Lead mobile body

Abstract

The objective of this invention is to provide a highly practical guiding mobile device. This invention comprises: a controller that enables the mobile device to move autonomously based on detection results from a surrounding monitoring device, and can be manipulated to allow a vehicle to follow the mobile device via wireless communication; and an object monitoring device mounted on the mobile device, capable of detecting the status of an object set on the controller as a monitoring object or the following vehicle. The controller is configured to, within a predetermined period after the mobile device reaches its destination, execute warnings and / or special processing related to the operation of the following vehicle if, based on the detection results from the object monitoring device, the status of the monitored object is determined to be in a specific condition.

Description

Technical Field

[0001] This invention relates to a guiding mobile body for electronically tractioning vehicles. Background Technology

[0002] Conventional controllers, such as those disclosed in Patent Document 1, are known. These controllers are mounted on an autonomously moving lead vehicle and are remotely operated to guide a following vehicle along a path traveled by the lead vehicle. In other words, the lead vehicle has the function of being manipulated wirelessly to make a following vehicle follow it.

[0003] Patent Document 1: Japanese Patent No. 7424535 Summary of the Invention

[0004] However, the controller mounted on the guiding vehicle, in addition to having the function of electronic traction that enables following vehicles to follow the guiding vehicle via remote operation, also possesses other functions, thereby improving the practicality of the guiding vehicle. Based on this, the objective of this invention is to provide a highly practical guiding vehicle.

[0005] The guiding mobile device of the present invention comprises: a mobile body; a perimeter monitoring device mounted on the mobile body and detecting the surrounding conditions of the mobile body; a controller mounted on the mobile body, which enables the mobile body to move autonomously based on the detection results of the perimeter monitoring device, and can be operated in a manner that allows a vehicle to follow the mobile body as a following vehicle via wireless communication; and an object monitoring device mounted on the mobile body, which is capable of detecting items transported by the mobile body, items transported by the following vehicle, or the condition of the following vehicle, which are set as monitored objects by the controller. The controller is configured to, during a predetermined period after the mobile body arrives at its destination, if it determines, based on the detection results of the object monitoring device, that the condition of the monitored object is a specific condition, execute a warning and / or special processing related to the operation of the following vehicle.

[0006] According to the present invention, the monitored object is monitored for a predetermined period after reaching its destination. Special procedures are performed if the condition of the monitored object becomes specific. Through these special procedures, such as issuing warning sounds around the moving object and / or prohibiting the following of the vehicle, theft or misconduct involving the monitored object can be suppressed. That is, according to the present invention, the transported object can be monitored even after the moving object has reached its destination, thereby improving its practicality. Attached Figure Description

[0007] Figure 1This is a schematic diagram illustrating the electronic traction of a following vehicle based on the guiding moving body according to this embodiment.

[0008] Figure 2 This is a side view used to illustrate the guiding movement of the object.

[0009] Figure 3 It is a two-dimensional conceptual diagram used to illustrate the upper part of the guiding moving body.

[0010] Figure 4 It is a block diagram used to illustrate the functional structure of the controller and driving control device.

[0011] Figure 5 This is a conceptual diagram used to illustrate the configuration examples of monitored objects.

[0012] Figure 6 It is a flowchart used to illustrate the process of monitoring, judgment, processing, and special handling. Detailed Implementation

[0013] Hereinafter, the guiding moving body 10, as an embodiment of the present invention, will be described in detail with reference to the accompanying drawings. Furthermore, in addition to the embodiments described below, the present invention can be implemented in various ways with different modifications and improvements based on the knowledge of those skilled in the art.

[0014] [A] The structure that guides the movement

[0015] The guiding mobile body 10 is configured to be capable of autonomous driving (capable of autonomous movement), such as... Figure 1 and Figure 2 As shown, the following vehicle (equivalent to "following vehicle") 20 is electronically towed to its destination by remote operation via wireless communication, thereby maintaining a specific positional relationship. Here, the guiding mobile body 10 can be exemplified by a vehicle traveling on a road or a flying object such as a drone flying in the air. In this embodiment, the case where the guiding mobile body 10 is a vehicle will be described.

