Moving body

Abstract

A mobile body has a main body portion provided with a moving mechanism, a surrounding information detection sensor that detects a surrounding obstacle of the main body portion, and a control portion that controls the moving mechanism based on information about the surrounding obstacle detected by the surrounding information detection sensor, thereby causing the main body portion to autonomously travel, and at least information about the surrounding obstacle in the advancing direction of the main body portion is displayed around the main body portion.

Description

Technical Field

[0001] This disclosure relates to mobile bodies. Background Technology

[0002] Japanese Patent Application Publication No. 2020-70159 discloses a delivery system comprising: an autonomous vehicle that autonomously travels to the delivery destination; and a drone mounted on the autonomous vehicle that delivers goods to the delivery destination after the autonomous vehicle has arrived near the delivery destination.

[0003] However, in structures that utilize autonomous mobile vehicles for unmanned delivery, such as the delivery system described in Japanese Patent Application Publication No. 2020-70159, it is unknown whether the mobile vehicle can detect people in the vicinity, and from the perspective of eliminating anxiety, there is room for improvement. Summary of the Invention

[0004] This disclosure provides a mobile device that can eliminate the unease of those around the user even while the device is in motion.

[0005] The first solution provides a mobile body comprising: a main body having a moving mechanism; a surrounding information detection sensor for detecting obstacles around the main body; and a control unit for controlling the moving mechanism based on information about the surrounding obstacles detected by the surrounding information detection sensor, thereby enabling the main body to move autonomously, and at least displaying information about the surrounding obstacles in the direction of travel of the main body around the main body.

[0006] In the first embodiment of the mobile body, the main body is equipped with a movement mechanism, and the control unit controls the movement mechanism so that the main body moves autonomously. Furthermore, a surrounding information detection sensor detects obstacles around the main body. Here, the control unit displays information related to surrounding obstacles in the direction of travel of the main body around the main body. This allows people around the mobile body to recognize the information about the surrounding obstacles detected by the mobile body. Furthermore, the phrase "displayed around the main body" is not limited to structures displayed on the outer surface of the main body, but broadly includes structures projected onto the road surface around the main body. Additionally, the term "surrounding obstacles" broadly includes objects that may become obstacles to the movement of the mobile body, including people, animals, and vehicles.

[0007] Regarding the moving body in the second embodiment, in the first embodiment, the control unit displays the relative position of the surrounding obstacles with respect to the main body.

[0008] In the second embodiment of the moving body, the relative positions of surrounding obstacles with respect to the main body (moving body) are displayed, thereby enabling people in the vicinity to recognize their positional relationship with the moving body.

[0009] Regarding the moving body in the third scheme, in the second scheme, the control unit changes the display mode according to the distance between the main body and the surrounding obstacles.

[0010] In the third scheme, the display method changes when a person accidentally approaches the moving object, thereby enabling the recognition of a person approaching the moving object from the surrounding area.

[0011] Regarding the moving body in the fourth embodiment, in the first embodiment, the surrounding information detection sensor is configured to include a camera that captures images of the direction of travel, and the control unit displays images of the surrounding obstacles captured by the camera.

[0012] In the fourth scheme, images of surrounding obstacles are displayed on the moving body, so that people around can understand the object identified by the moving body.

[0013] Regarding the fifth embodiment of the moving body, in any one of the first to fourth embodiments, the control unit uses a projection device that projects an image of the road surface around the main body to display information related to the surrounding obstacles.

[0014] In the fifth embodiment of the moving body, information related to surrounding obstacles is projected onto the road surface by a projection device, so the display area is independent of the size of the moving body. Therefore, even a relatively small moving body can ensure a large display area compared to a structure that displays directly on the outer surface of the moving body.

[0015] Regarding the moving body in the sixth scheme, in any one of the schemes from the first to the fifth scheme, the control unit displays a predetermined direction of movement.

[0016] In the sixth scheme, the predetermined direction of movement is displayed in the moving body, so that people around can know the direction of movement of the moving body in advance.

[0017] As explained above, the mobile body according to this disclosure can eliminate the unease of those around it, even during movement. Attached Figure Description

[0018] Exemplary embodiments of this disclosure will be described in detail with reference to the following figures, wherein:

[0019] Figure 1 This is a schematic side view of the movable body of the embodiment when viewed from the side.

