Running system and running device

Abstract

To further reduce the time required for stopping a plurality of traveling devices by distributing them among stopping areas on a predetermined route. [Solution] A system for running multiple traveling devices 20 on a predetermined route 10 that can be circulated, in which each traveling device 20 has an area detection unit that detects that it belongs to a stopping area AR on the route 10, a device detection unit that detects that it is approaching a traveling device 20 in front, a communication unit that receives a wireless signal that instructs it to stop at the stopping area AR, and a control unit that controls starting and stopping of the traveling device 20. When each traveling device 20 detects entry into a stopping area AR after receiving a wireless signal, it sets a goal to stop at the end point of the stopping area AR, and when it reaches the end point of the stopping area AR after setting the goal, it stops there, and when it detects that it is approaching a traveling device 20 in front, it makes a temporary stop there regardless of whether a goal has been set.

Description

[Technical Field]

[0001] The present invention relates to a system for causing a plurality of autonomously traveling vehicles to travel along a predetermined route, and also to the autonomously traveling vehicles themselves. [Background technology]

[0002] The applicant of the present application has previously proposed a motor-driven traveling device that travels on a pre-laid lane (Patent Document 1). The traveling device described in Patent Document 1 is expected to travel while contacting the side walls provided on the left and right sides of the lane.

[0003] Furthermore, there has been known a running toy that runs autonomously along a track drawn on a running surface (for example, Patent Document 2). The running toy described in Patent Document 2 is equipped with a photosensor (optical sensor) for detecting the track drawn on the running surface, and is configured so that the photosensor optically detects the track based on light reflected from the running surface.

[0004] The applicant of the present application has also proposed an algorithm for a system for running multiple traveling devices on a predetermined route, which can autonomously stop each traveling device at multiple stopping areas (for example, charging areas) on the route (Patent Document 3). By installing this algorithm in each traveling device, it becomes possible to stop each traveling device appropriately at a stopping area without relying on control from a higher-level control station (control center). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7365084 [Patent Document 2] Japanese Patent Application Laid-Open No. 2006-181241 [Patent Document 3] Patent No. 7473273 Summary of the Invention [Problem to be solved by the invention]

[0006] According to Patent Document 3, a single stopping action can reliably stop a plurality of traveling devices in a distributed manner in a plurality of stopping areas. However, there is a demand to further shorten the time required to stop each traveling device in a distributed manner in a stopping area, even if it means increasing the number of attempts of the stopping action.

[0007] Therefore, a main object of the present invention is to further reduce the time required for stopping a plurality of traveling devices in dispersed stopping areas on a predetermined route. [Means for solving the problem]

[0008] The inventor of the present invention has intensively studied means for solving the above problem, and has found that by improving the algorithm for distributing and stopping multiple traveling devices in multiple stopping areas and installing this improved algorithm in each traveling device, it becomes possible to stop each traveling device in the stopping area in a shorter time. Based on this finding, the inventor has come to the conclusion that the above problem can be solved, and has completed the present invention.

[0009] A first aspect of the present invention relates to a system 100 for running multiple traveling devices 20 on a predetermined route 10 that can be traveled around. Multiple stopping areas AR are provided on the route 10. An example of the stopping areas AR is a charging area for charging the traveling devices 20. Note that the route 10 may have side walls on both the left and right sides, and the traveling devices 20 may travel while contacting the side walls. Alternatively, guide lines may be drawn on the route 10, and the traveling devices 20 may travel along the guide lines. The multiple traveling devices 20 each include an area detection unit, a device detection unit, a communication unit, and a control unit. The area detection unit is an element for detecting whether the traveling device 20 belongs to the stopping area AR. For example, if the stopping area AR is a charging area, the area detection unit detects that the traveling device 20 belongs to the stopping area AR when the battery installed in the traveling device 20 is being charged. The device detection unit is an element for detecting whether the traveling device 20 is in proximity to another traveling device 20 ahead. The communication unit is an element capable of receiving a radio signal instructing the traveling device 20 to stop in the stopping area AR. This communication unit may be capable of transmitting a radio signal from the traveling device 20. Note that this radio signal is transmitted from an external base station or another traveling device. This radio signal may be transmitted automatically by the base station or the like, or may be transmitted manually by a human operator operating the base station or the like. The control unit controls the starting and stopping of the traveling device 20 based on a predetermined algorithm. Specifically, when the control unit detects entry into the stopping area AR after receiving a radio signal, it sets a goal of stopping at the end point of the stopping area AR. Furthermore, when the control unit reaches the end point of the stopping area AR after setting this goal, it stops the traveling device 20 near the end point of the stopping area AR. However, whether this goal is set or not, the control unit temporarily stops the traveling device 20 when it detects that the traveling device 20 is approaching another traveling device 20 in front.By implementing an algorithm for starting or stopping under such conditions in each traveling device 20, it is possible to autonomously distribute and stop each traveling device 20 in a stopping area AR on the predetermined route 10 without having to individually control each traveling device 20 using a higher-level control station or the like. Furthermore, according to this algorithm, by attempting multiple times to stop each traveling device 20 on the route 10, it is possible to reliably stop each traveling device 20 within the stopping area AR. Furthermore, according to this algorithm, it is possible to shorten the time required to stop multiple traveling devices 20 within the stopping area AR, compared to the system described in Patent Document 3, for example.

