Management device, mobile body, mobile body management system, mobile body management method, and program

Abstract

To retrofit an existing mobile body with a function.SOLUTION: A management device comprises: an equipment management part which manages the operation state of an autonomously movable mobile body; and an equipment management part which is mounted with a function part embodying an extension function, and manages the mounting state of the extension equipment on the mobile body based upon loading information on the extension equipment from a storage housing provided to be mounted on the mobile body and housing at least one piece of extension equipment to the mobile body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a management device, a mobile body, a mobile body management system, a mobile body management method, and a program. It relates thereto.

Background Art

[0002] In recent years, mobile bodies that autonomously move along a predetermined route for transporting articles have become widespread. For example, in restaurants, it has become common to serve meals and the like with robots, and in factories, it has become common to transport products being manufactured with robots.

[0003] However, since these robots (mobile bodies) are assumed to operate with a single function of article transportation, an idling time occurs during which the mobile body is not operating outside of business hours. Therefore, in order to further expand the effect of business improvement by introducing mobile bodies, it has been considered to add further functions to the mobile bodies and operate the mobile bodies in businesses other than article transportation.

[0004] For example, Patent Document 1 below describes a robot system in which the functions executed by a robot are made variable by combining various function modules that execute predetermined functions with an autonomous mobile robot. In the robot system described in Patent Document 1, it is possible to cause the robot to execute various operations by changing the function modules to be combined with the autonomous mobile robot.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the robot system described in Patent Document 1, the autonomous mobile robot needs to be combined with a functional module and provided with a configuration for interlocking with the functional module. Therefore, in the robot system described in Patent Document 1, it has been difficult to add functions to an existing moving body by retrofitting.

[0007] Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to provide a novel and improved management device, moving body, moving body management system, moving body management method, and program that can retrofit functions to an existing moving body.

Means for Solving the Problems

[0008] In order to solve the above problems, according to an aspect of the present invention, there is provided a management device including: a device management unit that manages the operating state of an autonomously movable moving body; and an equipment management unit that manages the mounting state of at least one or more expansion equipment provided in a storage housing that houses a functional unit that realizes an expansion function and is attachable to the moving body, based on loading information of the expansion equipment from the storage housing to the moving body.

[0009] The moving body may be a transport moving body including a plurality of shelves provided in parallel with each other.

[0010] The expansion equipment may include a plurality of expansion shelves provided in parallel with each other, and may be attached to the moving body by fitting the plurality of expansion shelves with the plurality of shelves.

[0011] The plurality of expansion shelves may be placed on the plurality of shelves.

[0012] The plurality of shelves may extend in the traveling direction of the moving body or in a direction orthogonal to the traveling direction, and the expansion equipment may be loaded onto the moving body from the extending direction of the plurality of shelves.

[0013] The extended equipment may further include a fixing mechanism for fixing the mounting state with the moving body.

[0014] The equipment management unit may identify the extended equipment stored in the storage housing by reading the information of the identification tag attached to the extended equipment with the storage housing.

[0015] The equipment management unit may identify the moving body with the extended equipment mounted thereon based on the position information of the moving body.

[0016] The storage housing may be provided together with a charger for the moving body, and the extended equipment may be loaded onto the moving body in a charged state.

[0017] The extended equipment may further include a power storage unit for storing the power supplied to the extended equipment, and the storage housing may be provided with a charging unit for charging the power storage unit.

[0018] The functional unit may include a camera having an imaging function.

[0019] Also, in order to solve the above problems, according to another aspect of the present invention, there is provided a self-mobile moving body whose operating state is managed by a management device, which is equipped with a functional unit for realizing an extended function and is stored in a storage housing, and the mounting state of the extended equipment on the moving body is managed by the management device based on the loading information of the extended equipment from the storage housing to the moving body.

[0020] Also, in order to solve the above problems, there is provided a mobile body management system including a self-mobile moving body, an extended equipment equipped with a functional unit for realizing an extended function and provided so as to be attachable to the moving body, a storage housing for storing at least one of the extended equipment, an equipment management unit for managing the mounting state of the extended equipment on the moving body based on the loading information of the extended equipment from the storage housing to the moving body, and a device management unit for managing the operating state of the moving body.

[0021] In addition, in order to solve the above problems, while mounting a functional unit that realizes an extended function, based on the loading information of the expansion equipment from a storage housing that stores at least one or more expansion equipment that can be mounted on an autonomously movable mobile body to the mobile body, a step of managing the mounting state of the expansion equipment on the mobile body, and a step of managing the operating state of the mobile body, A mobile body management method by a computer including the above is provided.

[0022] Furthermore, in order to solve the above problems, a program for causing a computer to function as a device management unit that manages the operating state of an autonomously movable mobile body, and an equipment management unit that manages the mounting state of the expansion equipment on the mobile body based on the loading information of the expansion equipment from a storage housing that stores at least one or more expansion equipment that can be mounted on the mobile body while mounting a functional unit that realizes an extended function is provided.

Effect of the Invention

[0023] As described above, according to the present invention, it is possible to retroactively add functions to an existing mobile body.

Brief Description of the Drawings

[0024]

Figure 1

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Embodiments for Carrying Out the Invention

[0025] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, for components having substantially the same functional configuration, the same reference numerals are given and redundant explanations are omitted.

[0026] <1. Overall Configuration of the Moving Body Management System> First, with reference to FIG. 1, the overall configuration of a moving body management system according to an embodiment of the present invention will be described. FIG. 1 is a block diagram showing the overall configuration of the moving body management system 1 according to this embodiment.

[0027] As shown in FIG. 1, the moving body management system 1 includes a management device 100, a storage housing 200, an extended equipment 300, a moving body 400, and an operation terminal 500.

