Mobile body, mobile body storage container, and mobile body storage system

Abstract

To provide a mobile body that includes a traveling body and a mounting body which is attachable to and detachable from the traveling body, where the mobile body appropriately performs both attachment and detachment of the mounting body.SOLUTION: A mobile body 100 comprises: a traveling body 200 which is capable of traveling in a first direction and which includes a mounting surface 210 facing a second direction that is upward with respect to the first direction; and a mounting body 300 which can be attached to and detached from the mounting surface 210, moves integrally with the traveling body 200 when attached to the mounting surface 210 and mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a moving body, a storage for the moving body, and a storage system for the moving body.

Background Art

[0002] Conventionally, a moving body including a traveling body that travels on a traveling surface and a mounted body mounted on the traveling body is known. The mounted body can be attached to the traveling body, and the attached mounted body can be detached from the traveling body. Depending on the usage scenario of the moving body, various types of mounted bodies can be appropriately replaced on the traveling body. An example of this type of moving body is disclosed in Non-Patent Document 1 below.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

[0004] By the way, in the above-described moving body, although the concept of attaching the mounted body to the traveling body can be confirmed, specific attachment modes such as the attachment position and attachment method of the mounted body on the vehicle when the mounted body is attached to the vehicle are unclear. Furthermore, it is also unclear how the mounted body before attachment is moved to the traveling body from where and in what manner, etc., the treatment of the mounted body before attachment. For this reason, it cannot be said that the mounted body is appropriately attached to the traveling body.

[0005] In addition, in the above-described moving body, although the concept of detaching the mounted body from the vehicle can be confirmed, specific detachment modes such as the detachment method when the mounted body is detached from the vehicle are unclear. Furthermore, what to do with the mounted body after detachment, such as how far and in what manner it is moved from the vehicle, is also unclear. For this reason, it cannot be said that the mounted body is appropriately detached from the traveling body. From the above, it can be said that there is room for improvement in appropriately performing both the mounting and detachment of the mounted body in this type of moving body.

[0006] In view of the above, an object of the present invention is to provide a moving body including a traveling body and a mounted body detachable from the traveling body, which can appropriately perform both the mounting and detachment of the mounted body.

Means for Solving the Problems

[0007] The technical means of the present invention for solving this technical problem is characterized by the following points. The storage system of the moving body of the present invention includes a traveling body capable of traveling in a first direction and having a mounting surface facing a second direction upward with respect to the first direction, and a mounted body configured to be detachable from the mounting surface, which moves integrally with the traveling body when mounted on the mounting surface and mounted on the traveling body, and is arranged separately from the traveling body when detached from the mounting surface and not mounted on the traveling body, and a storage for storing the moving body, and a stop position determination unit that determines the stop position inside the storage, which is the stop position of the traveling body when it travels.

[0008] In the storage system of the moving body of the present invention, the storage includes a detected part corresponding to a part whose positional relationship with the stop position is defined, and the stop position determination unit determines the stop position based on the detection result of the detected part.

[0009] The storage system of the moving body of the present invention includes an automatic driving control unit that causes the traveling body to travel by automatic driving so as to stop at the determined stop position.

[0010] In the storage system for a moving body according to the present invention, the storage chamber includes an arrangement portion that is located above the traveling body in the second direction and is configured to be able to arrange the detached mounting body, the stop position is located below the arrangement portion, and it is a position for mounting the mounting body arranged in the arrangement portion on the traveling body without the mounting body mounted thereon, and it is also a position for detaching the mounting body from the traveling body with the mounting body mounted thereon and arranging it in the arrangement portion.

[0011] The storage system for a moving body according to the present invention includes a mounting control unit that performs control to mount the mounting body arranged in the arrangement portion on the traveling body without the mounting body mounted thereon in a state where the traveling body is stopped at the stop position.

[0012] The storage system for a moving body according to the present invention includes a detachment control unit that performs control to detach the mounting body from the traveling body with the mounting body mounted thereon and arrange it in the arrangement portion in a state where the traveling body is stopped at the stop position.

[0013] The storage system for a moving body according to the present invention includes a mounting control unit that performs control to mount the mounting body arranged in the arrangement portion on the traveling body without the mounting body mounted thereon in a state where the traveling body is stopped at the stop position, and a detachment control unit that performs control to detach the mounting body from the traveling body with the mounting body mounted thereon and arrange it in the arrangement portion in a state where the traveling body is stopped at the stop position.

[0014] In the storage system for a moving body according to the present invention, the storage chamber includes a power supply unit configured to be able to supply charging electrical energy to a battery provided in either one or both of the traveling body and the mounting body.

[0015] In the storage system for a moving body according to the present invention, the storage chamber includes a display unit that externally displays information corresponding to the charged state of the battery. The storage system for a moving body according to the present invention includes a traveling body and a carrier that moves integrally with the traveling body when mounted on the traveling body and can be arranged separately from the traveling body when detached from the traveling body, and a storage for storing the moving body, and a stop position determination unit that determines a stop position inside the storage at a stop position of the traveling body when it is traveling.

Advantages of the Invention

[0016] According to the present invention, in a moving body including a traveling body and a detachable carrier, both attachment and detachment of the carrier can be appropriately performed.

Brief Description of the Drawings

[0017]

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Mode for Carrying Out the Invention

[0018] Hereinafter, each embodiment of the present invention will be described with reference to the drawings.

[0019] [First Embodiment] As an explanation of the first embodiment of the present invention, the details of the mobile body 100, the traveling body 200, the mounting body 300, and the storage system 400 (storage 500) will be described in this order.

[0020] <Mobile body> As shown in FIGS. 1, 2, 3, and 4, the mobile body 100 according to the first embodiment of the present invention includes a traveling body 200 and a mounting body 300 (hereinafter, may also be referred to as "attachment 300").

[0021] In the directions in this embodiment, up / down, left / right, and front / rear correspond to the up / down, left / right, and front / rear directions of the arrows appropriately shown in each drawing.

[0022] The traveling body 200 can travel in the first direction. Here, the "first direction" is any one of forward / backward, left / right, front-left diagonal / front-right diagonal, rear-left diagonal / rear-right diagonal, and corresponds to the horizontal direction. The diagonal angles of the front-left diagonal / front-right diagonal and the rear-left diagonal / rear-right diagonal are each arbitrary.

[0023] Also, the "first direction" also corresponds to the direction parallel to the traveling surface. That is, the traveling body 200 can travel in all directions along the traveling surface. This all-direction traveling is made possible by the traveling device 270, and the configuration of the traveling device 270 will be described in detail later.

[0024] The traveling body 200 is provided with a mounting surface 210 that faces in the second direction, which is upward with respect to the first direction. The mounting surface 210 is included in the upper surface of the traveling body 200. Here, the "second direction" corresponds to upward. Also, the "second direction" also corresponds to the vertical direction that is separated from the traveling surface.

[0025] Also, a third direction opposite to the second direction is defined. Here, the "third direction" corresponds to downward and also corresponds to the vertical direction approaching the traveling surface. Also, a fourth direction perpendicular to each of the first direction and the second direction is defined. Here, the "fourth direction" corresponds to the horizontal direction and also corresponds to the direction parallel to the traveling surface. For example, when the first direction is forward, the fourth direction is left or right.

[0026] The carrier 300 is configured to be detachable from the mounting surface 210 of the traveling body 200. In a state where the carrier 300 is detached (for example, refer to FIGS. 3 and 4), first, the bottom surface of the carrier 300 facing in the third direction is opposed to the mounting surface 210 facing in the second direction. Then, by relatively approaching both surfaces, the carrier 300 can be mounted on the mounting surface 210.

[0027] More specifically, when the carrier 300 is disposed above the mounting surface 210, the traveling body 200 is caused to travel to the position where the carrier 300 is disposed so that both sides face each other. Then, the mounting may be achieved by moving the carrier 300 in the third direction with both sides facing each other. When the carrier 300 is mounted on the mounting surface 210 and mounted on the traveling body 200, it moves integrally with the traveling body 200.

[0028] On the other hand, in a state where the carrier 300 is mounted (see, for example, FIGS. 1 and 2), the lower surface of the carrier 300 is relatively separated from the mounting surface 210, so that the carrier 300 can be detached from the mounting surface 210.

[0029] More specifically, with both sides facing each other, the carrier 300 is moved in the second direction from the traveling body 200. Then, the carrier 300 is disposed above the mounting surface 210, and the traveling body 200 is caused to travel from the position where the carrier 300 is disposed, so that the detachment may be achieved. When the carrier 300 is detached from the mounting surface 210 and not mounted on the traveling body 200, it is disposed separately from the traveling body 200.

[0030] The control of attachment and detachment is executed by the attachment control unit 283a and the detachment control unit 283b provided in the moving body 100 (see, for example, FIG. 12). The control, operation, and attachment / detachment, and the arrangement of the detached carrier 300 in the storage 500 will be described in detail later.

[0031] The carrier 300 mounted on the traveling body 200 is a so-called attachment 300, and even if the attachment / detachment objects are the same, it may be acceptable. Also, after detaching the attachment 300 in one aspect that is mounted, an attachment 300 in a different aspect may be mounted. That is, different attachments 300 in a plurality of aspects may be replaced according to the scene for one aspect of the traveling body 200. The attachment 300 may be configured to be capable of performing various operations such as agricultural work, construction work, and transportation work when mounted on the traveling body 200, or may be configured to provide passenger mobility, and its aspect is arbitrary. For example, when the aspect of the attachment 300 is adapted to agricultural work, the attachment 300 may be configured to be capable of performing operations such as lawn mowing, seeding, spraying, and ridging.

[0032] In the present embodiment, the carrier 300 will be described assuming that an attachment 300 that functions as a backhoe during attachment is used. In the present embodiment, the attachment 300 that is attached / detached will be described assuming that it is the same one. Note that the aspect and attachment / detachment operation of the carrier 300 will be described in detail later.

[0033] Further, the moving body 100 includes a lift portion 220, an engagement portion 230, fixed portions 240a and 240b, and a support portion 250. The lift portion 220 is configured to be able to move the carrier 300 in the second direction or the third direction with respect to the mounting surface 210 while supporting the carrier 300. In the present embodiment, the lift portion 220 is provided on the traveling body 200 side, but it may be provided on either one of the traveling body 200 and the carrier 300 (for example, refer to FIG. 3).

[0034] The engagement portion 230 is configured to be able to engage the traveling body 200 and the carrier 300 with each other. When engaged, the carrier 300 is attached, and when the engagement is released, the carrier 300 is detached. The engagement portion 230 includes a protruding portion 231 and a fitting portion 232. The fitting portion 232 is configured such that the protruding protruding portion 231 can be fitted therein, and engages when fitted into the protruding portion 231.

[0035] In this embodiment, the engaging portion 230 is provided at a position corresponding to the lifting portion 220. The lifting portion 220 corresponds to the protruding portion 231 and protrudes toward the fitting portion 232. The fitting portion 232 into which the protruding portion 231 (lifting portion 220) is fitted is provided on the side of the mounting body 300, but may be provided on either the traveling body 200 or the mounting body 300 (see, for example, FIG. 4). Alternatively, the engaging portion 230 may be arranged independently of the lifting portion 220.

[0036] The fixing portions 240a and 240b are configured to be able to fix the mounting body 300 to the traveling body 200. When fixed, relative movement of the mounting body 300 with respect to the traveling body 200 is restricted, and relative movement is allowed when the fixing is released. The fixing portions 240a and 240b include a protruding portion 241 and a fitting portion 242. The fitting portion 242 is configured such that the protruding protruding portion 241 can be fitted therein, and is fixed by being fitted into the protruding portion 241.

[0037] In this embodiment, the fixing portion 240a is provided at a position corresponding to the lifting portion 220 (engaging portion 230). The protruding portion 241 and the fitting portion 242 of the fixing portion 240a respectively correspond to the protruding portion 231 and the fitting portion 232 of the engaging portion 230. Alternatively, the fixing portion 240a may be arranged independently of the engaging portion 230 and the lifting portion 220. On the other hand, the fixing portion 240b is provided at a position different from the installation position of the lifting portion 220 (engaging portion 230). The protruding portion 241 and the fitting portion 242 of the fixing portion 240b are separate from the protruding portion 231 and the fitting portion 232 of the engaging portion 230.

[0038] The support portion 250 is provided on the traveling body 200 and is configured to support the mounting body 300 when the mounting body 300 is mounted on the mounting surface 210. The support portions 250 are respectively disposed at positions corresponding to the vertices of the polygon in plan view. In the present embodiment, the support portions 250 respectively correspond to the protruding portions 231 and 241. The aspects of the lift portion 220, the engagement portion 230, the fixing portions 240a and 240b, and the support portion 250, and the control for lifting, engaging, fixing, and supporting will be described in detail later.

[0039] <Traveling body> As shown in FIGS. 5, 6, 7, and 8, the traveling body 200 includes a vehicle body 260 and a traveling device 270. The vehicle body 260 is formed of a substantially rectangular parallelepiped housing, and a power source 280 and various electrical devices (communication devices, control devices, sensors, etc.) are mounted on the vehicle body 260. A mounting surface 210 is provided at the upper end of the vehicle body 260. Further, support portions 250 (lift portion 220, engagement portion 230, fixing portions 240a and 240b) are provided at the front and rear of the upper surface of the vehicle body 260.

[0040] Overhanging portions 261 are provided on the left and right side surfaces of the vehicle body 260. The overhanging portions 261 are installed at substantially the central portion in the vehicle length direction of the vehicle body 260. The overhanging portions 261 project outward in the vehicle width direction from the side surfaces of the vehicle body 260. The overhanging portions 261 exhibit a trapezoid in plan view of the vehicle body 260, and the lower base of the trapezoid is connected to the side surface of the vehicle body 260, and the upper base of the trapezoid corresponds to the end portion in the projecting direction.

[0041] <<Traveling device>> The traveling device 270 is disposed at both ends in the vehicle width direction of the vehicle body 260 so as to support the vehicle body 260. That is, the arrangement positions of the traveling devices 270 are the left and right side ends in plan view. The traveling device 270 includes a front wheel 271 in the front in the vehicle length direction of the vehicle body 260 and a rear wheel 272 in the rear in the vehicle length direction of the vehicle body 260. The front wheel 271 and the rear wheel 272 are respectively disposed on the front side and the rear side of the overhang portion 261. That is, the overhang portion 261 is interposed between the front wheel 271 and the rear wheel 272 on the side surface of the vehicle body 260. Note that the dimensions of the overhang portion 261 and the front wheel 271 and the rear wheel 272 are arbitrary, but it is preferable that the outer end of the overhang portion 261 is located inside the outer ends of the front wheel 271 and the rear wheel 272 in the vehicle width direction.

[0042] In the present embodiment, all of the front wheels 271 and the rear wheels 272 are mecanum wheels. More specifically, each of the front wheels 271 and each of the rear wheels 272 include a wheel 273 and a tire 274. The wheel 273 has a substantially disc shape and is disposed respectively in the front and rear in the vehicle length direction of the vehicle body 260. The wheel 273 is configured to be able to travel by being rotationally driven, and a wheel axis 275 serving as an axis of the rotation center is defined respectively.

[0043] The tire 274 has a substantially cylindrical shape, both ends thereof are slightly reduced in diameter, and it has a solid portion. A plurality of tires 274 are provided for one wheel 273. The axes of the respective tires 274 are positioned so as to be inclined with respect to the wheel axis 275 of the corresponding wheel 273 in plan view. The tire 274 is configured to be rotatable integrally with the wheel 273 while being in contact with the traveling surface as a whole. Also, each tire 274 is configured to be relatively rotatable with respect to the wheel 273.

[0044] An independent motor is provided inside each of the front wheel 271 and the rear wheel 272 in the vehicle width direction. Based on the power of the motor, the wheel 273 and the tire 274 of each mecanum wheel are independently rotationally driven. That is, the rotation mode of each mecanum wheel can be individually adjusted. For this reason, the traveling device 270 can travel in all directions in a plan view. In this embodiment, the mecanum wheel configured as described above is used as the traveling device 270 (front wheel 271 and rear wheel 272). However, as long as the wheel and tire operate independently and the vehicle can travel in all directions in a plan view without a steering mechanism, any type of mecanum wheel may be used. Also, as the traveling device 270, a drive system, mechanism, etc. other than the mecanum wheel may be used. In this case, as long as the front wheel 271 and the rear wheel 272 each have an independent drive device and the moving body 100 can travel in a free direction (all directions in a plan view), for example, an omni wheel (registered trademark), a caster mechanism, a ball drive mechanism, etc. may be used.

[0045] In this embodiment, the motor and the electrical equipment related to the drive of the motor are provided on the vehicle body 260 side. However, instead of this, for example, the motor and / or the above electrical equipment may be provided on the wheel 273 side. That is, the front wheel 271 and the rear wheel 272 may be in-wheel motor type mecanum wheels.

[0046] Also, the traveling device 270 may be detachably arranged with respect to the vehicle body 260. In this case, the vehicle body 260 may be configured to be able to mount a traveling device 270 in a mode different from the one that has been detached when the mounted traveling device 270 is detached. More specifically, when a wheel having a predetermined diameter is arranged on the vehicle body 260, the wheel may be detached and a wheel having a different diameter, a crawler, etc. may be mounted on the vehicle body 260.

[0047] <<Power Supply>> In this embodiment, the power source 280 is a battery capable of repeatedly performing charging and discharging. The power source 280 can supply power to various drive parts such as the traveling device 270 and the support part 250, the communication device 281, the control device 283, various sensors, and the like. The power source 280 has a substantially rectangular parallelepiped shape, and both side surfaces of the power source 280 extend along the vehicle length direction of the vehicle body 260. The bottom surface of the power source 280 is substantially horizontal with respect to the traveling surface. Note that the power source 280 may be rechargeable by cable connection power supply, non-contact power supply, etc. via a predetermined electrical device (for example, a fixed or mobile charger, etc.). The charging format, timing, location, etc. of the power source 280 are arbitrary. For example, as will be described later, when the traveling body 200 is stored in the storage 500, the power source 280 may be charged by contact or non-contact power supply. On the other hand, the power source 280 may be charged outside the storage 500.

[0048] The power source 280 is disposed between the traveling devices 270 at both ends in the vehicle width direction of the vehicle body 260. Also, the power source 280 is disposed between the front and rear wheel axles 275 in the vehicle length direction of the vehicle body 260. More specifically, the power source 280 is disposed at a substantially central portion of the vehicle body 260 in plan view. That is, the front end of the power source 280 is located behind the wheel axle 275 of the front wheel 271 in the vehicle length direction. The rear end of the power source 280 is located in front of the wheel axle 275 of the rear wheel 272 in the vehicle length direction.

[0049] Also, in side view, the power source 280 is arranged such that the center of gravity of the power source 280 is located above the wheel axle 275 in the second direction. That is, the height H1 from the traveling surface G to the center of gravity of the power source 280 is greater than the height H2 from the traveling surface G to the wheel axle 275. Thus, in this embodiment, the power source 280 is disposed slightly above the wheel axle, and the clearance between the traveling surface G and the power source 280 is large (see FIG. 5).

[0050] Note that the battery as the power source 280 may be of any type as long as it is a rechargeable secondary battery. For example, it may be a lithium-ion battery, a all-solid-state battery, or the like. Further, instead of the battery, a primary battery may be used. In this case, the battery is configured to be detachable, and it is preferable to replace the battery when the remaining amount decreases. Further, in the power source 280, instead of the battery, for example, a fuel cell, a generator (engine and alternator) that converts power into electricity, or the like may be used.

[0051] <<Arrangement of Support Portion>> When the mounting body 300 is mounted on the mounting surface 210, the support portion 250 supports the mounting body 300 in the second direction. A plurality of support portions 250 are arranged on the upper surface of the vehicle body 260 of the traveling body 200. The support portion 250 protrudes toward the bottom surface of the mounting body 300, that is, upward in the second direction, when the bottom surface of the mounting body 300 and the mounting surface 210 of the traveling body 200 face each other. For this reason, when the mounting body 300 is mounted on the mounting surface 210, the mounting body 300 is supported from the bottom surface by the support portion 250. The arrangement position and number of the support portions 250 may be determined in consideration of the center of gravity of the mounting body 300 or the like so that stable mounting is achieved when the mounting body 300 is mounted on the traveling body 200, or may be adjusted so as not to interfere with the arrangement portion 560 in the storage 500 described later. The arrangement position and number of the support portions 250 are arbitrary, but it is preferable to take the following-described aspect.

[0052] In plan view, the support portions 250 are respectively disposed at positions corresponding to the vertices of the polygon (see FIG. 6). The support portion 250 of the present embodiment includes six support portions 250a, 250b, 250c, 250d, 250e, and 250f. The arrangement positions of the support portions 250a, 250b, 250c and the support portions 250d, 250e, 250f correspond to the vertices of a triangle on the same plane, respectively.

[0053] That is, in a plan view, there are a plurality of polygonal regions with the arrangement of the support portions 250 as vertices. In the present embodiment, there is one triangular region arranged in front and one in the rear in the vehicle length direction of the vehicle body 260, and there are a total of two such triangular regions. The triangular region may be, for example, an isosceles triangle, and each interior angle corresponding to the support portion 250a and the support portion 250d may be the apex angle, respectively.

[0054] Also, in a plan view, the plurality of polygonal regions are arranged symmetrically. In the present embodiment, the shapes of the two regions are arranged to be line-symmetric with respect to a symmetry axis passing through the power source 280 and extending in the vehicle width direction of the vehicle body 260 in a plan view. That is, the isosceles triangle with the support portions 250a, 250b, and 250c as vertices and the isosceles triangle with the support portions 250d, 250e, and 250f as vertices are line-symmetric with respect to the symmetry axis.

[0055] Also, the support portion 250 is disposed outside the power source 280 in the vehicle width direction of the vehicle body 260. The support portion 250 is disposed outside the power source 280 in the vehicle length direction of the vehicle body 260. More specifically, the support portions 250a, 250b, and 250c are arranged in front of the front end of the power source 280 in the vehicle length direction of the vehicle body 260. The support portion 250b is arranged on the left side of the left side surface of the power source 280 in the vehicle width direction of the vehicle body 260. The support portion 250c is arranged on the right side of the right side surface of the power source 280 in the vehicle width direction of the vehicle body 260.

[0056] The support portions 250d, 250e, and 250f are arranged behind the rear end of the power source 280 in the vehicle length direction of the vehicle body 260. The support portion 250e is arranged on the left side of the left side surface of the power source 280 in the vehicle width direction of the vehicle body 260. The support portion 250f is arranged on the right side of the right side surface of the power source 280 in the vehicle width direction of the vehicle body 260.

[0057] Furthermore, in plan view, the support portion 250 is disposed on an imaginary line that coaxially passes through the wheel axle 275 of the wheel 273. More specifically, the imaginary line includes a front imaginary line FL and a rear imaginary line RL. The front imaginary line FL is an imaginary line that coaxially passes through the wheel axles 275 of the left and right front wheels 271. The rear imaginary line RL is an imaginary line that coaxially passes through the wheel axles 275 of the left and right rear wheels 272. In plan view, the support portions 250b and 250c are respectively disposed on the front imaginary line FL, and the support portions 250e and 250f are respectively disposed on the rear imaginary line RL.

[0058] In addition, in plan view, the support portion 250a is disposed between the front imaginary line FL and the front end of the power source 280. The support portion 250d is disposed between the rear imaginary line RL and the rear end of the power source 280. The support portions 250a and 250d are disposed at substantially the center in the vehicle width direction of the vehicle body 260.