[0016] For autonomous driving, the guide vehicle 10 of this embodiment includes a pair of left and right drive wheels 11 and driven wheels 12. The left and right drive wheels 11 are each driven independently by a pair of left and right electric motors (not shown) powered by a battery (not shown) mounted on the vehicle body of the guide vehicle 10. Therefore, the guide vehicle 10 can rotate about a rotation axis in the vertical direction by, for example, imparting a difference in rotational speed (a difference in driving force) to the left and right drive wheels 11. Thus, even without a separate steering device to turn the left and right drive wheels 11 about a steering axis, the guide vehicle 10 can perform left / right turns, direction changes, and U-turns (including U-turns in place) during autonomous driving. Furthermore, in the following description, left / right turns, direction changes, and U-turns are sometimes collectively referred to as "left / right turns, etc."

[0017] Each drive wheel 11 is equipped with a friction braking device (drum brake or disc brake), which is not shown in the figure. Thus, in the guide moving body 10 when it is parked, the friction braking device functions as a parking brake by generating braking force caused by friction.

[0018] Driven wheel 12 is positioned further rearward than drive wheel 11 in the front-rear direction of the guiding movable body 10. In this embodiment, driven wheel 12 is configured as a free-type caster with a rotation axis extending vertically in the approximately central portion of the guiding movable body 10 in the vehicle width direction (lateral direction).

[0019] like Figure 3 As shown, the guiding mobile body 10 includes a self-propelled detector 13, a position detector 14, and a vehicle detector 15 housed in the upper part 10U of the vehicle body. The self-propelled detector 13 detects the relative positional relationship between the guiding mobile body 10 and objects such as obstacles (hereinafter sometimes referred to as "detection objects") existing in the direction of travel when the guiding mobile body 10 is autonomously moving; specifically, it detects the relative distance.

[0020] Therefore, in this embodiment, the detector 13 is configured with a ranging device such as a Light Detection and Ranging (LiDAR) 13A and a camera 13B. The LiDAR 13A acquires three-dimensional point cloud data representing the three-dimensional position of the point cloud representing the detected object with high precision. The camera 13B can be, for example, a stereo camera, a monocular camera, or an RGB-D camera (depth camera), and acquires image data representing the presence direction or size of the detected object. Alternatively, instead of using the LiDAR 13A or the camera 13B, or in addition to using the LiDAR 13A or the camera 13B, a Time of Flight (ToF) sensor can also be used, for example.

[0021] The detector 13 automatically outputs the acquired data, namely 3D point cloud data or camera data, to the controller 100, which will be described later. Then, as described later, the controller 100 uses the acquired 3D point cloud data or camera data in Simultaneous Localization and Mapping (SLAM) for guiding the mobile body 10 to drive autonomously.

[0022] The position detector 14, for example, has a GNSS (Global Positioning System) receiver, which detects the position of the guiding mobile body 10 based on the received signal. Here, in this embodiment, two position detectors 14 are respectively arranged on the left and right sides of the guiding mobile body 10 in the width direction (lateral direction) of the upper part 10U of the vehicle body, that is, they are arranged in a left-right pair.

[0023] The lead vehicle 10 includes a vehicle detector 15 for detecting following vehicles 20. The vehicle detector 15 is a device for measuring various data used to estimate the relative position (hereinafter, sometimes referred to as "relative position") of the following vehicle 20 relative to the lead vehicle 10. Here, the relative position includes the relative orientation and posture (hereinafter, sometimes referred to as "relative posture") of the following vehicle 20 relative to the lead vehicle 10.

[0024] The vehicle detector 15 includes a LiDAR as a main component, which measures the three-dimensional point cloud data of the following vehicle 20, which is electronically traction-guided by the leading moving body 10. Here, in the controller 100 described later, for example, it is also possible to acquire only the relative position of the following vehicle 20 detected by the vehicle detector 15 (i.e., the LiDAR), and estimate the relative posture or direction of travel of the following vehicle 20 by understanding the temporal changes of the following vehicle 20 based on the intermittently acquired relative position.

[0025] The self-propelled detector 13 and the vehicle detector 15 constitute a perimeter monitoring device 9 for detecting the surrounding conditions of the guiding mobile body 10. That is, the perimeter monitoring device 9 consists of multiple detectors 13 and 15 mounted on the main body 7 of the mobile body and detecting the surrounding conditions of the main body 7. The multiple detectors 13 and 15 constituting the perimeter monitoring device 9 are configured to detect the conditions in front of, behind, to the left of, and to the right of the guiding mobile body 10. The self-propelled detector 13 also functions as the vehicle detector 15, and the vehicle detector 15 also functions as the self-propelled detector 13. Each detector 13 and 15 can also function as the object monitoring device 8 described later.

