Relay device, control apparatus, control method, program, charger, and electric moving body

Abstract

To desire a provision of a technique capable of improving an operation ratio of an electric moving body.SOLUTION: A relay device that relays a supply of a power to an electric moving body from a charger, comprises: a first electric connection part constructed so as to be electrically connected to the charger; a second electric connection part constructed so as to be electrically connected to the electric moving body; and a battery that is charged via the first electric connection part from the charger in a connection state between the charger and the first electric connection part, and supplies the power to the electric moving body via the second electric connection part in the connection state between the electric moving body and the second electric connection part.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a relay device, a control device, a control method, a program, a charger, and an electric vehicle. [Background technology]

[0002] In recent years, various technologies for charging batteries have been known. As one example, Patent Document 1 discloses a technology for charging a battery of an electric vehicle from a charger located at a station. As another example, Patent Document 2 discloses a technology for charging a battery of an electric motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-91604 [Patent Document 2] JP 2019-187149 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, since the charger at the station does not move, if the battery of the electric vehicle is directly charged from the charger at the station, the electric vehicle cannot move while the battery of the electric vehicle is being charged. Therefore, a situation may occur in which the operation rate of the electric vehicle does not improve. Also, since the operation rate of the electric vehicle does not improve, it takes a long time to recover the investment in the electric vehicle through sales.

[0005] Therefore, it is desirable to provide a technique that enables an improvement in the operating rate of an electric vehicle. Also, improving the operating rate of an electric vehicle can lead to a reduction in the time required to recover an investment in the electric vehicle through sales. [Means for solving the problem]

[0006] In order to solve the above problem, according to one aspect of the present invention, there is provided a relay device that relays the supply of power from a charger to an electric vehicle, the relay device comprising: a first electrical connection portion configured to be electrically connectable to the charger; a second electrical connection portion configured to be electrically connectable to the electric vehicle; and a battery that is charged from the charger via the first electrical connection portion when the charger is in a connected state between the charger and the first electrical connection portion, and that supplies power to the electric vehicle via the second electrical connection portion when the electric vehicle is in a connected state between the second electrical connection portion.

[0007] The relay device may include a first mechanical connection unit configured to be mechanically connectable to the charger, and may be controlled to disconnect the charger from the first mechanical connection unit based on the connection between the electric vehicle and the second electrical connection unit when the charger is in a connected state with the first mechanical connection unit.

[0008] The relay device may include a second mechanical connection unit configured to be mechanically connectable to the electric vehicle, and may be controlled so that the electric vehicle and the second mechanical connection unit are disconnected based on the charger and the first electrical connection unit being connected when the electric vehicle and the second mechanical connection unit are in a connected state.

[0009] The charger and the first mechanical connection unit may be controlled to be connected based on a determination that a predetermined relationship exists between a position of the electric vehicle connected to the second mechanical connection unit and a position of the charger.

[0010] The electric vehicle may be controlled to be connected to the second mechanical connection unit based on a determination that a predetermined relationship exists between the position of the electric vehicle and the position of the charger connected to the first mechanical connection unit.

[0011] There may be a plurality of relay devices, each of which is capable of providing a service, and the services which each of which is capable of providing may be different from one another.

[0012] According to another aspect of the present invention to solve the above problem, there is provided a control device for controlling power supply from a charger to an electric vehicle via a relay device, the relay device including a first electrical connection portion configured to be electrically connectable to the charger, a second electrical connection portion configured to be electrically connectable to the electric vehicle, a battery that is charged by the charger via the first electrical connection portion in a connected state between the charger and the first electrical connection portion and that supplies power to the electric vehicle via the second electrical connection portion in a connected state between the electric vehicle and the second electrical connection portion, and a power supply unit that supplies power to the electric vehicle via the second electrical connection portion in a connected state between the electric vehicle and the second electrical connection portion; a first mechanical connection part configured to be mechanically connectable to a charger, and a second mechanical connection part configured to be mechanically connectable to the electric vehicle, wherein the charger and the first mechanical connection part are controlled to be disconnected based on the electric vehicle and the second electrical connection part being connected in a connected state between the charger and the first mechanical connection part, and the electric vehicle and the second mechanical connection part are controlled to be disconnected based on the charger and the first electrical connection part being connected in a connected state between the electric vehicle and the second mechanical connection part.

[0013] The control device may include a control unit that determines whether the relay device can be used, and controls transmission of a service provision instruction when it is determined that the relay device can be used.

[0014] When it is determined that the relay device can be used, the control unit may control transmission of the service provision instruction to a charger that is not connected to the relay device.

[0015] The control unit may determine whether or not the relay device is available for use based on power consumption of a service and a remaining charge of the battery.

[0016] When it is determined that the relay device cannot be used, the control unit may notify a user terminal that the relay device cannot be used.

[0017] The control unit may calculate a usage fee for a service depending on the service type or the service providing location, and notify the user terminal of the usage fee.

[0018] According to another aspect of the present invention to solve the above problem, there is provided a control method by a control device that controls power supply from a charger to an electric vehicle via a relay device, the relay device including: a first electrical connection portion configured to be electrically connectable to the charger; a second electrical connection portion configured to be electrically connectable to the electric vehicle; a battery that is charged by the charger via the first electrical connection portion when the charger is in a connected state with the first electrical connection portion, and that supplies power to the electric vehicle via the second electrical connection portion when the electric vehicle is in a connected state with the second electrical connection portion; A control method is provided, comprising: a first mechanical connection part configured to be mechanically connectable to the charger; and a second mechanical connection part configured to be mechanically connectable to the electric vehicle; and, based on the electric vehicle and the second electrical connection part being connected in a connected state between the charger and the first mechanical connection part, the charger and the first mechanical connection part are controlled to be disconnected from each other; and, based on the electric vehicle and the first electrical connection part being connected in a connected state between the electric vehicle and the second mechanical connection part, the charger and the second mechanical connection part are controlled to be disconnected from each other.

[0019] In order to solve the above-mentioned problem, according to another aspect of the present invention, there is provided a program for causing a computer to function as a control unit that controls power supply from a charger to an electric vehicle via a relay device, the relay device including a first electrical connection unit configured to be electrically connectable to the charger, a second electrical connection unit configured to be electrically connectable to the electric vehicle, and a relay device that is charged by the charger via the first electrical connection unit in a connected state between the charger and the first electrical connection unit, and that supplies power to the electric vehicle via the second electrical connection unit in a connected state between the electric vehicle and the second electrical connection unit. Provided is a program comprising: a battery; a first mechanical connection unit configured to be mechanically connectable to the charger; and a second mechanical connection unit configured to be mechanically connectable to the electric vehicle; and wherein, when the charger is in a connected state with the first mechanical connection unit, the electric vehicle is controlled to be disconnected from the first mechanical connection unit based on the electric vehicle being connected to the second electrical connection unit; and, when the electric vehicle is in a connected state with the second mechanical connection unit, the charger is controlled to be disconnected from the second mechanical connection unit based on the electric vehicle being connected to the first electrical connection unit.

[0020] In addition, according to another aspect of the present invention to solve the above problem, there is provided a charger that supplies power to be supplied to an electric vehicle to a relay device, the relay device comprising: a first electrical connection portion configured to be electrically connectable to the charger; a second electrical connection portion configured to be electrically connectable to the electric vehicle; a battery that is charged from the charger via the first electrical connection portion when the charger is in a connected state between the charger and the first electrical connection portion, and that supplies power to the electric vehicle via the second electrical connection portion when the electric vehicle is in a connected state between the second electrical connection portion; and a first mechanical connection portion configured to be mechanically connectable to the charger, and the charger comprises a third mechanical connection portion mechanically connectable to the first mechanical connection portion.

[0021] The third mechanical connection portion may be controlled to be disconnected from the first mechanical connection portion based on the electric vehicle being connected to the second electrical connection portion in a connected state with the first mechanical connection portion.

[0022] The charger may include a display unit that displays display information for identifying the charger, and the charger may be identified based on the display information detected by the electric vehicle.

[0023] In addition, according to another aspect of the present invention to solve the above problem, there is provided an electric vehicle to which power is supplied from a charger via a relay device, the relay device comprising: a first electrical connection portion configured to be electrically connectable to the charger; a second electrical connection portion configured to be electrically connectable to the electric vehicle; a battery that is charged from the charger via the first electrical connection portion in a connected state between the charger and the first electrical connection portion, and that supplies power to the electric vehicle via the second electrical connection portion in a connected state between the electric vehicle and the second electrical connection portion; and a second mechanical connection portion configured to be mechanically connectable to the electric vehicle, and the electric vehicle comprises a fourth mechanical connection portion mechanically connectable to the second mechanical connection portion.