[0059] <<Details of the Lift Portion, Engagement Portion, and Fixing Portion>> In the present embodiment, the support portion 250 may function as the lift portion 220, the protruding portion 231 of the engagement portion 230, and the protruding portions 241 of the fixing portions 240a and 240b. More specifically, the support portions 250b, 250c, 250e, and 250f correspond to the lift portion 220 (the protruding portion 231 of the engagement portion 230, the protruding portion 241 of the fixing portion 240a). The support portions 250a and 250d correspond to the protruding portion 241 of the fixing portion 240b (see FIG. 6).

[0060] As shown in FIG. 9, the lift part 220 (i.e., support parts 250b, 250c, 250e, and 250f) has a cylindrical shape. The lift part 220 is coaxially fitted into a hole part 221 that partially houses the lower part. The hole part 221 is on the upper surface of the vehicle body 260 and is arranged at the four corners in plan view. The hole part 221 is provided corresponding to the position of the lift part 220. The hole part 221 has a circular opening with a diameter slightly larger than that of the lift part 220. Through this opening, the lower part of the lift part 220 is housed inside the vehicle body 260. Note that the shape of the lift part 220 (i.e., support parts 250b, 250c, 250e, and 250f) is not limited to a cylindrical shape, and it may be any shape such as a prismatic shape (e.g., a square prism) as long as the axis and the translation direction coincide.

[0061] The lift part 220 is relatively movable in the second direction (upward direction) and the third direction (downward direction) through this opening. An actuator (e.g., a stepping motor, etc.) built into the vehicle body 260 is provided at the lower end of the lift part 220. The power of the actuator is transmitted to the lower end of the lift part 220, and the rotational power is converted into translational motion in the axial direction of the lift part 220.

[0062] When the actuator rotates forward, the lift part 220 relatively moves in the second direction with respect to the vehicle body 260, exposes from the opening of the hole part 221, and the top part 222 moves further upward. On the other hand, when the actuator rotates reversely, the lift part 220 relatively moves in the third direction, is housed in the opening of the hole part 221, and the top part 222 that had moved upward moves further downward.

[0063] The lift part 220 protrudes toward the insertion part 232 of the engaging part 230 in the carrier 300 (i.e., the insertion part 242 of the fixing part 240a). The insertion part 232 is provided at the four corners in the bottom view of the carrier 300. The insertion part 232 is positioned corresponding to the arrangement of the lift part 220 when the carrier 300 is mounted on the traveling body 200. The insertion part 232 is recessed upward, and the lift part 220 can be inserted when the carrier 300 is mounted.

[0064] When the lift part 220 is inserted into the insertion part 232, the carrier 300 can be lifted and lowered while supporting the carrier 300. That is, according to the movement of the lift part 220 in the second direction, the carrier 300 moves in the second direction (upward direction) (see FIG. 10). According to the movement of the lift part 220 in the third direction (downward direction), the carrier 300 moves in the third direction (downward direction) (see FIG. 11).

[0065] In addition, when the lift part 220 is inserted into the insertion part 232, the traveling body 200 and the carrier 300 are engaged with each other. Thus, the lift part 220 also functions as the protruding part 231 of the engaging part 230. Further, when the lift part 220 is inserted into the insertion part 242, the relative movement between the traveling body 200 and the carrier 300 is restricted, and the carrier 300 is fixed to the traveling body 200. Thus, the lift part 220 also functions as the protruding part 241 of the fixing part 240a.

[0066] The insertion part 232 of the engaging part 230 (the insertion part 242 of the fixing part 240a) has a concave shape into which the protruding part 231 (the protruding part 241 of the fixing part 240a) can be inserted. The shape has a part with a reduced diameter along the direction in which the protruding part 231 (the protruding part 241 of the fixing part 240a) is inserted.

[0067] More specifically, the insertion part 232 (the insertion part 242 of the fixing part 240a) has a circular opening 232a at the lower end and an abutment 232b at the upper end. The diameter of the opening 232a is larger than the diameter of the abutment 232b. In the present embodiment, the insertion part 232 (the insertion part 242 of the fixing part 240a) has a mortar shape or a cup shape when viewed from the bottom. Here, in the lift part 220 which is the protruding part 231 of the engaging part 230 (the protruding part 241 of the fixing part 240a), the diameter in its cylindrical shape is substantially the same as the diameter of the abutment 232b and is smaller than the diameter of the opening 232a (see FIGS. 9, 10, and 11).

[0068] The protruding parts 241 of the fixing part 240b (that is, the support parts 250a and 250d) have a cylindrical shape and are arranged at positions different from the lift part 220. The protruding parts 241 of the fixing part 240b, unlike the lift part 220, do not move in the vertical direction and are integrally fixed to the vehicle body 260. That is, although the protruding parts 241 of the fixing part 240b always protrude upward from the vehicle body 260, the position of the top part 241a thereof is invariant in the vertical direction.

[0069] Further, the fixing part 240b has an adsorption part at the top part 241a. Hereinafter, the top part 241a may also be referred to as the adsorption part 241a. The adsorption part 241a is configured to be able to generate a magnetic-based adsorption force between the traveling body 200 and the mounting body 300, and fixes the mounting body 300 to the traveling body 200 by the action of the adsorption force. In the present embodiment, the excitation / demagnetization at the adsorption part 241a is switched according to the supply of electricity. The adsorption part 241a may be configured to generate an adsorption force when excited and cancel the adsorption force when demagnetized. The adsorption part 241a may, for example, have a plurality of built-in electromagnets, and the generation / cancellation of the adsorption force may be switched by adjusting the magnetization direction of each.

[0070] Note that an adsorption site may similarly be provided at the top 222 of the lift portion 220. In this case, based on magnetism, an adsorption force is generated at a total of six adsorption sites corresponding to the four lift portions 220 and the two fixing portions 240b.

[0071] The protruding portion 241 (adsorption site 241a) of the fixing portion 240b protrudes toward the fitting portion 242 of the fixing portion 240b on the mounting body 300. The fitting portion 242 is provided at substantially the center in the vehicle width direction in a bottom view of the mounting body 300. The fitting portion 242 is positioned corresponding to the arrangement of the protruding portion 241 (adsorption site 241a) when the mounting body 300 is mounted on the traveling body 200. The fitting portion 242 is recessed upward, and when the mounting body 300 is mounted, the protruding portion 241 (adsorption site 241a) can be fitted therein.

[0072] When the protruding portion 241 (adsorption site 241a) is fitted into the fitting portion 242 and an adsorption force is generated by exciting the adsorption site 241a, the relative movement between the traveling body 200 and the mounting body 300 is restricted. Thereby, the mounting body 300 is fixed to the traveling body 200. The fitting portion 242 of the fixing portion 240b has a concave shape into which the protruding portion 241 of the protruding fixing portion 240b can be fitted. The shape is arbitrary as long as the fitting portion 242 can be fitted. In the present embodiment, it has the same diameter along the fitting direction (see FIGS. 9, 10, and 11). Instead of this, it may have a shape with a reduced diameter along the fitting direction.

[0073] <<Vertical movement of the mounting body by the lift portion>> As shown in FIGS. 10 and 11, the lift portion 220 is configured to move the mounting body 300 in the second direction (upward) and the third direction (downward) by its own operation. As an example of the operation, at the start of the operation, it is assumed that the mounting body 300 is disposed at an upper position in the second direction than the mounting surface 210 of the traveling body 200. Also, it is assumed that the top 222 of the lift portion 220 has moved to the lowest position.

[0074] Furthermore, at the start of operation, in a plan view, the circular cross-section of the lift portion 220 is eccentric from the abutment 232b of the fitting portion 232 and is present within the region of the circular cross-section of the opening 232a. That is, there is a deviation between the axis of the lift portion 220 and the axis of the fitting portion 232. Also, there is a deviation between the axis of the protruding portion 241 (adsorbing portion 241a) and the axis of the fitting portion 242.

[0075] When starting operation from the state of FIG. 10(a), the lift portion 220 moves relative to the vehicle body 260 in the second direction (the lift portion 220 is exposed from the hole portion 221). The lift portion 220 is inserted into the fitting portion 232 through the opening 232a with the rising top portion 222 as the tip. As shown in FIG. 10(b), when the top portion 222 rises, the edge of the top portion 222 abuts against the inner wall of the fitting portion 232.

[0076] Here, the fitting portion 232 is reduced in diameter along the fitting direction. For this reason, the top portion 222 is guided to the abutment 232b on the inner wall of the fitting portion 232 while rising. As a result, while the fitting portion 232 slides relative to the lift portion 220, in a plan view, the circular cross-section of the lift portion 220 that was eccentric approaches the abutment 232b of the fitting portion 232. That is, the mounting body 300 moves in a direction in which the axis of the lift portion 220 and the axis of the fitting portion 232 coincide.

[0077] As shown in FIG. 10(c), when the rising top portion 222 reaches the abutment 232b, in a plan view, the circular cross-section of the lift portion 220 coincides with the abutment 232b of the fitting portion 232. That is, the axis of the lift portion 220 and the axis of the fitting portion 232 coincide. Also, the axis of the protruding portion 241 (adsorbing portion 241a) and the axis of the fitting portion 242 coincide.

[0078] After the top portion 222 reaches the abutment 232b and they are in contact with each other, the rising top portion 222 stops at the uppermost position. As described above, the mounting body 300 facing the mounting surface 210 moves upward from the arrangement position in the second direction while being supported by the rising lift portion 220.

[0079] Regarding the state of FIG. 11(a), it is assumed that the top 222 of the lift part 220 has moved to the uppermost position. Further, it is assumed that the carrier 300 is supported by the lift part 220 due to the top 222 and the abutment 232b coming into contact with each other. From this state, the lift part 220 moves relative to the vehicle body 260 in the third direction (the lift part 220 is received into the hole part 221).

[0080] That is, the top 222 descends while supporting the carrier 300. Therefore, with the top 222 and the abutment 232b in contact with each other, the carrier 300 moves in the third direction. At the same time, the fitting part 242 descends so as to approach the protruding part 241 (adsorption part 241a). Here, the axis of the protruding part 241 (adsorption part 241a) coincides with the axis of the fitting part 242.

[0081] Therefore, as shown in FIG. 11(b), the protruding part 241 is inserted into the descending fitting part 242 with the adsorption part 241a as the tip. As shown in FIG. 11(c), the descending top 222 stops at the lowermost position. At the same time, the insertion of the protruding part 241 into the fitting part 242 is completed. As described above, the carrier 300 that has moved upward moves downward while being supported by the descending lift part 220 so as to approach the mounting surface 210.

[0082] In the state of FIG. 11(c), the lift parts 220 at the four corners are respectively inserted into the respective fitting parts 232. Thereby, the engagement between the traveling body 200 and the carrier 300 is achieved. Further, thereby, the relative movement between the traveling body 200 and the carrier 300 is restricted, and the fixing of the carrier 300 to the traveling body 200 is also achieved. Furthermore, the state of FIG. 11(c) is a state where the abutment of the fitting part 242 and the adsorption part 241a are in contact with each other. By exciting the adsorption part 241a, a magnetic adsorption force is generated, and further fixing of the carrier 300 to the traveling body 200 is achieved.

[0083] <<Electrical Equipment>> As shown in FIG. 12, the traveling body 200 includes, as electrical devices, a power supply 280, a communication device 281, a sensor 282, and a control device 283. The power supply 280 is electrically connected to the communication device 281, the control device 283, the motor of the traveling device 270, the actuator of the lift unit 220, and the electromagnet of the suction part 241a so as to be able to supply power to each of them.

[0084] Between the power supply 280 and the power supply target, devices related to the motor (such as a converter), switches, etc. may be interposed. The power supply by the power supply 280 is controlled by the control device 283 so that the traveling device 270, the lift unit 220, and the suction part 241a are controlled. As shown in FIGS. 6 and 7, the communication device 281, the control device 283, devices related to the motor, etc. are arranged on the rear side of the power supply 280 in the vehicle length direction of the vehicle body 260. These may be integrally arranged at the rear of the vehicle body 260 as an electronic unit.

[0085] The communication device 281 is connected to the control device 283 and the sensor 282 via a communication network N1 such as CAN. The communication device 281 is also connected to an external terminal (not shown) and is capable of information communication. The communication device 281 sends the received information from the external terminal to the communication network N1 and transmits information from the communication network N1 to the external terminal.

[0086] The external terminal is, for example, a terminal capable of receiving an instruction input by an operator and may be a mobile terminal owned by the operator or a server. Examples of instructions on the mobile terminal or the server include traveling / steering to the traveling device 270, attachment / detachment of the carrier 300 to / from the traveling body 200, and operations of the first movable tool 310 and the second movable tool 320 described later.

[0087] Further, the external terminal may be a terminal capable of displaying information indicating the state of the mobile body 100, and may be a fixed terminal provided outside a storage 500 described later. Information communication between the communication device 281 and the external terminal may be wireless communication, for example, according to the IEEE 802.11 series of standards (e.g., Wi-Fi (registered trademark), etc.). Note that the form of wireless communication is not limited to the above, and for example, infrared communication, Bluetooth (registered trademark), cellular / non-cellular LPWA, etc. may be used. Further, instead of wireless communication, information communication by wired connection may be performed.

[0088] The sensor 282 includes a distance sensor (range sensor), a battery level sensor, etc. Hereinafter, the sensor 282 may also be referred to as a range sensor 282. The range sensor 282 is capable of measuring the separation distance between the vehicle body 260 and a detected object separated from the vehicle body 260. The range sensor 282 may measure the separation distance based on, for example, the reflection situation of a beam. As the range sensor 282, for example, an ultrasonic sensor, LiDAR, etc. are used. Note that instead of the range sensor 282, a ranging sensor may be used.

[0089] As shown in FIG. 8, in the present embodiment, the range sensor 282 is provided at the front end in the vehicle length direction of the vehicle body 260 and at a substantially central portion in the vehicle width direction. Thereby, the separation distance between the front end of the traveling body 200 and a detected portion 531 described later is measured. In addition to this, a plurality of range sensors 282 may also be provided near the outer end on the side surface in front of the vehicle body.

[0090] In the present embodiment, the range sensor 282 is provided at the front end of the vehicle body 260. Instead of this, a camera may be provided at the front end of the vehicle body 260. The camera may, for example, image the outside of the traveling body 200. The imaged data may be transmitted to an external terminal via the communication network N1 and the communication device 281.

[0091] As shown in FIG. 12, the control device 283 is a device that executes control of the traveling device 270, control of the lift unit 220, control of the suction part 241a, etc. The control device 283 includes a mounting control unit 283a, a detachment control unit 283b, a stop position determination unit 283c, and an automatic driving control unit 283d, and is each composed of an electric / electronic circuit, a program stored in a CPU, etc. An instruction signal received by the communication device 281 and a detection signal detected by the sensor 282 are sent to the control device 283 via the communication network N1.

[0092] The mounting control unit 283a performs control to mount the mounting body 300 arranged on the traveling body 200 on which the mounting body 300 is not mounted. More specifically, when mounting the mounting body 300 arranged at an upper arrangement position in the second direction than the mounting surface 210 on the traveling body 200 on which the mounting body 300 is not mounted, the mounting control unit 283a supports the mounting body 300 facing the mounting surface 210 and controls the lift unit 220 to move it upward from the arrangement position in the second direction (see FIG. 10). In the present embodiment, the mounting body 300 is to be arranged at the arrangement position in the storage 500 described later.

[0093] The control of the lift unit 220 is executed in a state where the traveling body 200 is stopped at the stop position. The stop position is determined by the stop position determination unit 283c. In the present embodiment, the stop position is determined based on the detection result of the detected part by the distance measurement sensor 282. At the stop position, the mounting surface 210 faces the bottom surface of the mounting body 300. The determination of the stop position will be described in detail later.

[0094] Next, the mounting control unit 283a controls the traveling device 270 so that the traveling body 200 travels in the first direction integrally with the mounting body 300 in a state where the mounting body 300 is pushed upward from the arrangement position. Next, the mounting control unit 283a controls the lift unit to move the mounting body 300 that has been pushed upward in the third direction while supporting it (see FIG. 11).

[0095] Then, the mounting control unit 283a controls the fixing parts 240a and 240b so as to fix the mounting body 300 to the traveling body 200. More specifically, the adsorption part 241a that has been demagnetized is switched to an excited state to generate an adsorption force based on magnetism.

[0096] The detachment control unit 283b performs control to detach the mounting body 300 from the traveling body 200 on which the mounting body 300 is mounted and to place the mounting body 300. More specifically, when detaching the mounting body 300 from the traveling body 200 on which the mounting body 300 is mounted and placing it at a placement position above in the second direction than the mounting surface 210, the detachment control unit 283b controls the fixing parts 240a and 240b so as to release the fixing of the mounting body 300 to the traveling body 200. More specifically, the adsorption part 241a that has been excited is switched to a demagnetized state to cancel the adsorption force based on magnetism.

[0097] Next, the detachment control unit 283b controls the lift unit 220 so as to move the mounting body 300 mounted on the mounting surface 210 upward above the placement position in the second direction while supporting it. Next, the detachment control unit 283b controls the traveling device 270 so that the traveling body 200 travels to the above-described stop position integrally with the mounting body 300 in a state where the mounting body 300 is pushed upward.

[0098] Then, the detachment control unit 283b controls the lift unit 220 so as to move the mounting body 300 that has been pushed upward in the third direction while supporting it (see FIG. 11). This control of the lift unit 220 is executed in a state where the traveling body 200 is stopped at the above-described stop position.

[0099] The automatic driving control unit 283d causes the traveling body 200 to travel in automatic driving so as to stop at the determined stop position. In the present embodiment, the automatic driving control unit 283d is executed in accordance with the execution of the attachment control unit 283a in response to an instruction from an external terminal when the traveling body 200 is attached to the mounting body 300. Further, the automatic driving control unit 283d is executed in accordance with the execution of the detachment control unit 283b in response to an instruction from an external terminal when the traveling body 200 is detached from the mounting body 300.

[0100] <Mounting body> As shown in FIGS. 13, 14, 15, 16, 17, 18, and 19, the mounting body 300 of the present embodiment is an attachment 300 that functions as a backhoe when attached to the traveling body 200. The mounting body 300 includes a first movable tool 310, a second movable tool 320, and a base 330.

[0101] Further, the mounting body 300 includes a drive unit 340. The drive unit 340 includes a drive unit 340a, a drive unit 340b, a drive unit 340c, a drive unit 340d, and a drive unit 340e. The drive units 340a, 340b, 340c, and 340d are used to drive the first movable tool 310. The drive unit 340e is used to drive the second movable tool 320.

[0102] The base 330 is detachable from the mounting surface 210 of the vehicle body 260. The base 330 is configured as a substantially rectangular parallelepiped housing, and a power source 380 and various electrical devices (communication devices, control devices, etc.) are mounted on the base 330. The bottom surface 331 (lower end) of the base 330 faces the mounting surface 210 of the traveling body 200 in a substantially parallel manner.

[0103] As shown in FIG. 15, on the bottom surface 331 of the base portion 330, there are provided fitting portions 232 and 242 in the lift portion 220, the engaging portion 230, and the fixing portions 240a and 240b. The fitting portions 232 and 242 are arranged so as to respectively correspond to the six support portions 250 of the traveling body 200. Details regarding the arrangement positions and structures of the fitting portions 232 and 242 are as described above (see FIGS. 9, 10, and 11).

[0104] As shown in FIGS. 14 and 15, on the left and right side surfaces of the base portion 330, there are provided overhanging portions 332. The overhanging portions 332 have a trapezoidal shape in plan view, and project outward in the vehicle width direction from the side surface of the base portion 330 so as to face the overhanging portion 261 of the vehicle body 260 in the vertical direction. The lower base of the trapezoid is connected to the side surface of the base portion 330, and the upper base of the trapezoid corresponds to the end portion in the projecting direction.

[0105] <<First movable tool>> As shown in FIG. 13, the first movable tool 310 includes a boom 311, an arm 312, and a bucket 313. These are connected in a link manner, and the first movable tool 310 is configured in a long shape. The boom 311 has a truss structure and is bent at one end 311a and a substantially intermediate portion of the other end. One end 311a of the boom 311 is supported by the base portion 330 so that the boom 311 can rotate relative to the base portion 330. The position for supporting one end of the boom 311 is a portion in front of the base portion 330 and substantially at the center in the vehicle width direction.

[0106] The arm 312 has a truss structure and extends substantially linearly from one end to the other end. One end of the arm 312 is supported by the boom 311 so that the arm 312 can rotate relative to the boom 311. The position for supporting one end of the arm 312 is the other end of the boom 311.

[0107] The bucket 313 has one end supported and the other end 313a configured to trace a locus of a rotation radius. A cutting edge is provided at the other end 313a. One end of the bucket 313 is supported by the arm 312 via a bucket link so that the bucket 313 can rotate relative to the arm 312. The position that supports one end of the bucket 313 is the other end of the arm 312.

[0108] The drive units 340a, 340b, 340c, and 340d are cylinders each having one end and the other end defined, and are axially extendable and contractible. Actuators (for example, stepping motors, etc.) are built in the drive units 340a, 340b, 340c, and 340d respectively, and the rotational power thereof is converted into an axial expansion and contraction motion. When the actuators rotate forward / backward, the drive units 340a, 340b, 340c, and 340d extend / contract.

[0109] One end of the drive unit 340a is connected in front of the support position of the boom 311 (one end 311a of the boom 311) in the base 330. The other end of the drive unit 340a is connected on the lower side of the boom 311 and slightly in front of the bending site. The boom 311 rotates relative to the base 330 according to the extension / shortening of the drive unit 340a.

[0110] One end of the drive unit 340b is connected on the upper side of the boom 311 and slightly behind the connection position of the drive unit 340a. The other end of the drive unit 340b is connected slightly above the support position in the arm 312. The arm 312 rotates relative to the boom 311 according to the extension / shortening of the drive unit 340b.

[0111] One end of the drive unit 340c is connected slightly above the support position on the arm 312. The other end of the drive unit 340c is connected to a bucket link provided at one end side of the bucket 313 on the other end side of the arm 312. The bucket 313 rotates relative to the arm 312 in response to the extension / retraction of the drive unit 340c.

[0112] In this way, the boom 311, the arm 312, and the bucket 313 that constitute the first movable tool 310 rotate relative to each other as described above by the driving of the drive unit 340a, the drive unit 340b, and the drive unit 340c. The other end 313a of the bucket 313 extends in the first direction from the base 330 according to the relative rotation of each of the boom 311, the arm 312, and the bucket 313, and can be used as a cutting edge for work.

[0113] As shown in FIGS. 13 and 14, one end of the drive unit 340d (corresponding to the first drive unit) is connected at a position rearward of the support position of the boom 311 on the base 330 (one end 311a of the boom 311), in the latter half of the vehicle length direction. The other end of the drive unit 340d is connected in the vicinity of one end 311a of the boom 311. The boom 311 rotates relative to the base 330 in response to the extension / retraction of the drive unit 340d.

[0114] As shown in FIG. 18, when the first movable tool 310 is housed in a storage 500 or the like described later, it rotates relative to the base 330 so as to approach the base 330 with one end 311a as a fulcrum. In the present embodiment, the drive unit 340d pulls the first movable tool 310 that has extended in the first direction to the opposite side of the first direction, thereby approaching the base 330.

[0115] More specifically, the drive units 340a, 340b, and 340c are also driven, and while folding the arm 312 and the bucket 313 of the first movable tool 310, the boom 311 is tilted clockwise on the paper surface by the drive of the drive unit 340d with one end 311a as a fulcrum. As a result, the posture is maintained in a state where the first movable tool 310 approaches the base 330. Therefore, the entire moving body 100 has a shape suitable for storage.