[0026] The guiding mobile body 10 can be described as consisting of a controller 100, a peripheral monitoring device 9, an object monitoring device 8, and other parts, namely the main body 7 of the mobile body. The main body 7 can also be described as including the upper body 10U, wheels 11 and 12, and the main body of the vehicle body with actuators. The object monitoring device 8 is configured to detect the condition of the object to be monitored, as described later. In this embodiment, at least the vehicle detector 15 (part of the peripheral monitoring device 9) located at the rear of the upper body 10U also functions as the object monitoring device 8. Details regarding the monitoring of the monitored object will be described later.

[0027] The controller 100 performs driving control remotely to maintain a specific positional relationship between the following vehicle 20 and the lead vehicle 10. The controller 100 performs controls related to the autonomous movement of the lead vehicle 10 and the remote operation of the following vehicle 20.

[0028] [B] Controller Structure and Basic Functions

[0029] like Figure 4 As shown, the controller 100 includes a CPU 110, a storage device 120, an interface circuit 130, and a communication device 140. The CPU 110, storage device 120, and interface circuit 130 are connected bidirectionally via an internal bus. The communication device 140 communicates wirelessly with the following vehicle 20 via a network or the like.

[0030] To implement at least some of the functions provided in this embodiment, the CPU 110 executes a computer program stored in the storage device 120. By executing this computer program, the CPU 110 functions as a remote control unit 111, a point cloud data acquisition unit 112, a position determination unit 113, a relative position estimation unit 114, a SLAM unit 115, an autopilot control unit 116, and a special control unit 117. However, some or all of these functions can also be implemented by hardware circuitry.

[0031] The remote control unit 111 generates control commands for remote control and transmits them wirelessly to the following vehicle 20, so that the following vehicle 20 maintains a specific positional relationship with the leading mobile body 10 and follows the leading mobile body 10, for example, in a manner in which the leading mobile body 10 appears to be pulling the following vehicle 20 using a rope. Here, the control commands transmitted by the remote control unit 111 of the controller 100 mounted on the leading mobile body 10 via wireless communication using the communication device 140, and the state in which the following vehicle 20 appears to be pulled by a rope, is called "electronic traction".

[0032] The remote control unit 111 can generate control commands, for example, including driving force or braking force and steering angle. Alternatively, the remote control unit 111 can also generate control commands including at least one of the position and orientation of the following vehicle 20 and the future driving route. Thus, the following vehicle 20, as described later, can follow the lead vehicle 10 by receiving control commands for remote control.

[0033] The point cloud data acquisition unit 112 acquires the three-dimensional point cloud data (hereinafter, sometimes referred to as "vehicle point cloud data VP") measured by the vehicle detector 15. The position determination unit 113 determines the starting position for matching the vehicle point cloud data VP based on the three-dimensional point cloud data of the periphery of the guiding mobile body 10 acquired by the LiDAR 13A of the self-propelled detector 13.

[0034] Here, the vehicle point cloud data VP functions as a template point cloud for estimating at least one of the position and orientation (pose) of the following vehicle 20. The vehicle point cloud data VP can include information for determining the orientation (pose) of the following vehicle 20. Thus, the position determination unit 113 and the relative position estimation unit 114 can estimate the position and orientation (pose) of the following vehicle 20 in the surrounding three-dimensional point cloud data with high accuracy by using template matching of the vehicle point cloud data VP.

[0035] In this embodiment, the position determination unit 113 uses information related to the position of the following vehicle 20 in the 3D point cloud data (hereinafter, sometimes referred to as "position-related information") to determine the starting position for template matching. Here, the position-related information is data used to estimate the position of the following vehicle 20 in the 3D point cloud data and / or the position next to the following vehicle 20. In addition, in order to speed up the template matching process, the position-related information is preferably small-volume data or data obtained through simple processing, such as GNSS signals.