[0028] The storage housing 200, the expansion equipment 300, and the mobile body 400 can transmit and receive data with each other by being connected to the management device 100 and the operation terminal 500 via the network N. The network N may be a public communication network such as the Internet communication network, the mobile communication network, the radio wave communication network, or the satellite communication network, or may be a communication network closed within a predetermined range such as a LAN (Local Area Network), a WAN (Wide Area Network), or a VPN (Virtual Private Network).

[0029] The mobile body 400 is a robot capable of autonomous movement. Specifically, the mobile body 400 is a robot that plans a route based on an environmental map created by the mobile body 400 or created in advance and moves autonomously according to the planned route.

[0030] For example, the mobile body 400 may be a transport robot that transports articles to a destination. During off-business hours when there are no articles to be transported, the mobile body 400 enters a sleep state in which its functions are stopped or a charging state in which a secondary battery serving as a power source is charged.

[0031] The mobile body management system 1 according to the present embodiment can cause the mobile body 400 during off-business hours to perform operations other than article transportation by attaching the expansion equipment 300 having a functional unit for realizing an expansion function to the mobile body 400. For example, the mobile body management system 1 can cause the mobile body 400 to perform operations such as patrolling, monitoring, or abnormality detection in a predetermined area by using the autonomous movement function of the mobile body 400 and the expansion function of the expansion equipment 300.

[0032] The expansion equipment 300 is equipment that can be attached to the mobile body 400 and is equipped with a functional unit that realizes at least one or more expansion functions. Specifically, the expansion equipment 300 may be a housing equipped with a camera that executes an imaging function or a sensor that realizes a sensing function. The expansion equipment 300 may be attached, for example, to the loading platform of the mobile body 400 on which the article to be transported is placed. The mobile body management system 1 can perform operations such as patrolling a predetermined area by causing the functional unit mounted on the expansion equipment 300 attached to the mobile body 400 to execute the expansion function while autonomously moving the mobile body 400.

[0033] The storage housing 200 is a housing that stores at least one or more expansion equipment 300. The storage housing 200 can attach the expansion equipment 300 to the mobile body 400 by loading the stored expansion equipment 300 onto the mobile body 400 based on an instruction from the management device 100 or the user.

[0034] The storage housing 200 may be provided, for example, together with a charger that charges a secondary battery or the like built into the mobile body 400. According to this, the mobile body management system 1 can manage the storage housing 200 and the charger integrally without individually managing the installation location of the storage housing 200. In addition, the mobile body management system 1 can immediately attach the expansion equipment 300 to the mobile body 400 that has completed charging and execute operations such as patrolling a predetermined area.

[0035] The management device 100 is a server that manages the mobile body 400, the expansion equipment 300, and the storage housing 200 respectively. For example, the management device 100 may manage information regarding each of the mobile body 400, the expansion equipment 300, and the storage housing 200. In addition, the management device 100 may manage the operation schedule of the mobile body 400, the position and operation status of the mobile body 400, the attachment status of the expansion equipment 300 to the mobile body 400, and the storage status of the expansion equipment 300 in the storage housing 200, etc.

[0036] The management device 100 may comprehensively manage a plurality of mobile bodies 400, a plurality of expansion equipments 300, and a plurality of storage enclosures 200 respectively. In such a case, the management device 100 can efficiently execute the conveyance operation of articles by the plurality of mobile bodies 400 and operations such as the patrol of a predetermined area by the plurality of mobile bodies 400 using the expansion equipment 300.

[0037] The operation terminal 500 is a terminal operated by an operator who operates the mobile body 400. By appropriately inputting to the operation terminal 500, the operator can call information regarding each of the mobile body 400, the expansion equipment 300, and the storage enclosure 200 from the management device 100. For example, the operation terminal 500 may call from the management device 100 the position and operation status of the mobile body 400, the attachment status of the expansion equipment 300 to the mobile body 400, and the sensing information acquired by the camera or sensor of the expansion equipment 300, and present it to the operator. Also, the operator can input settings for each of the mobile body 400, the expansion equipment 300, the storage enclosure 200, and the management device 100 from the operation terminal 500.

[0038] <2. Detailed Configuration of the System> Subsequently, with reference to FIGS. 2 to 6, the detailed configuration of the mobile body management system 1 according to the present embodiment will be described. FIG. 2 is a block diagram showing the detailed functional configuration of the mobile body 400. FIG. 3 is a block diagram showing the detailed functional configuration of the expansion equipment 300. FIG. 4 is a block diagram showing the detailed functional configuration of the storage enclosure 200. FIG. 5 is a block diagram showing the detailed functional configuration of the management device 100. FIG. 6 is a block diagram showing the detailed functional configuration of the operation terminal 500.

[0039] (Mobile Body 400) As shown in FIG. 2, the mobile body 400 includes a communication control unit 411, a power control unit 421, a power storage unit 431, an environment detection unit 422, a sensor unit 432, a drive control unit 423, a moving unit 433, an autonomous movement control unit 424, a map management unit 434, a path control unit 435, an input control unit 425, an input unit 436, and an authentication management unit 426.

[0040] The communication control unit 411 controls the communication between the respective parts of the mobile body 400, and also controls the communication between the mobile body 400 and the management device 100 and the operation terminal 500. The communication control unit 411 may communicate with the management device 100 and the operation terminal 500, for example, by connecting to the network N through wireless communication.

[0041] The power storage unit 431 is, for example, a secondary battery capable of charging and discharging, such as a lithium-ion secondary battery. The power storage unit 431 is charged by a charger provided outside the mobile body 400. The power supply control unit 421 controls, for example, the extraction of power from the power storage unit 431 and also controls the charging of the power storage unit 431. The power supply control unit 421 can autonomously move the mobile body 400 by supplying the power extracted from the power storage unit 431 to the respective parts of the mobile body 400.