[0116] <<Second movable tool>> As shown in FIG. 13, in this embodiment, the second movable tool 320 is configured in a plate shape as a dozer. Hereinafter, the second movable tool 320 will be described as the dozer 321. When the mounting body 300 is mounted on the traveling body 200, the dozer 321 is arranged on the front side of the traveling body 200 (see, for example, FIGS. 1, 2, and 19).

[0117] As shown in FIGS. 15, 16, and 17, the dozer 321 is arranged below the base 330 via the dozer arm 322. The dozer 321 has a substantially rectangular shape when viewed from the front and is operable on the surface facing the first direction. The opposite side of the surface faces the front end of the vehicle body 260, and one ends of the two dozer arms 322 are respectively connected thereto.

[0118] As shown in FIG. 13, the dozer arm 322 extends upward from the connection portion of the dozer 321 and is supported by the base 330 so as to be relatively rotatable with respect to the base 330. The other end of the dozer arm 322 is located above the support portion of the base 330.

[0119] The drive unit 340e (corresponding to the second drive unit) is a cylinder whose one end and the other end are defined and is extendable and contractible in the axial direction. An actuator (for example, a stepping motor or the like) is built in the drive unit 340e, and the rotational power thereof is converted into an axial expansion and contraction motion. When the actuator rotates forward / backward, the drive unit 340e extends / contracts.

[0120] As shown in FIGS. 14 and 15, two drive units 340e are provided and correspond to the respective dozer arms 322. The two drive units 340e and the dozer arms 322 are arranged so as to sandwich the first movable tool 310 therebetween. One end of the drive unit 340e is above the support position of the dozer arm 322 on the base 330 and is connected to the other end of the dozer arm 322. The other end of the drive unit 340e is behind one end 311a of the boom 311 and is connected to a part in the latter half in the vehicle length direction.

[0121] In this way, the drive unit 340e is provided above the second movable tool 320 in the second direction, and by driving itself, the second movable tool 320 is relatively moved. That is, the dozer 321 relatively moves with respect to the base 330 via the dozer arm 322 according to the extension / shortening of the drive unit 340e. Thereby, it comes to work on the surface of the dozer 321 facing the first direction.

[0122] As shown in FIG. 19, the second movable tool 320 is configured to be able to contact the ground surface of the traveling body 200 (that is, the traveling surface G) when the work by the first movable tool 310 is executed in a state where the mounting body 300 is mounted on the traveling body 200. More specifically, the lower end of the substantially rectangular dozer 321 faces the ground surface. When the center of gravity fluctuates and the moving body 100 tilts during the work of the first movable tool 310, the lower end of the dozer 321 contacts the ground. That is, the second movable tool 320 has a function as an outrigger in addition to the function of working as the dozer 321.

[0123] <<Electrical Equipment>> As shown in FIG. 12, the carrier 300 includes, as electrical devices, a power supply 380, a communication device 381, and a control device 382. The power supply 380 is electrically connected to each actuator of the communication device 381, the control device 382, and the drive units 340a, 340b, 340c, 340d, and 340e so as to be able to supply power to each of them. Note that the power supply 380 may be rechargeable by cable connection power supply, non-contact power supply, etc. via a predetermined electrical device (for example, a fixed or mobile charger, etc.). The charging format, timing, location, etc. of the power supply 380 are arbitrary. For example, as will be described later, when the carrier 300 is stored in the storage 500, the power supply 380 may be charged by contact or non-contact power supply. On the other hand, the power supply 380 may be charged outside the storage 500.

[0124] Between the power supply 380 and the power supply target, devices related to the motor (such as a converter), a switch, etc. may be interposed. The power supply by the power supply 380 is controlled by the control device 382 so that the drive units 340a, 340b, 340c, 340d, and 340e are controlled. As shown in FIGS. 14 and 17, the power supply 380, the communication device 381, the control device 382, devices related to the motor, etc. may be integrally arranged as an electronic unit at the rear in the vehicle length direction of the base 330 or on the overhang 332.

[0125] The communication device 381 is connected to the control device 382 via a communication network N2 such as CAN. Also, a battery sensor (not shown) of the power supply 380 may be connected to the communication network N2. The communication device 381 is also connected to the above-described external terminal and enables information communication. The communication device 381 sends the received information from the external terminal to the communication network N2, while sending information from the communication network N2 to the external terminal. The information communication between the communication device 381 and the external terminal may be, for example, wireless communication according to the above-described standard. Note that the form of wireless communication is not limited to the above, and for example, infrared communication, Bluetooth (registered trademark), cellular / non-cellular LPWA, etc. may be used. Also, instead of wireless communication, information communication by wired connection may be performed.

[0126] As shown in FIG. 12, the control device 382 is a device that executes control of each of the drive units 340a, 340b, 340c, 340d, and 340e. The control device 382 is composed of an electric / electronic circuit, a program stored in a CPU, etc. An instruction signal received by the communication device 381 is sent to the control device 382 via the communication network N2.

[0127] <Storage System> As shown in FIGS. 12 and 20, the storage system 400 of the moving body 100 according to the first embodiment of the present invention includes a storage vault 500, a stop position determination unit 283c, an automatic driving control unit 283d, a mounting control unit 283a, and a detachment control unit 283b. In the present embodiment, the stop position determination unit 283c, the automatic driving control unit 283d, the mounting control unit 283a, and the detachment control unit 283b are provided in the traveling body 200 of the moving body 100. Alternatively, they may be provided in a part different from the traveling body 200 (for example, the mounting body 300, other terminals, etc.).

[0128] The storage system 400 is configured such that the stop position of the moving body 100 or the traveling body 200 inside the storage 500 is determined by the stop position determination unit 283c. The storage system 400 is configured such that the moving body 100 or the traveling body 200 located outside the storage 500 is automatically driven to travel and stopped at the stop position by the automatic driving control unit 283d.

[0129] The storage system 400 is configured such that the mounting body 300 is detached from the moving body 100 on which the mounting body 300 is mounted at the stop position of the storage 500 by the detachment control unit 283b, and the mounting body 300 is placed and stored in the placement unit 560 of the storage 500. The storage system 400 is configured such that the mounting body 300 placed in the placement unit 560 is mounted on the traveling body 200 at the stop position of the storage 500 by the mounting control unit 283a.

[0130] Note that in the storage 500, both the mounting body 300 and the traveling body 200 (i.e., the moving body 100) may be stored simultaneously, or only the traveling body 200 or only the mounting body 300 may be stored (see, for example, FIGS. 22, 23, and 25).

[0131] <<Configuration of the storage>> As shown in FIGS. 20 and 21, the storage 500 is a housing capable of accommodating the entire moving body 100. The storage 500 has a rectangular bottom surface portion 510, and the longitudinal direction and the lateral direction of the bottom surface portion 510 correspond to the vehicle length direction and the vehicle width direction of the vehicle body 260, respectively. The dimension in the longitudinal direction of the bottom surface portion 510 is larger than the vehicle length dimension of the vehicle body 260. The dimension in the lateral direction of the bottom surface portion 510 is larger than the vehicle width dimension of the vehicle body 260.

[0132] On each long side of the bottom surface portion 510, side surface portions 520 are respectively erected upward. On one short side of the front side of the bottom surface portion 510, a front surface portion 530 is erected upward. At the uppermost part, a roof portion 540 is provided so as to face the bottom surface portion 510 in the vertical direction.

[0133] On the other short side of the rear side of the bottom surface portion 510, an entrance and exit is configured so that the moving body 100 or the traveling body 200 can enter and exit. A slope portion 550 is connected to the short side via a hinge. When the storage 500 is grounded, the bottom surface portion 510 is shifted slightly upward from the grounding surface. The slope portion 550 forms a downward slope from the entrance and exit of the storage 500 toward the outside.

[0134] When the moving body 100 or the traveling body 200 enters and exits the storage 500, it travels on the slope portion 550. That is, the slope portion 550 can guide from the entrance and exit of the storage 500 to the outside, or from the outside of the storage 500 to the entrance and exit. On the other hand, the slope portion 550 is configured to be able to be flipped up. When the end of the slope portion 550 is flipped up toward the roof portion 540, the above opening as the entrance and exit is blocked.

[0135] The storage 500 includes an arrangement portion 560. The arrangement portion 560 is used to arrange the mounting body 300. The arrangement portion 560 is composed of a plate member having an inverted L shape in a front view. The two arrangement portions 560 are respectively arranged inside the storage 500 so as to extend in a direction along the long side of the bottom surface portion 510.

[0136] More specifically, one of the two surfaces forming the inverted L shape in each arrangement portion 560 is connected to each side surface portion 520. The other of the two surfaces protrudes from each side surface portion 520 toward the inner center. The other of the two surfaces is substantially parallel to the bottom surface portion 510, and the carrier 300 can be arranged at the upper part thereof. Note that the configuration of the storage 500 is not limited to that described above, and any configuration may be used as long as the carrier 300 can be arranged inside. For example, the storage 500 may be simply configured by the arrangement portion 560 and only the member supporting the arrangement portion 560. Further, the storage 500 may have a frame structure, for example, so that the inside can be visually recognized, or may have a wall surface structure for shielding wind and rain from the outside or for security purposes. Further, the front surface portion 530 may be removable from the storage 500. When the front surface portion 530 is removed, the moving body 100 (traveling body 200) can run forward from the storage 500. Also, the arrangement position of the carrier 300 inside the storage 500 (the installation position of the arrangement portion 560) is preferably above the bottom surface portion 510, but is arbitrary. The storage 500 may be configured such that the carrier 300 is arranged, for example, on the front side (first direction side), the lateral side (fourth direction side), or the upper side (second direction side) with respect to the position of the traveling body 200 inside the storage 500.

[0137] As shown in FIG. 22, for example, when the moving body 100 is housed in the storage 500, the moving body 100 is arranged in a predetermined orientation in the internal space of the storage 500. Inside the storage 500, each traveling device 270 on both sides of the traveling body 200 faces the inside of each side surface portion 520 of the storage 500 while being grounded on the bottom surface portion 510. The bottom surface of the traveling body 200 faces the bottom surface portion 510, and the upper part of the traveling body 200 is covered by the roof portion 540.

[0138] As shown in Fig. 23, for example, when the traveling body 200 is stored in the storage 500, the traveling body 200 is arranged in the same manner as the arrangement mode of the traveling body 200 when the moving body 100 is stored (see Fig. 22). The traveling body 200 is arranged below the placement part 560 (the other surface). That is, when the internal space of the storage 500 is partitioned into upper and lower sides by the placement part 560, the placement position of the traveling body 200 is on the lower side of the internal space.

[0139] As shown in Fig. 24, assume that the traveling body 200 is stored inside the storage 500 with the first direction being the front. In this case, the traveling body 200 is arranged along the vehicle length direction in the longitudinal direction of the bottom surface part 510. The front end of the vehicle body 260 of the traveling body 200 faces the inside of the front surface part 530 of the storage 500.

[0140] The placement part 560 is spaced apart from the traveling body 200 in the first direction and the fourth direction. More specifically, the part of the placement part 560 may exist on the front side of the front end of the vehicle body 260 of the traveling body 200. Further, the part of the placement part 560 may exist on the outside in the vehicle width direction of the vehicle body 260 of the traveling body 200. In the present embodiment, the placement part 560 is located above the traveling body 200 in the second direction, but this placement relationship is not limited.

[0141] Also, in a plan view, the four lift parts 220 of the vehicle body 260 are located between the two placement parts 560 on both sides in the vehicle width direction. That is, the upper sides of the four lift parts 220 are not covered by the placement part 560.

[0142] As shown in FIG. 25, for example, when the carrier 300 is stored in the storage 500, the carrier 300 is arranged in the same manner as the arrangement mode of the carrier 300 when the moving body 100 is stored (see FIG. 22). The carrier 300 is arranged above the placement part 560 (the other surface). That is, when the internal space of the storage 500 is partitioned into upper and lower sides by the placement part 560, the placement position of the carrier 300 is on the upper side of the internal space. Depending on the configuration of the storage 500 and the environment in which the storage 500 is installed, moisture, mud, dust, etc. may accumulate on the bottom surface part 510. Also, this phenomenon is likely to be promoted by deposits such as the tires of the traveling body 200. As described above, by arranging the carrier 300 on the upper side in the internal space of the storage 500, the carrier 300 can be separated from the bottom surface part 510, and it is possible to prevent the carrier 300 from getting wet or dirty during storage.

[0143] As shown in FIG. 26, assume that the carrier 300 is stored inside the storage 500 so that the first direction is forward. In this case, the carrier 300 is arranged along the longitudinal direction of the base part 330 along the longitudinal direction of the bottom surface part 510. The first movable tool 310 and the second movable tool 320 of the carrier 300 face the inside of the front surface part 530 of the storage 500.

[0144] The placement part 560 is configured to be able to place the detached carrier 300. More specifically, the part of the placement part 560 may be configured such that the carrier 300 is placed by supporting the carrier 300 in the second direction. Also, the part of the placement part 560 may have a planar shape capable of supporting the bottom surface 331 of the placed carrier 300, face the bottom surface 331 of the carrier 300, and have a shape extending in the first direction. Incidentally, the position where the carrier 300 is placed in the placement part 560 may also be referred to as the placement position.

[0145] As shown in FIGS. 21 and 24, the storage 500 includes a detected portion 531. The detected portion 531 is used to determine the stop position of the traveling body 200 in the storage 500. In the present embodiment, the detected portion 531 is provided inside the front portion 530. The detected portion 531 corresponds to a portion where the positional relationship with the stop position is defined. The detected portion 531 is configured to be detectable by the distance measuring sensor 282 at the front end of the vehicle body 260. In the present embodiment, the detected portion 531 is a component of the storage 500 inside the front portion 530, but is not limited thereto. For example, it may be a component of the storage 500 and may be located inside the side surface, inside the bottom surface, inside the upper surface, etc. Further, instead of being a component of the storage 500, the detected portion 531 may be an identification code attached inside the storage 500. As the identification code, one that can be easily identified and detected by the distance measuring sensor 282 is preferable, and for example, a barcode, a QR code (registered trademark), etc. may be used. In this case, various information may be stored in the identification code and made readable by the sensor. Also, it is preferable that the mount position of the distance measuring sensor 282 is adjusted corresponding to the position of the detected portion 531.

[0146] <<Determination of Stop Position>> As shown in FIG. 27, in the present embodiment, the positional relationship between the detected portion 531 and the stop position is defined in advance. For example, it is assumed that the height of the detected portion 531 in the front portion 530 of the storage 500 from the bottom surface portion 510 and the height of the distance measuring sensor 282 at the front end of the vehicle body 260 are the same.

[0147] In this case, as shown by the solid line, the traveling body 200 is stopped and located in the storage 500, and at this stop position, it is assumed that the horizontal distance from the detected portion 531 to the distance measuring sensor 282 is the reference distance DS. At the said stop position, the carrier 300 is detached from the mounting surface 210 of the traveling body 200 and arranged in the above-mentioned arrangement portion 560.

[0148] At this time, the distance measuring sensor 282 detects the horizontal distance from the detected part 531, stores it in advance in a memory or the like as a reference distance DS, and determines the stop position corresponding to the reference distance DS. When the mounting body 300 is mounted next time, control may be executed to run and stop the traveling body 200 with the determined stop position as the target. Thereby, the mounting body 300 can be appropriately mounted.

[0149] Based on such findings, in the present embodiment, the stop position determination unit 283c determines the stop position based on the detection result of the detected part 531. More specifically, when the traveling body 200 is stopped in the storage 500 and the detachment of the mounting surface 210 is executed, the stop position determination unit 283c detects the horizontal distance from the detected part 531 to the distance measuring sensor 282, determines it as the reference distance DS, and stores it. That is, in the present embodiment, determining the reference distance DS corresponds to determining the stop position. Alternatively, the stop position may be directly determined by calculating coordinates and vectors.

[0150] After the reference distance DS is determined (that is, after the stop position is determined), with only the mounting body 300 arranged in the arrangement part 560, it is assumed that the traveling body 200 has run out of the storage 500 toward the outside. Then, for the reinstallation of the mounting body 300, it is assumed that the traveling body 200 has returned into the storage 500.

[0151] In this case, as shown by the broken line, the horizontal distance D from the detected part 531 to the distance measuring sensor 282 is detected by the distance measuring sensor 282. The detected horizontal distance D and the stored reference distance DS are sequentially compared. Based on the comparison result, the traveling body 200 runs or stops.

[0152] In the present embodiment, when it is determined that the horizontal distance D > the reference distance DS, the automatic driving control is performed to move forward in the first direction. As the horizontal distance D decreases and approaches the reference distance DS, and when it is determined that the horizontal distance D = the reference distance DS, the automatic driving control is performed to stop on the spot. In this way, the stop position is determined by the stop position determination unit 283c, and the traveling body 200 can be stopped at the determined stop position.

[0153] <<Detachment operation of the mounted body>> With reference to the flowcharts of FIGS. 28 to 34 and FIG. 42, a series of operations for detaching the mounted body 300 from the traveling body 200 on which the mounted body 300 is mounted and disposing the detached mounted body 300 at the disposal unit 560 inside the storage 500 will be described in chronological order.

[0154] As shown in FIG. 28, it is assumed that neither the mounted body 300 nor the traveling body 200 is stored inside the storage 500, and the mobile body 100 is traveling or working outside the storage 500. When detaching the mounted body 300, first, the operator who has been operating via the external terminal causes the traveling body 200 (mobile body 100) to travel toward the slope portion 550 (step S1 in FIG. 42).

[0155] Next, as shown in FIG. 29, when the traveling device 270 approaches the slope portion, the operator instructs the traveling body 200 and the mounted body 300 from the external terminal to enter the detachment mode. In the mounted body 300, when the communication device 381 receives the instruction of the detachment mode, the control device 382 drives the drive units 340a, 340b, 340c, and 340d, tilts the first movable tool 310 clockwise on the paper surface, and holds the posture in which the first movable tool 310 is close to the base portion 330 in the storage posture (see FIGS. 12 and 18) (step S2 in FIG. 42).

[0156] In the traveling body 200, when the communication device 281 receives an instruction for the detachment mode, it switches to automatic driving control. The control device 283 causes the traveling device 270 to travel automatically so as to stop at the stop position within the storage 500 by the automatic driving control unit 283d. Regarding the stop at the stop position, the reference distance DS determined and stored during the previous attachment may be used. The horizontal distance D from the detected part 531 to the front end of the vehicle body 260 is detected by the distance measuring sensor 282. At this time, since the reference distance DS < the horizontal distance D, the traveling body 200 moves forward in the first direction (see FIG. 27).

[0157] Next, as shown in FIG. 30, the control device 283 controls the fixing parts 240a and 240b (controls to switch the adsorption part 241a to the demagnetized state) by the detachment control unit 283b so as to release the fixing of the mounting body 300 to the traveling body 200, and controls the lift part 220 so as to move the mounting body 300 mounted on the mounting surface 210 upward from the arrangement part 560 in the second direction while supporting it (step S3 in FIG. 42).

[0158] Next, the control device 283 controls the traveling device 270 by the detachment control unit 283b and the automatic driving control unit 283d so that the traveling body 200 travels automatically to the above-described stop position integrally with the mounting body 300 in a state where the mounting body 300 is pushed upward from the arrangement part 560. At this time, since the reference distance DS < the horizontal distance D, the moving body 100 moves forward in the first direction. The moving body 100 enters through the entrance and exit of the storage 500, and the horizontal distance D detected by the distance measuring sensor 282 approaches the reference distance DS.

[0159] Next, as shown in FIG. 31, when the moving body 100 enters the storage 500 and the horizontal distance D = the reference distance DS, the control device 283 stops the traveling device 270 by the automatic driving control unit 283d (see FIG. 27) (step S4 in FIG. 42).

[0160] At this time, as shown in FIG. 34, the carrier 300 is supported above the placement section 560 of the storage 500 in the second direction by the lift section 220. For this reason, the placement section 560 is positioned between the carrier 300 (bottom surface 331 thereof) and the traveling body 200 (mounting surface 210 thereof) in the vertical direction. The carrier 300 moves upward in the second direction from the placement section 560.

[0161] Next, as shown in FIG. 32, in a state where the traveling body 200 is stopped at the stop position, the control device 283 controls the lift section 220 by the detachment control section 283b to move the carrier 300, which has been moving upward, in the third direction while supporting it. Thereby, the carrier 300 detaches from the traveling body 200, and the carrier 300 is placed on the placement section 560. In this way, the stop position of the traveling body 200 is located below the placement section 560, and it becomes a position for detaching the carrier 300 from the traveling body 200 on which the carrier 300 is mounted and placing it on the placement section 560 (step S5 in FIG. 42).

[0162] Also, at this time, the control device 283 determines and stores the reference distance DS (that is, the stop position) from the detected section 531 to the distance measuring sensor 282 by the stop position determination section 283c. The previously stored one may be updated with the reference distance DS determined this time. The reference distance DS stored this time may be used when the carrier 300 is mounted next time (step S5 in FIG. 42).

[0163] Next, as shown in FIG. 33, with the carrier 300 placed on the placement section 560, only the traveling body 200 travels with the rear as the first direction and drives out from the entrance and exit of the storage 500 (step S6 in FIG. 42). By the above series of operations, the carrier 300 detaches from the traveling body 200 on which the carrier 300 is mounted and is placed on the placement section 560.

[0164] <<Mounting operation of the carrier>> While referring to the flowcharts of FIGS. 35 to 41 and FIG. 43, a series of operations for mounting the carrier 300 disposed in the placement unit 560 on the traveling body 200 without the carrier 300 mounted thereon will be described chronologically.

[0165] As shown in FIG. 35, inside the storage 500, the carrier 300 is disposed and stored in the placement unit 560, and it is assumed that the traveling body 200 is traveling outside the storage 500. That is, it is assumed that after the detachment operation of the carrier 300 described above has been executed. When mounting the carrier 300, first, the operator who has been operating via the external terminal causes the traveling body 200 to travel toward the slope unit 550 (step S7 in FIG. 43).

[0166] Next, as shown in FIG. 36, when the traveling device 270 approaches the slope unit, the operator instructs the traveling body 200 and the carrier 300 from the external terminal to enter the mounting mode. In the traveling body 200, when the communication device 281 receives the instruction of the mounting mode, it switches to the automatic driving control (step S8 in FIG. 43).

[0167] The control device 283 causes the traveling device 270 to travel automatically to stop at the stop position inside the storage 500 by the automatic driving control unit 283d. Regarding the stop at the stop position, the reference distance DS determined and stored at the time of the previous detachment may be used.

[0168] The horizontal distance D from the detected part 531 to the front end of the vehicle body 260 is detected by the distance measuring sensor 282. At this time, since the reference distance DS < the horizontal distance D, the traveling body 200 advances in the first direction (see FIG. 27). The traveling body 200 enters through the entrance and exit of the storage 500, and the horizontal distance D detected by the distance measuring sensor 282 approaches the reference distance DS.

[0169] Next, as shown in FIG. 37, when the traveling body 200 enters the storage 500 and the horizontal distance D becomes the reference distance DS, the control device 283 stops the traveling device 270 by the automatic driving control unit 283d (see FIG. 27). As a result, the traveling body 200 is positioned below the carrier 300 disposed in the placement unit 560. At the stop position, the mounting surface 210 of the traveling body 200 faces the bottom surface 331 of the carrier 300 with a gap therebetween (step S9 in FIG. 43).

