indicates the left half area of the vehicle 14A, and the entire surrounding range (360 °) of the vehicle 14 is viewed in plan view by the reception areas I and J. Covered as a reception area.

  In addition, in order to determine whether the vehicle 14A is a backward exit or a previous advance warehouse, the operation unit 22 of the remote controller 12A is provided with a forward advance button and a backward exit button operated by the user. The threshold areas M and N (non-reception areas) indicate boundary portions (cuts) between the reception areas I and J for determining the arrival direction of the radio wave before leaving.

  The receiving areas K and L, which are centered on the antenna 38A of the vehicle 14A located in the vicinity of the calling position d, which is the position of the remote controller 12A, are stored in the sequence S16 (FIG. 3), which will be described in detail later, A reception area obtained by rotating the arrival direction determination area (reception areas I and J) by 90 ° in the rotation position area 100 (FIG. 6) in the opposite direction (left direction) to the exit turning direction (forward right direction) of the vehicle 14A. Show. The threshold areas R and T (non-reception areas) indicate boundary portions (cuts) between the reception areas K and L rotated by 90 °.

  The call position d indicates a position (also a position of the remote control 12A) where the vehicle 14A is called using the remote control 12A that transmits radio waves from the communication unit 24.

  A direction 1d indicates a direction in which the arrival direction of the radio wave is determined from the calling position d and automatically issued. In the case of FIG. 6, as in FIG. 2, the direction of the vehicle 14A at the time of the start of shipping (shipping direction) and the direction of the vehicle at the calling position d, which is the position of the remote controller 12A, are viewed in plan view. The directions are orthogonal.

  The direction 1d is the exit direction when the vehicle 14A starts to leave, and the call direction before the completion of the call toward the call position d. When the direction of the vehicle 14 at the start of leaving is maintained until the completion of the call, the leaving direction and the calling direction are the same direction.

  Next, the operation (processing) of the automatic unloading apparatus 10A according to another embodiment when the unloading operation is performed from the calling position d that is the position of the remote controller 12A will be described, but basically the sequence shown in FIG. Are the same sequence, different sequences will be described in detail, and the same sequence will be partially omitted.

  First, at the call position d, when the user presses the front advance box button on the remote controller 12A and sends a call signal for the previous advance box from the remote controller 12A, the vehicle 14A arrives at the reception area I on the right side of the vehicle with the highest radio wave reception intensity. It recognizes as a direction and starts an automatic leaving operation in the direction 1d (the leaving direction) in the forward right direction.

  Next, when the vehicle 14A is turning right and reaches the rotational position region 100 depicted by the broken arc in FIG. 6, the automatic delivery system unit 48 directs the antenna 38A through the directivity changing circuit 42 in sequence S16. The reception areas I and J, which are radio wave arrival direction determination areas, are rotated 90 degrees in the direction opposite to the direction 1d (calling direction) to change to the receiving areas K and L, and the call confirmation signal is changed. A call is made (sequence S17). Thereafter, the vehicle 14A continues the automatic driving while receiving the calling guidance signal in the reception area K in front of the vehicle (sequence S18).

  Next, when passing next to the call position d, the area having the highest reception intensity of the call guide signal transitions from the reception area K to the reception area L (sequence S19).

  Finally, the automatic operation unit 32 determines that the transitioned position P2 is the calling position d, and stops the automatic delivery operation of the vehicle 14A (sequence S20).

[Summary of Embodiment]
The automatic delivery devices 10 and 10A according to this embodiment are devices that call the vehicles 14 and 14A up to the position of the remote controls 12 and 12A by calling radio waves transmitted from the remote controls 12 and 12A as portable communication terminals.

  The vehicles 14, 14A and the automatic operation unit 32 that automatically drives the vehicles 14, 14A, and the reception area of the radio wave received by the vehicles 14, 14A centering on the vehicles 14, 14A in a plan view, are divided into two ( Threshold for preventing reception of radio waves between adjacent reception areas {(I, J), (A, B), etc.} while being divided into reception areas I, J) or four divisions (reception areas A, B, C, D) A transmission / reception unit 30 (including an antenna 38) that functions as a reception unit that receives the radio waves by providing areas N and F, and the transmission / reception unit 30 is located away from the vehicles 14 and 14A. When receiving the calling radio waves of the vehicles 14 and 14A transmitted from the remote controls 12 and 12A located at a certain calling position d, the automatic operation unit 32 is in the receiving areas A, B, C, and D (I, J). Radio wave intensity Automatic operation toward greater the reception area, greater the reception area of the radio wave intensity, stops the automatic operation when switching to the receiving area adjacent.

  According to this embodiment and other embodiments, the sending / receiving unit 30 functioning as a receiving unit transmits the calling of the vehicles 14, 14A transmitted from the remote control 12, 12A at the calling position d away from the vehicles 14, 14A. When the radio wave is received, the automatic operation unit 32 moves toward the reception area having a high radio wave intensity in the reception areas A, B, C, and D (I, J) divided into two or four as viewed in a plan view. Since the automatic operation is performed and the automatic operation is stopped when the reception area where the radio field intensity is large is switched to the adjacent reception area, a radio wave reception device with high angular resolution is not provided on the vehicle side. The vehicles 14 and 14A can be accurately guided to the calling position d which is the position of the remote controls 12 and 12A possessed by the user. Of course, since no infrastructure such as a base station is required and there is no need to use map data, the automatic delivery devices 10, 10A can be configured at low cost.

  When the reception area of the transmission / reception unit 30 is divided into two, the reception areas I and J are divided into the left and right sides of the vehicle 14A. When the reception area is four divisions, the reception areas are divided into the front, rear, left and right sides of the vehicle 14. Assuming that A, B, C, and D are used, the control process is simplified because there is no need to give a rotational offset to the reception area.