[0042] The sensor unit 432 is a sensor for sensing the external environment, and is, for example, a LiDAR (Light Detection And Ranging), Radar (Radio Detection And Ranging), ultrasonic sensor, or camera. The environment detection unit 422 detects obstacles or steps etc. existing in the environment around the mobile body 400 based on the sensing information of the sensor unit 432. The environment detection unit 422 can cause the mobile body 400 to avoid the detected obstacles or steps by detecting obstacles or steps not described in the environmental map managed by the map management unit 434.

[0043] The moving unit 433 is a mechanism that enables movement on the ground. The moving unit 433 may be, for example, a legged walking mechanism, a two-wheel or four-wheel wheel traveling mechanism, a two-wheel or four-wheel leg-wheel mechanism, or an endless track mechanism. The drive control unit 423 controls the drive of the moving unit 433 according to the path instructed by the autonomous movement control unit 424. Thereby, the mobile body 400 can autonomously move according to the path instructed by the autonomous movement control unit 424.

[0044] The map management unit 434 manages the environmental map around the mobile body 400. The environmental map managed by the map management unit 434 may be a pre-input environmental map, or may be an environmental map generated inside the mobile body 400 based on the sensing information of the sensor unit 432. The route control unit 435 plans a route for the mobile body 400 to move from the current location to the destination based on the environmental map managed by the map management unit 434. For example, the route control unit 435 may plan a route to move from the current location to the destination by passing through an area that is passable in the environmental map.

[0045] The autonomous movement control unit 424 controls the autonomous movement of the mobile body 400 based on the route planned by the route control unit 435. For example, the autonomous movement control unit 424 may control the autonomous movement of the mobile body 400 so as to avoid obstacles or steps detected by the environment detection unit 422 while following the route planned by the route control unit 435.

[0046] The input unit 436 is an input device that receives external information input such as, for example, a touch panel, buttons, switches, or levers. The input unit 436 may also be a microphone that detects sound, or may be a remote control device that uses infrared rays or other radio waves. The input control unit 425 generates information to be output to each part of the mobile body 400 based on the external input received by the input unit 436.

[0047] The authentication management unit 426 manages the authentication information (that is, a combination of identification information and a password) of users who can log in to the mobile body 400, and determines whether a user can log in. When the combination of the identification information and the password input from the input unit 436 matches the combination of the identification information and the password registered in advance as a user, the authentication management unit 426 may permit the user to log in to the mobile body 400. By permitting the user to log in to the mobile body 400, the user can perform various operations on the mobile body 400 from the input unit 436.

[0048] (Expansion equipment 300) As shown in FIG. 3, the expansion equipment 300 includes a communication control unit 311, a power control unit 321, a power storage unit 331, an input control unit 322, a camera 332, a microphone 333, an output control unit 323, an audio output unit 334, a display unit 335, a fixing control unit 324, a fixing mechanism 336, and an authentication management unit 325.

[0049] The communication control unit 311 controls the communication between the various parts of the expansion equipment 300 and also controls the communication between the expansion equipment 300 and the management device 100 and the operation terminal 500. The communication control unit 311 may communicate with the management device 100 and the operation terminal 500, for example, by connecting to the network N through wireless communication.

[0050] The power storage unit 331 is, for example, a secondary battery capable of charge and discharge such as a lithium-ion secondary battery. The power storage unit 331 is charged by a charging unit 221 (described later) provided in the storage housing 200. The power control unit 321 controls the extraction of power from the power storage unit 331 and also controls the charging of the power storage unit 331. The power control unit 321 can operate various functional units (for example, the camera 332, the microphone 333, the audio output unit 334, or the display unit 335, etc.) mounted on the expansion equipment 300 by supplying the power extracted from the power storage unit 331 to the various parts of the expansion equipment 300.

[0051] The camera 332 is, for example, an RGB (Red, Green, Blue) camera, an RGBD (Red, Green, Blue, Depth) camera, or an infrared camera capable of acquiring an image of the external environment of the expansion equipment 300. The microphone 333 is an acoustic device capable of acquiring ambient sounds or voices in the external environment of the expansion equipment �̀. The input control unit 322 is an interface for receiving information from the camera 332 or the microphone 333. For example, the input control unit 322 generates information to be output to the management device 100 and the operation terminal 500 based on the sensing information of the camera 332 or the microphone 333.

[0052] The voice output unit 334 outputs, as voice, for example, the information received from the management device 100 or the operation terminal 500. The voice output unit 334 may be a voice output device such as a speaker or headphones. The display unit 335 displays, as an image or text, for example, the information received from the management device 100 or the operation terminal 500. The display unit 335 may be a display device such as an LCD (Liquid Crystal Display), a PDP (Plasma Display Panel), an OLED (Organic Light Emitting Diode) display, a hologram, or a projector. The output control unit 323 is an interface that outputs the information received from the management device 100 or the operation terminal 500 to the voice output unit 334 or the display unit 335. For example, voice or an image for advertising purposes may be output from the voice output unit 334 or the display unit 335.

[0053] The fixing mechanism 336 is a mechanism for fixing (locking) the mounting state of the expansion equipment 300 to the moving body 400. The fixing mechanism 336 fixes (locks) the mounting state of the expansion equipment 300 to the moving body 400 by butting or fitting with the loading platform of the moving body 400 on which the article to be transported is placed. According to this, the fixing mechanism 336 can prevent the expansion equipment 300 from falling off the moving body 400 due to vibration, impact, external force, or the like. A specific structural example of the fixing mechanism 336 will be described later. The fixing control unit 324 controls the locked state or the unlocked state of the expansion equipment 300 by the fixing mechanism 336. For example, the fixing control unit 324 may set the fixing mechanism 336 to the locked state when it is detected that the expansion equipment 300 is mounted on the moving body 400.

