US 12,279,543 B2
Automatic traveling device
Takuya Kitade, Tokyo (JP); Keisuke Yamaya, Tokyo (JP); Ryosuke Mizuno, Tokyo (JP); and Takuma Matsumura, Tokyo (JP)
Appl. No. 18/005,445
Filed by NTT DOCOMO, INC., Tokyo (JP)
PCT Filed Mar. 8, 2022, PCT No. PCT/JP2022/009994
§ 371(c)(1), (2) Date Jan. 13, 2023,
PCT Pub. No. WO2022/215416, PCT Pub. Date Oct. 13, 2022.
Claims priority of application No. 2021-064000 (JP), filed on Apr. 5, 2021.
Prior Publication US 2023/0276727 A1, Sep. 7, 2023
Int. Cl. A01B 69/00 (2006.01); A01B 69/04 (2006.01); G05D 1/00 (2006.01)
CPC A01B 69/008 (2013.01) [A01B 69/001 (2013.01); G05D 1/0219 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A self-driving vehicle configured to perform a predetermined work on detection targets arranged in a traveling direction of the self-driving vehicle, the self-driving vehicle comprising:
a camera configured to capture an image of a detection target in the traveling direction to acquire image data; and
at least one processor configured to:
dispose a plurality of determination windows at predetermined positions with respect to the image data;
recognize the detection target in the determination windows, wherein the determination windows are disposed to be out of alignment from each other in accordance with an imaging range of the camera; and
adjust the traveling direction based on a recognition result of the detection target in the determination windows.