[0036] The relative position estimation unit 114 estimates the relative orientation (posture) of the following vehicle 20 relative to the leading moving body 10 in the acquired three-dimensional point cloud data, i.e., the relative posture. Here, the relative position can be based on the position and posture of the leading moving body 10, for example, the relative distance to the following vehicle 20 in the direction of travel, the deviation of the following vehicle 20's movement trajectory relative to the leading moving body 10 in the vehicle width direction (lateral direction), the relative turning posture (left turn / right turn posture) of the following vehicle 20 relative to the leading moving body 10, etc.

[0037] In this embodiment, the relative position estimation unit 114 estimates the relative position of the following vehicle 20 in the 3D point cloud data by performing template matching on the 3D point cloud data using vehicle point cloud data VP. Furthermore, regarding the template matching of the vehicle point cloud data VP performed by the position determination unit 113 and the relative position estimation unit 114 on the 3D point cloud data, well-known algorithms such as the Iterative Closest Point (ICP) algorithm or the Normal Distribution Transform (NDT) algorithm can be used.

[0038] The SLAM unit 115 performs SLAM using data (camera data or 3D point cloud data) detected by the autonomous detector 13, and generates a map for the guide vehicle 10 to use during autonomous driving. The autonomous driving control unit 116 controls the operation of actuators 150, such as electric motors or friction brakes, that drive the drive wheels 11 mounted on the guide vehicle 10, enabling the guide vehicle 10 to drive autonomously. Specifically, the autonomous driving control unit 116 controls the operation of the actuators 150 and uses the map generated by the SLAM unit 115 to, for example, enable the guide vehicle 10 to autonomously drive (a type of autonomous movement) along the guide vehicle route GR to the set destination TP. In addition, when enabling the guide vehicle 10 to drive autonomously, the autonomous driving control unit 116 detects the position of the guide vehicle 10 based on GNSS signals received by the position detector 14.

[0039] The special control unit 117 is a functional unit used to realize special functions in the guiding moving body 10. Details about this special control unit 117 will be described in detail later.

[0040] Storage device 120 may include, for example, RAM, ROM, HDD, and SSD. Vehicle point cloud data VP, guiding vehicle route GR, destination TP, actuator drive record AC, and last matching position BM are stored in the read / write area of ​​storage device 120.

[0041] Here, the guiding vehicle route GR is the target route that can be determined to guide the mobile body 10. Furthermore, the destination TP is the mobile destination that can be arbitrarily set for the guiding mobile body 10. Additionally, when the autonomous driving control unit 116 uses a map generated by the SLAM unit 115 based on data output from the autonomous vehicle detector 13 to enable the guiding mobile body 10 to drive autonomously, the guiding vehicle route GR can be omitted. However, in this case, the autonomous driving control unit 116, for example, generates a driving route up to the set destination TP and causes the guiding mobile body 10 to drive along the generated driving route.

[0042] The actuator drive record AC is a history of the input and output values ​​in each actuator 220 of the following vehicle 20, as described later. The actuator drive record AC can also be described, for example, as a history of control command values ​​sent from the controller 100 to the following vehicle 20. Alternatively, the actuator drive record AC can be, for example, the measured values ​​of the following vehicle 20's speed, steering angle, braking force, and rotation angle detected by the detectors of the following vehicle 20. The last matching position BM is the coordinate value of the position where the template matching of the previously executed three-dimensional point cloud data and the vehicle point cloud data VP was completed by the relative position estimation unit 114 of the controller 100.

[0043] [C] The structure of the following vehicle

[0044] The following vehicle 20 is a vehicle equipped with a driving control device 200 and a communication device 230 (e.g., a car, truck, bus, construction vehicle, autonomous two-wheeler / three-wheeler, etc.). The driving control device 200 and the communication device 230 are basic devices installed in the existing vehicle, or they can be retrofitted. Each communication device 140, 230 is in a state where it is allowed to communicate with each other. The leading vehicle 10 electronically tows the following vehicle 20, which is allowed to communicate.

[0045] like Figure 4 As shown, the driving control device 200 includes an ECU (Electronic Control Unit) 210. The ECU 210 is a microcomputer with a CPU 211, a storage device 212, and an interface circuit 213 as its main components. Furthermore, the CPU 211, storage device 212, and interface circuit 213 are connected bidirectionally via an internal bus. An actuator 220 and a communication device 230 are connected to the interface circuit 213. The communication device 230 wirelessly communicates with the communication device 140 of the controller 100 mounted on the guiding vehicle 10 via a network or directly.