[0170] Next, as shown in FIG. 38, the control device 283 controls the lift unit 220 by the mounting control unit 283a so that the carrier 300 facing the mounting surface 210 is moved upward from the placement unit 560 in the second direction while supporting the carrier 300 in the state where the traveling body 200 is stopped at the stop position (step S10 in FIG. 43).

[0171] As a result, the traveling body 200 and the carrier 300 are engaged with each other via the lift unit 220 (engagement unit 230). In this way, the stop position of the traveling body 200 is located below the placement unit 560, and it also becomes a position for mounting the carrier 300 disposed in the placement unit 560 on the traveling body 200 on which the carrier 300 is not mounted.

[0172] In the case where the actual stop position of the traveling body 200 is slightly deviated from the target stop position, or when the carrier 300 disposed in the placement unit 560 has moved slightly during storage, as shown in FIG. 10, a deviation may occur between the axis of the lift unit 220 and the axis of the fitting portion 232.

[0173] Even in this case, since the recessed shape of the fitting portion 232 has a shape having a diameter-reducing portion along the fitting direction (i.e., the second direction) (for example, in a plan view, a mortar or cup shape), the deviation of each axis is corrected when the lift unit 220 ascends. Therefore, reliable support and engagement are possible.

[0174] Also, at this time, the control device 283 determines and stores the reference distance DS (i.e., the stop position) from the detected part 531 to the distance measuring sensor 282 by the stop position determination part 283c. The previously stored reference distance may be updated with the reference distance DS determined this time. The reference distance DS stored this time may be used when the carrier 300 is detached next time (step S10 in FIG. 43).

[0175] Next, as shown in FIG. 39, the control device 283 controls the traveling body 200 to travel in the first direction at the rear, integrally with the carrier 300, with the carrier 300 being pushed above the placement part 560 by the mounting control part 283a and the automatic driving control part 283d. As a result, the traveling body 200 runs out of the entrance and exit of the storage 500 together with the carrier 300 (step S11 in FIG. 43).

[0176] Next, as shown in FIG. 40, the control device 283 controls the lift part 220 to move the carrier 300 that has been pushed upward in the third direction while supporting it by the mounting control part 283a. As a result, all the engaging parts 230 and the fixing parts 240a and 240b are fitted into the corresponding fitting parts 232 and 242, and the carrier 300 is mounted on the mounting surface 210 of the vehicle body 260. Next, the control device 283 controls the fixing parts 240a and 240b to fix the carrier 300 to the traveling body 200 (controls to switch the suction part 241a to the excited state) (step S12 in FIG. 43).

[0177] Next, as shown in FIG. 41, in the received carrier 300 that has received the above-described mounting mode instruction, the control device 382 drives the drive parts 340a, 340b, 340c, and 340d, and tilts the first movable tool 310 that has been in the storage posture counterclockwise on the paper surface. That is, the posture of the first movable tool 310 is restored to a workable state (step S13 in FIG. 43).

[0178] As a result, as the moving body 100, traveling by the traveling body 200 and operations by the first movable tool 310 and the second movable tool 320 become possible. By the above series of operations, the mounting body 300 disposed at the upper placement portion 560 in the second direction from the mounting surface 210 is mounted on the traveling body 200 on which the mounting body 300 is not mounted.

[0179] <Modification example of the engaging portion> In the present embodiment, the engaging portion 230 includes a protruding portion 231 and a fitting portion 232. The protruding portion 231 protrudes in the second direction or the third direction. The fitting portion 232 has a shape having a portion with a reduced diameter along the direction in which the protruding portion 231 is fitted (see FIGS. 9, 10, and 11).

[0180] As shown in FIGS. 44 and 45, the fitting portion 232 has a concave shape into which the protruding protruding portion 231 can be fitted, and has a shape having a portion that is screwed when the protruding portion 231 is fitted, and may be configured to engage by being fitted into the protruding portion 231. The protruding direction of the protruding portion 231 may be the same as that in the first embodiment.

[0181] In this case, for example, the protruding portion 231 may include a male screw structure 231a, and the fitting portion 232 may include a female screw structure 232c that can be screwed with the protruding portion 231. The protruding portion 231 is preferably configured to be rotatable about the axis without changing its height.

[0182] The bottom surface 331 of the base portion 330 of the mounting body 300 is opposed to the mounting surface 210 of the traveling body 200, and screwing is possible in a state where the axes of the protruding portion 231 and the fitting portion 232 are aligned (see FIG. 45(b)). In this state, when the protruding portion 231 is rotated clockwise, the male screw structure 231a and the female screw structure 232c are engaged, and the bottom surface 331 approaches the mounting surface 210. As a result, the mounting body 300 moves downward in the third direction. Then, the fixing portion 240b is also fitted into the fitting portion 242, and the mounting body 300 is shifted to the lowermost position to achieve engagement and fixing, and the mounting is completed (see FIG. 45(a)).

[0183] With the mounting body 300 mounted (see Fig. 45(a)), when the protruding portion 231 is rotated counterclockwise, the male screw structure 231a and the female screw structure 232c engage with each other, and the bottom surface 331 separates from the mounting surface 210. As a result, the mounting body 300 moves upward in the second direction. Then, the fixing portion 240b also comes out of the fitting portion 242, the mounting body 300 moves to the uppermost position, the engagement and fixing are released, and the detachment is completed (see Fig. 45(b)).

[0184] <Modification example of the support portion> In the present embodiment, as described above, a plurality of support portions 250 are arranged at specific positions at the upper end of the vehicle body 260. In particular, the support portion 250a, the support portion 250b, the support portion 250c, the support portion 250d, the support portion 250e, and the support portion 250f are arranged with geometric regularity in the plan view of the vehicle body 260 (see Fig. 6).

[0185] As shown in Fig. 46, instead of or in addition to the above-described arrangement, the support portion 250 may be arranged at the upper end of the overhanging portion 261. In this way, the space of the overhanging portion 261 may be effectively utilized. In addition to arranging the support portion 250 on the overhanging portion 261, a motor and / or an electrical device 284 related to the drive of the motor may be provided. In this case, the electrical device 284 may be arranged, for example, on the side surface of the overhanging portion 261 or at the lower end of the overhanging portion 261 so as not to structurally interfere with the mounting of the mounting body 300. Note that the electrical device 284 arranged on the overhanging portion 261 may include an auxiliary power source (auxiliary battery). Thereby, the space of the overhanging portion 261 can be effectively utilized to increase the power supply capacity.

[0186] [Second Embodiment] The mobile body 100 according to the second embodiment of the present invention is different from the above-described first embodiment in that the engagement mode between the traveling body 200 and the mounting body 300 is different. In the first and second embodiments, the engaging portion 230 is configured to be able to engage the traveling body 200 and the mounting body 300 with each other. When engaged, the mounting body 300 is mounted, and when the engagement is released, the mounting body 300 is detached. This point is common to the first and second embodiments.

[0187] The engaging portion 230 of the first embodiment includes a protruding portion 231 and a fitting portion 232. As an engagement mode, the protruding portion 231 is fitted into the fitting portion 232 to achieve the engagement. On the other hand, the engaging portion 230 of the second embodiment is configured such that the mounting body 300 is mounted when engaged while the traveling body 200 is traveling. In the second embodiment, only this point is different from the first embodiment, and other points are the same as those of the first embodiment.

[0188] Hereinafter, only the points different from the first embodiment of the second embodiment will be described. In the second embodiment, the same reference numerals as those in the first embodiment and the like are given to the components and parts that are the same as or equivalent to those in the first embodiment and the like.

[0189] As shown in FIG. 47, the engaging portion 230 of the second embodiment includes an outer rail 233 and an inner rail 234. In the present embodiment, the outer rail 233 is provided on the mounting body 300, and the inner rail 234 is provided on the traveling body 200. Alternatively, the arrangement relationship between the outer rail 233 and the inner rail 234 may be reversed.

[0190] The outer rail 233 is configured as a concave portion on the bottom surface of the base portion 330 of the mounting body 300. The concave portion is recessed from bottom to top, and the cross-sectional shape corresponds to the convex portion of the inner rail 234. The outer rail 233 extends along the first direction at a substantially central portion in the vehicle width direction. The rear end of the outer rail 233 is an open end, and the front end of the inner rail 234 can enter.

[0191] The inner rail 234 is configured as a convex portion on the mounting surface 210 at the upper end of the traveling body 200. The convex portion protrudes upward from below, and the cross-sectional shape corresponds to the concave portion of the outer rail 233. The inner rail 234 extends along the first direction at substantially the center in the vehicle width direction. When the inner rail 234 enters the outer rail 233 from the front end, it is guided along the first direction.

[0192] Also, the engaging portion 230 of the second embodiment includes a standing portion 233a and a contact portion 234a. The standing portion 233a stands in the second direction or the third direction and has a surface facing the first direction. The contact portion 234a is configured to be able to contact the surface of the standing portion 233a. In the present embodiment, the standing portion 233a is configured to stand in the third direction as the front end of the outer rail 233, and the contact portion 234a is configured as the front end of the inner rail 234. Alternatively, the arrangement relationship between the standing portion 233a and the contact portion 234a may be reversed.

[0193] As shown in FIG. 48, when the traveling body 200 and the mounting body 300 are engaged and mounted, it is assumed that the mounting body 300 is arranged while being supported at the arrangement portion 560 of the storage 500. Note that in the present embodiment, the traveling body 200 can enter the storage 500 from the rear end, and can drive out of the traveling body 200 from the front end. That is, the rear end of the storage 500 is configured as an entrance, and the front end is configured as an exit.

[0194] The mounting body 300 is arranged at the arrangement portion 560 such that the front end of the inner rail 234 can enter the rear end of the outer rail 233, and the arrangement position (height and direction) is adjusted. The traveling body 200 is automatically controlled so that the front end of the inner rail 234 faces the rear end of the outer rail 233.

[0195] When the traveling body 200 enters the interior from the rear-end entrance of the storage 500, the traveling body 200 travels under the mounting body 300, and the front end of the inner rail 234 enters from the rear end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.

[0196] As shown in FIG. 49, when the inner rail 234 slides while the traveling body 200 is traveling, the standing portion 233a of the outer rail 233 and the contact portion 234a of the inner rail 234 come into contact with each other (see FIG. 48). At this time, the sliding movement of the inner rail 234 stops and the engagement is achieved.

[0197] As shown in FIG. 50, when the traveling body 200 exits from the front-end exit of the storage 500 to the outside, the mounting body 300 separates from the placement portion 560 and is in a state of being mounted on the traveling body 200. In this way, the traveling body 200 is engaged while traveling, and the mounting body 300 is mounted on the traveling body 200.

[0198] <Modification example of the engaging portion> In the present embodiment, the engaging portion 230 includes the outer rail 233 and the inner rail 234, but it may be configured not to include these. As shown in FIG. 51, for example, the standing portion 233a may be provided at the front end of the base 330 of the mounting body 300, and the contact portion 234a may be provided at the front end of the vehicle body 260 of the traveling body 200.

[0199] The standing portion 233a may project downward in the third direction from the bottom surface 331 over the entire length in the vehicle width direction at the front end of the base 330 of the mounting body 300. The surface of the standing portion 233a facing the first direction (the surface that contacts the contact portion 234a) may be inclined with respect to the vertical direction. For example, the inclination may be configured such that the surface that contacts the contact portion 234a extends obliquely downward to the rear.

[0200] The contact portion 234a may have a notch structure extending downward in the third direction and rearward from the front end of the vehicle body 260 of the traveling body 200 over the entire vehicle width. The contact surface of the contact portion 234a may be inclined to correspond to the shape of the standing portion 233a. The standing portion 233a and the contact portion 234a configured in this way may have a Z shape or an inverted Z shape in side view.

[0201] [Third Embodiment] The moving body 100 according to the third embodiment of the present invention is different from the above-described first embodiment in that the engagement mode and the fixing mode of the traveling body 200 and the mounting body 300 are different. In the first and third embodiments, the engaging portion 230 is configured to enable the traveling body 200 and the mounting body 300 to engage with each other. When engaged, the mounting body 300 is mounted, and when the engagement is released, the mounting body 300 is detached.

[0202] Also, in the first and third embodiments, the fixing portion 240a is configured to be able to fix the mounting body 300 to the traveling body 200. When fixed, relative movement of the mounting body 300 with respect to the traveling body 200 is restricted, and when the fixing is released, relative movement is allowed. These points are common to the first and third embodiments.

[0203] The engaging portion 230 and the fixing portion 240a of the first embodiment include a protruding portion 231 and a fitting portion 232. As an engagement and fixing mode, the protruding portion 231 is fitted into the fitting portion 232 to achieve engagement and fixing. The protruding portion 231 protrudes upward in the second direction.

[0204] In contrast, the engaging portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234, and is configured to engage in a state where the traveling body 200 is traveling so that the mounting body 300 can be mounted. The fixing portion 240a of the third embodiment includes a protruding portion 243 and a fitting portion 244. As a fixing mode, the protruding portion 243 is fitted into the fitting portion 244 to achieve fixing. The protruding portion 243 protrudes in a direction substantially perpendicular to the second direction. In the third embodiment, only these points are different from the first embodiment, and other points are the same as the first embodiment.

[0205] Hereinafter, only the differences from the first embodiment in the third embodiment will be described. In the third embodiment, the same reference numerals as those in the first embodiment and the like are given to the same or equivalent components and parts as those in the first embodiment and the like.

[0206] As shown in FIG. 52, the engaging portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234. In the present embodiment, the outer rail 233 is provided on the traveling body 200, and the inner rail 234 is provided on the mounting body 300. Alternatively, the arrangement relationship between the outer rail 233 and the inner rail 234 may be reversed.

[0207] Two outer rails 233 are provided on the mounting surface 210 at the upper end of the traveling body 200. Each outer rail 233 is installed so as to be spaced apart from each other and parallel in the vehicle width direction, and extends along the first direction. The two outer rails 233 are each recessed toward the outside in the vehicle width direction, and the cross-sectional shape corresponds to the convex portion of the inner rail 234. The front end of the outer rail 233 is an open end, and the rear end of the inner rail 234 can enter.

[0208] Two inner rails 234 are provided on the bottom surface 331 at the lower end of the carrier 300. Each inner rail 234 is installed inside the two outer rails 233 so as to be spaced apart from each other and parallel in the vehicle width direction, and extends along the first direction. The two inner rails 234 protrude outward in the vehicle width direction respectively, and the cross-sectional shape corresponds to the recess of the outer rail 233. When the inner rail 234 enters the outer rail 233 from the rear end, it is guided along the first direction.

[0209] As shown in FIGS. 52 and 53, a plurality of protruding portions 243 are provided along the first direction on the outer surfaces of the convex portions of the two inner rails 234. Each protruding portion 243 can protrude in a direction substantially perpendicular to the second direction, that is, outward in the vehicle width direction (see FIG. 53(b)).

[0210] In addition, each protruding portion 243 can be housed inside the inner rail 234 toward the inner side in the vehicle width direction (see FIG. 53(a)). The protruding operation and the housing operation of the protruding portion 231 may be controlled by the control device 382 via, for example, a built-in actuator.

[0211] A plurality of fitting portions 244 are provided along the first direction on the side walls of the two outer rails 233. Each fitting portion 244 is arranged so as to correspond to the positions of the plurality of protruding portions 243. Each fitting portion 244 penetrates the side wall of the outer rail 233 in a direction substantially perpendicular to the second direction, that is, in the vehicle width direction. Each fitting portion 244 as a through hole is configured such that each protruding portion 231 can be fitted therein (see FIG. 53(b)).

[0212] When mounting the mounting body 300 on the traveling body 200, it is assumed that all of the plurality of protruding portions 231 are housed in the inner rail 234 (see Fig. 53(a)). When the traveling body 200 enters the interior from the rear end entrance of the storage 500, the traveling body 200 travels under the mounting body 300 while the rear end of the inner rail 234 enters from the front end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.

[0213] When the above-described sliding movement progresses and the positions of the protruding portion 243 and the fitting portion 244 overlap in side view, the traveling body 200 stops assuming that it has reached the stop position. Next, while the traveling body 200 is stopped at the stop position, the stored protruding portion 243 is controlled to protrude outward in the vehicle width direction (see Fig. 53(b)). Thereby, engagement and fixation are achieved, and the mounting body 300 is mounted on the traveling body 200. After mounting, the moving body 100 travels with the rear as the first direction and runs out of the storage 500 from the rear end entrance to the outside.

[0214] [Fourth Embodiment] The storage 500 (storage system 400) of the moving body 100 according to the fourth embodiment of the present invention can be charged inside the storage 500 with respect to the power source of the traveling body 200 and / or the power source 380 of the mounting body 300, and can display information corresponding to the charged state to the outside, which is different from the above-described first embodiment.

[0215] In the first and fourth embodiments, the storage system 400 includes a stop position determination unit 283c that determines a stop position inside the storage 500, and the storage 500 includes an arrangement unit 560 configured to be able to arrange the detached mounting body 300. These points are common to the first and fourth embodiments, including the mode of mounting and detaching the mounting body 300 in the storage 500.

[0216] In the storage 500 of the first embodiment, the bottom surface portion 510 is configured to face the bottom surface of the vehicle body 260 of the traveling body 200 when the traveling body 200 stops at the stop position. The addition of functions to the bottom surface portion 510 is optional. In the storage 500 of the first embodiment, the placement portion 560 is configured to support upward in the second direction from the bottom surface of the base portion 330 of the carrier 300 when the carrier 300 is placed. The addition of functions other than the support of the carrier 300 to the placement portion 560 is optional.

[0217] On the other hand, the storage 500 of the fourth embodiment includes a power supply unit 570a, a power supply unit 570b, and a display unit 580. Further, the power supplies 280 and 380 of the moving body 100 according to the fourth embodiment are both rechargeable batteries (secondary batteries).

[0218] The power supply units 570a and 570b are configured to be able to supply charging electrical energy to the power supply 280 of the traveling body 200 and the power supply 380 of the carrier 300. The display unit 580 is configured to be able to display information corresponding to the charging states of the power supplies 280 and 380 to the outside. In the fourth embodiment, only in these points is it different from the first embodiment, and other points are the same as the first embodiment.

[0219] Hereinafter, only the differences from the first embodiment of the fourth embodiment will be described. In the fourth embodiment, the same reference numerals as those in the first embodiment and the like are given to the same or equivalent configurations and parts as those in the first embodiment and the like.

[0220] As shown in FIG. 54, a power supply unit 570a is provided on the bottom surface portion 510 of the storage 500. The power supply unit 570a has a flat plate shape. When the upper surface of the power supply unit 570a and the lower surface of a power receiving unit 285 to be described later overlap each other, electrical energy is supplied from the power supply unit 570a toward the power receiving unit 285.

[0221] In the placement part 560 of the storage vault 500, a power supply part 570b is provided. The power supply part 570b has a flat plate shape. When the upper surface of the power supply part 570b and the lower surface of a power receiving part 385 described later overlap each other, electrical energy is supplied from the power supply part 570b toward the power receiving part 385.

[0222] As shown in FIG. 55, on the bottom surface of the vehicle body 260 of the traveling body 200, a power receiving part 285 is provided. The power receiving part 285 has a flat plate shape. The lower surface of the power receiving part 285 is arranged so as to overlap with the upper surface of the power supply part 570a when the traveling body 200 stops at the stop position. The power receiving part 285 is electrically connected to the power supply 280 of the traveling body 200. The power receiving part 285 can send charging electrical energy to the power supply 280.

[0223] On the bottom surface of the base part 330 of the mounting body 300, a power receiving part 385 is provided. The power receiving part 385 has a flat plate shape. The lower surface of the power receiving part 385 is arranged so as to overlap with the upper surface of the power supply part 570b when the mounting body 300 is arranged in the placement part 560. The power receiving part 385 is electrically connected to the power supply 380 of the mounting body 300. The power receiving part 285 can send charging electrical energy to the power supply 280.

[0224] As shown in FIGS. 56 and 57, the display part 580 is arranged, for example, outside the roof part 540 of the storage vault 500. The display part 580 may be an external terminal equipped with a communication device, a monitor device, an electric / electronic circuit, a CPU, etc. The monitor device of the display part 580 may be visible outside the storage vault 500.

[0225] When it is determined that the power supplies 280 and 380 are being charged, the display unit 580 receives information on the remaining battery levels from the communication devices 281 and 381, respectively. Based on the received information, the display unit 580 displays information corresponding to the charging state via the monitor device. Examples of the information to be displayed include numerical values indicating the ratio of the remaining amount to the full amount (such as a percentage) and logos corresponding to the status (such as charging / charging completed, etc.).

[0226] The power supply units 570a and 570b may be supplied with charging electrical energy that has been stepped up or the like from outside the storage 500 via, for example, a wire (not shown). The form of power supply from the power supply units 570a and 570b to the power receiving units 285 and 385 may be either a contact type or a non-contact type, for example. The power supply form is arbitrary as long as the power supply units 570a and 570b and the electrical connection in the power supply units 570a and 570b are possible.

[0227] When the power supply form is a contact type, for example, the power supply units 570a and 570b and the power receiving units 285 and 385 may have contact type terminals (see, for example, FIG. 69 of the fifth embodiment). In this case, the terminals of the power supply units 570a and 570b and the terminals of the power receiving units 285 and 385 come into contact with each other, allowing energization for each.

[0228] When the power supply form is a non-contact type, for example, the power supply units 570a and 570b and the power receiving units 285 and 385 may have coils (see, for example, FIG. 70 of the fifth embodiment). In this case, the coils of the power supply units 570a and 570b convert electricity into magnetism. The coils of the power receiving units 285 and 385 convert magnetism into electricity. The power supply units 570a and 570b and the power receiving units 285 and 385 allow energization for each via magnetism.

[0229] The operation of charging the power sources 280 and 380 in the storage 500 will be described below. As shown in FIG. 58, it is assumed that the moving body 100 has entered the storage 500 in order to detach the mounting body 300 from the traveling body 200. At this time, while the mounting body 300 is supported by the lift portion 220, the mounting body 300 travels upward from the mounting surface 210 of the traveling body 200. In this state, the power feeding portions 570a and 570b and the power receiving portions 285 and 385 are widely separated from each other. Therefore, energization is not allowed. As the traveling body 200 further travels toward the stop position, the power receiving portion 285 on the bottom surface of the vehicle body 260 approaches the power feeding portion 570a on the bottom surface portion 510.

[0230] As shown in FIG. 59, when the traveling body 200 stops at the stop position in the storage 500, the upper surface of the power feeding portion 570a and the lower surface of the power receiving portion 285 overlap each other. As a result, non-contact energization between the power feeding portion 570a and the power receiving portion 285 is allowed, and charging electrical energy is supplied to the power source 280. At the same time, information on the remaining battery level of the power source 280 is transmitted from the communication device 281 to the display portion 580. In the display portion 580, information corresponding to the charging state of the power source 280 is displayed via the monitor device.

[0231] Also, in this state, the power receiving portion 385 on the bottom surface of the base portion 330 is located above the arrangement portion 560, and the power feeding portion 570b and the power receiving portion 385 are separated from each other. Therefore, energization is not allowed. While the mounting body 300 is supported by the lift portion 220 and the mounting body 300 is moved downward, the power receiving portion 385 on the bottom surface of the base portion 330 approaches the power feeding portion 570b of the arrangement portion 560.