[0010] In the system 100 according to the present invention, if the area detection unit cannot detect that the traveling device 20 belongs to the stop area AR even after a predetermined time has elapsed since receiving the wireless signal, the control unit may transmit a wireless signal from the communication unit to notify the traveling device 20 that it does not belong to the stop area AR. In this way, if a traveling device 20 that does not belong to the stop area AR transmits a wireless signal to notify this, all traveling devices 20 may be started again, and then each traveling device 20 may receive a wireless signal instructing it to stop in the stop area AR again. This causes each traveling device 20 to perform the stop action again. By increasing the number of attempts to perform the stop action in this way, it is possible to eventually stop all traveling devices 20 within the stop area AR.

[0011] The system 100 according to the present invention may include a base station 30 capable of transmitting a wireless signal. Here, the total number of traveling devices 20 traveling on the route 10 is assumed to be N (N is an integer equal to or greater than 2). Also, it is assumed that M (M is an integer equal to or greater than 2) traveling devices 20 can be stopped in each stopping area AR. In this case, the number of action attempts S from the first transmission of a wireless signal from the base station 30 until all of the traveling devices 20 stop is preferably (N / M)+1 or more, and particularly preferably (N / M)+1. According to the algorithm of the present invention, it is possible to almost reliably stop all of the traveling devices 20 within the stopping area AR in (N / M)+1 attempts.

[0012] In the system 100 according to the present invention, the stopping area AR preferably includes a charger 40 for charging the battery 25 mounted on the traveling device 20. The charger 40 may be either wired or wireless, but it is preferable to use a wireless charging type in order to eliminate the need to plug a charging cable into the traveling device 20. This allows the traveling device 20 to be charged while parked in the stopping area AR.

[0013] A second aspect of the present invention relates to a traveling device 20 itself. The traveling device 20 according to the present invention travels on a predetermined route 10 that is circumnavigable and has multiple stop areas AR. The traveling device 20 includes an area detection unit that detects that the traveling device 20 belongs to a stop area AR, a device detection unit that detects that the traveling device 20 is approaching another traveling device 20 ahead, a communication unit that can receive a wireless signal instructing the traveling device 20 to stop at the stop area AR, and a control unit that controls the starting and stopping of the traveling device 20 based on a predetermined algorithm. When the control unit detects entry into the stop area AR after receiving the wireless signal, it sets a goal to stop at the end point of the stop area AR. Furthermore, when the control unit reaches the end point of the stop area AR after setting the goal, it stops the traveling device 20 near the end point of the stop area AR. Furthermore, whether a goal has been set or not, the control unit temporarily stops the traveling device 20 when it detects that the traveling device 20 is approaching another traveling device 20 ahead. [Effects of the Invention]

[0014] According to the present invention, it is possible to further reduce the time required to stop a plurality of traveling devices in distributed stopping areas on a predetermined route. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram showing an example of a traveling device that travels autonomously on a predetermined route. [Figure 2]FIG. 2 is an exploded perspective view showing the components of the pathway. [Figure 3] FIG. 3 is a block diagram mainly showing an example of components of the traveling device. [Figure 4] FIG. 4 is a flow diagram showing an example of an algorithm implemented in the traveling device. [Figure 5] FIG. 5 shows an example of the flow from the start to the end of the adjustment run. [Figure 6] FIG. 6 shows a schematic diagram of each step during the adjustment run. [Figure 7] FIG. 7 shows a schematic diagram of each step during the adjustment run. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the embodiments described below, but also includes appropriate modifications of the embodiments below within the scope obvious to those skilled in the art.

[0017] FIG. 1 shows a traveling device 20 traveling on a predetermined path 10 (lane) in a traveling system 100 according to the present invention. The traveling device 20 receives propulsion force from a drive mechanism of the vehicle body and travels along the path 10. This path 10 has side walls on both the left and right sides of the traveling surface, and the body of the traveling device 20 moves forward while contacting the side walls of the lane. As a result, the traveling device 20 moves forward while moving straight or curved along the shape of the lane. The traveling device 20 is also equipped with a light-emitting mechanism. The traveling device 20 also has a dome-shaped cover 29 attached to the top of the vehicle body. Since this cover 29 is transparent or translucent, when a light-emitting mechanism provided inside the cover 29 emits light, the light passes through the cover 29 and is visible from the outside.

