| CPC G05D 1/0287 (2013.01) [G07C 5/008 (2013.01); G08G 1/202 (2013.01); G08G 1/205 (2013.01)] | 7 Claims |
|
1. A rescue system comprising a plurality of autonomous working machines and a management device capable of communicating with each of the autonomous working machines, wherein
each of the autonomous working machines comprises a working machine side processor, wherein
the working machine side processor includes:
self-location identification means for identifying a self-location of the autonomous working machine, and
autonomous travel possibility determination means for determining whether the autonomous working machine is able to travel autonomously based on a result of identification by the self-location identification means, and
the management device comprises a management device side processor, wherein
the management device side processor includes:
rescue dispatch means for dispatching an another autonomous working machine, which is a rescuing autonomous working machine, to a rescue of the autonomous working machine, which is a rescued autonomous working machine, and which is determined by the autonomous travel possibility determination means as being in a state of being unable to travel autonomously, wherein
each of the autonomous working machines comprises a camera for detecting the other of said plurality of autonomous working machines,
the working machine side processor includes a follow-up travel control unit that recognizes the rescuing autonomous working machine in an image captured by the camera of the rescued autonomous working machine and controls wheels and steering angles of the rescued autonomous working machine so that the rescued autonomous working machine travels by following up the rescuing autonomous working machine based on the image captured by the camera of the rescued autonomous working machine even when the autonomous travel possibility determination means determines that the rescued autonomous working machine is in a state of being unable to travel autonomously,
the follow-up travel control unit determines whether or not a follow-up travel in which the rescued autonomous working machine travels by following up a movement of the rescuing autonomous working machine based on an operating status of the camera of the rescued autonomous working machine is possible, and transmits a result of the determination to the management device, and
when the result of the determination of the follow-up travel control unit indicates that the follow-up travel in which the rescued autonomous working machine follows the rescuing autonomous working machine is not possible, the management device side processor dispatches a further of said plurality of autonomous working machines having a rescue means.
|