[0232] As shown in FIG. 60, when the carrier 300 is disposed in the placement portion 560 within the storage 500, the upper surface of the power supply portion 570b and the lower surface of the power receiving portion 385 overlap each other. Thereby, non-contact power conduction between the power supply portion 570b and the power receiving portion 385 is permitted, and charging electrical energy is supplied to the power source 380. At the same time, information on the remaining battery level of the power source 380 is transmitted from the communication device 381 to the display portion 580. In the display portion 580, information corresponding to the charging states of the power sources 280 and 380 is displayed via the monitor device.

[0233] In the present embodiment, both the power source 280 and the power source 380 can be charged in the storage 500. However, alternatively, either one of the power source 280 and the power source 380 may be chargeable.

[0234] [Fifth Embodiment] In the mobile body 100 according to the fifth embodiment of the present invention, the traveling body 200 includes a first end portion 286, and the carrier 300 includes a second end portion 386. When the carrier 300 is mounted on the mounting surface 210, power conduction, either by contact or non-contact, is permitted between the first end portion 286 and the second end portion 386. When the carrier 300 is detached from the mounting surface 210, power conduction, either by contact or non-contact, between the first end portion 286 and the second end portion 386 is restricted. The fifth embodiment differs from the first embodiment described above in this regard.

[0235] In the first and fifth embodiments, both the traveling body 200 and the carrier 300 are each provided with electrical equipment. These points are common to the first and fifth embodiments, including the manner of mounting and detaching the carrier 300 in the storage 500.

[0236] In the first embodiment, even when the carrier 300 is mounted on the traveling body 200, no electrical connection is formed between the electrical equipment (corresponding to the first electrical equipment) of the traveling body 200 and the electrical equipment (corresponding to the second electrical equipment) of the carrier 300.

[0237] In contrast, in the fifth embodiment, the first end portion 286 of the traveling body 200 is electrically connected to the first electrical device of the traveling body 200. The second end portion 386 of the mounting body 300 is electrically connected to the second electrical device of the mounting body 300. As described above, when energization between the first end portion 286 and the second end portion 386 is permitted, electrical connection between the first electrical device of the traveling body 200 and the second electrical device of the mounting body 300 is achieved.

[0238] On the other hand, as described above, when energization between the first end portion 286 and the second end portion 386 is restricted, the electrical connection between the first electrical device of the traveling body 200 and the second electrical device of the mounting body 300 is released. In the fifth embodiment, it differs from the first embodiment only in these points, and other points are the same as those of the first embodiment.

[0239] Hereinafter, only the differences from the first embodiment of the fifth embodiment will be described. In the fifth embodiment, the same reference numerals as those in the first embodiment and the like are given to the same or equivalent configurations and parts as those in the first embodiment and the like.

[0240] As shown in FIGS. 61 and 63, three first end portions 286a, 286b, and 286c are provided on the upper surface (upper end) of the traveling body 200. The first end portions 286a, 286b, and 286c are respectively arranged in front in the vehicle length direction of the vehicle body 260 in a plan view.

[0241] More specifically, the first end portion 286a may be arranged, for example, between the support portions 250b and 250c. The first end portions 286b and 286c may be respectively arranged so as to sandwich the support portion 250a. The first end portion 286 only needs to be arranged in front of the vehicle body 260, and the number and their respective positional relationships are arbitrary.

[0242] As shown in FIGS. 62 and 64, three second ends 386a, 386b, and 386c are provided at the lower surface (lower end) of the mounting body 300. The second ends 386a, 386b, and 386c are respectively arranged in front of the base 330 in the vehicle length direction in a bottom view.

[0243] More specifically, the second ends 386a, 386b, and 386c are respectively arranged at positions corresponding to the first ends 286a, 286b, and 286c. When the mounting body 300 is mounted on the traveling body 200, the second ends 386a, 386b, and 386c are arranged so as to overlap the first ends 286a, 286b, and 286c respectively. The second end 386 only needs to correspond to the first end 286, and the number and the positional relationship of each are the same as those of the first end 286.

[0244] As shown in FIG. 65, the first end 286a is electrically connected to the control device 283, the communication device 281, etc. of the traveling body 200 via the communication network N1. The second end 386a is electrically connected to the drive units 340a, 340b, 340c, 340d, 340e, the power supply 380, the battery sensor, etc. of the mounting body 300 via the communication network N2.

[0245] When the energization between the first end 286a and the second end 386a is permitted, the communication network N1 and the communication network N2 are connected. Therefore, the control signal from the control device 283 of the traveling body 200 can be sent to the drive units 340a, 340b, 340c, 340d, 340e, the power supply 380, etc. of the mounting body 300, and the information of the battery sensor of the mounting body 300 can be sent to the communication device 281 of the traveling body 200.

[0246] Note that the control device 283 of the present embodiment further includes a movable tool control unit 283e and a power supply amount adjustment unit 283f. The control of the drive units 340a, 340b, 340c, 340d, and 340e of the carrier 300 is executed by the movable tool control unit 283e in a state where energization between the first end 286a and the second end 386a is permitted. The adjustment of the power supply amount in the power supply 380 of the carrier 300 and the power supply 280 of the traveling body 200 is executed by the power supply amount adjustment unit 283f.

[0247] The first end 286b is electrically connected to the power supply 280 of the traveling body 200. The second end 386b is electrically connected to the drive units 340a, 340b, 340c, 340d, and 340e of the carrier 300. When energization between the first end 286b and the second end 386b is permitted, in addition to the power supply 380 of the carrier 300, electrical energy for driving can also be sent from the power supply 280 of the traveling body 200 to the drive units 340a, 340b, 340c, 340d, and 340e of the carrier 300.

[0248] The first end 286c is electrically connected to the drive unit of the traveling device 270 of the traveling body 200. The second end 386c is electrically connected to the power supply 380 of the carrier 300. When energization between the first end 286c and the second end 386c is permitted, in addition to the power supply 280 of the traveling body 200, electrical energy for driving can also be sent from the power supply 380 of the carrier 300 to the traveling device 270 of the traveling body 200.

[0249] The form of energization at the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c may be, for example, either contact type or non-contact type. The energization form is arbitrary as long as electrical connection at the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c is possible.

[0250] When the energization form is a contact type, for example, the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c may be contact terminals (see, for example, FIG. 69). In this case, when the terminals of the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c contact each other, energization of each is permitted.

[0251] When the energization form is a non-contact type, for example, the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c may be coils (see, for example, FIG. 70). In this case, the coils of the first ends 286b and the second ends 386c convert electricity into magnetism. The coils of the first ends 286c and the second ends 386b convert magnetism into electricity.

[0252] At the first ends 286a and the second ends 386a, when energizing from the first ends 286a toward the second ends 386a, the coils of the first ends 286a convert electricity into magnetism, and the coils of the second ends 386a convert magnetism into electricity. When energizing from the second ends 386a toward the first ends 286a, the coils of the second ends 386a convert electricity into magnetism, and the coils of the first ends 286a convert magnetism into electricity.

[0253] Thus, energization of each of the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c is permitted via magnetism. Note that among the first ends 286a, 286b, 286c and the second ends 386a, 386b, 386c, some energization forms may be contact type and the other energization forms may be non-contact type. That is, the contact type and the non-contact type may coexist.

[0254] Hereinafter, the operation of allowing energization between the first end portion 286 and the second end portion 386 when the carrier 300 disposed in the placement portion 560 of the storage 500 is mounted on the traveling body 200 will be described. In the present embodiment, when the traveling body 200 and the carrier 300 are separated from each other, energization between the first end portion 286 and the second end portion 386 is restricted.

[0255] Examples of the above-mentioned "when they are separated from each other" include, for example, when the carrier 300 is disposed in the placement portion 560 and the traveling body 200 is located outside the storage 500, or when the traveling body 200 is located inside the storage 500 and the mounting surface 210 of the traveling body 200 and the bottom surface of the carrier 300 are separated. More specifically, when the carrier 300 is in a state of being detached from the traveling body 200, energization between the first end portion 286 and the second end portion 386 is restricted.

[0256] On the other hand, when the traveling body 200 on which the carrier 300 is not mounted approaches the carrier 300 disposed in the placement portion 560, energization between the first end portion 286 and the second end portion 386 is allowed. Examples of the above-mentioned "when the traveling body 200 approaches" include, for example, when the first end portion 286a, the first end portion 286b, the first end portion 286c, and the second end portion 386a, the second end portion 386b, and the second end portion 386c overlap. More specifically, when the carrier 300 is mounted on the traveling body 200, energization between the first end portion 286 and the second end portion 386 is allowed.

[0257] As shown in FIG. 66, it is assumed that the traveling body 200 on which the carrier 300 is not mounted stops at the stop position inside the storage 500, and the carrier 300 is moved upward in the second direction from the placement portion 560 while being supported by the lift portion 220. Next, as shown in FIG. 67, with the carrier 300 being pushed upward, the traveling body 200 and the carrier 300 integrally drive out of the storage 500 with the rear of the vehicle body 260 as the first direction.

[0258] At this time, the traveling body 200 and the mounting body 300 are separated from each other. When the energization method between the first end portion 286 and the second end portion 386 is a contact type, as shown in FIG. 69(b), a state where each terminal is not in contact is maintained. Further, when the energization method between the first end portion 286 and the second end portion 386 is a non-contact type, as shown in FIG. 70(b), a state where a magnetic field does not reach from one coil to the other coil is maintained. Therefore, the energization between the first end portion 286 and the second end portion 386 is in a regulated state.

[0259] As shown in FIG. 68, while supporting the mounting body 300 that has moved upward, the lift portion 220 moves it downward in the third direction so that the mounting body 300 is mounted on the mounting surface 210. At this time, the first end portions 286a, 286b, 286c and the second end portions 386a, 386b, 386c are in an overlapping state.

[0260] When the energization method between the first end portion 286 and the second end portion 386 is a contact type, as shown in FIG. 69(a), a state where each terminal is in contact is maintained. Further, when the energization method between the first end portion 286 and the second end portion 386 is a non-contact type, as shown in FIG. 70(a), a state where a magnetic field reaches from one coil to the other coil is maintained. Therefore, the energization between the first end portion 286 and the second end portion 386 is in an allowed state.

[0261] In this way, when the mounting body 300 is mounted on the mounting surface 210, the energization between the first end portion 286 and the second end portion 386 is allowed, and an electrical connection between the electrical equipment of the traveling body 200 and the electrical equipment of the mounting body 300 is achieved. More specifically, the energization between the first end portion 286a and the second end portion 386a is allowed, and communication of control signals and information between the traveling body 200 and the mounting body 300 becomes possible (see FIG. 65).

[0262] Further, when the first end portion 286b and the second end portion 386b are energized, drive electrical energy can be sent from the power source 280 of the traveling body 200 to the drive units 340a, 340b, 340c, 340d, and 340e of the mounting body 300. Also, when the first end portion 286c and the second end portion 386c are energized, drive electrical energy can be sent from the power source 380 of the mounting body 300 to the traveling device 270 of the traveling body 200 (see FIG. 65).

[0263] On the other hand, when the mounting body 300 is detached from the mounting surface 210, the energization of the first end portion 286 and the second end portion 386 is restricted, and the electrical connection between the electrical equipment of the traveling body 200 and the electrical equipment of the mounting body 300 is released. That is, the communication of control signals and information between the traveling body 200 and the mounting body 300 is restricted, and the electrical supply from the power source 280 of the traveling body 200 to the mounting body 300 and the electrical supply from the power source 380 of the mounting body 300 to the traveling body 200 are also restricted.

[0264] In the present embodiment, the amount of electrical supply from each of the power sources 280 and 380 may be adjusted by the power supply amount adjustment unit 283f of the control device 283 (see FIG. 65). In this case, the power supply amount adjustment unit 283f adjusts the power supply amount of either one or both of the power sources 280 and 380 based on the remaining battery amounts of the power sources 280 and 380. For example, the power sources 280 and 380 may be provided with functions for adjusting their respective power supply amounts (voltage and current) and functions for switching, and adjustment and switching may be executed according to a control signal from the control device 283 (power supply amount adjustment unit 283f).

[0265] As shown in FIG. 71, the power supply amount adjustment unit 283f may adjust the power supply amount of each of the power sources 280 and 380 based on, for example, the remaining battery amounts of the power sources 280 and 380. As an example, in the moving body 100 with the mounting body 300 already mounted, assume a state where the load during the traveling of the traveling device 270 is large and the operations of the first movable tool 310 and the second movable tool 320 are minor.

[0266] Note that the above-described state starts from time t0, and at time t0, the battery remaining amounts of power supplies 280 and 380 are assumed to be in a fully charged state. Also, in FIG. 71, the solid line graph shows the change over time of the battery remaining amount of power supply 280, and the dashed line graph shows the change over time of the battery remaining amount of power supply 380.

[0267] In this case, the power supply amount adjustment unit 283f performs the following control. After time t0, driving electrical energy is supplied from the power supply 280 of the traveling body 200 to the traveling device 270, and driving electrical energy is supplied from the power supply 380 of the mounting body 300 to the drive units of the first movable tool 310 and the second movable tool 320. The power supply amount adjustment unit 283f adjusts each power supply amount accordingly.

[0268] After time t0, the battery remaining amount of power supply 280 decreases significantly, and the battery remaining amount of power supply 380 decreases slightly. As a result, the difference DBL in the battery remaining amount expands. Assume that at time t1, the difference DBL in the battery remaining amount reaches the threshold value DBLth. At this time, the power supply amount adjustment unit 283f restricts the power supply amount from the power supply 280 to the traveling device 270, and controls to supply driving electrical energy from the power supply 380 to the traveling device 270 by that amount.

[0269] After time t1, the battery remaining amount of power supply 280 decreases slightly, and the battery remaining amount of power supply 380 decreases significantly. As a result, the difference DBL in the battery remaining amount shrinks. Eventually, after the battery remaining amounts of power supplies 280 and 380 are reversed, the difference DBL in the battery remaining amount expands again.

[0270] Assume that at time t2, the difference DBL in the battery remaining amount reaches the threshold value DBLth again. At this time, the power supply amount adjustment unit 283f restricts the power supply amount from the power supply 380 to the traveling device 270, and controls to supply driving electrical energy from the power supply 280 to the traveling device 270 by that amount.

[0271] By adjusting the power supply amounts of the power supplies 280 and 380 in this way, it is possible to reduce the remaining battery amounts of the plurality of power supplies in a well-balanced manner. For this reason, it is possible to suppress a situation in which the remaining battery amounts of some of the plurality of power supplies become zero early and the number of charging times increases. Therefore, it is possible to suppress the early deterioration of the power supplies 280 and 380.

[0272] On the other hand, in the moving body 100 with the mounting body 300 mounted thereon, when the load during running of the running device 270 is small and the operations of the first movable tool 310 and the second movable tool 320 are excessive, the power supply amount adjustment unit 283f may be configured to have a control mode opposite to the above-described control mode.

[0273] In the present embodiment, electric power can be supplied from the power supply 280 of the traveling body 200 toward the mounting body 300 via the first end portion 286b and the second end portion 386b, and electric power can be supplied from the power supply 380 of the mounting body 300 toward the traveling body 200 via the first end portion 286c and the second end portion 386c. Instead of this, only one combination of the first end portion 286b and the second end portion 386b, and the first end portion 286c and the second end portion 386c may be present.

[0274] Further, in the present embodiment, when the first end portion 286 and the second end portion 386 are of a non-contact power supply type, and particularly when configured to allow power supply through magnetism, the positional relationship among the first end portion 286, the second end portion 386, the movable tool, the drive unit, and the electric device may be defined as follows.

[0275] As shown in FIG. 68, in a state where the mounting body 300 is mounted on the traveling body 200, for example, the first end portion 286 of the traveling body 200 is disposed in front of the traveling body 200 in the first direction (the front half portion of the vehicle body 260). Further, the first movable tool 310, the second movable tool 320, the drive unit 340a, the drive unit 340b, the drive unit 340c, the drive unit 340d, the drive unit 340e, and the second end portion 386 of the mounting body 300 are disposed in front of the mounting body 300 in the first direction (for example, the front half portion of the base portion 330).

[0276] The electronic unit 287 including the control device 283 and the communication device 281 of the traveling body 200 is arranged at the rear in the first direction in the traveling body 200 (the rear half part of the vehicle body 260). The electronic unit 387 including the control device 382 and the communication device 381 of the mounting body 300 is arranged at the rear in the first direction in the mounting body 300 (the rear half part of the base 330).

[0277] More specifically, the distance (the shortest straight-line distance) from any position of the first end portions 286a, 286b, 286c to any position of the electronic unit 287 or the electronic unit 387 is longer than the distance (the shortest straight-line distance) from any position of the first end portions 286a, 286b, 286c to any position of the drive units 340a, 340b, 340c, 340d, 340e, so that the first end portion 286 may be arranged.

[0278] In addition, the distance (the shortest straight-line distance) from any position of the second end portions 386a, 386b, 386c to any position of the electronic unit 287 or the electronic unit 387 is longer than the distance (the shortest straight-line distance) from any position of the second end portions 386a, 386b, 386c to any position of the drive units 340a, 340b, 340c, 340d, 340e, so that the second end portion 386 may be arranged.

[0279] By defining the arrangement in this way, the magnetic field generation source (for example, a coil or the like) can be kept away from the electronic unit 287 and the electronic unit 387. Therefore, the mechanism, function, etc. for shielding electromagnetic waves for the electronic unit 287 and the electronic unit 387 can be simplified. Accordingly, while adopting a non-contact energization form, the degree of freedom in the design of the traveling body 200 and the mounting body 300 can be expanded.

[0280] [Sixth Embodiment] In the mobile body 100 according to the sixth embodiment of the present invention, only the traveling body 200 is provided with the power source 280, and the mounting body 300 is not provided with a power source. Further, the traveling body 200 is provided with a transmission unit 290. The transmission unit 290 is configured to transmit driving energy from the traveling body 200 toward the drive units of the first movable tool 310 and the second movable tool 320 in the mounting body 300. The sixth embodiment is different from the first embodiment described above in this regard.

[0281] In the first and sixth embodiments, the traveling body 200 is provided with the power source 280, and driving electric energy is supplied from the power source 280 to the traveling device 270, the lift unit 220, etc. of the traveling body 200. These points are common to the first and sixth embodiments, including the mode of mounting and detaching the mounting body 300 in the storage 500.

[0282] In the first embodiment, the mounting body 300 is also provided with the power source 380, and driving electric energy is supplied from the power source 380 to the drive units 340a, 340b, 340c, 340d, 340e, etc. of the mounting body 300. Even when the mounting body 300 is mounted on the traveling body 200, no energy is transmitted from the traveling body 200 to the mounting body 300.

[0283] On the other hand, in the sixth embodiment, when the mounting body 300 is mounted on the traveling body 200, the transmission unit 290 of the traveling body 200 is configured to transmit driving energy from the traveling body 200 toward the drive units of the first movable tool 310 and the second movable tool 320 in the mounting body 300. Also, the first end portion 286a and the second end portion 386a of the fifth embodiment are also provided so that a control signal can be sent from the traveling body 200 to the mounting body 300. In the sixth embodiment, it is different from the first embodiment only in these points, and other points are the same as those of the first embodiment.

[0284] Hereinafter, only the points different from the first embodiment of the sixth embodiment will be described. In the sixth embodiment, the same reference numerals as those in the first embodiment, etc. are given to the same or equivalent configurations and parts as those in the first embodiment, etc.

[0285] As shown in FIG. 72, the traveling body 200 includes a transmission unit 290. The transmission unit 290 has a cylindrical shaft 291 and the like. The shaft 291 is provided at the upper surface (upper end) and substantially the central portion of the vehicle body 260, and protrudes upward in the second direction from the vehicle body 260. The upper end portion of the shaft 291 can be fitted to a spline gear described later (see FIG. 75).

[0286] The lower end portion of the shaft 291 of the transmission unit 290 is housed inside the vehicle body 260. The lower end portion receives power supply from the power source 280 and is rotationally driven based on the drive of an actuator or the like. A predetermined gear mechanism or the like may be interposed between the actuator and the lower end portion of the transmission unit 290 to appropriately reduce the speed. Thereby, the shaft 291 of the transmission unit 290 can rotate relative to the vehicle body 260 about the axis.

[0287] As shown in FIG. 73, the mounting body 300 includes a transmission-receiving unit 390. The transmission-receiving unit 390 has a fitting portion 391 with a circular cross section and the like. The fitting portion 391 is provided at the bottom surface (lower end) and substantially the central portion of the base 330 so as to correspond to the position of the shaft 291, and is recessed upward in the second direction from the bottom surface of the base 330.

[0288] Inside the fitting portion 391, a spline gear is coaxially housed, and the upper end portion of the shaft 291 can be inserted into the spline gear through the fitting portion 391 (see FIG. 75). Inside the base 330, a predetermined gear mechanism, a gear shifter, and the like are housed, and power transmission from the spline gear to the drive units 340a, 340b, 340c, 340d, and 340e is possible through these.

[0289] As shown in FIG. 74, the drive of the transmission unit 290 is controlled by the movable tool control unit 283e of the control device 283. Also, similar to the fifth embodiment, a first end portion 286a and a second end portion 386a are provided at predetermined positions of the traveling body 200 and the mounting body 300.

[0290] When the energization of the first end portion 286a and the second end portion 386a is permitted, a control signal of the control device 283 can be sent toward the mounting body 300. For example, in order to control the driving of the driving unit 340a, the driving unit 340b, the driving unit 340c, the driving unit 340d, and the driving unit 340e, a gear shifter or the like associated with the transmission portion 390 may be configured to be controlled by the movable tool control unit 283e of the control device 283.

[0291] As shown in FIG. 75(a), it is assumed that the lift portion 220 that supports the mounting body 300 descends and the mounting body 300 is mounted on the traveling body 200. At this time, the shaft 291 of the transmission portion 290 fits into the fitting portion 391 of the transmission portion 390, and the tip of the shaft 291 fits and meshes with a spline gear coaxially accommodated in the fitting portion 391.

[0292] Thereby, when the shaft 291 of the transmission portion 290 rotates, the spline gear integrally with the shaft 291 also rotates. This rotational power is transmitted toward the driving unit 340a, the driving unit 340b, the driving unit 340c, the driving unit 340d, and the driving unit 340e via a gear mechanism, a gear shifter, etc. built in the base portion 330 of the mounting body 300.

[0293] As shown in FIG. 75(b), it is assumed that the lift portion 220 that supports the mounting body 300 ascends and the mounting body 300 is detached from the traveling body 200. At this time, the shaft 291 of the transmission portion 290 is removed from the fitting portion 391 of the transmission portion 390, and the fitting and meshing between the tip of the shaft 291 and the spline gear are released. Thereby, the transmission of the driving force toward the driving unit 340a, the driving unit 340b, the driving unit 340c, the driving unit 340d, and the driving unit 340e is also released.

[0294] <Modification example of the transmission portion> In this embodiment, the transmission unit 290 is configured to transmit energy toward the drive units of the first movable member 310 and the second movable member 320 via a mechanism such as a shaft 291 and various gears. Alternatively, for example, the transmission unit 290 may be configured to transmit energy toward the drive units of the first movable member 310 and the second movable member 320 via a fluid. As the fluid, for example, hydraulic oil or the like may be used, and a hydraulic circuit leading from the traveling body 200 to the mounting body 300 may be formed.

[0295] In this case, as shown in FIG. 76, for example, instead of the shaft 291, the transmission unit 290 may include a piping section 292, and instead of a mechanism such as a spline gear, the transmission target section 390 may include a flow path section 392. The piping section 292 can be inserted into the fitting section 391 of the transmission target section 390. Further, the piping section 292 and the flow path section 392 are each configured to allow hydraulic oil to communicate.