  Further, when the vehicles 14 and 14A automatically drive toward the position of the remote control 12 or 12A (calling position d), the direction of the vehicle 14 or 14A at the start of the shipment and the position of the remote control 12 or 12A (calling position d) The direction of the vehicles 14 and 14A can be easily guided to the position of the remote controllers 12 and 12A (calling position d) even when the directions are orthogonal when viewed in plan view.

  For example, in the automatic delivery device 10 of FIG. 4, the vehicle 14 detects (recognizes) a reception area D with high reception intensity, moves forward, and detects (recognizes) reception area C with high reception intensity during a right turn. Then, the automatic operation is performed in the direction of the calling position d, and the automatic delivery operation is stopped when the reception area with high reception intensity transitions (changes) from the reception area C to the reception area B.

  In this case, when the reception area of the transmission / reception unit 30 is divided into two (reception areas I and J) as in the automatic delivery apparatus 10A in FIG. 6, the automatic operation unit 32 causes the vehicle 14A to start delivery. Thus, each receiving area K obtained by rotating each receiving area I, J by 90 degrees (90 °) in the direction opposite to the turning direction while the direction of the vehicle 14A is turning toward the position (calling position d) of the remote controller 12A. , L, the vehicle 14A can be accurately stopped at the position of the remote controller 12A (calling position d).

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the contents described in this specification.

DESCRIPTION OF SYMBOLS 10, 10A ... Automatic delivery apparatus 12, 12A ... Remote control 14, 14A ... Vehicle 30 ... Transmission / reception unit 32 ... Automatic operation unit

Claims (3)

The vehicle at the parking position is sent out from the exit direction which is the direction of the center line of the vehicle at the parking position by the calling radio wave transmitted from the mobile communication terminal, and the vehicle is called up to the position of the mobile communication terminal along the calling direction. an automatic unloading device Ru to stop,
The vehicle includes an automatic driving unit that automatically drives the vehicle, and a front / rear division in which the reception area of the radio wave received by the vehicle is divided at least in the front-rear direction of the vehicle when viewed in plan Or a front and rear left and right divided into at least four front and rear and left and right sides of the vehicle, and a receiving unit that receives the radio waves by providing a threshold area that does not detect radio waves between the adjacent reception areas, and
When the exit direction is maintained until the completion of the call, and the exit direction and the calling direction are the same direction,
When the receiving unit receives the calling radio wave of the vehicle transmitted from the mobile communication terminal at a position away from the vehicle, the automatic driving unit is placed in the receiving area with a high radio field intensity in the receiving area. The automatic delivery device is characterized in that the automatic operation is stopped when the reception area where the radio field intensity is high is switched to the adjacent reception area. After leaving the vehicle at the parking position from the exit direction, which is the direction of the center line of the vehicle at the parking position, with the calling signal including the outgoing signal and the calling guidance signal transmitted from the mobile communication terminal , turn right or left is allowed, an automatic unloading device which Ru is stopped summoned along the direction summoned perpendicular to the unloading direction to the position of the mobile communication terminal,
The vehicle includes an autonomous driving unit that automatically drives the vehicle, and a front / rear / left / right divided into at least four parts of the reception area of the radio wave received by the vehicle centered on the vehicle when viewed in plan. And a receiving unit that receives the radio wave by providing a threshold area that does not detect radio waves between the adjacent reception areas,
When the receiving unit receives the exit signal of the vehicle transmitted from the mobile communication terminal at a position away from the vehicle, the automatic operation unit is placed in the receiving area with a high radio field intensity in the receiving area. When the automatic operation is started in the exit direction, and the reception area where the radio field intensity is large is switched to the adjacent reception area, a call confirmation signal is transmitted from the automatic operation unit, and the call confirmation signal is When the mobile communication terminal receives, the mobile communication terminal switches the exit signal to the calling guidance signal, continues automatic driving along the calling direction by the automatic driving unit,
The automatic operation unit continues the automatic operation along the calling direction toward the reception area where the radio field intensity is large in the reception area, and the reception area where the radio field intensity is adjacent is the adjacent reception area. Automatic delivery device that stops automatic operation when switched to . After the vehicle at the parking position is released from the exit direction which is the direction of the center line of the vehicle at the parking position by the calling signal including the outgoing signal and the calling guidance signal transmitted from the mobile communication terminal, the vehicle is turned right or left. , an automatic unloading device along a direction summoned perpendicular to the unloading direction Ru to stop summoned to the position of the mobile communication terminal,
The vehicle includes an automatic driving unit that automatically drives the vehicle, and the reception area of the radio wave received by the vehicle centered on the vehicle, when viewed in plan, is divided into at least two and the adjacent reception areas A receiving unit for receiving the radio wave by providing a threshold region that does not detect the radio wave between,
When the receiving unit receives the output signal of the vehicle transmitted from the mobile communication terminal at a position away from the vehicle, the automatic driving unit receives the divided reception area by dividing at least the left and right of the vehicle. The automatic operation unit starts automatic operation in the exit direction toward the reception region where the radio field intensity is large in the reception region, and the automatic operation unit starts the vehicle exit and the direction of the vehicle is the mobile communication. During a right turn or left turn toward the terminal position, the receiving unit is rotated 90 degrees in the direction opposite to the turning direction with respect to the receiving unit, and automatic operation is continued.
The automatic operation unit continues the automatic operation along the calling direction toward the reception area where the radio field intensity is large in the reception area, and the reception area where the radio field intensity is adjacent is the adjacent reception area. Automatic delivery device that stops automatic operation when switched to.

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