[0046] CPU 211 performs driving control of the following vehicle 20 by executing a computer program stored in the read / write area of ​​storage device 212. Here, driving control includes, for example, adjusting the acceleration or deceleration, speed, and steering angle of the following vehicle 20; that is, various controls for driving the actuators 220 that perform the functions of "driving," "turning," and "stopping" of the following vehicle 20. The actuators 220 include, for example, drive actuators, brake actuators, and steering actuators.

[0047] Regardless of whether there is a driver, the CPU211 controls the operation of the actuator 220 according to the control commands sent from the controller 100, enabling the following vehicle 20 to follow the driving guide 10 to maintain a specific positional relationship.

[0048] [D] Remote operation based on guiding moving body

[0049] The controller 100 acquires specification information in advance of the electronically traction-guided vehicle 20, such as minimum turning radius or wheelbase length, acceleration performance, braking performance, and other information related to the "driving," "turning," and "stopping" of the vehicle 20. For example, the controller 100 autonomously drives according to the lead vehicle route GR stored in the storage device 120 while electronically tractioning the vehicle 20 that has acquired the specification information (making it follow).

[0050] The controller 100 maintains a specific positional relationship between the lead vehicle 10 and the following vehicle 20 in such a way that, specifically, the following vehicle 20 follows the lead vehicle 10 along its track while maintaining a specific distance between itself and the lead vehicle 10.

[0051] [E] Monitoring and Judgment Processing

[0052] As described above, the guiding mobile body 10 includes a mobile body main body 7, a peripheral monitoring device 9, and a controller 100. The controller 100 is configured to be mounted on the mobile body main body 7 and to enable the mobile body main body 7 to move autonomously based on the detection results of the peripheral monitoring device 9. It can also be operated via wireless communication to enable a vehicle (following vehicle) 20 to follow the mobile body main body 7. The controller 100 sets the monitored objects as items transported by the mobile body main body 7, items transported by the following vehicle 20, or the following vehicle 20 itself.

[0053] In this embodiment, at least one of the multiple detectors 13, 15 constituting the perimeter monitoring device 9 functions as an object monitoring device 8, detecting the condition of the monitored object. In this embodiment, the three vehicle detectors 15, which are capable of detecting the rear situation and are located at the rear of the upper part 10U of the vehicle body, serve as both the object monitoring device 8 and the perimeter monitoring device 9. Thus, in this embodiment, a portion of the perimeter monitoring device 9 also functions as the object monitoring device 8. This suppresses the increase in the number of parts.

[0054] The controller (special control unit 117) performs monitoring determination processing. During a predetermined period (hereinafter also referred to as the monitoring period) after the moving body 7 arrives at its destination, it determines whether the condition of the monitored object (hereinafter also referred to as the monitoring condition) is a specific condition based on the detection results of the object monitoring device 8. If the controller 100 determines that the monitoring condition is a specific condition, it executes a warning or special processing related to the operation of the following vehicle 20. During the monitoring period, the detector 15 in the peripheral monitoring device 9, which is capable of detecting the monitored object, detects the condition of the monitored object as the object monitoring device 8.

[0055] The monitoring period is defined as the period from the fulfillment of a specified start condition to the fulfillment of a specified release condition. Examples of start conditions include, for instance, "a specified time (specified time ≥ 0) has elapsed after the moving body 7 (and / or following vehicle 20) stops at the destination" and "a start process performed by a registered user has been executed." Examples of release conditions include, for instance, "a release process performed by a registered user has been executed" and "the moving body 7 has begun to move." The start or release process is performed, for example, by the registered user selecting it on the user terminal through communication between the controller 100 and the user terminal via a wireless network (e.g., the Internet) or directly.

[0056] The user terminal is, for example, a smartphone or tablet. A registered user is, for example, a user who logs in through a dedicated website or application. For example, successful authentication of a registered user can be set as a deactivation process. Authentication of a registered user is successful, for example, by matching the registered user's authentication information (e.g., biometric information or ID and password) with information detected in the authentication terminal of the peripheral monitoring device 9 or the mobile body 7.