[0296] The piping section 292 has a cylindrical shape and protrudes upward in the second direction. An open end serving as an oil inlet / outlet is provided on the side surface of the piping section 292. The traveling body 200 may be provided with a hydraulic circuit having a hydraulic pump and an electromagnetic valve, and configured such that an end portion thereof becomes the open end of the piping section 292.

[0297] The flow path section 392 is formed inside the base portion 330. An open end of the flow path section 392 is provided on the inner wall surface of the fitting section 391 of the transmission target section 390. When the piping section 292 is inserted into the fitting section 391, the positions of the respective open ends are adjusted so that the open ends overlap each other. Further, the drive units 340a, 340b, 340c, 340d, and 340e of the mounting body 300 each serve as a hydraulic cylinder, and the flow path section 392 may be connected to each hydraulic cylinder via a switching spool or the like.

[0298] As shown in Fig. 76(a), it is assumed that the lift unit 220 that supports the carrier 300 descends and the carrier 300 is mounted on the traveling body 200. At this time, the piping portion 292 of the transmission portion 290 is inserted into the fitting portion 391 of the portion to be transmitted 390, and the open end of the piping portion 292 overlaps with the open end of the flow path portion 392. The flow of oil between the piping portion 292 and the flow path portion 392 is allowed.

[0299] Thereby, when the hydraulic pump is driven, the pressurized oil flows through the piping portion 292 and the flow path portion 392. This pressure is transmitted toward the drive units 340a, 340b, 340c, 340d, and 340e through the hydraulic circuit including the piping portion 292 and the flow path portion 392.

[0300] As shown in Fig. 76(b), it is assumed that the lift unit 220 that supports the carrier 300 ascends and the carrier 300 is detached from the traveling body 200. At this time, the piping portion 292 of the transmission portion 290 is removed from the fitting portion 391 of the portion to be transmitted 390, and the flow of oil in the piping portion 292 and the flow path portion 392 is blocked. Thereby, the transmission of pressure toward the drive units 340a, 340b, 340c, 340d, and 340e is also released.

[0301] Alternatively, for example, the transmission portion 290 may be configured to transmit energy toward the drive units of the first movable tool 310 and the second movable tool 320 via electricity or magnetism. In this case, as shown in Fig. 77, for example, the transmission portion 290 may include the first end portion 286b of the fifth embodiment instead of the shaft 291, and the portion to be transmitted 390 may include the second end portion 386b of the fifth embodiment instead of the fitting portion 391 (see Figs. 69 and 70).

[0302] When energy is transmitted electrically between the first end portion 286b and the second end portion 386b, as shown in FIG. 69(a), when the carrier 300 is mounted, the state where each terminal is in contact is maintained. As a result, driving electrical energy is transmitted toward the drive units 340a, 340b, 340c, 340d, and 340e.

[0303] As shown in FIG. 69(b), when the carrier 300 is detached, the state where each terminal is not in contact is maintained. As a result, the transmission of electrical energy toward the drive units 340a, 340b, 340c, 340d, and 340e is released.

[0304] When energy is transmitted magnetically between the first end portion 286b and the second end portion 386b, as shown in FIG. 70(a), when the carrier 300 is mounted, the state where a magnetic field reaches from one coil to the other coil is maintained. As a result, driving electrical energy is transmitted magnetically toward the drive units 340a, 340b, 340c, 340d, and 340e.

[0305] As shown in FIG. 70(b), when the carrier 300 is detached, the state where a magnetic field does not reach from one coil to the other coil is maintained. As a result, the magnetic transmission of electrical energy toward the drive units 340a, 340b, 340c, 340d, and 340e is released.

[0306] <Modification Example of Attachment> In the present embodiment, the carrier 300 is configured to be mounted on the traveling body 200, and as the carrier 300, an attachment 300 that functions as a backhoe when mounted is used. Instead of this, for example, an attachment 300 that functions as a mobility for carrying people when mounted may be used.

[0307] As shown in FIGS. 78 and 79, the attachment 300 includes a housing portion 350, a seat portion 351, and a handle 352. Note that the attachment 300 is not equipped with a power source. The housing portion 350 has a substantially rectangular parallelepiped shape. The housing portion 350 is configured such that in a plan view, the long side extends along the vehicle length direction and the short side extends along the vehicle width direction.

[0308] The upper side of the housing portion 350 is open, and a seat portion 351 is provided inside the housing portion 350. The seat portion 351 is configured such that the inclination of the backrest can be adjusted. Therefore, the occupant can board the seat portion 351 in a sitting position or a lying position. Concave portions 353 of the housing portion 350 are formed on both sides in the vehicle width direction of the seat portion 351. The occupant can step on the concave portions 353 and straddle the seat portion 351 while placing each foot on each of the concave portions 353 on both sides to board.

[0309] A handle 352 is provided on the upper front end of the housing portion 350. The occupant can grip the handle 352 during travel. A floor portion 354 is formed between the handle 352 and the seat portion 351. The occupant can board in a standing position while placing both feet on the floor portion 354.

[0310] The bottom surface of the lower end of the housing portion 350 faces the mounting surface 210 of the traveling body 200. The modes of support, lift operation, engagement, and fixation to the bottom surface are the same as those described above. That is, the mode of attachment and detachment of the attachment 300 is the same as that described above. The attachment 300 is configured to be mountable in any of a sitting position, a standing position, a lying position, and a straddled state when mounted on the mounting surface 210 of the traveling body 200.

[0311] When a person is mounted as an occupant on the attachment 300 mounted on the mounting surface 210 and the traveling body 200 travels integrally with the attachment 300, the person can also move. That is, by using the attachment 300 configured in this way, the moving body 100 functions as a mobility for carrying people.

[0312] [Embodiment 7] In the moving body 100 according to the seventh embodiment of the present invention, as the mounting body 300, an attachment 300 that functions as a mobile refrigerator when mounted is used. The seventh embodiment is different from the first embodiment described above in this regard.

[0313] In the first and seventh embodiments, the attachment 300 is detachable from the traveling body 200. These points are common to the first and seventh embodiments, including the mode of attachment and detachment of the mounting body 300 in the storage 500.

[0314] In the first embodiment, as the mounting body 300, an attachment 300 that functions as a backhoe when mounted is used. The structure of the outer shell of the attachment 300, the positional relationship between the outer shell and the outer end of the vehicle body 260, the storage function, etc. are arbitrary.

[0315] On the other hand, in the seventh embodiment, the attachment 300 includes an outer shell portion 360 and a storage portion 361. The outer shell portion 360 is configured to be located outside the outer end of the vehicle body 260 in a plan view when the attachment 300 is mounted. The storage portion 361 is configured to be able to store materials inside the outer shell portion 360. In the seventh embodiment, only these points are different from the first embodiment, and other points are the same as the first embodiment.

[0316] Hereinafter, only the points different from the first embodiment of the seventh embodiment will be described. In the seventh embodiment, the same reference numerals as those in the first embodiment and the like are given to the same or equivalent configurations and parts as those in the first embodiment and the like.

[0317] As shown in FIGS. 80, 81, 82, and 83, the attachment 300 of the present embodiment is configured to have a rectangular parallelepiped-shaped housing. The housing includes a front wall portion 360a, side wall portions 360b, a rear wall portion 360c, and a bottom portion 360d. The bottom portion 360d has a rectangular plate shape and is surrounded by the front wall portion 360a, the side wall portions 360b, and the rear wall portion 360c so as to correspond to the four sides thereof. The parts constituting the housing may be made of a heat-insulating material.

[0318] The bottom portion 360d is slightly raised in the entire attachment 300. The attachment 300 is partitioned into a lower side and an upper side with the bottom portion 360d as a boundary. Below the bottom portion 360d of the attachment 300, the front wall portion 360a, the side wall portions 360b, and the rear wall portion 360c extend downward from the bottom portion 360d.

[0319] When the attachment 300 is attached to the traveling body 200, the lower surface of the bottom portion 360d faces the mounting surface 210 at the upper end of the traveling body 200. An insertion portion 232 is provided at a position corresponding to the lift portion 220 on the lower surface of the bottom portion 360d (see FIG. 83). At the time of attachment, the lift portion 220 and the insertion portion 232 are engaged to bring the bottom portion 360d close to the mounting surface 210. Thereby, the traveling body 200 is fixed to the lower side of the attachment 300.

[0320] In a state where the attachment 300 is attached, most of the traveling body 200 is covered by the bottom portion 360d, the front wall portion 360a, the side wall portions 360b, and the rear wall portion 360c. More specifically, the front end and the rear end in the vehicle length direction of the vehicle body 260 face the inside of the front wall portion 360a and the rear wall portion 360c, respectively. Both ends in the vehicle width direction of the vehicle body 260 and both ends of the front and rear traveling devices 270 face the inside of the side wall portions 360b on both sides, respectively (see FIG. 84). The lower surface of the bottom portion 360d faces the entire upper surface of the vehicle body 260 and the upper side of the front and rear traveling devices 270, respectively.

[0321] As shown in FIG. 84, when the attachment 300 (mounting body 300) is mounted on the mounting surface 210, the positional relationship between the attachment 300 and the vehicle body 260 is as follows. The front wall portion 360a, the side wall portion 360b, and the rear wall portion 360c are located outside the outer ends of the vehicle body 260. The bottom portion 360d is located above the traveling device 270 in the second direction. That is, in the present embodiment, the front wall portion 360a, the side wall portion 360b, the rear wall portion 360c, and the bottom portion 360d correspond to the outer portion 360.

[0322] By configuring the outer portion 360 in this way, the traveling body 200 can be protected as a whole. Since the outer portion 360 itself can also serve as the outside of the attachment 300, it is not necessary to separately add a guard or a fender to the traveling device 270. Therefore, a unified design can be realized for the entire moving body 100.

[0323] At the front end of the vehicle body 260 in the traveling body 200, an electric device that emits a beam outward is provided. In the present embodiment, the electric device is the sensor 282 described above, but it may be either a ranging sensor or a distance sensor (distance measuring sensor) that emits a detection beam outward, or a light source that emits a beam for visual recognition outward.

[0324] As shown in FIGS. 83, 84, and 85, the outer portion 360 includes a transmission portion 362. The transmission portion 362 is configured to be located outside the sensor 282 in a plan view and to allow the beam emitted from the sensor 282 to pass through to the outside when the attachment 300 (mounting body 300) is mounted on the mounting surface 210.

[0325] More specifically, the transmission part 362 is provided on the front wall part 360a, and its inside is configured to face the sensor 282 and the front end of the vehicle body 260. The transmission part 362 may be arranged at the center in the vehicle width direction and on the lower side with respect to the entire front wall part 360a. The area occupied by the transmission part 362 with respect to the front wall part 360a may be adjusted to be larger than the cross-sectional area of the beam projection of the sensor 282.

[0326] The material constituting the transmission part 362 may be any material through which the beam can pass, and can be changed according to the beam intensity and wavelength. Further, the transmission part 362 may be a through hole in the front wall part 360a, and may be configured to be transmissible by the beam passing through it.

[0327] As shown in FIGS. 80, 82, and 85, in the attachment 300, an accommodation part 361 is provided on the upper side partitioned by the bottom part 360d. The accommodation part 361 has the bottom part 360d as the lower end and is surrounded by the front wall part 360a, the side wall part 360b, and the rear wall part 360c, and is configured as the internal space of the housing. That is, the accommodation part 361 is configured to be able to accommodate materials inside the outer part 360.

[0328] In the accommodation part 361, it is possible to accommodate materials in the accommodation part 361 through a rectangular opening formed at the upper end of the attachment 300. Also, it is possible to take out the materials accommodated in the accommodation part 361 through the rectangular opening. Note that the rectangular opening may be closable by a lid or the like (not shown).

[0329] Further, the accommodation part 361 is configured to be able to cool or heat the accommodated materials. More specifically, a temperature control device 370 may be built into the attachment 300. The temperature control device 370 may be composed of, for example, a Peltier element, an electric heater, a heat pump, a fan, etc., and may be able to supply warm and cold air to the materials in the accommodation part 361.

[0330] As shown in Fig. 86, the control device 283 of the running body 200 further includes a temperature control unit 283g. The temperature control unit 283g controls the temperature adjustment device 370 to adjust the temperature and air volume of the hot and cold air supplied by the temperature adjustment device 370. In this embodiment, the attachment 300 does not include a power source. In this case, similar to the modified example of the sixth embodiment described above, the running body 200 may include a first end 286a and a first end 286b, and the attachment 300 may include a second end 386a and a second end 386b (see Fig. 77).

[0331] When the attachment 300 is attached to the traveling body 200, a control signal is sent from the control device 283 of the traveling body 200 to the temperature adjustment device 370 via the first end 286a and the second end 386a. Electric energy for supplying hot and cold air is supplied from the power source 280 of the traveling body 200 to the temperature adjustment device 370 via the first end 286b and the second end 386b.

[0332] With the attachment 300 mounted on the mounting surface 210 and the goods stored in the storage section 361, the traveling body 200 travels together with the attachment 300, so that the goods can be moved while controlling their temperature. That is, by using the attachment 300 configured in this way, the traveling body 100 functions as a mobile hot / cold storage.

[0333] <Modifications of the outer shell> In this embodiment, an attachment 300 that functions as a mobile hot / cold storage unit when attached is used as the mounting body 300, and the attachment is provided with an outer casing 360. Alternatively, an attachment 300 that functions as a backhoe may be used as the mounting body 300, and the attachment may be provided with an outer casing 360.

[0334] As shown in FIGS. 87 and 88, the outer portion 360 is added to the configuration of the carrier 300 of the first embodiment. When the carrier 300 is mounted on the traveling body, the outer portion 360 is located outside the outer end of the vehicle body 260 in plan view and above the traveling device 270 in the second direction.

[0335] More specifically, the outer portion 360 is divided into four parts and is arranged one by one at positions corresponding to the front wheels 271 and the rear wheels 272 on the base 330 of the carrier 300. The outer portion 360 may be curved so as to respectively follow the circumferences of the front wheels 271 and the rear wheels 272.

[0336] When the carrier 300 is mounted, the outer portion 360 is positioned to cover the upper sides of the front wheels 271 and the rear wheels 272. At this time, the outer portion 360 is located outside both side ends in the vehicle width direction of the vehicle body 260 in plan view. Also, in plan view, the area occupied by the outer portion 360 respectively includes the areas of the front wheels 271 and the rear wheels 272.

[0337] By configuring the outer portion 360 in this way, the outer portion 360 can function as a fender for the front wheels 271 and the rear wheels 272. Since the outer portion 360 is arranged for each wheel of the traveling device 270, the area of the outer portion 360 can be minimized. Therefore, the degree of freedom in the arrangement and design of components can be increased without inhibiting the operation of movable tools or the like of the carrier 300.

[0338] [Modification Example of Carrier] In each of the above-described embodiments, each mounting body 300 is configured as described above. However, instead of these, various aspects may be adopted as the configuration of each mounting body 300. For example, as shown in FIGS. 89 and 90, the mounting body 300 may be provided with a searchlight SL. In this case, the searchlight SL may be located at the upper part of the mounting body 300 and may be configured to irradiate light forward in the first direction. When the moving body 100 is patrolling by automatic driving, the searchlight SL may be configured to execute light irradiation when detecting an object ahead.

[0339] As shown in FIG. 89, for example, the moving body 100 of this modification may be automatically driven at night so as to patrol a pre-defined route around a residential area. In this case, when a suspicious person or the like is detected, light is irradiated from the searchlight SL toward the suspicious person or the like. As shown in FIG. 90, for example, the moving body 100 of this modification may be automatically driven at night so as to patrol a pre-defined route around farmland. In this case, when a pest or the like is detected, light is irradiated from the searchlight SL toward the pest or the like. In this way, by irradiating light from the searchlight SL, the moving body 100 can be provided with functions such as crime prevention and monitoring.

[0340] [Summary: Application 1] The moving body 100 is capable of traveling in a first direction, and includes a traveling body 200 having a mounting surface 210 facing upward in a second direction with respect to the first direction, a mounting body 300 configured to be detachable from the mounting surface 210, which moves integrally with the traveling body when mounted on the mounting surface 210 and mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200, and a lift unit 220 provided on either the traveling body 200 or the mounting body 300, configured to support the mounting body 300 and to be able to move the mounting body 300 in the second direction or a third direction opposite to the second direction with respect to the mounting surface 210 (Claim 1).

[0341] According to this, the mounting surface 210 can be made into a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be able to approach and contact the bottom surface. Therefore, the arranged mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounting body 300 can be set to a position above the traveling body 200 where the next mounting of the mounting body 300 can be smoothly performed and the bottom surface of the mounting body 300 can maintain substantially horizontal. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately executed.

[0342] Further, the lift portion 220 can move the mounting body 300 up and down with respect to the traveling body 200 to perform detachment and attachment. That is, detachment and attachment can be easily executed by a simple operation of the lift portion 220.

[0343] The moving body 100 is configured such that the traveling body 200 and the mounting body 300 can be engaged with each other, and includes an engaging portion 230 that is engaged so that the mounting body 300 is mounted and the mounting body 300 is detached when the engagement is released (Claim 2).

[0344] According to this, when a mounting operation (for example, vertical movement of the mounting body 300 by the lift portion 220) is performed, the engagement of the engaging portion 230 can suppress the mounting body 300 from deviating from the movement track. Therefore, the mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, even after the mounting is completed, the engagement of the engaging portion 230 can suppress the mounted mounting body 300 from deviating from the mounting surface 210.

[0345] The lift part 220 protrudes toward the insertion part 232 of the engagement part 230. The insertion part 232 of the engagement part 230 is provided at a position corresponding to the other lift part 220 of either the traveling body 200 or the mounting body 300. It has a concave shape into which the protruding lift part 220 can be inserted, and has a shape with a part that tapers in diameter along the direction in which the lift part 220 is inserted, and engages by being inserted into the lift part 220 (Claim 3).

[0346] According to this, when inserting the lift part 220 into the insertion part 232, even if the axes of the insertion part 232 and the lift part 220 are misaligned, the lift part 220 is guided by the peculiar diameter-reducing shape, and the lift part 220 can be inserted so that the axes automatically coincide. Therefore, engagement can be achieved more reliably.

[0347] The moving body 100 is configured to be able to fix the mounting body 300 to the traveling body 200, and includes fixing parts 240a and 240b that, when fixed, restrict relative movement of the mounting body 300 with respect to the traveling body 200, and allow the relative movement when the fixing is released (Claim 4).

[0348] According to this, the mounted mounting body 300 can be fixed to the mounting surface 210, and even when a force acts on the mounting body 300 along with the traveling or work of the moving body 100, it is possible to suppress the mounting body 300 from shifting from the mounting surface 210 or the mounting body 300 from unintentionally detaching.

[0349] The fixing part 240b is provided at a location different from the location where the lift part 220 is installed, and is configured to be able to generate a magnetic-based adsorption force between the traveling body 200 and the mounting body 300, and fixes the mounting body 300 to the traveling body 200 by the action of the adsorption force (Claim 5).

[0350] According to this, since the fixing action of the fixing part 240b is based on magnetism, mechanisms for fixing and movable parts etc. are unnecessary. Therefore, the fixing part 240b can be installed freely. Thus, when fixing the mounting body 300, the fixing part 240b can be installed at an effective location. Also, it can be made to synergize with the engaging and fixing function of the lift part 220. From the above, the mounting body 300 can be fixed more reliably.

[0351] The traveling body 200 includes a first electrical device and a first end portion 286 electrically connected to the first electrical device. The mounting body 300 includes a second electrical device and a second end portion 386 that is electrically connected to the second electrical device and allows energization in contact or non-contact with the first end portion 286 when the mounting body 300 is mounted on the mounting surface 210, achieving electrical connection between the first and second electrical devices, and restricts energization in contact or non-contact with the first end portion 286 when the mounting body 300 is detached from the mounting surface 210, releasing the electrical connection between the first and second electrical devices (Claim 6).

[0352] According to this, in a state where the mounting body 300 is mounted, supply of electrical energy from the traveling body 200 to the mounting body 300 (or from the mounting body 300 to the traveling body 200), transmission of control signals, transmission of sensor signals, etc. are possible via the first end portion 286 and the second end portion 386. Therefore, the power source 280, the control device 283, the sensor 282, etc. can be mounted by shifting to either the traveling body 200 or the mounting body 300. Also, for example, the power sources 280 and 380 can be mounted on both the traveling body 200 and the mounting body 300, and the power supply amounts from the respective power sources 280 and 380 can be shared. Therefore, the mounting of electrical devices and the variations in usage methods can be greatly expanded.

[0353] When the moving body 100 attaches the mounting body 300 disposed at a position above the mounting surface 210 in the second direction to the traveling body 200 on which the mounting body 300 is not mounted, the mounting body 300 facing the mounting surface 210 is supported and moved upward from the arrangement position in the second direction. The lift unit 220 is controlled to move the mounting body 300 upward from the arrangement position, and in a state where the mounting body 300 is pushed upward, the traveling body 200 is controlled to travel in the first direction integrally with the mounting body 300. The mounting body 300 that has been pushed upward is supported, and a mounting control unit 283a is provided that controls the lift unit 220 to move in the third direction (Claim 7).

[0354] According to this, by controlling the lift unit 220, the mounting body 300 can be automatically attached to the traveling body 200. That is, the attachment of the mounting body 300 can be easily and surely executed.

[0355] When the moving body 100 detaches the mounting body 300 from the traveling body 200 on which the mounting body 300 is mounted and disposes it at a position above the mounting surface 210 in the second direction, the mounting body 300 mounted on the mounting surface 210 is supported and moved upward from the arrangement position in the second direction. The lift unit 220 is controlled to move the mounting body 300 upward from the arrangement position, and in a state where the mounting body 300 is pushed upward, the traveling body 200 is controlled to travel to a position for arranging the mounting body 300 integrally with the mounting body 300. The mounting body 300 that has been pushed upward is supported, and a detachment control unit 283b is provided that controls the lift unit 220 to move in the third direction (Claim 8).

[0356] According to this, by controlling the lift unit 220, the mounting body 300 can be automatically detached from the traveling body 200. That is, the detachment of the mounting body 300 can be easily and surely executed.

[0357] [Summary: Application 2] The moving body 100 is capable of traveling in a first direction and includes a traveling body 200 having a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, a mounting body 300 that is configured to be detachable from the mounting surface 210 and that moves integrally with the traveling body 200 when mounted on the mounting surface 210 and mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210, and an engaging portion 230 that is configured to be able to engage the traveling body 200 and the mounting body 300 with each other, and by which the mounting body 300 is mounted when engaged and detached when the engagement is released (Claim 1).

[0358] According to this, the mounting surface 210 can be made a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be able to approach and contact the bottom surface. Therefore, the arranged mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounting body 300 can be set to a position above the traveling body 200 and a position where the bottom surface of the mounting body 300 can maintain a substantially horizontal state so that the next mounting of the mounting body 300 can be smoothly performed. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0359] Further, when a mounting operation (for example, vertical movement of the mounting body 300 by the lifting portion 220 or sliding movement using a rail) is performed, the engagement of the engaging portion 230 can suppress the mounting body 300 from deviating from the movement track. Therefore, the mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, even after the mounting is completed, the engagement of the engaging portion 230 can suppress the mounted mounting body 300 from deviating from the mounting surface 210.

[0360] The engaging portion 230 includes a protruding portion 231 and a fitting portion 232 that is configured to be able to receive the protruding protruding portion 231 and engages with the protruding portion 231 by being fitted into the protruding portion 231 (Claim 2).