[0020] Figure 2 This is a block diagram illustrating the hardware structure of the mobile body according to an embodiment.

[0021] Figure 3 This is a diagram showing an example of a moving body projected onto a road surface according to an embodiment.

[0022] Figure 4 This is a diagram showing an example of a moving body projected onto a road surface according to an embodiment.

[0023] Figure 5 This is a diagram showing an example of a moving body projected onto a road surface according to an embodiment.

[0024] Figure 6 This is a diagram showing a variant example. Detailed Implementation

[0025] Hereinafter, a movable body 10 according to one embodiment of the present disclosure will be described with reference to the accompanying drawings. Figure 1 As shown, the movable body 10 of this embodiment has a main body 12 that is generally rectangular parallelepiped in shape. Furthermore, Figure 1 The arrows FR and UP shown indicate the direction of travel (forward) of the moving body 10 and the top of the moving body 10, respectively.

[0026] The main body 12 is roughly rectangular in shape when viewed from the side, and a cargo compartment for accommodating goods B is ensured inside the main body 12. Here, as an example, the mobile body 10 of this embodiment is set as a delivery robot for delivering goods. Furthermore, in Figure 1 The diagram shows a state that accommodates one cargo B, but it is not limited to this and can also be configured to accommodate multiple cargoes B.

[0027] A perimeter information detection sensor 14 is provided on the upper part of the main body 12. This perimeter information detection sensor 14 detects obstacles around the moving body 10. As an example, the perimeter information detection sensor 14 in this embodiment is configured to include sensors such as LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging). In addition, the perimeter information detection sensor 14 may also include an engineering camera and radar.

[0028] A projection device 16 is provided on the upper and front part of the main body 12. The projection device 16 is a device that projects a predetermined image onto the road surface surrounding the moving body 10. In this embodiment, as an example, it is configured to project an image onto the road surface in front of the moving body 10. In addition, the image projected onto the road surface by the projection device 16 involves information related to obstacles around the moving body 10 detected by the surrounding information detection sensor 14.

[0029] A front display panel 18F is provided at the front of the main body 12, and a rear display panel 18R is provided at the rear of the main body 12. Various information is displayed on the front display panel 18F and the rear display panel 18R. In this embodiment, as an example, images of obstacles surrounding the moving body 10 are displayed on the front display panel 18F and the rear display panel 18R. For example, the faces of a person walking around the moving body 10 are displayed on the front display panel 18F and the rear display panel 18R.

[0030] (Hardware structure of mobile unit 10)

[0031] Here, a control unit 19 is provided in the moving body 10. For example... Figure 2 As shown, the control unit 19 constituting the mobile body 10 is configured to include a CPU (Central Processing Unit) 20, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 24, a storage device 26, a communication I / F (communication interface) 28, and an input / output I / F (input / output interface) 30. Each component is interconnected via an internal bus 32.

[0032] CPU 20 is the central processing unit, which executes various programs or controls various parts. That is, CPU 20 reads programs from ROM 22 or storage device 26 and executes programs using RAM 24 as the working area. CPU 20 performs control of the above-mentioned structures and various arithmetic operations according to the programs recorded in ROM 22 or storage device 26.

[0033] ROM 22 stores various programs and data. RAM 24 serves as a working area for temporary storage of programs or data. Storage device 26 includes HDD (Hard Disk Drive) or SSD (Solid State Drive) to store various programs, including the operating system, and various data.

[0034] The communication I / F28 is an interface used to communicate with the main unit 12 and other devices, for example, using standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark).

[0035] The input / output I / F30 is electrically connected to the moving mechanism 34, the surrounding information detection sensor 14, the projection device 16, the front display panel 18F, and the rear display panel 18R.

[0036] The moving mechanism 34 is a mechanism for enabling the main body 12 to move autonomously. It is configured to include a pair of front wheels 36F, a pair of rear wheels 36R, a motor (not shown) that transmits driving force to the front wheels 36F and the rear wheels 36R, and a steering angle control device (not shown) that changes the steering angle of the front wheels 36F and the rear wheels 36R.