[0054] The authentication management unit 325 manages the authentication information (i.e., the combination of identification information and password) of users who can log in to the expansion equipment 300, and determines whether a user can log in. When the combination of identification information and password input from an input unit (not shown) matches the combination of identification information and password registered in advance as a user, the authentication management unit 325 may permit the user to log in to the expansion equipment 300. By permitting the login to the expansion equipment 300, the user can perform various operations on the expansion equipment 300 from an input unit (not shown).

[0055] (Storage housing body 200) As shown in FIG. 4, the storage housing body 200 includes a communication control unit 211, a charging unit 221, an input control unit 222, an input unit 231, a display control unit 223, a display unit 232, a loading control unit 224, a loading unit 233, an equipment management unit 226, and an authentication management unit 225.

[0056] The communication control unit 211 controls the communication between the respective units of the storage housing body 200 and also controls the communication between the storage housing body 200 and the management device 100 and the operation terminal 500. The communication control unit 211 may communicate with the management device 100 and the operation terminal 500, for example, by connecting to the network N through wireless communication.

[0057] The charging unit 221 charges the power storage unit 331 of the expansion equipment 300. For example, the charging unit 221 may charge the power storage unit 331 of the expansion equipment 300 when the expansion equipment 300 is stored in the storage housing body 200.

[0058] The input unit 231 is an input device that receives external information input such as, for example, a touch panel, a button, a switch, or a lever. The input unit 231 may also be a microphone that detects sound, or a remote control device that uses infrared rays or other radio waves. The input control unit 222 generates information to be output to the respective units of the storage housing body 200 based on the external information input received by the input unit 231.

[0059] The display unit 232 displays information about the storage housing 200, for example, or information about the expansion equipment 300 stored in the storage housing 200. The display unit 232 may be a display device such as an LCD (Liquid Crystal Display), a PDP (Plasma Display Panel), an OLED (Organic Light Emitting Diode) display, a hologram, or a projector. The display control unit 223 controls the display on the display unit 232 of information about the storage housing 200 or information about the expansion equipment 300 stored in the storage housing 200. Specifically, the display control unit 223 may control the information displayed on the display unit 232 based on the information input from the input unit 231.

[0060] The loading unit 233 feeds out the expansion equipment 300 stored in the storage housing 200 to the moving body 400, thereby attaching the expansion equipment 300 to the moving body 400. Specific structural examples of the loading unit 233 will be described later. The loading control unit 224 controls the driving of the loading unit 233. For example, the loading control unit 224 may drive the loading unit 233 based on an instruction from the management device 100 or the input unit 231 to feed out the expansion equipment 300 to the moving body 400.

[0061] The equipment management unit 226 manages information about the expansion equipment 300 stored in the storage housing 200. For example, the equipment management unit 226 may store information about the expansion equipment 300 read from a tag or identifier attached to the stored expansion equipment 300.

[0062] Specifically, the equipment management unit 226 first determines whether the expansion equipment 300 is stored in the storage housing 200 by pressing a physical switch or the like. When the expansion equipment 300 is stored in the storage housing 200, the equipment management unit 226 identifies the individual expansion equipment 300 by reading an RFID (Radio Frequency Identification), barcode, two-dimensional code, or Bluetooth (registered trademark) beacon attached to the expansion equipment 300, and stores information regarding the individually identified expansion equipment 300.

[0063] Information regarding the expansion equipment 300 is, for example, the type of functional unit mounted on the expansion equipment 300, identification information of the mobile body 400 on which the expansion equipment 300 can be mounted, or information for establishing a communication connection with the expansion equipment 300. The equipment management unit 226 may acquire and store information regarding these expansion equipment 300 from the management device 100.

[0064] The authentication management unit 225 manages authentication information (that is, a combination of identification information and a password) of users who can log in to the storage housing 200 and determines whether a user can log in. When the combination of identification information and password input from the input unit 231 matches the combination of identification information and password registered in advance as a user, the authentication management unit 225 may permit the user to log in to the storage housing 200. By permitting the login to the storage housing 200, the user can perform various operations on the storage housing 200 from the input unit 231.

[0065] (Management device 100) As shown in FIG. 5, the management device 100 includes a communication control unit 111, a schedule management unit 121, a function instruction unit 131, a device management unit 122, a map information management unit 132, a position information management unit 133, an equipment management unit 134, and an authentication management unit 124.

[0066] The communication control unit 111 controls the communication among the various parts of the management device 100, and also controls the communication between the management device 100 and the operation terminal 500. Further, the communication control unit 111 controls the communication between the management device 100 and the storage housing 200, the expansion equipment 300, and the mobile body 400. The communication control unit 111 may communicate with the operation terminal 500, the storage housing 200, the expansion equipment 300, and the mobile body 400, for example, by connecting to the network N through wireless communication.

[0067] The schedule management unit 121 manages the operation schedule of each mobile body 400 connected to the mobile body management system 1. For example, the schedule management unit 121 may manage the time periods during which each mobile body 400 performs the article transportation task, the time periods for performing tasks other than article transportation, and the time periods for charging the power storage unit 431, respectively.

[0068] The function instruction unit 131 instructs the specific actions that each mobile body 400 connected to the mobile body management system 1 performs during operation. For example, the function instruction unit 131 may instruct the type of article that each mobile body 400 transports, the loading location of the article, and the destination of the article transportation in the article transportation task. Further, the function instruction unit 131 may instruct the area or route in which each mobile body 400 performs patrol, monitoring, or abnormality detection in tasks other than article transportation.

[0069] The device management unit 122 manages information regarding each mobile body 400 connected to the mobile body management system 1. For example, the device management unit 122 may manage the identification information, performance, and operation status of each mobile body 400, etc.