[0057] In the controller 100, a situation is set as a specific condition where the possibility of the monitored object being stolen (the possibility of preparatory theft) is high. Examples of specific conditions set include "(1) a person is in contact with the monitored object for a specified time or more", "(2) the distance between the person and the monitored object is less than a specified distance for a specified time or more", and "(3) the position of the monitored object changes by a specified threshold or more". The specific condition (3) is set in the case of a person stealing the monitored object from a distance using a rope or the like. Furthermore, if the monitored object is a following vehicle 20, as one of the specific conditions, for example, "(4) a person enters the following vehicle 20 (inside the vehicle)". These conditions are set as specific conditions in the controller 100.

[0058] In the controller 100, the shape of the monitored object or an identification code installed on the monitored object is registered in order to identify the monitored object. When the monitored object is a following vehicle 20, the controller 100 identifies the following vehicle 20 using the same principle as when it is in motion. The controller 100 identifies the status of the monitored object based on the detection results (time series data, etc.) of the surrounding monitoring device 9 and the registration information, and determines changes in the position of the monitored object, the presence or absence of people, and the distance between the monitored object and people. If the controller 100 determines that the monitoring status detected by the surrounding monitoring device 9 is consistent with any of the multiple set specific statuses, it determines that the monitoring status is a specific status.

[0059] Special processing may be configured to issue an alarm to the mobile body 7 and / or the following vehicle 20 (e.g., a warning based on sound or voice, a warning based on light or image, etc.). When the controller 100 determines that the monitoring situation is a specific condition, an alarm is issued from the mobile body 7's audio device (not shown) as a special processing measure. Registered users can avoid executing special processing by performing a deactivation process before approaching the monitored object. Thus, according to this embodiment, during monitoring, if a person (presumably someone other than a registered user) engages in an act that could potentially lead to theft from the monitored object, special processing such as issuing an alarm is executed. This helps to suppress theft. Special processing can also be described as theft suppression processing for suppressing theft from the monitored object. When special processing is executed, a notification is sent to the registered user's terminal to inform them of the content.

[0060] When the monitored object is the following vehicle 20, special handling can be implemented by remotely controlling the controller 100 to disable the operation of the following vehicle 20, in addition to issuing an alarm or as a substitute for issuing an alarm. Operation disabling can be achieved, for example, by preventing the start of the drive system or locking the steering. This improves the deterrent effect against theft of the following vehicle 20.

[0061] Thus, in this embodiment, the special handling when the object is a monitored object includes issuing an alarm from the moving body 7 and / or the following vehicle 20, and the special handling when the following vehicle 20 is a monitored object includes remotely disabling the operation of the following vehicle 20. Furthermore, the controller 100 can also perform monitoring determination processing on multiple monitored objects during monitoring.

[0062] like Figure 5 As shown in Example 1, the monitored object M (item) is mounted on the rear of the mobile body 7. For example, an identification code registered in the controller 100 is affixed to the front surface of the monitored object M. The mobile body 7 operates the following vehicle 20 and transports the monitored object M. For example, when the monitoring start condition is met by guiding the mobile body 10 and the following vehicle 20 to the destination, the controller 100 and the object monitoring device 8 perform monitoring determination processing. Registered users, such as the recipient of the item, can receive the item (monitored object M) after performing a release process on their user terminal. Thus, the guiding mobile body 10 performs monitoring determination processing from the time it transports the following vehicle 20 and the item to the time of their delivery.

[0063] In Example 2, the monitored object M (item) is mounted on the following vehicle 20 (e.g., a small electric transport vehicle). In Example 3, the monitored object M (item) is mounted on a trolley 19 connected to the rear of the moving body 7. In Examples 2 and 3, similar to Example 1, monitoring determination processing is performed during monitoring. Furthermore, in Examples 1 to 3, the following vehicle 20 can also be set as the monitored object. In this case, during monitoring, for example, if a person enters the following vehicle 20, the controller 100 remotely disables the operation of the following vehicle 20.

[0064] Example 4 illustrates a state where the monitored object M (item) is placed on the road after reaching its destination. The start condition is set to the execution of a start process performed by a registered user. In Example 4, for example, it is envisioned that a guide vehicle 10, which transports multiple items to their destination, has a registered user (e.g., a delivery worker) stationed at the destination delivers each item to its corresponding location. When the registered user moves the items one by one, a start process is executed on the user terminal while moving one item, initiating monitoring determination processing for the remaining items. At this time, even when the monitored object M, which is another item, is placed on the road, monitoring determination processing can be performed by the controller 100 based on its identification code (or shape) to identify the monitored object M. Thus, as long as the monitored object M is within the monitoring range of the object monitoring device 8, the controller 100 can perform monitoring determination processing even if the time (monitoring start condition) changes.