[0024] The fourth mechanical connection portion may be controlled to be disconnected from the second mechanical connection portion based on the charger and the first electrical connection portion being connected in a connected state with the second mechanical connection portion.

[0025] The electric vehicle may include a sensor unit that detects display information for identifying the charger, and the charger may be identified based on the display information detected by the sensor unit. Effect of the Invention

[0026] As described above, according to the present invention, a technique is provided that makes it possible to improve the operating rate of an electric vehicle. [Brief description of the drawings]

[0027] [Figure 1] 1 is a diagram illustrating an example of a functional configuration of a system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram illustrating an example of a functional configuration of the system according to the embodiment. [Diagram 3] FIG. 2 is a diagram illustrating an example of a functional configuration of the system according to the embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a functional configuration of the system according to the embodiment. [Diagram 5] FIG. 2 is a perspective view of a charger 300. [Figure 6] FIG. 2 is a diagram illustrating an example of the configuration of a service robot. [Figure 7] FIG. 2 is a diagram showing a detailed configuration of a lift control unit 160. [Figure 8] FIG. 2 is a perspective view showing the electric vehicle 100 and the additional function unit 200 before they are connected to each other. [Figure 9] 1 is a diagram showing a state in which the electric vehicle 100 and the additional function unit 200 are normally connected to each other. [Figure 10] 1 is a diagram showing a state in which the electric vehicle 100 and the additional function unit 200 are not normally connected to each other. [Figure 11] 13 is a diagram showing details of the hook-shaped lifting portion 340. FIG. [Figure 12] 13 is a diagram showing details of the hook-shaped lifting portion 340. FIG. [Figure 13] 13 is a diagram showing details of the hook-shaped lifting portion 340. FIG. [Figure 14] 13 is a diagram showing details of the hook-shaped lifting portion 340. FIG. [Figure 15] 1 is a diagram illustrating an example of a functional configuration of a system according to a first embodiment of the present invention. [Figure 16] 13 is a flowchart showing an example of the operation of the entire system relating to the use of the service robot 900. [Figure 17] 10 is a flowchart showing an example of an operation of returning the electric vehicle 100 existing alone to the charger 300. [Figure 18]13 is a flowchart showing an example of an operation of the service robot 900 returning to the charger 300. [Figure 19] FIG. 11 is a diagram illustrating an example of a functional configuration of a system according to a second embodiment of the present invention. [Figure 20] 13 is a diagram showing details of the mechanical connection part 170, the mechanical connection part 250, and the hook-shaped lifting part 340. FIG. [Figure 21] 13 is a diagram showing details of the mechanical connection part 170, the mechanical connection part 250, and the hook-shaped lifting part 340. FIG. [Figure 22] 10 is a flowchart showing an example of an operation of returning the electric vehicle 100 existing alone to the charger 300. [Diagram 23] 13 is a flowchart showing an example of an operation of the service robot 900 returning to the charger 300. [Figure 24] FIG. 9 is a diagram showing a hardware configuration of an information processing device 920 as an example of the remote operation system 400 according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and duplicated explanations will be omitted.

[0029] 1. First Embodiment A first embodiment of the present invention will be described.

[0030] (1-1. System Configuration) 1 to 4 are diagrams showing an example of the functional configuration of a system according to a first embodiment of the present invention. Here, the example of the configuration of the system according to the first embodiment of the present invention will be described mainly with reference to Fig. 1. As shown in Fig. 1, the system according to the first embodiment of the present invention includes an electric vehicle 100, an additional function unit 200, a charger 300, a remote operation system 400, and a user terminal 500.

[0031] (Electric mobile object 100) The electric vehicle 100 includes a processing device 110 , a battery 120 , a communication unit 130 , a sensor unit 140 , a lifting unit 150 , a lifting control unit 160 , a mechanical connection unit 170 , and an electrical connection unit 180 .

[0032] The processing device 110 performs various information processing for controlling the electric vehicle 100. The processing device 110 also executes operations according to control information transmitted from the remote operation system 400. The various information processing for controlling the electric vehicle 100 includes a map generation function and an autonomous driving function. Furthermore, the processing device 110 detects the position and orientation of the charger 300 on the map based on image data obtained by the sensor unit 140, and registers it in a storage unit (not shown).

[0033] The battery 120 supplies power to each electrical component included in the electric vehicle 100 .

[0034] The communication unit 130 communicates with each of the communication unit 360 included in the charger 300, the remote operation system 400, and the user terminal 500. In addition, when there are multiple electric vehicles 100, the communication units 130 included in each of the multiple electric vehicles 100 can communicate with each other.

[0035] The sensor unit 140 includes a camera that captures an image of a real space to obtain image data. For example, the sensor unit 140 captures an image of the surroundings of the electric vehicle 100 with the camera to obtain environmental information of the electric vehicle 100. The sensor unit 140 also captures display information on the electronic display unit 370 of the charger 300 with the camera to obtain display information.

[0036] The lifting / lowering unit 150 moves linearly in the vertical direction (up and down direction) according to the control by the lifting / lowering control unit 160. When the lifting / lowering unit 150 rises and reaches a certain height, the mechanical connection unit 170 engages with the additional function unit 200. This enables the electric vehicle 100 to support the additional function unit 200, and also connects the electrical connection unit 180 and the second electrical connection unit 232. Connecting the electrical connection unit 180 and the second electrical connection unit 232 enables the exchange of power and information communication between the electric vehicle 100 and the additional function unit 200.

[0037] (Additional function unit 200) The additional function unit 200 includes a battery 210, a voltage drop measurement unit 220, a first electrical connection unit 231, and a second electrical connection unit 232. The first electrical connection unit 231 is a connection unit configured to be electrically connectable to the charger 300. The second electrical connection unit 232 is a connection unit configured to be electrically connectable to the electric vehicle 100.

[0038] The battery 210 is charged by the charger 300 via the first electrical connection unit 231 in a connected state between the charger 300 and the first electrical connection unit 231. Note that the connected state may mean a state in which the charger 300 and the first electrical connection unit 231 are connected. Furthermore, the battery 210 supplies power to the battery 120 included in the electric vehicle 100 via the second electrical connection unit 232 in a connected state between the electric vehicle 100 and the second electrical connection unit 232.

[0039] The voltage drop measurement unit 220 may detect the remaining amount of the battery 210 and notify the charger 300 or the electric vehicle 100 of the remaining amount of the battery 210. For example, the voltage drop measurement unit 220 may notify the charger 300 of the remaining amount of the battery 210 via the first electrical connection unit 231. In addition, the voltage drop measurement unit 220 may notify the electric vehicle 100 of the remaining amount of the battery 210 via the second electrical connection unit 232.

[0040] The additional function unit 200 can also be said to be a relay device that relays the supply of power from the charger 300 to the electric vehicle 100. The additional function unit 200 may be capable of providing a service. Types of services include cleaning, guidance, and monitoring. Furthermore, when there are multiple additional function units 200, the services that each of the multiple additional function units 200 can provide may be different from each other. However, the additional function unit 200 does not necessarily have a function of providing a service.

[0041] (Charger 300) The charger 300 includes a processing unit 310, a step-down converter 320, an electrical connection unit 330, a hook-shaped lifting unit 340, a hook-shaped lifting unit support unit 350, a communication unit 360, and an electronic display unit 370. The charger 300 can be supplied with power from an external source by means not shown.

[0042] The processing device 310 manages information indicating whether the electrical connection portion 180 and the second electrical connection portion 232 are connected, which is acquired via the second electrical connection portion 232 and the electrical connection portion 330. The processing device 310 also manages information indicating whether the first electrical connection portion 231 and the electrical connection portion 330 are connected.

[0043] The processing device 310 controls charging of the battery 210 via the first electrical connection unit 231 and the electrical connection unit 330, and also manages the remaining charge of the battery 210.

[0044] The processing device 310 controls the transmission by the communication unit 360 to the remote operation system 400 of information indicating whether the electrical connection unit 180 and the second electrical connection unit 232 are connected, information indicating whether the first electrical connection unit 231 and the electrical connection unit 330 are connected, and the remaining charge of the battery 210.

[0045] The step-down converter 320 converts the electrical power supplied from the outside into an electrical property that can be charged to the battery 210 .

[0046] The electrical connection unit 330 is a connection unit configured to be electrically connectable to the additional function unit 200. By connecting the electrical connection unit 330 to the first electrical connection unit 231, it becomes possible to exchange power and information between the charger 300 and the additional function unit 200. Furthermore, by connecting the second electrical connection unit 232 to the electric vehicle 100, it becomes possible to exchange power and information between the charger 300 and the electric vehicle 100.