[0070] The map information management unit 132 manages the environmental map of the area where each mobile body 400 connected to the mobile body management system 1 operates. For example, the map information management unit 132 may manage the environmental map input in advance for each mobile body 400, or may acquire and manage the environmental map generated by each mobile body 400 from the mobile body 400.

[0071] The location information management unit 133 manages the position coordinates at which each of the mobile units 400 connected to the mobile unit management system 1 is operating. For example, the location information management unit 133 may acquire and manage the current position coordinates of each of the mobile units 400 from each of the mobile units 400.

[0072] The equipment management unit 134 manages information regarding the extended equipment 300. For example, the equipment management unit 134 may manage the identification information, performance, and mounting status of the extended equipment 300. Further, the equipment management unit 134 may identify the extended equipment 300 stored in the storage housing 200 based on information regarding the extended equipment 300 read by the storage housing 200 from a tag or identifier attached to the extended equipment 300. Furthermore, the equipment management unit 134 may identify the mobile unit 400 to which the extended equipment 300 is mounted by referring to both the fact that the extended equipment 300 has been loaded from the storage housing 200 onto the mobile unit 400 (i.e., loading information) and the location information of the mobile unit 400. According to this, the equipment management unit 134 can manage the mounting state of the extended equipment 300 on the mobile unit 400.

[0073] The authentication management unit 124 manages authentication information (i.e., a combination of identification information and a password) of users who can log in to the management device 100, and determines whether a user can log in. When the combination of identification information and password input from an input unit (not shown) or the operation terminal 500 matches the combination of identification information and password registered in advance as a user, the authentication management unit 124 may permit the user to log in to the management device 100. By permitting the user to log in to the management device 100, the user can perform various operations on the management device 100 from an input unit (not shown) or the operation terminal 500.

[0074] (Operation terminal 500) As shown in FIG. 6, the operation terminal 500 includes a communication control unit 511, an input control unit 521, an input unit 531, an output control unit 522, an audio output unit 532, a display unit 533, and an authentication management unit 523.

[0075] The communication control unit 511 controls the communication between the respective parts of the operation terminal 500, and also controls the communication between the operation terminal 500 and the management device 100. Further, the communication control unit 511 controls the communication between the operation terminal 500 and the storage housing 200, the expansion equipment 300, and the moving body 400. The communication control unit 511 may communicate with the management device 100, the storage housing 200, the expansion equipment 300, and the moving body 400, for example, by connecting to the network N via wireless communication.

[0076] The input unit 531 is an input device that receives external information input such as, for example, a touch panel, buttons, switches, or levers. Further, the input unit 531 may be a microphone that detects sound, or may be a remote control device that uses infrared rays or other radio waves. The input control unit 521 generates information to be output to the respective parts of the operation terminal 500 based on the external input received by the input unit 531.

[0077] The voice output unit 532 outputs, as voice, information regarding the storage housing 200, the expansion equipment 300, and the moving body 400 received from the management device 100, for example. The voice output unit 334 may be a sound output device such as a speaker or headphones. The display unit 533 displays, as an image or text, information regarding the storage housing 200, the expansion equipment 300, and the moving body 400 received from the management device 100, for example. The display unit 533 may be a display device such as an LCD (Liquid Crystal Display), a PDP (Plasma Display Panel), an OLED (Organic Light Emitting Diode) display, a hologram, or a projector. The output control unit 522 controls the output of information regarding the storage housing 200, the expansion equipment 300, and the moving body 400 received from the management device 100 to the voice output unit 532 and the display unit 533. For example, the output control unit 522 may control the output to the voice output unit 532 and the display unit 533 based on the information input from the input unit 531.

[0078] The authentication management unit 523 manages the authentication information of the operator (i.e., the combination of identification information and password) that can log in to the operation terminal 500, and determines whether the operator can log in. When the combination of the identification information and password input from the input unit 531 matches the combination of the identification information and password of the operator registered in advance as a user, the authentication management unit 523 may permit the operator to log in to the operation terminal 500. By permitting the login to the operation terminal 500, the operator can perform various operations from the input unit 531 to the operation terminal 500.

[0079] <3. Configuration of the mobile body> (First configuration example) Next, with reference to FIGS. 7 and 8, a first configuration example of the mobile body 400 according to the present embodiment will be described. FIG. 7 is a two-dimensional view showing the side and front of the mobile body 400A according to the first configuration example. FIG. 8 is a side view showing a state when the mobile body 400A according to the first configuration example is charging.

[0080] As shown in FIG. 7, the mobile body 400A according to the first configuration example includes a vehicle body 453, drive wheels 451, driven wheels 452, a plurality of shelves 455, and a support portion 454.

[0081] The vehicle body 453 is the main body of the mobile body 400A. On the vehicle body 453, for example, the above-described various control units or arithmetic units (communication control unit 411, power control unit 421, environment detection unit 422, drive control unit 423, autonomous movement control unit 424, map management unit 434, route control unit 435, input control unit 425, and authentication management unit 426), a power storage unit 431, a sensor unit 432, and an input unit 436 are provided.

[0082] The drive wheels 451 are an example of the moving part 433. The drive wheels 451 are, for example, a pair of wheel mechanisms provided on both the left and right sides of the vehicle body 453. By being driven by a motor (not shown), the drive wheels 451 can move the moving body 400A straight forward. Also, the drive wheels 451 can turn the moving body 400A by differential driving of the left and right wheels that are independently driven. The driven wheels 452 are wheel mechanisms provided at the four corners of the vehicle body 453. The driven wheels 452 are provided so as to be freely rotatable so as to rotate as the moving body 400A travels. The driven wheels 452 can stabilize the travel of the moving body 400A by dispersing and supporting the weight of the moving body 400A.