[0037] Furthermore, the autonomous driving of the mobile body 10 in this embodiment is controlled by the control unit 19. Specifically, the control unit 19 generates a driving plan based on the surrounding information detected by the surrounding information detection sensor 14 and the map information obtained from the server, and controls the moving mechanism 34 to move the mobile body 10 according to the generated driving plan, thereby enabling autonomous driving.

[0038] Here, the control unit 19 controls the projection device 16 in such a way that information relating to surrounding obstacles in the direction of travel of the moving body 10, including the main body 12, is displayed around the main body.

[0039] Next, an example of an image projected onto the road surface by the projection device 16 using the projection unit 19 will be described. Figure 3 The image shown is an example of an image projected onto the road surface by the projection device 16. Figure 3 As shown, the control unit 19 uses the projection device 16 to display a roughly circular image M1. The image M1 includes an outermost circular portion and two concentric circles that are thinner than the circular portion.

[0040] Additionally, the projection device 16 displays approximately circular images M2, M3, and M4, which are smaller than image M1. Here, images M2, M3, and M4 represent the surrounding obstacles of the moving body 10. Specifically, the center of image M1 corresponds to the position of the moving body 10, and the relative positions of the surrounding obstacles to the position of the moving body 10 are represented by images M2, M3, and M4.

[0041] As an example, the upward direction of image M2 is aligned with the forward direction of movement of the moving body 10. Therefore, the surrounding obstacles corresponding to image M2 are located in front of the moving body 10. Furthermore, the surrounding obstacles corresponding to image M3 are located to the right of the moving body 10. Moreover, the surrounding obstacles corresponding to image M4 are located to the left rear of the moving body 10. Thus, in this embodiment, the control unit 19 uses the projection device 16 to display the relative positions of the surrounding obstacles with respect to the main body 12 of the moving body 10.

[0042] Furthermore, the control unit 19 changes the display mode of images M2, M3, and M4 based on the distance between the moving body 10 and surrounding obstacles. Specifically, as follows: Figure 4 As shown, when the distance between the surrounding obstacle corresponding to image M2 and the moving body 10 is less than a predetermined distance, the control unit 19 displays image M2 with a color change. Specifically, the control unit 19 is configured to change the color of image M2 corresponding to a surrounding obstacle that is closer to the center (moving body 10) of image M1 than the innermost circle in image M1.

[0043] Furthermore, in this embodiment, the control unit 19 uses the projection device 16 to project the predetermined direction of movement of the main body 12 onto the road surface. Specifically, as... Figure 5 As shown, an image M5, mimicking an arrow, is projected onto the road surface.

[0044] When the moving body 10 changes its path, image M5 displays the predetermined direction of movement overlapping with image M1. Figure 5 The example shown is when there are surrounding obstacles in the direction of travel corresponding to image M2, so the moving body 10 changes its path to avoid the surrounding obstacles.

[0045] (effect)

[0046] Next, the function of this implementation method will be explained.

[0047] In the moving body 10 of this embodiment, such as Figure 1 as well as Figure 2 As shown, the main body 12 includes a moving mechanism 34, and the control unit 19 controls the moving mechanism 34, thereby enabling the main body 12 to move autonomously. Additionally, a surrounding information detection sensor 14 detects obstacles around the main body 12.

[0048] Here, the control unit 19 displays information about surrounding obstacles in the direction of travel of the main body 12 around the main body 12. This allows people around the mobile body 10 to recognize information about surrounding obstacles detected by the mobile body 10.

[0049] In addition, such as Figure 3 as well as Figure 4 As shown, in this embodiment, the projection device 16 displays the relative positions of surrounding obstacles with respect to the main body 12 as images M2, M3 and M4 on the road surface, thereby enabling people in the vicinity to recognize the positional relationship with the moving body 10.

[0050] Furthermore, the projection device 16 projects information related to surrounding obstacles onto the road surface, so the display area is independent of the size of the moving body 10. Therefore, even a relatively small moving body 10 can ensure a large display area.

[0051] Furthermore, for people who accidentally approach the moving object 10, the display colors (display modes) of images M2, M3, and M4 can be changed to identify when people in the vicinity approach the moving object.