[0047] The hook-shaped lifting and lowering unit 340 holds the additional function unit 200. The number of hook-shaped lifting and lowering units 340 included in the charger 300 may be one or more. In addition, the number of additional function units 200 that can be held by the hook-shaped lifting and lowering unit 340 may be one or more.

[0048] Fig. 5 is a perspective view of the charger 300. As shown in Fig. 5, as an example, the number of hook-shaped lifting units 340 included in the charger 300 may be two. As shown in Fig. 5, when each of the two hook-shaped lifting units 340 can hold an additional function unit 200, the two additional function units 200 can be held by the two hook-shaped lifting units 340. Each of the two hook-shaped lifting unit support units 350 supports the hook-shaped lifting unit 340.

[0049] The number of additional function units 200 that can be held by all of the hook-shaped lifting units 340 included in the charger 300 is also referred to as the "holding number." The charger 300 (particularly the hook-shaped lifting unit support unit 350) has sufficient strength to suspend the held number of additional function units 200 from the two hook-shaped lifting units 340. When the additional function units 200 are held by the charger 300, the first electrical connection unit 231 and the electrical connection unit 330 are in a positional relationship in which they are connected to each other.

[0050] The communication unit 360 communicates with each of the communication unit 130 included in the electric vehicle 100, the remote operation system 400, and the user terminal 500. In addition, when there are multiple chargers 300, the communication units 360 included in each of the multiple chargers 300 can communicate with each other.

[0051] The electronic display unit 370 is configured with a display and displays display information. For example, the electronic display unit 370 may be capable of displaying display information for identifying the charger 300. Such display information is detected by the sensor unit 140 provided in the electric vehicle 100, and the processing device 110 identifies the charger 300 from the display content.

[0052] For example, the display information may be an augmented reality (AR) marker, etc. In other words, the display information may be guidance information for guiding the electric vehicle 100 to the location of the charger 300.

[0053] Furthermore, the electronic display unit 370 may be capable of displaying the remaining charge of the battery 210 included in the additional function unit 200 connected to the charger 300 and usability information of the additional function unit 200. For example, when the additional function unit 200 is broken, the usability information may indicate that it is unusable, and when the additional function unit 200 is not broken, the usability information may indicate that it is usable.

[0054] When the additional function unit 200 is capable of providing a service, the electric vehicle 100 and the additional function unit 200 connected to each other are capable of providing a service while moving as a single entity. In the following description, the electric vehicle 100 and the additional function unit 200 in such a state may be collectively referred to as a "service robot."

[0055] Fig. 6 is a diagram showing an example of the configuration of a service robot. Referring to Fig. 6, the service robot 900 includes an electric vehicle 100 and an additional function unit 200 that are connected to each other. Note that the service robot 900 is not connected to a charger 300 and is therefore capable of moving.

[0056] (Electric mobile object 100) 7 is a diagram showing a detailed configuration of the lift control unit 160. The lift control unit 160 includes an electric vehicle main body top plate 161, a lift unit top plate 162, a shaft 163, a linear bushing 164, a motor 165, a male threaded shaft 166, a female threaded bushing 167, and a switch 168.

[0057] The lifting section top plate 162 is the upper surface of the lifting section 150, and the electric vehicle main body top plate 161 is the uppermost surface of the portion of the electric vehicle 100 excluding the lifting section 150. A motor 165 and a shaft 163 are fixed to the lower surface of the lifting section top plate 162. In addition, the output shaft of the motor 165 and a male screw shaft 166 are fixed coaxially, and the male screw shaft 166 also rotates when the motor 165 rotates.

[0058] Fixed to the electric vehicle main body top plate 161 are a linear bush 164 through which the shaft 163 passes and which enables the vertical movement of the lifting section top plate 162 to which the shaft 163 is fixed, an internal thread bush 167 which obtains a vertical force by the rotation of the external thread shaft 166, and a switch 168 which detects the vertical movement limit of the lifting section top plate 162. With this configuration, the lifting section top plate 162 can move up and down in accordance with the forward and reverse rotation of the motor 165.

[0059] (Connection between the electric vehicle 100 and the additional function unit 200) Next, the connection between the electric vehicle 100 and the additional function unit 200 will be described in detail with reference to FIGS.

[0060] 8 is a perspective view showing the electric vehicle 100 and the additional function unit 200 before they are connected to each other. The two mechanical connection unit mating studs 171 are provided on the upper surface of the lifting unit top plate 162, and are components of the mechanical connection unit 170. However, the number of the mechanical connection unit mating studs 171 is not limited to two, and may be one, or three or more. The two electrical connection units 180 are also provided on the upper surface of the lifting unit top plate 162. However, the number of the electrical connection units 180 is not limited to two, and may be one, or three or more.

[0061] Moreover, the additional function part bottom surface 201 is the bottom surface of the additional function part 200. The additional function part bottom surface 201 is provided with two mechanical connection part mating holes 202. However, the number of the mechanical connection part mating holes 202 may be appropriately changed depending on the number of the mechanical connection part mating studs 171. The additional function part bottom surface 201 is also provided with two second electrical connection parts 232. However, the number of the second electrical connection parts 232 may be appropriately changed depending on the number of the electrical connection parts 180.

[0062] The mechanical connection part mating stud 171 and the mechanical connection part mating hole 202 are arranged so that when the lifting part 150 is lifted in accordance with the control of the lifting control part 160, the mechanical connection part mating stud 171 is mated with the mechanical connection part mating hole 202. At this time, the electrical connection part 180 and the second electrical connection part 232 are arranged so that the electrical connection part 180 and the second electrical connection part 232 are electrically connected.

[0063] 9 is a diagram showing a state in which the electric vehicle 100 and the additional function unit 200 are normally connected to each other. Referring to FIG. 9, the mechanical connection unit mating stud 171 is mated with the mechanical connection unit mating hole 202, and the electrical connection unit 180 and the second electrical connection unit 232 are electrically connected. The mechanical connection unit mating hole 202 may be an example of a second mechanical connection unit configured to be mechanically connectable to the electric vehicle 100. The mechanical connection unit mating stud 171 may be an example of a fourth mechanical connection unit configured to be mechanically connectable to the additional function unit 200.

[0064] 10 is a diagram showing a state in which the electric vehicle 100 and the additional function unit 200 are not normally connected to each other. For example, when an error occurs in the position guidance of the electric vehicle 100, a situation in which the electric vehicle 100 and the additional function unit 200 are not normally connected to each other may occur.

[0065] 10, the bottom surface 201 of the additional function unit rides up onto the mechanical connection unit mating stud 171, resulting in a positional relationship in which the electrical connection unit 180 and the second electrical connection unit 232 are not physically connected. Each of the electric vehicle 100 and the additional function unit 200 can detect that replacement of the additional function unit 200 in the electric vehicle 100 has failed. Note that replacement can mean replacing the additional function unit 200 connected to the electric vehicle 100.

[0066] (Connection between charger 300 and additional function unit 200) Next, the connection between the charger 300 and the additional function unit 200 will be described in detail with reference to FIGS.

[0067] 11 to 14 are diagrams showing details of the hook-shaped lifting section 340. The hook-shaped lifting section 340 includes a lock lever 341, a rotation fulcrum 342, a shaft 343, a compression spring 344, and a solenoid 345. The lock lever 341 includes a lock lever protrusion 346. The additional function section 200 includes an additional function section side wall 203 and a first mechanical connection section 204.

[0068] The lock lever 341 can correspond to an example of a third mechanical connection part that can be mechanically connected to the first mechanical connection part 204. The lock lever 341 rotates around a rotation fulcrum 342. The lock lever 341 is physically connected to a solenoid 345 fixed inside the charger 300 via a shaft 343.

[0069] When the solenoid 345 is energized, the lock lever 341 rotates in a predetermined direction (clockwise in the example shown in FIG. 12), and the lock lever protrusion 346 located at the tip of the lock lever 341 retreats from the connection position with the first mechanical connection part 204. This maintains a state in which the lock lever 341 and the first mechanical connection part 204 are not mechanically connected to each other (FIG. 12).

[0070] On the other hand, when the solenoid 345 is not energized (i.e., when no current is applied), the lock lever 341 rotates in the opposite direction to the predetermined direction (counterclockwise in the example shown in FIG. 11) due to the compression spring 344, and the lock lever protrusion 346 located at the tip of the lock lever 341 returns to the connection position with the first mechanical connection part 204. This maintains the state in which the lock lever protrusion 346 and the first mechanical connection part 204 are mechanically connected (FIG. 11).