[0361] According to this, with the simple configuration of the protruding portion 231 and the fitting portion 232, engagement can be surely achieved.

[0362] The engaging portion 230 includes a protruding portion 231 that protrudes in the second direction or the third direction opposite to the second direction, and a concave shape in which the protruding protruding portion 231 can be fitted, and has a shape having a portion whose diameter is reduced along the direction in which the protruding portion 231 is fitted, and a fitting portion 232 that engages with the protruding portion 231 by being fitted into the protruding portion 231 (Claim 3).

[0363] According to this, when the protruding portion 231 is fitted into the fitting portion 232, even if the axes of the fitting portion 232 and the protruding portion 231 are displaced, the protruding portion 231 is guided by the peculiar diameter-reducing shape, and the protruding portion 231 can be fitted so that the axes automatically coincide. Therefore, engagement can be achieved more surely.

[0364] The engaging portion 230 includes a protruding portion 231 that protrudes in the second direction or the third direction opposite to the second direction, and a concave shape in which the protruding protruding portion 231 can be fitted, and has a shape having a portion that is screwed when the protruding portion 231 is fitted, and a fitting portion 232 that engages with the protruding portion 231 by being fitted into the protruding portion 231 (Claim 4).

[0365] According to this, when the protruding portion 231 is fitted into the fitting portion 232, the fitting portion 232 and the protruding portion 231 are meshed with each other by screwing. For this reason, along with the achievement of engagement, the mounting body 300 can be fixed to the traveling body 200. Further, along with screwing, the mounting body 300 can be moved in the vertical direction with respect to the traveling body 200, and the operation of detachment / attachment can be assisted.

[0366] The engaging portion 230 is configured to engage in a state where the traveling body 200 is traveling, so that the mounting body 300 is mounted (Claim 5).

[0367] According to this, in a state where the traveling body 200 is traveling, the mounting body 300 can be mounted on the traveling body 200 through the engagement by the engaging portion 230. Therefore, the mounting of the mounting body 300 can be executed quickly.

[0368] The engaging portion 230 includes an outer rail 233 extending along the first direction, and an inner rail 234 configured to be engageable inside the outer rail 233 and guided by the outer rail 233 to move in the first direction and engage while the traveling body 200 is traveling (Claim 6).

[0369] According to this, even in a state where the traveling body 200 is traveling, engagement can be surely achieved with a simple configuration of the outer rail 233 and the inner rail 234.

[0370] The engaging portion 230 includes an erected portion 233a erected toward the second direction or the third direction opposite to the second direction and having a surface facing the first direction, and a contact portion 234a configured to be able to contact the surface of the erected portion 233a and contact and engage with the surface while the traveling body 200 is traveling (Claim 7).

[0371] According to this, even in a state where the traveling body 200 is traveling, engagement can be surely achieved with a simple configuration of the erected portion 233a and the contact portion 234a.

[0372] [Summary: Application 3] The mobile body 100 includes a traveling body 200 capable of traveling in a first direction and having a mounting surface facing in a second direction that faces upward with respect to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210. When the mounting body 300 is mounted on the mounting surface 210 and mounted on the traveling body 200, it moves integrally with the traveling body 200. When the mounting body 300 is detached from the mounting surface 210 and not mounted on the traveling body 200, it is disposed separately from the traveling body 200, and fixing portions 240a and 240b configured to be able to fix the mounting body 300 to the traveling body 200. When fixed, relative movement of the mounting body 300 with respect to the traveling body 200 is restricted, and when the fixing is released, the relative movement is allowed (Claim 1).

[0373] According to this, the mounting surface 210 can be a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be able to approach and contact the bottom surface. Therefore, the disposed mounting body 300 can be reliably mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be disposed at a desired disposal position. For example, the disposal position of the mounting body 300 can be a position above the traveling body 200 such that the next mounting of the mounting body 300 can be smoothly performed and the bottom surface of the mounting body 300 can maintain a substantially horizontal state. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0374] In addition, by the fixing portions 240a and 240b, the mounted mounting body 300 can be fixed to the mounting surface 210, and even when a force acts on the mounting body 300 due to the traveling or work of the mobile body 100, it is possible to suppress the mounting body 300 from shifting from the mounting surface 210 or the mounting body 300 unintentionally detaching.

[0375] The fixing portion 240a includes a protruding portion 241 that protrudes in the second direction or the third direction opposite to the second direction, and a fitting portion 242 that is configured to be able to fit the protruding portion 241, and by fitting into the protruding portion 241, the mounting body 300 is fixed to the traveling body 200 (Claim 2).

[0376] According to this, with the simple configuration of the protruding portion 241 and the fitting portion 242, reliable fixing can be achieved.

[0377] The fixing portion 240a includes a protruding portion 241 that protrudes in a direction substantially perpendicular to the second direction, and a fitting portion 242 that is configured to be able to fit the protruding portion 241, and by fitting into the protruding portion 241, the mounting body 300 is fixed to the traveling body 200 (Claim 3).

[0378] According to this, with the simple configuration of the protruding portion 241 and the fitting portion 242, reliable fixing can be achieved.

[0379] The fixing portion 240b is configured to be able to generate a magnetic adsorption force between the traveling body 200 and the mounting body 300, and the mounting body 300 is fixed to the traveling body 200 by the action of the adsorption force (Claim 4).

[0380] According to this, since the fixing action of the fixing portion 240b is based on magnetism, mechanisms, movable parts, etc. for fixing are not required. Therefore, the fixing portion 240b can be freely installed. Accordingly, when fixing the mounting body 300, the fixing portion 240b can be installed in an effective location.

[0381] The fixing portion 240a includes a protruding portion 241 that protrudes in the second direction or the third direction opposite to the second direction, and a fitting portion 242 that is configured to be able to receive the protruding protruding portion 241 and fixes the mounted body to the traveling body by being fitted into the protruding portion 241. The fixing portion 240b is configured to be able to generate a magnetic attraction force between the traveling body and the mounted body, and includes an adsorption portion 241a that fixes the mounted body to the traveling body by the action of the adsorption force (Claim 5).

[0382] According to this, when fixing the mounted body 300, the adsorption portion 241a of the fixing portion 240b can be installed at an effective location. In addition, it can be made synergistic with the fixing function by the protruding portion 241 and the fitting portion 242. From the above, the mounted body 300 can be fixed more reliably.

[0383] [Summary: Application 4] The storage vault 500 is a storage vault for storing a moving body 100 including a traveling body 200 capable of traveling in a first direction and having a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and a mounted body 300 that is configured to be detachable from the mounting surface 210 and moves integrally with the traveling body 200 when mounted on the mounting surface 210 and mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200. The storage vault 500 includes an arrangement portion 560 that is spaced apart from the traveling body 200 in the first direction and in a fourth direction perpendicular to each of the first direction and the second direction, and is configured to be able to arrange the detached mounted body 300 (Claim 1).

[0384] According to this, the mounting surface 210 can be made a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be able to be close to and in contact with the bottom surface. Therefore, the arranged mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounting body 300 can be a position above the traveling body 200 and at a position where the bottom surface of the mounting body 300 can maintain substantially horizontal so that the mounting of the mounting body 300 can be smoothly performed next time. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0385] Further, by using the arrangement portion 560 of the storage 500, the detached mounting body 300 can be arranged and stored in an appropriate posture, for example, so that the bottom surface of the mounting body 300 is substantially horizontal. Further, the mounting body 300 arranged in the arrangement portion 560 can be made to wait as it is for the next mounting.

[0386] The arrangement portion 560 is configured such that the mounting body 300 is arranged by supporting the mounting body 300 in the second direction (Claim 2).

[0387] According to this, even when the weight of the mounting body 300 is large, the mounting body 300 can be stably arranged in the arrangement portion 560.

[0388] The arrangement portion 560 has a planar shape capable of supporting the bottom surface of the mounting body 300 to be arranged, and has a shape facing the bottom surface of the mounting body 300 and extending in the first direction (Claim 3).

[0389] According to this, the area of the arrangement portion 560 can be increased along the planar shape, and a margin for arrangement can be provided in the arrangement portion 560. Therefore, even when the size of the mounting body 300 is large or the weight of the mounting body 300 is large, the mounting body 300 can be stably arranged in the arrangement portion 560.

[0390] The storage compartment 500 is provided with a power supply unit 570a configured to be able to supply charging electrical energy to the battery provided in either one or both of the traveling body 200 and the mounting body 300 (Claim 4).

[0391] According to this, by utilizing the opportunity to store in the storage compartment 500, either one or both of the power source 280 of the traveling body 200 and the power source 380 of the mounting body 300 can be charged. Operations such as battery replacement become unnecessary, and the power sources 280 and 380 can be easily brought to a fully charged state.

[0392] The storage compartment 500 is provided with a display unit 580 that externally displays information corresponding to the charging state of the battery (Claim 5).

[0393] According to this, the charging states of the power sources 280 and 380 can be easily confirmed. According to the charging states, the timing for causing the moving body 100 stored therein to drive out from the storage compartment 500 can be determined.

[0394] [Summary: Application 5] The storage system 400 for the moving body 100 includes a traveling body 200 capable of traveling in a first direction and having a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and a mounting body 300 configured to be detachable with respect to the mounting surface 210, which moves integrally with the traveling body 200 when mounted on the mounting surface 210 and is mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200, a storage compartment 500 for storing the moving body 100, and a stop position determination unit 283c that is the stop position of the traveling body 200 during traveling and determines the stop position inside the storage compartment 500 (Claim 1).

[0395] According to this, the mounting surface 210 can be made into a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be able to be close to and in contact with the bottom surface. Therefore, the arranged mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Also, the mounting body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounting body 300 can be set to a position above the traveling body 200 and a position where the bottom surface of the mounting body 300 can maintain substantially horizontal so that the next mounting of the mounting body 300 can be smoothly performed. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0396] Also, since the stop position inside the storage 500 is determined by the stop position determination unit 283c, the traveling body 200 outside the storage 500 can be appropriately guided to the storage 500.

[0397] The storage 500 includes a detected part 531 corresponding to a part whose positional relationship with the stop position is defined, and the stop position determination unit 283c determines the stop position based on the detection result of the detected part 531 (Claim 2).

[0398] According to this, by being based on the detection result of the detected part 531, a desired stop position can be accurately determined. For example, when the mounting body 300 is detached at a predetermined position inside the storage 500, the detected part 531 is detected, and based on the detection result, the stop position at the next mounting can be accurately determined.

[0399] The storage system 400 of the moving body 100 includes an automatic driving control unit 283d that automatically drives the traveling body 200 to stop at the determined stop position (Claim 3).

[0400] According to this, the traveling body 200 can be caused to travel to the stop position by automatic driving. Therefore, the traveling body 200 can be easily and surely guided to the stop position and stopped at the stop position.

[0401] The storage 500 includes a placement portion 560 that is located above the traveling body 200 in the second direction and is configured to be able to place the detached carrier 300. The stop position is located below the placement portion 560 and is a position for attaching the carrier 300 disposed in the placement portion 560 to the traveling body 200 on which the carrier 300 is not mounted, and is a position for detaching the carrier 300 from the traveling body 200 on which the carrier 300 is mounted and disposing it in the placement portion 560 (Claim 4).

[0402] According to this, by using the placement portion 560 of the storage 500, the detached carrier 300 can be placed and stored in an appropriate posture, for example, such that the bottom surface of the carrier 300 is substantially horizontal. Further, the carrier 300 disposed in the placement portion 560 can be made to wait as it is for the next attachment. Further, the traveling body 200 can be stopped at the stop position so that the attachment and detachment of the carrier 300 can be executed by using the placement portion 560 of the storage 500.

[0403] The storage system 400 of the moving body 100 includes a mounting control unit 283a that performs control to mount the carrier 300 disposed in the placement portion 560 on the traveling body 200 on which the carrier 300 is not mounted in a state where the traveling body 200 is stopped at the stop position (Claim 5).

[0404] According to this, when the traveling body 200 is stopped at the stop position inside the storage 500, the carrier 300 can be automatically mounted on the traveling body 200. That is, the mounting of the carrier 300 can be executed easily and surely.

[0405] The storage system 400 for the moving body 100 includes a detachment control unit 283b that performs control to detach the mounting body 300 from the traveling body 200 on which the mounting body 300 is mounted and place it in the placement unit 560 in a state where the traveling body 200 is stopped at the stop position (Claim 6).

[0406] According to this, when the traveling body 200 is stopped at the stop position inside the storage 500, the mounting body 300 can be automatically detached from the traveling body 200. That is, the detachment of the mounting body 300 can be easily and surely executed.

[0407] The storage system 400 for the moving body 100 includes a mounting control unit 283a that performs control to mount the mounting body 300 disposed in the placement unit 560 on the traveling body 200 on which the mounting body 300 is not mounted in a state where the traveling body 200 is stopped at the stop position, and a detachment control unit 283b that performs control to detach the mounting body 300 from the traveling body 200 on which the mounting body 300 is mounted and place it in the placement unit 560 in a state where the traveling body 200 is stopped at the stop position.

[0408] According to this, when the traveling body 200 is stopped at the stop position inside the storage 500, the mounting body 300 can be automatically mounted on the traveling body 200, and the mounting body 300 can be automatically detached from the traveling body 200. That is, both the mounting and detachment of the mounting body 300 can be easily and surely executed.

[0409] The storage 500 includes a power supply unit 570a configured to be able to supply charging electrical energy to a battery provided in either one or both of the traveling body 200 and the mounting body 300 (Claim 8).

[0410] According to this, by utilizing the opportunity to store in the storage 500, either one or both of the power source 280 of the traveling body 200 and the power source 380 of the mounting body 300 can be charged. Operations such as battery replacement become unnecessary, and the power source 280 and the power source 380 can be easily brought into a fully charged state.

[0411] The storage 500 includes a display unit 580 that externally displays information corresponding to the charged state of the battery (Claim 9).

[0412] According to this, the charged states of the power source 280 and the power source 380 can be easily confirmed. According to the charged state, the timing for causing the moving body 100 stored therein to depart from the storage 500 can be determined.

[0413] [Summary: Application 6] The moving body 100 is capable of traveling in a first direction, and includes a traveling body 200 having a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and a mounting body 300 that is detachably configured with respect to the mounting surface 210 and, when mounted on the mounting surface 210 and mounted on the traveling body 200, moves integrally with the traveling body 200, and when detached from the mounting surface 210 and not mounted on the traveling body 200, is disposed separately from the traveling body 200. The mounting body 300 includes a base portion 330 that is detachable with respect to the mounting surface 210, and a first movable tool 310 that is configured to be elongated, has one end supported by the base portion 330 so as to be relatively rotatable with respect to the base portion 330, and is operable at the other end extending in the first direction from the base portion 330, and when accommodated, relatively rotates so as to approach the base portion 330 with the one end as a fulcrum (Claim 1).

[0414] According to this, the mounting surface 210 can be a part of the traveling body 200 suitable for mounting the mounted body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounted body 300 so as to be substantially parallel, and can be configured to be able to be close to and in contact with the bottom surface. Therefore, the arranged mounted body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, the mounted body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounted body 300 can be a position above the traveling body 200 and a position where the bottom surface of the mounted body 300 can maintain substantially horizontal so that the mounting of the mounted body 300 next time can be smoothly performed. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be appropriately performed.

[0415] Further, even when the first movable tool 310 of the mounted body 300 is configured to be long so as to be suitable for work, at the time of accommodation, by approaching the first movable tool 310 to the base portion 330 with one end as a fulcrum, the form of the accommodation posture can be taken. For example, when the moving body 100 is accommodated in a storage 500 or the like, it can be stored in a state where the accommodation posture is maintained, so that storage in a space-saving manner is possible.

[0416] The mounted body 300 has a first drive portion 340d that relatively rotates the first movable tool 310 so as to approach the base portion 330 by pulling the first movable tool 310 to the side opposite to the first direction with the one end as a fulcrum (Claim 2).

[0417] According to this, the drive portion 340d can be, for example, a simple actuator capable of expanding and contracting. Therefore, the form of the accommodation posture can be easily and surely taken.

[0418] The mounted body 300 is configured in a plate shape, is supported by the base portion 330 so as to be relatively movable with respect to the base portion 330, and has a second movable tool 320 that is arranged in front of the traveling body 200 and works on the surface facing the first direction (Claim 3).

[0419] According to this, the second movable tool 320 can be made to function as, for example, a dozer. Operations can be performed with the first movable tool 310 and the second movable tool 320, and the moving body 100 can be made to function as a so-called backhoe.

[0420] The mounting body 300 is provided above the second movable tool 320 in the second direction, and has a second drive unit 340e that relatively moves the second movable tool 320 by driving itself (Claim 4).

[0421] According to this, since the drive unit 340e of the second movable tool 320 is disposed above the second movable tool 320 in the second direction, the lower side of the second movable tool 320 in the third direction is not interfered with by the drive unit 340e. Therefore, the degree of freedom in design can be increased, such as extending the lower side of the second movable tool 320 with respect to the ground surface to expand the working surface as a dozer, or effectively utilizing the lower end of the second movable tool 320.

[0422] The second movable tool 320 is configured to be able to contact the ground surface of the traveling body 200 when the operation by the first movable tool 310 is performed in a state where the mounting body 300 is mounted on the traveling body 200 (Claim 5).

[0423] According to this, the second movable tool 320 can be made to function as an outrigger. Therefore, the operation by the first movable tool 310 can be stably performed while suppressing the tipping of the mounting body 300.

[0424] [Summary: Application 7] The mobile body 100 is capable of traveling in a first direction and includes a traveling body 200 having a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and is configured to be detachable from the mounting surface 210. When mounted on the mounting surface 210 and mounted on the traveling body 200, it moves integrally with the traveling body 200. When detached from the mounting surface 210 and not mounted on the traveling body 200, it is disposed separately from the traveling body 200. The mounting body 300 has a first power source 380 and a first consumption unit that consumes power supplied from the first power source 380 (Claim 1).

[0425] According to this, the mounting surface 210 can be a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be close to and in contact with the bottom surface. Therefore, the disposed mounting body 300 can be reliably mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be disposed at a desired disposal position. For example, the disposal position of the mounting body 300 can be a position above the traveling body 200 such that the next mounting of the mounting body 300 can be smoothly performed, and the bottom surface of the mounting body 300 can be maintained substantially horizontal. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0426] In addition, since power can be supplied from the power source 380 of the mounting body 300 to the drive unit 340, control device 382, communication device 381, etc. that drive the movable tool of the mounting body 300, each element of the mounting body 300 can be operated independently of the traveling body 200.

[0427] The traveling body 200 includes a second power source 280 different from the first power source 380 and a second consumption unit that consumes power supplied from the second power source 280 (Claim 2).

[0428] According to this, since power can be supplied from the power source 280 of the traveling body 200 to the traveling device 270, the lift unit 220, the suction part 241a, the control device 283, the communication device 281, etc. of the traveling body 200, each element of the traveling body 200 can be operated independently of the mounting body 300.

[0429] The second consuming part of the traveling body 200 consumes power supplied from the first power source 380 of the mounting body 300 (Claim 3).

[0430] According to this, power can be supplied from the power source 380 of the mounting body 300 to the traveling device 270, the lift unit 220, the suction part 241a, the control device 283, the communication device 281, etc. of the traveling body 200. Therefore, in addition to or instead of the power supply from the power source 280 of the traveling body 200, each element of the traveling body 200 can be operated by the power supply from the power source 380 of the mounting body 300.

[0431] The first consuming part of the mounting body 300 consumes power supplied from the second power source 280 of the traveling body 200 (Claim 4).

[0432] According to this, power can be supplied from the power source 280 of the traveling body 200 to the drive part 340 that drives the movable tool of the mounting body 300, the control device 382, the communication device 381, etc. Therefore, in addition to or instead of the power supply from the power source 380 of the mounting body 300, each element of the mounting body 300 can be operated by the power supply from the power source 280 of the traveling body 200.

[0433] The second consuming part of the traveling body 200 consumes power supplied from the first power source 380 of the mounting body 300, and the first consuming part of the mounting body 300 consumes power supplied from the second power source 280 of the traveling body 200 (Claim 5).

[0434] According to this, power can be supplied from the power source 380 of the carrier 300 to the traveling device 270, the lift unit 220, the suction part 241a, the control device 283, the communication device 281, etc. of the traveling body 200. Therefore, in addition to or instead of the power supply from the power source 280 of the traveling body 200, each element of the traveling body 200 can be operated by the power supply from the power source 380 of the carrier 300.

[0435] Also, power can be supplied from the power source 280 of the traveling body 200 to the drive part 340, the control device 382, the communication device 381, etc. that drive the movable tools of the carrier 300. Therefore, in addition to or instead of the power supply from the power source 380 of the carrier 300, each element of the carrier 300 can be operated by the power supply from the power source 280 of the traveling body 200. In this way, since power can be supplied from one to the other between the traveling body 200 and the carrier 300, power supply can be appropriately shared.

[0436] The carrier 300 includes a first movable tool 310 and a second movable tool 320, and the first consumption part of the carrier 300 consumes power supply to generate power and is a drive part 340 that drives the first movable tool 310 and the second movable tool 320 (Claim 6).

[0437] According to this, in the carrier 300, in addition to the power supply from the power source 380 of the carrier 300, power supply from the power source 280 of the traveling body 200 can also be executed for the drive part 340 with a particularly large load. For example, when the battery remaining amount in the power source 380 of the carrier 300 is small and the load of the drive part 340 is large, assistance can be provided by the power supply from the power source 280 of the traveling body 200, and the work with the first movable tool 310 and the second movable tool 320 can be continued smoothly.

[0438] The traveling body 200 includes a traveling device 270, and the second consumption part of the traveling body 200 consumes power supply to generate power and is a drive part that drives the traveling device 270 (Claim 7).

[0439] According to this, in the traveling body 200, in addition to power supply from the power supply 280 of the traveling body 200 to the motor of the traveling device 270 where the load is particularly large, power supply from the power supply 380 of the mounting body 300 can also be executed. For example, when the remaining battery amount in the power supply 280 of the traveling body 200 is small and the load of the traveling device 270 is large, assistance can be provided by power supply from the power supply 380 of the mounting body 300, and traveling by the traveling device 270 can be continuously performed without hesitation.

[0440] The first power supply 380 and the second power supply 280 are each a battery, and the moving body 100 includes a power supply amount adjustment unit 283f that adjusts the power supply amount of either one or both of the first power supply 380 and the second power supply 280 based on the remaining amount of the battery (Claim 8).

[0441] According to this, by adjusting the power supply amounts of the power supplies 280 and 380 by the power supply amount adjustment unit 283f, the remaining amounts of the batteries of the plurality of power supplies can be reduced in a well-balanced manner. For this reason, it is possible to suppress a situation where the remaining amount of a part of the batteries of the plurality of power supplies becomes zero early and the number of charging times increases. Therefore, it is possible to suppress the early deterioration of the power supplies 280 and 380.

[0442] [Summary: Application 8] The moving body 100 includes a traveling body 200 that can travel in a first direction and has a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and a mounting body 300 that is detachably configured with respect to the mounting surface 210 and is mounted on the mounting surface 210 and moves integrally with the traveling body 200 when mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200, and does not include a power supply (Claim 1).

[0443] According to this, the mounting surface 210 can be a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be close to and contactable with the bottom surface. Therefore, the arranged mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounting body 300 can be a position above the traveling body 200 and a position where the bottom surface of the mounting body 300 can maintain substantially horizontal so that the mounting of the mounting body 300 can be smoothly performed next time. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0444] Further, since the mounting body 300 does not include a power source, the mounting body 300 can be lightened as compared with the case where it includes a power source. Further, as the mounting body 300, a mode that does not require power supply from a power source can be adopted, the configuration of the mounting body 300 can be simplified, and the cost of the mounting body 300 can be reduced.