[0083] The plurality of shelves 455 are, for example, loading platforms on which articles are placed when the moving body 400A conveys articles. The plurality of shelves 455 are flat plate-like members extending in the front-rear direction and are provided parallel to each other in the vertical direction. The support portion 454 is a structural member that supports the plurality of shelves 455, and supports the plurality of shelves 455 by sandwiching the plurality of shelves 455 between a pair of pillar structures that stand upright on both sides in the left-right direction. In the moving body 400A, since the plurality of shelves 455 are supported in the left-right direction, articles are placed on and taken out from the plurality of shelves 455 in the front-rear direction.

[0084] Also, as shown in FIG. 8, a charging port 456 for connecting to the connection port 610 of the charger 600 is provided on the rear side of the vehicle body 453 of the moving body 400A. When the connection port 610 and the charging port 456 are connected, power is supplied from the charger 600 to the moving body 400A, and the power storage unit 431 is charged. As long as the connection port 610 and the charging port 456 can fit together, either one can be the plug and either one can be the insertion port of the plug.

[0085] (Second Configuration Example) Subsequently, with reference to FIGS. 9 and 10, a second configuration example of the moving body 400 according to the present embodiment will be described. FIG. 9 is a two-dimensional view showing a side surface and a front surface of the moving body 400B according to the second configuration example. FIG. 10 is a side view showing a state when the moving body 400B according to the second configuration example is charging.

[0086] As shown in FIG. 9, the moving body 400B according to the second configuration example includes a vehicle body 463, drive wheels 461, driven wheels 462, a plurality of shelves 465, and a support portion 464. Since the vehicle body 463, the drive wheels 461, and the driven wheels 462 are substantially the same as the vehicle body 453, the drive wheels 451, and the driven wheels 452 described above, the description thereof is omitted here.

[0087] The plurality of shelves 465 are, for example, loading platforms on which articles are placed when the moving body 400B conveys articles. The plurality of shelves 465 are flat plate-like members extending in the left-right direction and are provided parallel to each other in the up-down direction. The support portion 464 is a structural member that supports the plurality of shelves 465, and supports the plurality of shelves 465 by sandwiching the plurality of shelves 465 between a pair of pillar structures standing upright on both sides in the front-rear direction. In the moving body 400B, since the plurality of shelves 465 are supported in the front-rear direction, articles are placed on and taken out from the plurality of shelves 465 in the left-right direction.

[0088] Also, as shown in FIG. 10, a charging port 466 for connecting to the connection port 610 of the charger 600 is provided on the rear side of the vehicle body 463 of the moving body 400B. When the connection port 610 and the charging port 466 are connected, electric power is supplied from the charger 600 to the moving body 400B, and the power storage unit 431 is charged. As long as the connection port 610 and the charging port 466 can be fitted to each other, either one may be a plug and either one may be the insertion port of the plug.

[0089] <4. Configuration of Expansion Equipment and Storage Housing> Furthermore, with reference to FIGS. 11 to 15, a specific structural example of the storage housing 200 and the expansion equipment 300 according to the present embodiment will be described.

[0090] (In the case of the moving body 400A according to the first configuration example) FIG. 11 is a two - dimensional view showing the side and top views when the expansion equipment 300 is extended to the mobile body 400A. FIG. 12 is a side view showing the mobile body 400A when the expansion equipment 300 is mounted. FIG. 13 is a side view showing the fixing (locking) of the mounting state of the expansion equipment 300 by the fixing mechanism 336.

[0091] As shown in FIG. 11, the expansion equipment 300 is composed of a plurality of expansion shelves 350 and a connecting member 360. The plurality of expansion shelves 350 are composed of flat plate - like members parallel to each other, and functional parts (for example, a camera 332, a microphone 333, a voice output part 334, or a display part 335, etc.) having expansion functions (not shown) are mounted on the plurality of expansion shelves 350. The connecting member 360 is a structural member extending in the vertical direction, and connects the plurality of expansion shelves 350 to each other at one end in the front - rear direction of the plurality of expansion shelves 350. That is, the expansion equipment 300 is provided in a so - called fork - sheet structure. Note that the distance between the plurality of connected expansion shelves 350 may be substantially the same as the distance between the plurality of shelves 455 provided on the mobile body 400A, for example.

[0092] The expansion equipment 300 is stored, for example, on the storage housing 200 provided in parallel with the charger 600, and can be moved onto the mobile body 400A in a charged state by being extended in the front - rear direction of the mobile body 400A. Since a plurality of shelves 455 extend in the front - rear direction on the mobile body 400A, the expansion equipment 300 can be moved onto the mobile body 400A without interfering with the support part 454 by being extended in the forward direction of the mobile body 400A.

[0093] The extended expansion equipment 300 is mounted on the mobile body 400A by fitting a plurality of expansion shelves 350 having a fork - sheet structure extending in the front - rear direction and a plurality of shelves 455 extending in the front - rear direction of the mobile body 400A to each other, as shown in FIG. 12.

[0094] At this time, the expansion equipment 300 may be mounted on the moving body 400A so as to be above each of the shelves 455 into which each of the plurality of expansion shelves 350 fits, for example. According to this, the expansion equipment 300 can be mounted on the moving body 400A without interfering with the various functional parts mounted on the plurality of expansion shelves 350 and the plurality of shelves 455 of the moving body 400A.

[0095] Also, the expansion equipment 300 can fix (lock) the mounting state of the expansion equipment 300 to the moving body 400A by driving the fixing mechanism 336 with the fixed control unit 324. For example, as shown in FIG. 13, the expansion equipment 300 is driven so as to abut the fixing mechanism 336 having a convex shape from the plurality of expansion shelves 350 toward the plurality of shelves 455 of the moving body 400A. Thereby, since pressure is generated between the expansion equipment 300 and the moving body 400A, the mounting state of the expansion equipment 300 to the moving body 400A is fixed.