[0071] More specifically, in a state where the lock lever protrusion 346 is inserted further inward than the additional function unit side wall 203, when no current is applied, the lock lever 341 rotates so that the heightwise position of the lock lever protrusion 346 overlaps the heightwise position of the first mechanical connection unit 204. In this state, the additional function unit 200 cannot be removed from the charger 300.

[0072] Therefore, unless the solenoid 345 is activated by control from the system, an outsider cannot take out the additional function unit 200 without permission, so that the security of the additional function unit 200 can be improved.

[0073] The lock lever protrusion 346 has a tapered shape. Therefore, in the state shown in Fig. 13, when the additional function unit 200 moves closer to the charger 300 (from right to left in the example shown in Fig. 13) and the charger 300 supports the additional function unit 200, the lock lever protrusion 346 receives a force from the additional function unit side wall 203 and retreats from the connection position with the first mechanical connection unit 204, as shown in Fig. 14.

[0074] As a result, the state of the additional function unit 200 with the charger 300 can be transitioned to a state in which the additional function unit 200 is supported by the charger 300.

[0075] (Example of system configuration) 15 is a diagram showing an example of a functional configuration of a system according to the first embodiment of the present invention. As shown in FIG. 15, the system according to the first embodiment of the present invention includes a service robot 900, an electric vehicle 100, a charger 300, an additional function unit 200, a network 600, a remote operation system 400, and a user terminal 500.

[0076] The service robot 900, the electric vehicle 100, the charger 300, the remote operation system 400, and the user terminal 500 are each connected to a network 600. For example, the network 600 may be a LAN (Local Area Network) or the like.

[0077] 15, the charger 300 is connected to the network 600. However, the charger 300 does not have to be connected to the network 600. In this case, the charger 300 only needs to communicate with the remote operation system 400 and the user terminal 500 via the electric vehicle 100 electrically connected to the charger 300.

[0078] (Remote Operation System 400) The remote operation system 400 is realized by a computer, and corresponds to an example of a control device. The remote operation system 400 controls the operation target. The operation targets by the remote operation system 400 are typically the electric vehicle 100, the additional function unit 200, the charger 300, and the user terminal 500. However, the operation targets by the remote operation system 400 are not limited to these. For example, other remotely operable devices may be the operation targets by the remote operation system 400. In addition, the operation targets by the remote operation system 400 may include a plurality of operation targets of the same type.

[0079] The remote operation system 400 includes a communication unit 420, which is capable of communicating with the communication unit 130 included in the electric vehicle 100, the communication unit 360 included in the charger 300, and the communication unit 510 included in the user terminal 500.

[0080] The communication unit 420 is a functional unit that transmits a connection request to the operation target and receives a connection request from the operation target. The communication unit 420 can acquire information such as the position information of the electric vehicle 100, the charging status of the battery 120, the remaining charge of the battery 210, the connection status between the electric vehicle 100 and the additional function unit 200, the connection status between the additional function unit 200 and the charger 300, the elevation state of the hook-shaped elevation unit 340, and other information.

[0081] The database 410 is configured by a memory and has a function of storing various information. The user management unit 461 is a recording unit that manages registered user information. The operation target management unit 462 is a recording unit that manages information on the registered operation targets, the usage history of the registered operation targets, and the status of the registered operation targets (e.g., the remaining battery level, etc.).

[0082] The reservation information management unit 463 is a recording unit that manages reservation information of the operation target received from the user and the schedule of the operation target based on the reservation information. The service management unit 464 is a recording unit that manages information on the service provided to the user and the service usage history.

[0083] The remote operation system 400 has a control unit (not shown), which has an operation target control unit 430, an operation target information acquisition unit 440, a report notification unit 450, a user authentication unit 460, a reservation reception unit 470, a service notification unit 480, and a billing unit 490.

[0084] The control unit (not shown) may be configured as hardware such as a dedicated IC (Integrated Circuit) chip, or may be realized by a processor such as a CPU (Central Processing Unit) executing a program. In this case, a computer-readable recording medium on which the program is recorded may also be provided.

[0085] The operation target control unit 430 generates control information for the operation target in response to reservation information for the operation target or interrupt information from a user. Note that interrupt information is information input by a user when the user desires to use the operation target immediately rather than by reservation (for example, when the operation target is used for purposes such as restoration and maintenance).

[0086] The operation target information acquisition unit 440 acquires status information of the operation target and records it in the operation target management unit 462. The status information includes the position information of the electric vehicle 100, the charging status of the battery 120, the remaining charge of the battery 210, the connection status between the electric vehicle 100 and the additional function unit 200, the connection status between the additional function unit 200 and the charger 300, and the elevation state of the hook-shaped elevation unit 340.

[0087] The report notification unit 450 creates and notifies a report describing the operation status of the operation target. Note that the operation status may include the operation status for each task of the operation target and the periodic operation status of the operation target.

[0088] The user authentication unit 460 authenticates whether or not a user who has accessed the remote operation system 400 is a user registered in the user management unit 461 .

[0089] The reservation reception unit 470 distributes reservation information to users who have been successfully authenticated, and processes reservation applications or reservation changes from users who have been successfully authenticated.

[0090] The service notification unit 480 notifies the user who made the reservation of the start, end, and result of the service.

[0091] The billing unit 490 calculates a usage fee according to the service provided to the user, and bills the user for the usage fee. The usage fee may be calculated according to the type of service or the location where the service is provided. For example, the usage fee may be calculated to be higher the farther the service provision location is from the location of the charger 300, since it is expected that the amount of power consumed by the battery 210 will be greater.

[0092] (User terminal 500) The user terminal 500 is a terminal used by a user who receives the provision of a service. For example, the user may be a staff member at each store in a large commercial facility where multiple stores are gathered. The user terminal 500 may be a PC (Personal Computer) realized by a computer and installed in a predetermined location (for example, inside a store), or may be a mobile terminal (for example, a tablet terminal, a smartphone, etc.) carried by the user.

[0093] As shown in FIG. 15, a user terminal 500 includes a communication unit 510, an operation unit 520, and a screen unit 530.

[0094] The communication unit 510 communicates with the remote operation system 400 to receive reservation requests, status information on operation targets, reports, and the like.

[0095] The operation unit 520 receives operations from a user. For example, the operation unit 520 may include a dedicated controller, such as a mouse and a keyboard, that is suited to the characteristics of the operation target.

[0096] The screen unit 530 is a display that displays a management screen for the operation target. For example, the screen unit 530 may be a liquid crystal display.

[0097] An example of the configuration of the system according to the first embodiment of the present invention has been described above.

[0098] (1-2. System Operation) Next, an operation example of the system according to the first embodiment of the present invention will be described with reference to FIGS.

[0099] (Use of Service Robot 900) Fig. 16 is a flowchart showing an example of the operation of the entire system related to the use of the service robot 900. As shown in Fig. 16, the operation of the entire system related to the use of the service robot 900 can be broadly divided into service reservation confirmation (S610), start of use of the service robot 900 (S620), and end of use of the service robot (S630).

[0100] The operation target control unit 430 acquires reservation information from the reservation information management unit 463 (for example, periodically) (S611). The reservation information is information indicating which user is to be provided with a service by which service robot 900 during which service use time (from the use start time to the service use end time).

[0101] The operation target information acquisition unit 440 acquires status information of the operation target. The operation target is the service robot 900, the additional function unit 200 being charged in the charger 300, and the like.

[0102] For example, the operation target information acquisition unit 440 acquires from the service robot 900 the location information of the service robot 900, charging information (e.g., the remaining charge of the battery 210 provided in the additional function unit 200, the charging status of the battery 120 provided in the electric vehicle 100, etc.), and function information of the additional function unit 200 installed in the service robot 900, and reflects these in the reservation information managed by the reservation information management unit 463 (S612).

[0103] In addition, the operation target information acquisition unit 440 acquires from the charger 300 function information of the additional function unit 200 being charged in the charger 300 and the remaining charge of the battery 210 equipped in the additional function unit 200 being charged, and reflects this in the reservation information managed by the reservation information management unit 463 (S613).

[0104] Furthermore, when a reservation request is received from the user terminal 500, the operation target control unit 430 acquires the reservation request from the user terminal 500 and reflects the acquired reservation request in the reservation information managed in the reservation information management unit 463 (S614).

[0105] Here, the reservation application indicates the content of a request for the provision of a service, such as security check at the reported location, cleaning of soiled areas, transportation of goods, signage advertising for pedestrians, etc.