[0445] The mounting body 300 includes a first movable tool 310, a second movable tool 320, and a drive unit 340 that is supplied with energy to drive the first movable tool 310 and the second movable tool 320. The traveling body 200 includes a transmission unit 290 that transmits energy toward the drive unit 340 (Claim 2).

[0446] According to this, the transmission unit 290 can supply energy toward the drive unit 340 of the mounting body 300. Therefore, even when the mounting body 300 does not include a power source, the first movable tool 310 and the second movable tool 320 of the mounting body 300 can be operated.

[0447] The transmission unit 290 is configured such that the energy is transmitted through a mechanism (Claim 3).

[0448] According to this, by the mounting body 300 including, for example, a gear or the like that can receive power from the transmission unit 290, the transmission of energy can be surely performed.

[0449] The transmission unit 290 is configured such that the energy is transmitted via electricity or magnetism (Claim 4).

[0450] According to this, by the mounting body 300 including, for example, a terminal or a coil that can receive electricity or magnetism from the transmission unit 290, the transmission of energy can be surely executed.

[0451] The transmission unit 290 is configured such that the energy is transmitted via a fluid (Claim 5).

[0452] According to this, by the mounting body 300 including, for example, a hydraulic circuit that can receive oil from the transmission unit 290, the transmission of energy can be surely executed.

[0453] The mounting body 300 is configured to be mountable by a person in any of a sitting position, a standing position, a lying position, and a straddling state (Claim 6).

[0454] According to this, by attaching the mounting body 300 to the traveling body 200, the moving body 100 can function as a mobility for carrying people.

[0455] [Summary: Application 9] The moving body 100 includes a traveling body 200 that can travel in a first direction and has a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and a vehicle body 260 on which the mounting surface 210 is provided, and a mounting body 300 that is configured to be detachable from the mounting surface 210 and, when mounted on the mounting surface 210 and mounted on the traveling body 200, moves integrally with the traveling body 200 and, when detached from the mounting surface 210 and not mounted on the traveling body 200, is disposed separately from the traveling body 200. The mounting body 300 has an outer peripheral portion 360 that is located outside the outer end of the vehicle body 260 in a plan view when the mounting body 300 is mounted on the mounting surface 210 (Claim 1).

[0456] According to this, the mounting surface 210 can be a part of the traveling body 200 suitable for mounting the mounted body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounted body 300 so as to be substantially parallel, and can be configured to be close to and contactable with the bottom surface. Therefore, the arranged mounted body 300 can be reliably mounted on the mounting surface 210 of the traveling body 200. Further, the mounted body 300 detached from the traveling body 200 can be arranged at a desired arrangement position. For example, the arrangement position of the mounted body 300 can be a position above the traveling body 200 and a position where the bottom surface of the mounted body 300 can maintain substantially horizontal so that the next mounting of the mounted body 300 can be smoothly performed. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be appropriately performed.

[0457] Further, since the outer peripheral portion 360 is located outside the vehicle body 260, the traveling body 200 can be protected by the outer peripheral portion 360. The outer peripheral portion 360 itself can also serve as the outside of the mounted body 300. For this reason, it is not necessary to separately add a guard or a fender to the traveling body 200. Therefore, as a whole of the moving body 100, a unified design can be realized.

[0458] The traveling body 200 includes a traveling device 270 arranged on the vehicle body 260 so as to support the vehicle body 260. When the mounted body 300 is mounted on the mounting surface 210, the outer peripheral portion 360 is located outside the outer end of the vehicle body 260 in a plan view and above the traveling device 270 in the second direction (Claim 2).

[0459] According to this, the outer peripheral portion 360 can function as a fender for the traveling device 270. For example, the outer peripheral portion 360 can be arranged for each wheel of the traveling device 270, and the area of the outer peripheral portion 360 can be minimized.

[0460] The traveling body 200 includes an electric device that emits a beam outward, and the outer shell portion 360 is located outside the electric device in a plan view when the mounting body 300 is mounted on the mounting surface 210, and includes a transmission portion 362 that allows the beam emitted from the electric device to pass through to the outside (Claim 3).

[0461] According to this, while maintaining a unified design as a whole for the moving body 100, the transmission portion 362 can suppress the attenuation of the beam emitted by the electric device through the outer shell portion 360.

[0462] The electric device is either a ranging sensor or a distance sensor that emits a detection beam outward, or a light source that emits a beam for visual recognition outward (Claim 4).

[0463] According to this, in the moving body 100, even when a ranging sensor, a distance sensor, a light source, etc. are provided, it is possible to suppress a decrease in their functions while maintaining a unified design as a whole for the moving body 100.

[0464] The mounting body 300 includes a storage portion 361 configured to be able to store materials inside the outer shell portion 360 (Claim 5).

[0465] According to this, even when the storage portion 361 is provided in the mounting body 300, the materials stored inside can be protected by the outer shell portion 360.

[0466] The storage portion 361 is configured to be able to cool or heat the stored materials (Claim 6).

[0467] According to this, by mounting the mounting body 300 on the traveling body 200, the moving body 100 can function as a mobile cold storage.

[0468] [Summary: Application 10] The mobile body 100 is capable of traveling in a first direction and includes a traveling body 200 having a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, and a mounting body 300 that is detachably configured with respect to the mounting surface 210. When the mounting body 300 is mounted on the mounting surface 210 and mounted on the traveling body 200, it moves integrally with the traveling body 200. When the mounting body 300 is detached from the mounting surface 210 and not mounted on the traveling body 200, it is disposed separately from the traveling body 200. The traveling body 200 is provided with support portions 250 that support the mounting body 300 when the mounting body 300 is mounted on the mounting surface 210, and the support portions 250 are respectively disposed at positions corresponding to the vertices of the polygon in plan view. (Claim 1).

[0469] According to this, the mounting surface 210 can be a part of the traveling body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the mounting body 300 so as to be substantially parallel, and can be configured to be close to and in contact with the bottom surface. Therefore, the disposed mounting body 300 can be surely mounted on the mounting surface 210 of the traveling body 200. Further, the mounting body 300 detached from the traveling body 200 can be disposed at a desired arrangement position. For example, the arrangement position of the mounting body 300 can be a position above the traveling body 200 such that the next mounting of the mounting body 300 can be smoothly performed, and the bottom surface of the mounting body 300 can be maintained substantially horizontal. Therefore, both the mounting of the mounting body 300 and the detachment of the mounting body 300 can be appropriately performed.

[0470] Further, when supporting the mounting body 300 mounted by the support portion 250, by disposing the support portion 250 at a position corresponding to each vertex of the polygon, stable support can be realized. For this reason, it is possible to suppress the mounted body 300 mounted on the traveling body 200 from being displaced or detached from the traveling body 200.

[0471] The support portions 250 are disposed such that a plurality of regions of the polygon defined by the respective vertices exist in plan view. (Claim 2).

[0472] According to this, when supporting the mounting body 300 mounted on the support portion 250, a plurality of regions of a polygon having the support portion 250 as a vertex can be provided. Therefore, more stable support can be realized.

[0473] The support portions 250 are arranged such that the plurality of regions of the polygon existing in a plan view are symmetrically positioned respectively (Claim 3).

[0474] According to this, when supporting the mounting body 300 mounted on the support portion 250, a plurality of regions of a polygon having the support portion 250 as a vertex can be arranged in a target manner. Therefore, balanced and stable support can be realized.

[0475] The traveling body 200 includes a vehicle body 260 provided with the mounting surface 210 and an overhanging portion 261 that protrudes in the vehicle width direction of the vehicle body 260, and the support portion is arranged on the overhanging portion 261 (Claim 4).

[0476] According to this, when the overhanging portion 261 is provided on the traveling body 200, the support portion 250 can be arranged by utilizing the region of the overhanging portion 261. Therefore, stable support can be realized on the outer side in the vehicle width direction.

[0477] The traveling body 200 includes a vehicle body 260 provided with the mounting surface 210, traveling devices 270 respectively arranged at both ends in the vehicle width direction of the vehicle body 260 so as to support the vehicle body 260, and a power source 280 arranged between the traveling devices 270 at both ends in the vehicle width direction of the vehicle body 260, and the support portion 250 is arranged outside the power source 280 in the vehicle width direction of the vehicle body 260 (Claim 5).

[0478] According to this, the relatively heavy power source 280 can be arranged inside, and the mounting body 300 can be supported by the support portion 250 outside the power source 280. Therefore, stable support can be realized while appropriately adjusting the center of gravity.

[0479] The traveling device 270 is disposed respectively at the front and rear in the longitudinal direction of the vehicle body 260, and is capable of traveling by rotational driving, and includes wheels each having a wheel axis serving as the axis of the rotation center defined therein. The power source 280 is disposed between the front and rear wheel axes in the longitudinal direction of the vehicle body 260, and the support portion 250 is disposed outside the power source 280 in the longitudinal direction of the vehicle body 260 (Claim 6).

[0480] According to this, the relatively heavy power source 280 can be disposed inside the front and rear wheel axes, and as the traveling body 200, stable traveling can be realized. Further, the mounting body 300 can be supported by the support portion 250 outside the power source 280. For this reason, stable traveling and support can be realized.

[0481] The support portion 250 is disposed on an imaginary line coaxially passing through the wheel axes of the wheels disposed at both ends in the vehicle width direction of the vehicle body 260 in a plan view (Claim 7).

[0482] According to this, when the load from the mounting body 300 is applied to the traveling body 200 via the support portion 250, by disposing the support portion 250 on the above imaginary line, the load can be released to the wheel axis. For this reason, while alleviating the influence of the load on the vehicle body 260, stable support can be realized.

[0483] The power source 280 is disposed in a side view such that the center of gravity of the power source 280 is located above the wheel axis in the second direction (Claim 8).

[0484] According to this, the distance from the ground contact surface of the traveling device 270 to the power source 280 can be increased. For this reason, even when the traveling body 200 travels on an inclined road or a rough road, etc., it is possible to suppress the power source 280 from contacting the ground contact surface.

[0485] The traveling body 200 includes a vehicle body 260 provided with the mounting surface 210, traveling devices 270 respectively arranged at both ends in the vehicle width direction of the vehicle body 260 so as to support the vehicle body 260, a power source 280 arranged between the traveling devices 270 at both ends in the vehicle width direction of the vehicle body 260, and a protruding portion 261 protruding in the vehicle width direction of the vehicle body. The protruding portion 261 is provided with a motor and / or electrical equipment related to the drive of the motor, and the support portion 250 (Claim 9).

[0486] According to this, when the protruding portion 261 is provided on the traveling body 200, the region of the protruding portion 261 can be utilized to arrange the motor and / or electrical equipment related to the drive of the motor, and the support portion 250. Therefore, in the vehicle body 260, for example, room can be provided for mounting additional power sources other than the power source 280. Also, stable support can be realized on the outer side in the vehicle width direction.

[0487] The mounting body 300 includes a power source 380 that is separate from the power source 280 provided in the vehicle body 260 (Claim 10).

[0488] According to this, a power source 380 that is separate from the power source 280 of the vehicle body 260 can be stacked on the mounting body 300. Therefore, the moving body 100 can be operated for a longer time by the amount of stacking.

[0489] The traveling body 200 includes a measurement range sensor or a distance sensor (Claim 11).

[0490] According to this, the information obtained by the measurement range sensor or the distance sensor can be used, for example, for the control of the traveling body 200.

[0491] The traveling body 200 includes a camera that images the outside of the traveling body (Claim 12).

[0492] According to this, the information obtained by the camera can be transmitted to, for example, an external terminal and displayed as a video on the terminal.

[0493] The traveling body 200 includes a vehicle body 260 provided with the mounting surface 210, and traveling devices 270 respectively arranged at both ends in the vehicle width direction of the vehicle body 260 so as to support the vehicle body 260 and configured to be capable of traveling in all directions in a plan view (Claim 13).

[0494] According to this, since the traveling body 200 can travel in all directions, the degree of freedom of operation of the entire moving body 100 can be increased.

[0495] The traveling devices 270 are respectively arranged at the front and rear in the vehicle length direction of the vehicle body 260, are configured to be capable of traveling by rotational drive, and include wheels each having a wheel axis serving as the axis of the rotation center defined, and tires integrally rotatable with the wheels in a grounded state and having a solid portion (Claim 14).

[0496] According to this, the traveling devices 270 can be configured as, for example, mecanum wheels or the like, and the traveling mode peculiar to the mecanum wheels can be utilized for the operation of the moving body 100.

[0497] The wheels are rotationally driven based on the power of a motor, and the motor and / or electrical equipment related to the drive of the motor are provided (Claim 15).

[0498] According to this, the wheels can be configured as, for example, in-wheel motors or the like, and in the vehicle body 260, the mounting space for a power supply 280 or the like can be increased.

[0499] The traveling devices 270 are detachably arranged with respect to the vehicle body 260, and the vehicle body 260 is configured to be capable of mounting the traveling devices 270 in a mode different from the detached one when the mounted traveling devices 270 are detached (Claim 16).

[0500] According to this, according to the use and driving conditions of the carrier 300, wheels, crawlers, etc. can be replaced, and after selecting the traveling device 270 in the optimal mode, the traveling body 200 can be configured.

[0501] [Summary: Application 11] The moving body 100 is capable of traveling in a first direction, includes a mounting surface 210 facing in a second direction that faces upward with respect to the first direction, a first electric device, and a traveling body 200 having a first end portion 286 electrically connected to the first electric device; and a carrier 300 configured to be detachable from the mounting surface 210, which moves integrally with the traveling body 200 when mounted on the mounting surface 210 and mounted on the traveling body 200, and is disposed separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200. The carrier 300 includes a second electric device and a second end portion 386 that is electrically connected to the second electric device and allows energization in non-contact with the first end portion (Claim 1).

[0502] According to this, the mounting surface 210 can be made a part of the traveling body 200 suitable for mounting the carrier 300. For example, the mounting surface 210 can be opposed to the bottom surface of the base portion 330 of the carrier 300 so as to be substantially parallel, and can be configured to be close to and in contact with the bottom surface. Therefore, the disposed carrier 300 can be reliably mounted on the mounting surface 210 of the traveling body 200. Further, the carrier 300 detached from the traveling body 200 can be disposed at a desired disposal position. For example, the disposal position of the carrier 300 can be set to a position above the traveling body 200 and a position where the bottom surface of the carrier 300 can maintain a substantially horizontal state so that the next mounting of the carrier 300 can be smoothly performed. Therefore, both the mounting and the detachment of the carrier 300 can be appropriately performed.

[0503] Also, in a state where the carrier 300 is mounted, supply of electric energy from the traveling body 200 to the carrier 300 (or from the carrier 300 to the traveling body 200), transmission of control signals, transmission of sensor signals, etc. are possible via the first end portion 286 and the second end portion 386. For this reason, the power source 280, the control device 283, the sensor 282, etc. can be mounted while being offset to either the traveling body 200 or the carrier 300. Further, for example, the power sources 280 and 380 can be mounted on both the traveling body 200 and the carrier 300, and the power supply amounts from the respective power sources 280 and 380 can be shared. For this reason, the mounting of electric devices and the variations in usage methods can be greatly expanded.

[0504] Also, since the first end portion 286 and the second end portion 386 allow non-contact energization with each other, strict alignment is not required as compared with the case where, for example, contact electrodes, terminals, etc. are used. Therefore, energization can be easily performed between the traveling body 200 and the carrier 300.

[0505] When the traveling body 200 to which the mounting body 300 is not mounted approaches the mounted carrier 300, the second end portion 386 allows non-contact energization with the first end portion 286 to achieve electrical connection between the first and second electrical devices (Claim 2).

[0506] According to this, when the traveling body 200 and the carrier 300 approach each other, energization at the first end portion 286 and the second end portion 386 is allowed, so that energization can be more easily performed between the traveling body 200 and the carrier 300. On the other hand, by separating the traveling body 200 and the carrier 300 from each other, energization can be easily restricted.

[0507] When the carrier 300 is mounted on the mounting surface 210, the second end portion 386 allows non-contact energization with the first end portion 286 to achieve electrical connection between the first and second electrical devices, and when the carrier 300 is detached from the mounting surface 210, non-contact energization with the first end portion 286 is restricted to release the electrical connection between the first and second electrical devices (Claim 3).

[0508] According to this, when the mounting body 300 is mounted on the traveling body 200, energization at the first end portion 286 and the second end portion 386 is allowed. Therefore, by utilizing the opportunity of mounting, energization can be easily and surely performed between the traveling body 200 and the mounting body 300. On the other hand, when the mounting body 300 is detached from the traveling body 200, energization at the first end portion 286 and the second end portion is restricted. Therefore, by utilizing the opportunity of detachment, energization can be easily and surely restricted between the traveling body 200 and the mounting body 300. That is, energization at the first end portion 286 and the second end portion 386 can be allowed when electrical connection between the traveling body 200 and the mounting body 300 is required during mounting, and energization at the first end portion 286 and the second end portion 386 can be restricted when electrical connection between the traveling body 200 and the mounting body 300 is unnecessary during detachment.

[0509] Among the first electric device and the second electric device, one is the power source 280 and the power source 380, and the other is configured to consume power supplied from the power source 280 and the power source 380. The first end portion 286 and the second end portion 386 are configured to allow energization through magnetism (Claim 4).

[0510] According to this, even if the power consumption destination is a device that easily consumes a large amount of energy, magnetic coupling using a coil, magnetic resonance, etc. can be utilized between the first end portion 286 and the second end portion 386. Therefore, a large amount of electrical energy can be surely and easily supplied from the power source 280 and the power source 380.

[0511] The first electric device of the traveling body 200 is the power source 280. The mounting body 300 includes a first movable tool 310 and a second movable tool 320. The second electric device of the mounting body 300 is a drive unit 340 that consumes power supply to generate power and drives the first movable tool 310 and the second movable tool 320 (Claim 5).

[0512] According to this, a large amount of electrical energy can be surely and easily supplied from the power source 280 of the traveling body 200 to the drive unit 340 (for example, a motor, an actuator, etc.) that has a large power load and easily consumes a large amount of energy.

[0513] The first end portion 286 of the traveling body 200 is disposed forward in the first direction of the traveling body 200, and the first movable tool 310, the second movable tool 320, the drive unit 340, and the second end portion 386 of the mounting body 300 are disposed forward in the first direction of the mounting body 300 (Claim 6).

[0514] According to this, in front of the mounting body 300, it is possible to bring the first movable tool 310, the second movable tool 320, which are the power supply destinations, and the drive unit 340 closer from the second end portion 386 which is the power supply source. Therefore, an efficient design can be realized in front of the mounting body 300, and the space for mounting other electrical devices can be increased behind the mounting body 300.

[0515] The electronic units 287, 387 including a control device or a communication device are provided on either the traveling body 200 or the mounting body 300, and the first end portion 286 and the second end portion 386 are arranged such that the distance from the first end portion 286 to the electronic units 287, 387 is longer than the distance from the first end portion 286 to the drive unit 340, and the distance from the second end portion 386 to the electronic units 287, 387 is longer than the distance from the second end portion 386 to the drive unit 340 (Claim 7).

[0516] According to this, by defining the arrangement as described above, the first end portion 286 and the second end portion 386 as the magnetic generation sources (for example, coils, etc.) can be separated from the electronic units 287, 387. Therefore, the mechanism, function, etc. for shielding electromagnetic waves can be simplified for the electronic units 287, 387. Accordingly, the degree of freedom in the design of the traveling body 200 and the mounting body 300 can be expanded while adopting a non-contact energization method using magnetism.

[0517] Each of the above-described embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and it is intended that all modifications within the meaning and scope equivalent to the claims be included.

Explanation of Reference Numerals

[0518] 100: Moving body 200: Traveling body 210: Mounting surface 220: Lift part 230: Engagement part 240: Fixing part 250: Support part 260: Vehicle body 270: Traveling device 280: Power source 283: Control device 290: Transmission part 300: Mounting carrier (attachment) 310: Base part 320: First movable tool 330: Second movable tool 340: Driving part 360: Outer part 380: Power source 383: Control device 390: Part to be transmitted 400: Storage system 500: Storage vault 560: Arrangement part

Claims

1. A traveling body capable of traveling in a first direction and having a mounting surface facing a second direction that faces upward with respect to the first direction, a mounting carrier configured to be detachable from the mounting surface, moving integrally with the traveling body when mounted on the mounting surface and mounted on the traveling body, and being disposed separately from the traveling body when detached from the mounting surface and not mounted on the traveling body, a storage for storing a mobile body including the above, a stop position determination unit that determines a stop position inside the storage, which is the stop position of the traveling body during traveling, including a storage system for a mobile body.

2. In the storage system for a mobile body according to Claim 1, the storage includes a detected part corresponding to a part where the positional relationship with the stop position is defined, and the stop position determination unit determines the stop position based on the detection result of the detected part. A storage system for a mobile body.

3. In the storage system for a mobile body according to Claim 2, an automatic driving control unit that causes the traveling body to travel by automatic driving so as to stop at the determined stop position including a storage system for a mobile body.

4. In the storage system for a mobile body according to any one of Claims 1 to 3, the storage includes a placement part located above the traveling body in the second direction and configured to be able to place the detached mounting carrier, and the stop position is located below the placement part and is a position for attaching the mounting carrier disposed in the placement part to the traveling body without the mounting carrier attached, and is also a position for detaching the mounting carrier from the traveling body with the mounting carrier attached and placing it in the placement part. A storage system for a mobile body.

5. In the storage system for a mobile body according to Claim 4, a mounting control unit that performs control to attach the mounting carrier disposed in the placement part to the traveling body without the mounting carrier attached while the traveling body is stopped at the stop position including a storage system for a mobile body.

6. In the storage system for a mobile body according to Claim 4, a detachment control unit that performs control to detach the mounting carrier from the traveling body with the mounting carrier attached and place it in the placement part while the traveling body is stopped at the stop position including a storage system for a mobile body.

7. In the storage system for a mobile body according to Claim 4, A mounting control unit that performs control to mount the carrier disposed in the placement unit on the traveling body on which the carrier is not mounted in a state where the traveling body is stopped at the stop position; A detachment control unit that performs control to detach the carrier from the traveling body on which the carrier is mounted in a state where the traveling body is stopped at the stop position and place it in the placement unit; Comprising A storage system for a mobile body.

8. In the storage system for a mobile body according to claim 1, The storage warehouse A power supply unit configured to be able to supply charging electrical energy to a battery provided in either one or both of the traveling body and the carrier Comprising A storage system for a mobile body.

9. In the storage system for a mobile body according to claim 8, The storage warehouse A display unit that externally displays information corresponding to the charge state of the battery Comprising A storage system for a mobile body.

10. A traveling body, A carrier that moves integrally with the traveling body when mounted on the traveling body and can be arranged separately from the traveling body when detached from the traveling body, A storage warehouse for storing a mobile body comprising the above, A stop position determination unit that determines a stop position inside the storage warehouse, which is the stop position of the traveling traveling body, Comprising A storage system for a mobile body.

11. In the storage system for a mobile body according to claim 10, The storage warehouse Comprises a detected part corresponding to a part where the positional relationship with the stop position is defined, The stop position determination unit Determines the stop position based on the detection result of the detected part A storage system for a mobile body.

12. In the storage system for a mobile body according to claim 11, An automatic driving control unit that automatically drives the traveling body to stop at the determined stop position Comprising A storage system for a mobile body.

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