[0065] like Figure 6 As shown, when the start condition is met (S1: Yes), the controller 100 begins the monitoring and determination process (S2). Based on the detection result from the object monitoring device 8, the controller 100 determines whether the monitored condition is a specific condition (S3). If the controller 100 determines that the monitored condition is a specific condition (S3: Yes), it executes special processing (S4). If no specific condition is detected (S3: No), the controller 100 continues the monitoring and determination process until the release condition is met (S5).

[0066] According to this embodiment, the monitored object is monitored for a predetermined period after reaching the destination. Special processing is performed when the monitored object's condition becomes a specific condition. Through special processing, such as issuing warning sounds around the main body of the moving vehicle and / or prohibiting work following the vehicle, theft or pranks involving the monitored object can be suppressed. That is, according to this embodiment, the transported goods can be monitored even after the moving vehicle 10 has reached its destination, thereby improving practicality. Through various settings such as the specific condition setting in this embodiment, the suppression effect on theft of the monitored object is particularly enhanced.

[0067] (other)

[0068] This invention is not limited to the embodiments described above. For example, the controller 100 may also be configured such that even if the monitored state matches a specific state, it determines that the "person" in the specific state is a registered user if it can determine based on the registered user's registration information (e.g., facial information, etc.). Therefore, even if a registered user forgets to cancel the process and starts working, the controller 100, which determines that the action is that of a registered user through facial authentication, can delay performing special processing, such as sending a message urging the user to cancel the process.

[0069] Furthermore, the monitoring and judgment processing can also be set to be performed while the guiding mobile body 10 is in motion. In this case, during the monitoring and judgment processing while in motion, for example, a situation is imagined during motion, such as the monitored object M falling, and a specific situation is set. Moreover, the guiding mobile body 10 can also transport items without following the following vehicle 20. Even in this case, monitoring and judgment processing and special processing can still be performed.

[0070] Symbol Explanation

[0071] 10-Guiding mobile body, 100-Controller, 7-Main body of mobile body, 8-Object monitoring device, 9-Surrounding monitoring device, 20-Following vehicle (following vehicle).

Claims

1. A guiding moving body, characterized in that, have: The main body of the moving object; A surrounding monitoring device is mounted on the main body of the mobile body and detects the surrounding conditions of the main body of the mobile body; The controller is mounted on the main body of the mobile body and enables the main body of the mobile body to move autonomously based on the detection results of the surrounding monitoring device. It can also be operated by wirelessly enabling a vehicle to follow the main body of the mobile body as a following vehicle. and An object monitoring device is mounted on the mobile body in a manner capable of detecting the status of items transported by the mobile body, items transported by the following vehicle, or the following vehicle, which are set as monitored objects on the controller. The controller is configured to, during a predetermined period after the main body of the mobile vehicle arrives at its destination, execute warnings and / or special processing related to the operation of the following vehicle if, based on the detection results of the object monitoring device, it is determined that the condition of the monitored object is a specific condition.

2. The guiding moving body according to claim 1, characterized in that, The specified period is the period from the satisfaction of the specified start conditions to the satisfaction of the specified release conditions. The starting conditions include the mobile body stopping at the destination after a specified time has elapsed, or the registered user executing the specified start process. The conditions for termination include the termination process being executed by the registered user.

3. The guiding moving body according to claim 1, characterized in that, The object monitoring device is at least one of a plurality of detectors constituting the surrounding monitoring device.

4. The guiding moving body according to claim 1, characterized in that, The controller determines that the monitored object is in a specific state if the person is in contact with the monitored object for a specified period of time or more, if the distance between the person and the monitored object is less than a specified distance for a specified period of time or more, or if the position of the monitored object changes by a specified threshold or more.

5. The guiding moving body according to any one of claims 1 to 4, characterized in that, The special handling, in the case that the item is the monitored object, includes issuing an alarm from the moving body and / or the following vehicle. The special handling, in the case where the following vehicle is the monitored object, includes remotely disabling the operation of the following vehicle.

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