[0106] The subject of service provision is either service provided by a service robot 900 using the additional function unit 200 currently installed in the service robot 900 (hereinafter also referred to as a "service robot 900 that does not require replacement of the additional function unit 200"), or service provided by a service robot 900 after the additional function unit 200 has been replaced (hereinafter also referred to as a "service robot 900 that requires replacement of the additional function unit 200").

[0107] The operation target control unit 430 determines whether or not there is a service robot 900 whose use start time has reached the next use start time based on the reservation information (S615). If there is no service robot 900 whose use start time has reached the next use start time ("NO" in S615), the operation target control unit 430 returns to S611. On the other hand, if there is a service robot 900 whose use start time has reached the next use start time ("YES" in S615), the operation target control unit 430 proceeds to S617.

[0108] Next, the operation target control unit 430 determines whether or not the service robot 900 whose use start time has reached the next use start time can be used (S617).

[0109] More specifically, when the operation target control unit 430 determines, based on the power consumption of the service and the remaining charge of the battery 210, that the power generated from the remaining charge of the battery 210 is equal to or greater than the power consumption required to provide the service, it determines that the service robot 900 is usable. On the other hand, when the operation target control unit 430 determines, based on the power consumption of the service and the remaining charge of the battery 210, that the power generated from the remaining charge of the battery 210 is less than the power consumption required to provide the service, it determines that the service robot 900 is unusable.

[0110] When the service notification unit 480 determines that the service robot 900 cannot be used ("NO" in S617), it controls transmission of a message to the user terminal 500 indicating that the service robot 900 cannot be used. The message indicating that the service robot 900 cannot be used may be a status of the service robot 900 (S625).

[0111] On the other hand, if the operation target control unit 430 determines that the service robot 900 can be used ("YES" in S617), it controls the transmission of control information according to the reservation information to the service robot 900 or the charger 300 (S621).

[0112] More specifically, when a service robot 900 that does not require replacement of the additional function unit 200 is used, the operation target control unit 430 controls the transmission of a service provision instruction as control information to the service robot 900. On the other hand, when a service robot 900 that requires replacement of the additional function unit 200 is used, the operation target control unit 430 controls the transmission of a service provision instruction as control information to the charger 300.

[0113] If the service robot 900 does not start operating as scheduled ("NO" in S622), the service notification unit 480 controls the transmission of the status of the service robot 900 to the user terminal 500 (S625). On the other hand, if the service robot 900 starts operating as scheduled ("YES" in S622), the operation target control unit 430 starts counting the service usage time (S623) to charge the user who made the reservation a usage fee according to the service usage time.

[0114] If the service robot 900 does not complete the operation as scheduled ("NO" in S624), the service notification unit 480 controls the transmission of the status of the service robot 900 to the user terminal 500 (S625). On the other hand, if the service robot 900 completes the operation as scheduled ("YES" in S624), the operation target control unit 430 stops counting the service usage time (S631).

[0115] The billing unit 490 calculates a usage fee according to the usage time of the service, and bills the user for the fee by controlling transmission of the calculated usage fee to the user terminal 500 (S632). Note that the billing unit 490 may calculate the usage fee of the service according to the type of service and the usage time of the service.

[0116] The operation target control unit 430 controls the transmission of a return command (control information) to the service robot 900, which has completed the reserved operation, to the charger 300 (S633).

[0117] (Return of the electric vehicle 100) Fig. 17 is a flowchart showing an example of an operation of returning the electric vehicle 100 existing as a standalone to the charger 300. More specifically, the flowchart shown in Fig. 17 shows an example of an operation of returning the electric vehicle 100 existing as a standalone to the charger 300 to which the additional function unit 200 is connected, separating the additional function unit 200 from the charger 300, and connecting the electric vehicle 100 and the additional function unit 200 together.

[0118] As shown in FIG. 17, the operation of returning the electric vehicle 100 existing as a single unit to the charger 300 can be broadly divided into returning the electric vehicle (S710), starting replacement (S720), and starting service provision (S730).

[0119] First, the electric vehicle 100, which exists independently, moves to the vicinity of the charger 300 by the autonomous traveling function (S711 and FIG. 1). Here, when a service provision instruction is transmitted to the charger 300 in S621 (FIG. 16), the electronic display unit 370 included in the charger 300 displays display information for identifying the charger 300. The display information displayed by the electronic display unit 370 is detected by the sensor unit 140 included in the electric vehicle 100 (S712).

[0120] The processing device 110 included in the electric vehicle 100 calculates the relative position between the electronic display unit 370 and the sensor unit 140 based on the detection result of the display information by the sensor unit 140 (S713). The processing device 110 derives movement control information to the replacement possible position based on the calculation result of the relative position, and moves the electric vehicle 100 based on the derived movement control information (S714 and FIG. 2).

[0121] The replaceable position here is a position of the electric vehicle 100 that has a predetermined relationship with the position of the charger 300. More specifically, the replaceable position refers to a relative position between the electronic display unit 370 and the sensor unit 140 where the mechanical connection unit 170 is mechanically connected to the additional function unit 200 and the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 is guaranteed.

[0122] After the electric vehicle 100 has moved, the sensor unit 140 included in the electric vehicle 100 again detects the display information displayed by the electronic display unit 370 (S715). The processing device 110 included in the electric vehicle 100 calculates the relative positions of the electronic display unit 370 and the sensor unit 140 based on the detection result of the display information by the sensor unit 140 (S716).

[0123] The processing device 110 included in the electric vehicle 100 determines whether the electric vehicle 100 has reached the replacement position based on the calculation result of the relative position (S717). If the processing device 110 determines that the electric vehicle 100 has not reached the replacement position ("NO" in S717), the process returns to S714. On the other hand, if the processing device 110 determines that the electric vehicle 100 has reached the replacement position ("YES" in S717), the process proceeds to S721.

[0124] The processing device 110 starts the motor 165 to raise the lifting unit 150 of the electric vehicle 100 (S721 and FIG. 3). This causes the mechanical connection part mating stud 171 to be mated with the mechanical connection part mating hole 202, mechanically connecting the electric vehicle 100 and the additional function unit 200. The integrated electric vehicle 100 and additional function unit 200 constitute a service robot 900.

[0125] Once the processing device 110 has made a mechanical connection between the electric vehicle 100 and the additional function unit 200, it checks whether an electrical connection between the electric vehicle 100 and the additional function unit 200 (i.e., an electrical connection between the electrical connection unit 180 and the second electrical connection unit 232) has been made (S722).

[0126] When the processing device 110 determines that the electric vehicle 100 and the additional function unit 200 are not electrically connected ("NO" in S723), it lowers the lifting unit 150 of the electric vehicle 100 (S724) and returns to S711. On the other hand, when the processing device 110 determines that the electric vehicle 100 and the additional function unit 200 are electrically connected ("YES" in S723), it proceeds to S731.

[0127] The processing device 310 turns on the solenoid 345 to energize the solenoid 345, and retracts the lock lever protrusion 346 from the connection position with the first machine connection unit 204 (S731, FIGS. 4 and 12). The service robot 900 moves the additional function unit 200 away from the charger 300 (from left to right in the example shown in FIG. 12), and pulls out the hook-shaped lifting unit 340 and the hook-shaped lifting unit support unit 350 from the additional function unit 200.

[0128] When the electric vehicle 100 confirms that the service robot 900 has moved to a position where the hook-shaped lifting unit 340 and the hook-shaped lifting unit support unit 350 have been pulled out from the additional function unit 200, it notifies the remote operation system 400 of the position of the electric vehicle 100 and starts autonomous traveling based on the control information from the remote operation system 400 (S732 and FIG. 6). The processing device 310 turns off the solenoid 345 to stop the supply of electricity to the solenoid 345, and returns the lock lever protrusion 346 to the connection position with the first machine connection unit 204 (S733 and FIG. 11).

[0129] (Return of Service Robot 900) 18 is a flowchart showing an example of an operation of returning the service robot 900 to the charger 300. More specifically, the flowchart shown in FIG. 18 shows an example of an operation of returning the service robot 900, which exists as a complex of the electric vehicle 100 and the additional function unit 200, to the charger 300, separating the additional function unit 200 from the electric vehicle 100, and connecting the additional function unit 200 to the charger 300.

[0130] As shown in FIG. 18, the operation of returning the service robot 900 to the charger 300 can be broadly divided into returning the service robot (S810), starting replacement (S820), and separating the unit (S830).