[0096] Specifically, the expansion equipment 300 is provided with a physical switch for detecting the mounting to the moving body 400A. When the switch is pressed, the expansion equipment 300 communicates to the management device 100 that it has been mounted on the moving body 400A. Thereafter, the expansion equipment 300 can drive the fixing mechanism 336 as described above and fix the mounting state of the expansion equipment 300 to the moving body 400A by receiving an instruction for fixing the mounting to the moving body 400A from the management device 100.

[0097] The position where the convex fixing mechanism 336 abuts may be, for example, the other end on the side opposite to one end of the expansion shelf 350 connected by the connecting member 360. In such a case, the expansion equipment 300 can abut the fixing mechanism 336 against the plurality of shelves 455 without interfering with the various functional parts mounted thereon. Also, the expansion equipment 300 can prevent the various functional parts mounted on the expansion equipment 300 from falling off the expansion equipment 300 with the fixing mechanism 336.

[0098] Note that the storage housing 200 may be provided together with the charger 600. In such a case, the storage housing 200 can smoothly extend the expansion equipment 300 to the mobile body 400A whose power storage unit 431 is charged by the charger 600.

[0099] For example, when the management device 100 determines based on communication with the mobile body 400A that the mobile body 400A is connected to the charger 600, the management device 100 may instruct the storage housing 200 to extend the expansion equipment 300 to the mobile body 400A. Further, when the management device 100 determines based on communication with the mobile body 400A that the mobile body 400A equipped with the expansion equipment 300 is connected to the charger 600, the management device 100 may instruct the storage housing 200 to recover the expansion equipment 300 from the mobile body 400A.

[0100] (In the case of the mobile body 400B according to the second configuration example) FIG. 14 is a two - view diagram showing the side and top surfaces of the mobile body 400B before extending the expansion equipment 300. FIG. 15 is a top - view diagram showing the mobile body 400B when the expansion equipment 300 is extended.

[0101] As shown in FIG. 14, similar to FIG. 11, the expansion equipment 300 is composed of a plurality of expansion shelves 350 and a connecting member 360. The plurality of expansion shelves 350 are composed of flat - plate members parallel to each other, and functional parts having an expansion function (not shown) are mounted on the plurality of expansion shelves 350. The connecting member 360 is a structural member extending in the vertical direction, and connects the plurality of expansion shelves 350 to each other at one end in the left - right direction of the plurality of expansion shelves 350. That is, the expansion equipment 300 is provided in a so - called fork - sheet structure. Note that the distance between the plurality of connected expansion shelves 350 may be substantially the same as the distance between the plurality of shelves 465 provided on the mobile body 400B, for example.

[0102] As shown in FIG. 15, the expansion equipment 300 is stored, for example, on the storage housing 200 provided side by side with the charger 600. In the mobile body 400B, since a plurality of shelves 465 extend in the left - right direction, the expansion equipment 300 can first be extended forward using the slider 250 and then extended leftward, so as to move onto the mobile body 400B without interfering with the support portion 464.

[0103] The extended expansion equipment 300 is attached to the mobile body 400B by fitting a plurality of expansion shelves 350 having a fork - sheet structure extending in the left - right direction with a plurality of shelves 465 of the mobile body 400B.

[0104] At this time, the expansion equipment 300 may be attached to the mobile body 400B so that each of the plurality of expansion shelves 350 is located above each of the shelves 465 with which it fits. According to this, the expansion equipment 300 can be attached to the mobile body 400B without interfering the various functional parts mounted on the plurality of expansion shelves 350 with the plurality of shelves 465 of the mobile body 400B.

[0105] Furthermore, as described with reference to FIG. 13, the expansion equipment 300 can fix (lock) the attached state to the mobile body 400B by driving the fixing mechanism 336.

[0106] <5. Hardware Configuration> As described above, the embodiments of the present invention have been described. The hardware configuration for realizing the management device 100 according to the present embodiment will be described. Various information processes of the management device 100 according to the present embodiment are realized by the cooperation of software and the hardware described below.

[0107] FIG. 16 is a block diagram showing an example of the hardware configuration of the management device 100 according to the present embodiment.

[0108] As shown in FIG. 16, the management device 100 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, a host bus 904, a bridge 905, an external bus 906, an interface 907, an input device 908, an output device 909, a storage device 910, a drive 911, and a communication device 913.

[0109] The CPU 901 functions as an arithmetic processing unit and a control unit, and controls the overall operation within the management device 100 according to various programs. The CPU 901 may be a microprocessor. The ROM 902 stores programs and arithmetic parameters used by the CPU 901. The RAM 903 temporarily stores programs used in the execution of the CPU 901 and parameters that change as appropriate during the execution of the programs. These CPU 901, ROM 902, and RAM 903 are interconnected by a host bus 904 composed of a CPU bus or the like. Through the cooperation of the CPU 901, ROM 902, and RAM 903, the functions of the communication control unit 111, schedule management unit 121, function instruction unit 131, device management unit 122, map information management unit 132, position information management unit 133, equipment management unit 134, and authentication management unit 124 described above are realized.

[0110] The host bus 904 is connected to an external bus 906 such as a PCI (Peripheral Component Interconnect / Interface) bus via the bridge 905. Note that the host bus 904, bridge 905, and external bus 906 do not necessarily have to be separated, and these functions may be implemented on a single bus.

[0111] The input device 908 is composed of an input means such as a mouse, keyboard, touch panel, button, switch, or microphone for the user to input information, and an input control circuit that generates an input signal based on the input by the user and outputs it to the CPU 901. The user who operates the management device 100 can input various data to the management device 100 or instruct processing operations by operating the input device 908.

[0112] The output device 909 includes, for example, a display device such as a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED (Organic Light Emitting Diode) device, a lamp, or an audio output device such as a speaker.