[0052] In addition, such as Figure 5 As shown, in this embodiment, the predetermined direction of movement of the main body 12 (moving body 10) is displayed as image M5, so that people around can know the direction of movement of the moving body 10 in advance.

[0053] In addition, in this embodiment, the front display panel 18F and the rear display panel 18R are used to display images of surrounding obstacles, so that people around can grasp the object identified by the moving body 10.

[0054] Furthermore, in this embodiment, the image projected by the projection device 16 may also be... Figure 6 The structure of the modified example shown.

[0055] (Modified Example)

[0056] like Figure 6 As shown, in this modified example, the projection device 16 projects images M1 and M6 onto the road surface. Here, image M6 is an image of surrounding obstacles captured by a camera that captures images of the moving body 10 in its direction of travel. Specifically, the control unit 19 projects the face of a person in the direction of travel of the moving body 10 onto the road surface as image M6.

[0057] In addition, when multiple people as surrounding obstacles are detected in the direction of travel of the moving body 10, the control unit 19 projects the face of the person closest to the moving body 10 as image M6 onto the road surface.

[0058] In this modified example, by projecting the face of a person detected by the moving body 10 as an image M6 onto the road surface, people around the moving body 10 can understand the situation where the moving body 10 recognizes the face of a person.

[0059] The above describes the movable body 10 of the embodiment, but it can of course be implemented in various ways without departing from the spirit of this disclosure. In the above embodiment, such as Figure 1 As shown, the projection device 16 displays information related to surrounding obstacles on the road surface, but it is not limited to this. For example, a structure without the projection device 16 may also be used. In this case, information related to surrounding obstacles may also be displayed on the front display panel 18F and the rear display panel 18R. Alternatively, display panels may also be provided on the sides of the main body 12, so that images of surrounding obstacles opposite to each display panel are displayed on each display panel.

[0060] Furthermore, in the above embodiments, such as Figure 4 As shown, the image M2 of the surrounding obstacle approaching the moving body 10 is displayed with varying colors, but this is not a limitation. For example, the image corresponding to the surrounding obstacle approaching the moving body 10 may also flash. Furthermore, in the above embodiment, the surrounding obstacle is displayed as a roughly circular image, but this is not a limitation, and the shape of the image may be appropriately changed. For example, the shape of the image may be changed depending on the type of surrounding obstacle. That is, if the surrounding obstacle detected by the surrounding information detection sensor 14 is a vehicle, an image mimicking the shape of a vehicle may be displayed.

[0061] Furthermore, when the recipient of the goods B delivered by mobile body 10 is nearby, the image corresponding to the recipient can be displayed in a different color than other surrounding obstacles. For example, if mobile body 10 receives a signal from the recipient's portable terminal and is thus identified as the recipient of goods B, the color of the image corresponding to the recipient changes. As a result, even when multiple mobile bodies are moving around the recipient, mobile body 10 delivering goods B can be quickly identified.

Claims

1. A mobile body, comprising: The main body is equipped with a moving mechanism; A surrounding information detection sensor detects obstacles around the main body. as well as The control unit controls the movement mechanism based on information about surrounding obstacles detected by the surrounding information detection sensor, thereby enabling the main body to move autonomously and displaying information about the surrounding obstacles in the direction of travel of the main body around the main body. The control unit: Information related to surrounding obstacles is displayed using a projection device that projects an image of the road surface around the main body. The projection device displays a first circular image whose center corresponds to the position of the main body. The first image includes an outermost circular portion and two concentric circles that are thinner than the circular portion. The surrounding obstacles are displayed in a second circular image that is smaller than the first image at a position corresponding to the relative positional relationship between the main body and the surrounding obstacles. The color of the second image is changed to correspond to the surrounding obstacles that are closer to the center of the first image than the innermost circle in the first image.

2. The mobile body according to claim 1, wherein, The surrounding information detection sensor is configured to include a camera that captures images of the direction of travel. The control unit displays images of the surrounding obstacles captured by the camera.

3. The mobile body according to claim 1 or 2, wherein, The control unit displays the predetermined direction of movement.

Images