[0131] First, the service robot 900 moves to the vicinity of the charger 300 by the autonomous traveling function (S811 and FIG. 6). Here, when a service provision instruction is transmitted to the charger 300 in S621 (FIG. 16), the electronic display unit 370 provided in the charger 300 displays display information for identifying the charger 300. The display information displayed by the electronic display unit 370 is detected by the sensor unit 140 provided in the electric vehicle 100 of the service robot 900 (S812).

[0132] The processing device 110 included in the electric vehicle 100 of the service robot 900 calculates the relative position between the electronic display unit 370 and the sensor unit 140 based on the detection result of the display information by the sensor unit 140 (S813). The processing device 110 derives movement control information to the replacement possible position based on the calculation result of the relative position, and moves the electric vehicle 100 based on the derived movement control information (S814 and FIG. 4).

[0133] The replaceable position here is a position of the electric vehicle 100 that has a predetermined relationship with the position of the charger 300. More specifically, the replaceable position refers to a relative position between the electronic display unit 370 and the sensor unit 140 where the lock lever protrusion 346 is inserted further inward than the additional function unit side wall 203, the lock lever protrusion 346 returns to the connection position with the first mechanical connection unit 204, and the connection between the first electrical connection unit 231 and the electrical connection unit 330 is guaranteed.

[0134] After the service robot 900 moves, the sensor unit 140 of the electric vehicle 100 of the service robot 900 again detects the display information displayed by the electronic display unit 370 (S815). The processing device 110 of the electric vehicle 100 of the service robot 900 calculates the relative position between the electronic display unit 370 and the sensor unit 140 based on the detection result of the display information by the sensor unit 140 (S816).

[0135] The processing device 110 included in the electric vehicle 100 of the service robot 900 determines whether or not the electric vehicle 100 has reached the replacement position based on the calculation result of the relative position (S817). If the processing device 110 determines that the electric vehicle 100 has not reached the replacement position ("NO" in S817), the process returns to S814. On the other hand, if the processing device 110 determines that the electric vehicle 100 has reached the replacement position ("YES" in S817), the process proceeds to S821.

[0136] When the processing device 110 has made a mechanical connection between the additional function unit 200 and the charger 300, it checks whether an electrical connection between the additional function unit 200 and the charger 300 (i.e., an electrical connection between the first electrical connection unit 231 and the electrical connection unit 330) has been made (S821).

[0137] When the processing device 110 determines that the additional function unit 200 and the charger 300 are not electrically connected ("NO" in S822), the processing returns to S811. On the other hand, when the processing device 110 determines that the additional function unit 200 and the charger 300 are electrically connected ("YES" in S822), the processing device 110 proceeds to S831.

[0138] The processing device 110 starts the motor 165 to lower the lifting unit 150 of the electric vehicle 100 (S831 and FIG. 2). This causes the mechanical connection part mating stud 171 to be removed from the mechanical connection part mating hole 202, and the mechanical connection between the electric vehicle 100 and the additional function unit 200 is released.

[0139] Once the electric vehicle 100 confirms that it has moved away from the additional function unit 200 and the charger 300 (from left to right in the example shown in FIG. 2), it notifies the remote operation system 400 of the position of the electric vehicle 100 and begins autonomous driving based on the control information from the remote operation system 400 (S832 and FIG. 1).

[0140] An example of the operation of the system according to the first embodiment of the present invention has been described in detail above.

[0141] (1-3. Effects) As described above, according to the first embodiment of the present invention, the electric vehicle 100 is capable of appropriately replacing the additional function unit 200 connected to the electric vehicle 100 among the multiple additional function units 200. For example, the services that can be provided by a certain additional function unit 200 can be a cleaning function, and the services that can be provided by another additional function unit 200 can be a security function, and the services that can be provided by the multiple additional function units 200 can be distributed. This makes it possible to provide multiple services using one electric vehicle 100.

[0142] Therefore, by purchasing one electric vehicle 100 that integrates high-priced devices such as the processing device 110, communication unit 130, sensor unit 140, and other devices such as tires or motors (not shown), and purchasing only two additional function units 200, it is possible to enjoy the effect of being able to introduce the system more cheaply than by purchasing two service robots 900.

[0143] Furthermore, when there are two additional function units 200, each of the two additional function units 200 has a battery 210. Therefore, if one additional function unit 200 is connected to the electric vehicle 100 and the other additional function unit 200 is connected to the charger 300, one of the batteries 210 is always charged. This allows the electric vehicle 100 to take out a sufficiently charged additional function unit 200 every time it returns to the charger 300, which provides the advantage of eliminating the need to stop for charging.

[0144] The effects achieved by the system according to the first embodiment of the present invention have been described above.

[0145] 2. Second embodiment Next, a second embodiment of the present invention will be described.

[0146] (2-1. System Configuration) First, a configuration example of a system according to the second embodiment of the present invention will be described below. Fig. 19 is a diagram showing a functional configuration example of the system according to the second embodiment of the present invention.

[0147] As shown in FIG. 19, in the system according to the second embodiment of the present invention, compared to the system according to the first embodiment of the present invention, the direction of the electrical connection and the direction of the mechanical connection between the electric vehicle 100 and the additional function unit 200 are changed horizontally, and accordingly, the positions of the mechanical connection unit 170, the electrical connection unit 180 and the second electrical connection unit 232 are also changed.

[0148] In the system according to the second embodiment of the present invention, the electric vehicle 100 includes a rotary support unit 191, and the additional function unit 200 includes a mechanical connection unit 250 and a rotary support unit 260. The hook-shaped lift unit 340 of the charger 300 is configured to be connectable to the mechanical connection unit 250.

[0149] When the electric vehicle 100 and the additional function unit 200 are connected to each other, they receive a force due to the weight of the additional function unit 200. At this time, the rotary support unit 191 and the rotary support unit 260 function as a roller mechanism that reduces a sliding load generated by the relative movement of the electric vehicle 100 with respect to the additional function unit 200 in the horizontal direction.

[0150] The mechanical connection unit 250 is connected to the mechanical connection unit 170 to connect the electric vehicle 100 and the additional function unit 200 together.

[0151] (Connection between the electric vehicle 100, the additional function unit 200, and the charger 300) Next, the connection between the electric vehicle 100, the additional function unit 200, and the charger 300 will be described in detail with reference to FIGS. 20 and 21. FIG.

[0152] 20 and 21 are diagrams showing the details of the mechanical connection part 170, the mechanical connection part 250, and the hook-shaped lifting part 340. FIG.

[0153] As in the first embodiment of the present invention, when the solenoid 345 is energized, the lock lever 341 rotates in a predetermined direction (clockwise in the example shown in FIG. 20), and the lock lever protrusion 346 located at the tip of the lock lever 341 retreats from the connection position with the first mechanical connection part 204. This maintains a state in which the lock lever 341 and the first mechanical connection part 204 are not mechanically connected (FIG. 21).

[0154] Furthermore, similarly to the first embodiment of the present invention, when the solenoid 345 is not energized (i.e., when no current is applied), the lock lever 341 rotates in the opposite direction to the predetermined direction (counterclockwise in the example shown in FIG. 21) by the compression spring 344, and the lock lever protrusion 346 located at the tip of the lock lever 341 returns to the connection position with the first mechanical connection part 204. This maintains the state in which the lock lever protrusion 346 and the first mechanical connection part 204 are mechanically connected (FIG. 20).

[0155] Lock lever 251 rotates around rotation center 252. As shown in Fig. 20, when solenoid 345 is not energized (i.e., when no current is applied), lock lever protrusion 346 presses the end of lock lever 251 on the charger 300 side (the left end in the example shown in Fig. 20) in the direction opposite to the predetermined direction (counterclockwise in the example shown in Fig. 20), and lock lever 251 receives a moment in the predetermined direction (clockwise in the example shown in Fig. 20).

[0156] At this time, the tension spring 253 applies a moment to the lock lever 251 in the direction opposite to the predetermined direction (counterclockwise in the example shown in FIG. 20). However, the moment that the tension spring 253 applies to the lock lever 251 is preset to be sufficiently smaller than the moment that the compression spring 344 applies to the lock lever 251 via the lock lever 341. Therefore, the lock lever tip 254 of the lock lever 251 retreats from the connection position with the machine connection part 170.

[0157] When the lock lever tip 254 is retracted from the connection position with the mechanical connection unit 170, the electric vehicle 100 and the additional function unit 200 are not mechanically connected. However, the additional function unit 200 and the charger 300 are mechanically connected.

[0158] As shown in FIG. 21, when electricity is applied to the solenoid 345 (i.e., when electricity is applied), the lock lever 251 does not receive force from the lock lever protrusion 346, but receives force from the tension spring 253 in the direction opposite to the specified direction (counterclockwise in the example shown in FIG. 20).