[0113] The storage device 910 is a device for storing data. The storage device 910 may include a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, and a deleting device for deleting data recorded on the storage medium.

[0114] The drive 911 is a reader / writer for a storage medium and is externally attached to the management device 100. The drive 911 reads the information recorded on a removable storage medium 912 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory to be mounted and outputs it to the RAM 903. The drive 911 can also write information to the removable storage medium 912.

[0115] The communication device 913 is a communication interface composed of a communication device or the like for performing communication. The communication device 913 may be a wireless LAN (Local Area Network) compatible communication device or a wire communication device for performing wired communication.

[0116] Note that the hardware configuration of the management device 100 is not limited to the configuration shown in FIG. 16. For example, the management device 100 may not include an input device 908 or an output device 909, etc.

[0117] As described above, the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that those having ordinary knowledge in the technical field to which the present invention pertains can conceive of various modification examples or correction examples within the scope of the technical idea described in the claims, and it is naturally understood that these also belong to the technical scope of the present invention.

[0118] For example, in the above embodiment, the mobile body 400 was assumed to perform operations such as patrolling, monitoring, or anomaly detection in a predetermined area as operations other than the transportation of articles, but the present invention is not limited to such examples. The mobile body 400 may perform operations such as promotion or advertisement using a speaker and a display, operations such as drone relay using a drone port for drone takeoff and landing, or operations such as weather measurement for tethering a balloon equipped with a measuring instrument by wire, as operations other than the transportation of articles.

[0119] Also, the series of processes by the management device 100 described in this specification may be realized using any of software, hardware, and a combination of software and hardware. The program constituting the software is pre-stored, for example, in a non-transitory storage medium provided inside or outside each device. Then, each program is read into the RAM 903 and executed by the CPU 901, for example, when executed by the management device 100. The storage medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, etc. Also, the above program may be distributed via a network, for example, without using a storage medium.

Explanation of Reference Numerals

[0120] 1 Mobile body management system 100 Management device 111 Communication Control Unit 121 Schedule Management Unit 122 Equipment Management Unit 124 Authentication Management Unit 131 Function Instruction Unit 132 Map Information Management Unit 133 Location Information Management Unit 134 Equipment Management Unit 200 Storage Housing 233 Loading Unit 250 Slider 300 Expansion Equipment 336 Fixing Mechanism 350 Expansion Shelf 360 Connecting Member 400 Moving Body 400, 400A, 400B Moving Bodies 451, 461 Driving Wheels 452, 462 Driven Wheels 453, 463 Chassis 454, 464 Support Parts 455, 465 Shelves 456, 466 Charging Ports

Claims

1. A device management unit that manages the operating state of a self-mobile moving body, while being equipped with a functional unit that realizes an extended function, and based on the loading information of the extension equipment from a storage housing that stores at least one or more extension equipment that can be attached to the moving body to the moving body, an equipment management unit that manages the attachment state of the extension equipment to the moving body, A management device comprising:

2. The management device according to claim 1, wherein the moving body is a transport moving body provided with a plurality of shelves provided in parallel with each other.

3. The management device according to claim 2, wherein the extension equipment includes a plurality of extension shelves provided in parallel with each other, and the plurality of extension shelves are attached to the moving body by fitting the plurality of extension shelves with the plurality of shelves.

4. The management device according to claim 3, wherein the plurality of extension shelves are placed on the plurality of shelves.

5. The plurality of shelves extend in the traveling direction of the moving body or in a direction orthogonal to the traveling direction, The management device according to claim 4, wherein the extension equipment is loaded onto the moving body from the extending direction of the plurality of shelves.

6. The management device according to claim 1, wherein the extension equipment further comprises a fixing mechanism for fixing the attachment state with the moving body.

7. The management device according to any one of claims 1 to 6, wherein the equipment management unit identifies the extension equipment stored in the storage housing by reading the information of an identification tag attached to the extension equipment in the storage housing.

8. The management device according to claim 7, wherein the equipment management unit identifies the moving body to which the extension equipment is attached based on the position information of the moving body.

9. The storage housing is provided side by side with a charger for the moving body, The management device according to any one of claims 1 to 6, wherein the extension equipment is loaded onto the moving body in a charged state.

10. The extension equipment further comprises a power storage unit for storing the power supplied to the extension equipment, The management device according to any one of claims 1 to 6, wherein a charging unit for charging the power storage unit is provided in the storage housing.

11. The management device according to any one of claims 1 to 6, wherein the functional unit includes a camera having an imaging function.

12. A self-mobile moving body whose operating state is managed by a management device, A moving body equipped with a functional unit that realizes an extended function and is stored in a storage housing, wherein the mounting state of the extended equipment on the moving body is managed by the management device based on the loading information of the extended equipment from the storage housing to the moving body.

13. An autonomously movable moving body, an extended equipment equipped with a functional unit that realizes an extended function and provided so as to be attachable to the moving body, a storage housing that stores at least one of the extended equipment, a management device having an equipment management unit that manages the operating state of the moving body and an equipment management unit that manages the mounting state of the extended equipment on the moving body based on the loading information of the extended equipment from the storage housing to the moving body, A moving body management system including the above.

14. Based on the loading information of the extended equipment from a storage housing that stores at least one extended equipment equipped with a functional unit that realizes an extended function and provided so as to be attachable to an autonomously movable moving body to the moving body, a step of managing the mounting state of the extended equipment on the moving body, a step of managing the operating state of the moving body, A method for managing a moving body by a computer including the above.

15. A program for causing a computer to function as an equipment management unit that manages the operating state of an autonomously movable moving body, and an equipment management unit that manages the mounting state of the extended equipment on the moving body based on the loading information of the extended equipment from a storage housing that stores at least one extended equipment equipped with a functional unit that realizes an extended function and provided so as to be attachable to the moving body. ​

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