[0159] More specifically, in a state where the lock lever tip 254 is inserted further inward than the electric vehicle side wall 172, when electricity is applied, the lock lever 251 rotates so that the heightwise position of the lock lever tip 254 overlaps with the heightwise position of the mechanical connection part 170. In this state, the additional function unit 200 cannot be removed from the electric vehicle 100.

[0160] In comparison with the first embodiment of the present invention, in the second embodiment of the present invention, even if display information for guiding the electric vehicle 100 to the charger 300 is displayed by the charger 300, due to the shape characteristics of the additional function unit 200, there is a high possibility that the display information will be blocked by the additional function unit 200. Therefore, in order to improve the accuracy of the return of the electric vehicle 100 to the charger 300, it is desirable to adopt a high-performance device with high accuracy of self-location estimation and autonomous driving as the electric vehicle 100.

[0161] An example of the configuration of the system according to the second embodiment of the present invention has been described above.

[0162] (2-2. System Operation) Next, an operation example of the system according to the second embodiment of the present invention will be described with reference to Fig. 22 and Fig. 23. However, since the use of the service robot 900 is similar between the first embodiment of the present invention and the second embodiment of the present invention, the return of the electric vehicle 100 and the return of the service robot 900 will be described here.

[0163] (Return of the electric vehicle 100) FIG. 22 is a flowchart showing an example of the operation of returning the electric vehicle 100 existing alone to the charger 300.

[0164] As shown in FIG. 22, the operation of returning the electric vehicle 100 existing as a single unit to the charger 300 can be broadly divided into returning the electric vehicle (S1010), starting replacement (S1020), and starting service provision (S1030).

[0165] First, the electric vehicle 100, which exists as a single unit, moves to the vicinity of the charger 300 by an autonomous traveling function (S1011 and FIG. 19). S1012 is the same as S712. The processing device 110 included in the electric vehicle 100 calculates the relative position between the electric vehicle 100 and a preregistered replacement possible position by a self-position estimation function included in the electric vehicle 100 (S1012). The processing device 110 derives movement control information to the replacement possible position based on the calculation result of the relative position, and moves the electric vehicle 100 based on the derived movement control information (S1013).

[0166] After the electric vehicle 100 moves, the processing device 110 included in the electric vehicle 100 confirms its own position using a self-position estimation function included in the electric vehicle 100 (S1014). Then, based on its own position, it determines whether or not the electric vehicle 100 has reached the replacement possible position (S1015). If the processing device 110 determines that the electric vehicle 100 has not reached the replacement possible position ("NO" in S1015), it returns to S1013. On the other hand, if the processing device 110 determines that the electric vehicle 100 has reached the replacement possible position ("YES" in S1015), it proceeds to S1021.

[0167] S1021 is executed in the same manner as S731. As a result, as shown in Fig. 21, the electric vehicle 100 and the additional function unit 200 are connected, and the connection between the additional function unit 200 and the charger 300 is released. The processing device 310 attempts to confirm whether the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 is established (S1022).

[0168] When the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 is not confirmed ("NO" in S1023), the processing device 310 executes S1024 as in S733 and returns to S1013. On the other hand, when the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 is confirmed ("YES" in S1023), the electric vehicle 100 executes S1031 as in S732, and the processing device 310 executes S1032 as in S733.

[0169] (Return of Service Robot 900) FIG. 23 is a flowchart showing an example of the operation of the service robot 900 returning to the charger 300.

[0170] As shown in FIG. 23, the operation of returning the service robot 900 to the charger 300 can be broadly divided into returning the service robot (S1110), starting replacement (S1120), and separating the unit (S1130).

[0171] First, the service robot 900 moves to the vicinity of the charger 300 by using an autonomous travel function (S1111 and FIG. 19). The processing device 110 included in the electric vehicle 100 of the service robot 900 calculates the relative position between the electric vehicle 100 and the preregistered replacement possible position by using a self-position estimation function included in the electric vehicle 100 (S1112). The processing device 110 of the service robot 900 derives movement control information to the replacement possible position based on the calculation result of the relative position, and moves the electric vehicle 100 based on the derived movement control information (S1113).

[0172] After the service robot 900 moves, the processing device 110 included in the electric vehicle 100 of the service robot 900 checks its own position using a self-position estimation function included in the electric vehicle 100 (S1114). Then, based on its own position, it determines whether or not the electric vehicle 100 of the service robot 900 has reached the replacement position (S1115). If the processing device 110 determines that the electric vehicle 100 has not reached the replacement position ("NO" in S1115), it returns to S1113. On the other hand, if the processing device 110 determines that the electric vehicle 100 has reached the replacement position ("YES" in S1115), it proceeds to S1121.

[0173] 20, the force generated by the compression spring 344 releases the connection between the electric vehicle 100 and the additional function unit 200, and the additional function unit 200 and the charger 300 are connected. Therefore, when the electric vehicle 100 attempts to travel in a direction away from the charger 300, only the electric vehicle 100 can move. The processing device 310 attempts to confirm the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 (S1121).

[0174] When the processing device 310 does not confirm the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 ("NO" in S1122), the processing device 310 returns to S1111. On the other hand, when the electrical connection between the electrical connection unit 180 and the second electrical connection unit 232 is confirmed ("YES" in S1122), the electric vehicle 100 executes S1131 as in S732.

[0175] An example of the operation of the system according to the second embodiment of the present invention has been described above in detail.

[0176] (2-3. Effects) As described above, the second embodiment of the present invention provides the same effects as the first embodiment of the present invention. Furthermore, in addition to the effects provided by the first embodiment of the present invention, the second embodiment of the present invention uses the movement of the electric vehicle 100 to connect the charger 300 and the additional function unit 200, and to connect the additional function unit 200 and the electric vehicle 100, eliminating the need for mechanisms (including the motor 165, etc.) such as the lift control unit 160 (FIG. 7), making it possible to reduce costs.

[0177] The effects achieved by the system according to the second embodiment of the present invention have been described above.

[0178] (3. Hardware configuration example) Next, an example of the hardware configuration of the remote operation system 400 according to the embodiment of the present invention will be described. The hardware configuration of the user terminal 500 may be realized in the same manner as the hardware configuration of the remote operation system 400.

[0179] In the following, an example of the hardware configuration of the information processing device 920 will be described as an example of the hardware configuration of the remote operation system 400 according to the embodiment of the present invention. Note that the hardware configuration example of the information processing device 920 described below is merely one example of the hardware configuration of the remote operation system 400. Therefore, in the hardware configuration of the remote operation system 400, unnecessary components may be deleted from the hardware configuration of the information processing device 920 described below, or new components may be added.

[0180] 24 is a diagram showing a hardware configuration of an information processing device 920 as an example of the remote operation system 400 according to an embodiment of the present invention. The information processing device 920 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, a host bus 904, a bridge 905, an external bus 906, an interface 907, an input device 908, an output device 909, a storage device 910, and a communication device 911.

[0181] The CPU 901 functions as an arithmetic processing device and a control device, and controls the overall operation of the information processing device 920 in accordance with various programs. The CPU 901 may also be a microprocessor. The ROM 902 stores programs and arithmetic parameters used by the CPU 901. The RAM 903 temporarily stores programs used in the execution of the CPU 901 and parameters that change appropriately during the execution. These are connected to each other by a host bus 904 consisting of a CPU bus etc.

[0182] The host bus 904 is connected to an external bus 906, such as a PCI (Peripheral Component Interconnect / Interface) bus, via a bridge 905. It is not necessary to configure the host bus 904, bridge 905, and external bus 906 separately, and these functions may be implemented in a single bus.

[0183] The input device 908 is composed of input means such as a mouse, keyboard, touch panel, button, microphone, switch, and lever for the user to input information, and an input control circuit that generates an input signal based on the user's input and outputs it to the CPU 901. A user who operates the information processing device 920 can input various data to the information processing device 920 and instruct the information processing device 920 to perform processing operations by operating this input device 908.

[0184] The output device 909 includes, for example, a display device such as a CRT (Cathode Ray Tube) display device, a Liquid Crystal Display (LCD) device, an OLED (Organic Light Emitting Diode) device, or a lamp, and an audio output device such as a speaker.

[0185] The storage device 910 is a device for storing data. The storage device 910 may include a storage medium, a recording device for recording data in the storage medium, a reading device for reading data from the storage medium, and a deleting device for deleting data recorded in the storage medium. The storage device 910 is configured, for example, with an HDD (Hard Disk Drive). This storage device 910 drives a hard disk and stores programs executed by the CPU 901 and various data.

[0186] The communication unit 911 is, for example, a communication interface configured with a communication device for connecting to a network, etc. Also, the communication unit 911 may be compatible with either wireless communication or wired communication.

[0187] An example of the hardware configuration of the remote operation system 400 according to the embodiment of the present invention has been described above.

[0188] (4. Supplementary Notes) Although the preferred embodiment of the present invention has been described in detail above with reference to the accompanying drawings, the present invention is not limited to such an example. It is clear that a person having ordinary knowledge in the technical field to which the present invention pertains can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present invention.

[0189] For example, in the embodiment of the present invention, the electric vehicle 100 has tires, but the electric vehicle 100 may be any object that moves by electricity. For example, the electric vehicle 100 may be a caterpillar, a drone, or the like. Alternatively, the electric vehicle 100 may be an object that moves by walking on multiple legs. [Explanation of symbols]

[0190] 100 Electric mobile objects 140 Sensor section 170 Mechanical connection 180 Electrical Connections 200 Additional Functions 204 First mechanical connection part 210 Battery 231 first electrical connection part 232 Second Electrical Connection 250 Mechanical Connection 300 charger 330 Electrical Connections 370 Electronic display 400 Remote Operation System 430 Operation target control section

Claims

1. A relay device that relays power supply from a charger to an electric vehicle, A first electrical connection portion configured to be electrically connectable to the charger; A second electrical connection portion configured to be electrically connected to the electric vehicle; a battery that is charged by the charger via the first electrical connection part when the charger and the first electrical connection part are in a connected state, and that supplies power to the electric vehicle via the second electrical connection part when the electric vehicle and the second electrical connection part are in a connected state; A relay device comprising:

2. The relay device is a first mechanical connection portion configured to be mechanically connectable to the charger; a control is performed so that the charger and the first mechanical connection unit are disconnected from each other based on the fact that the electric vehicle is connected to the second electrical connection unit in a connected state between the charger and the first mechanical connection unit; The relay device according to claim 1 .

3. The relay device is a second mechanical connection portion configured to be mechanically connectable to the electric vehicle; a control unit for controlling the electric vehicle to be disconnected from the second mechanical connection unit based on a connection between the charger and the first electrical connection unit in a connected state between the electric vehicle and the second mechanical connection unit; The relay device according to claim 2 .

4. a control is performed so that the charger and the first mechanical connection unit are connected to each other based on the determination that a position of the electric vehicle connected to the second mechanical connection unit and a position of the charger have a predetermined relationship. The relay device according to claim 3 .

5. a control is performed so that the electric vehicle and the second mechanical connection unit are connected to each other based on the determination that a position of the electric vehicle and a position of the charger connected to the first mechanical connection unit have a predetermined relationship. The relay device according to claim 4.

6. There are a plurality of the relay devices, Each of the plurality of relay devices is capable of providing a service, and the services that each of the plurality of relay devices can provide are different from one another; The relay device according to any one of claims 1 to 5.

7. A control device that controls power supply from a charger to an electric vehicle via a relay device, The relay device is A first electrical connection portion configured to be electrically connectable to the charger; A second electrical connection portion configured to be electrically connected to the electric vehicle; a battery that is charged by the charger via the first electrical connection part when the charger and the first electrical connection part are in a connected state, and that supplies power to the electric vehicle via the second electrical connection part when the electric vehicle and the second electrical connection part are in a connected state; A first mechanical connection unit configured to be mechanically connectable to the charger; A second mechanical connection portion configured to be mechanically connectable to the electric vehicle; Equipped with a control is performed so that the charger and the first mechanical connection part are disconnected based on the fact that the electric vehicle body and the second electrical connection part are connected in a connected state between the charger and the first mechanical connection part, and a control is performed so that the electric vehicle body and the second mechanical connection part are disconnected based on the fact that the charger and the first electrical connection part are connected in a connected state between the electric vehicle body and the second mechanical connection part. Control device.

8. The control device includes: a control unit that determines whether the relay device is available for use and, when it is determined that the relay device is available for use, controls transmission of a service provision instruction; The control device according to claim 7.

9. The control unit is When it is determined that the relay device can be used, the service providing instruction is controlled to be transmitted to a charger that is not connected to the relay device. The control device according to claim 8.

10. the control unit determines whether or not the relay device is available for use based on the power consumption of the service and the remaining charge of the battery. The control device according to claim 8 or 9.

11. When the control unit determines that the relay device cannot be used, the control unit notifies a user terminal that the relay device cannot be used. The control device according to claim 8 or 9.

12. the control unit calculates a usage fee for the service according to the service type or the service providing location, and notifies the user terminal of the usage fee. The control device according to claim 8 or 9.

13. A control method for controlling power supply from a charger to an electric vehicle via a relay device, the method comprising: The relay device is A first electrical connection portion configured to be electrically connectable to the charger; A second electrical connection portion configured to be electrically connected to the electric vehicle; a battery that is charged by the charger via the first electrical connection part when the charger and the first electrical connection part are in a connected state, and that supplies power to the electric vehicle via the second electrical connection part when the electric vehicle and the second electrical connection part are in a connected state; A first mechanical connection unit configured to be mechanically connectable to the charger; A second mechanical connection portion configured to be mechanically connectable to the electric vehicle; Equipped with a control is performed so that the charger and the first mechanical connection part are disconnected based on the fact that the electric vehicle body and the second electrical connection part are connected in a connected state between the charger and the first mechanical connection part, and a control is performed so that the electric vehicle body and the second mechanical connection part are disconnected based on the fact that the charger and the first electrical connection part are connected in a connected state between the electric vehicle body and the second mechanical connection part. Control methods.

14. Computer, A program that functions as a control unit that controls power supply from a charger to an electric vehicle via a relay device, The relay device is A first electrical connection portion configured to be electrically connectable to the charger; A second electrical connection portion configured to be electrically connected to the electric vehicle; a battery that is charged by the charger via the first electrical connection part when the charger and the first electrical connection part are in a connected state, and that supplies power to the electric vehicle via the second electrical connection part when the electric vehicle and the second electrical connection part are in a connected state; A first mechanical connection unit configured to be mechanically connectable to the charger; A second mechanical connection portion configured to be mechanically connectable to the electric vehicle; Equipped with a control is performed so that the charger and the first mechanical connection part are disconnected based on the fact that the electric vehicle body and the second electrical connection part are connected in a connected state between the charger and the first mechanical connection part, and a control is performed so that the electric vehicle body and the second mechanical connection part are disconnected based on the fact that the charger and the first electrical connection part are connected in a connected state between the electric vehicle body and the second mechanical connection part. program.

15. A charger that supplies power to be supplied to an electric vehicle to a relay device, The relay device is A first electrical connection portion configured to be electrically connectable to the charger; A second electrical connection portion configured to be electrically connected to the electric vehicle; a battery that is charged by the charger via the first electrical connection part when the charger and the first electrical connection part are in a connected state, and that supplies power to the electric vehicle via the second electrical connection part when the electric vehicle and the second electrical connection part are in a connected state; A first mechanical connection unit configured to be mechanically connectable to the charger; Equipped with The charger includes: a third mechanical connection portion mechanically connectable to the first mechanical connection portion; charger.

16. the third mechanical connection unit is controlled to be disconnected from the first mechanical connection unit based on the connection between the electric vehicle and the second electrical connection unit in a connected state with the first mechanical connection unit; 16. The charger of claim 15.

17. The charger includes: a display unit that displays information for identifying the charger, The charger is identified based on the display information detected by the electric vehicle.

16. The charger of claim 15.

18. An electric vehicle to which power is supplied from a charger via a relay device, The relay device is A first electrical connection portion configured to be electrically connectable to the charger; A second electrical connection portion configured to be electrically connected to the electric vehicle; a battery that is charged by the charger via the first electrical connection part when the charger and the first electrical connection part are in a connected state, and that supplies power to the electric vehicle via the second electrical connection part when the electric vehicle and the second electrical connection part are in a connected state; A second mechanical connection portion configured to be mechanically connectable to the electric vehicle; Equipped with The electric vehicle is a fourth mechanical connection portion mechanically connectable to the second mechanical connection portion; electric vehicle.

19. the fourth mechanical connection unit is controlled to be disconnected from the second mechanical connection unit based on the connection between the charger and the first electrical connection unit in a connected state with the second mechanical connection unit; The electric vehicle according to claim 18.

20. the electric vehicle includes a sensor unit that detects display information for identifying the charger, The charger is identified based on the display information detected by the sensor unit. The electric vehicle according to claim 18.

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