[0018] Next, an example configuration of the traveling device 20 will be described with reference to FIGS. 2 and 3. As shown in FIG. 2, the traveling device 20 includes a control device 21 and two motors 22. Each motor 22 is electrically connected to the control device 21 via an electronic board or the like and is controlled by the control device 21. Each motor 22 is independently attached to a drive wheel 23. The drive wheels 23 are rotated by supplying power from a battery 25 to each motor 22, and the traveling device 20 obtains propulsion force when the drive wheels 23 come into contact with the road surface of the route 10. In this embodiment, the traveling device 20 employs a rear-wheel drive system, and therefore each motor 22 is mounted at the rear of the chassis of the traveling device 20. In the illustrated example, with respect to the traveling direction of the traveling device 20 as the reference, the first motor 22(R) rotates the first drive wheel 23(R) on the right side, and the second motor 22(L) rotates the second drive wheel 23(L) on the left side. The traveling device 20 is not limited to a rear-wheel drive system, but may be a front-wheel drive system.

[0019] A known motor can be used as each motor 22. Specifically, each motor 22 includes a rotating unit including a stator and a rotor, and an output shaft for outputting the rotational force obtained by the rotating unit to the outside. A known motor can also be used as each drive wheel 23. Specifically, each drive wheel 23 includes a metal or plastic wheel member and a high-friction rubber tire member attached to the outer periphery of the wheel member. Since the tire member is a consumable item, it can be removed from the wheel member and replaced as needed. In this embodiment, the wheel member of each drive wheel 23 is directly fixed to the output shaft of each motor 22. The wheel member and the output shaft may be fixed by friction generated between them, or by known fixing methods such as adhesive or welding. However, the output shaft of the motor 22 and the wheel member of the wheel can also be interlocked by using an intermediate part such as a gear or a shaft.

[0020] 2, the traveling device 20 includes one or more driven wheels 24 that come into contact with the road surface of the route 10, in addition to the drive wheels 23 fixed to the motors 22. The driven wheels 24 are not connected to a drive source such as the motor 22, but are wheels that assist the traveling of the traveling device 20. In this embodiment, the driven wheels 24 are disposed at two locations, one on the left and one on the front side of the chassis of the traveling device 20. The number of driven wheels 24 can be increased or decreased depending on the size of the traveling device 20, etc.

[0021] The traveling device 20 also includes a battery 25. The battery 25 may be a primary battery or a secondary battery. However, because repeatedly rechargeable batteries provide higher operational efficiency, it is preferable to use a secondary battery as the battery 25. In particular, in this embodiment, it is assumed that the battery 25 is repeatedly and automatically charged so that the traveling device 20 can travel continuously. Power from the battery 25 is supplied to, for example, the control device 21, the motors 22, the sensor 27, and the light-emitting element 28. The remaining charge of the battery 25 may also be monitored by the processor 21a.

[0022] The traveling device 20 also includes a wireless power receiver 26 for charging the battery 25. The wireless power receiver 26 includes a power receiving coil and a circuit for supplying the power received by the power receiving coil to the battery 25. The power receiving coil can receive power from an external source through electromagnetic induction. For example, when the traveling device 20 stops in a parking area AR, power is supplied to the power receiving coil through electromagnetic induction from a power transmitting coil included in a charger 40 (wireless power transmitter) installed in the parking area AR. The power received by the power receiving coil is supplied to the battery 25 via a rectifier circuit or the like, and the battery 25 is charged in a contactless manner. In this way, the traveling device 20's power receiving coil can receive power wirelessly from an external device, enabling the battery 25 to be charged. When charging of the battery 25 begins, a corresponding signal is sent to the control device 21 (processor 21a). As a result, the state of charge / state of charge of the battery 25 is monitored by the processor 21a.

[0023] 2, the traveling device 20 may be equipped with an NFC (near field wireless communication) sensor 27a as the sensor 27. For example, an NFC tag is installed at a predetermined position on the route. When the traveling device 20 approaches an NFC tag on the route, the NFC sensor 27a detects a wireless signal transmitted from the NFC tag and transmits the detection information to the control device 21. Based on the detection information from the NFC sensor 27a, the control device 21 can determine that the traveling device 20 has approached or reached a predetermined position on the route. As will be described later, the traveling device 20 needs to have a function that allows it to stop near the end of the stopping area AR. For this reason, an NFC tag may be installed near the end of the stopping area AR, and when the traveling device 20 detects the presence of the NFC tag using the NFC sensor 27a, it may determine that it is near the end of the stopping area AR and stop at the location where the NFC tag is installed.

[0024] However, the method for the traveling device 20 to stop near the end point of the stopping area AR is not limited to this. For example, the traveling device 20 may be equipped with a light-projecting unit and a light-receiving unit for reading markers drawn on the route. These light-projecting unit and light-receiving unit are connected to the control device 21 and transmit detection information to the control device 21. The markers on the route reflect, for example, light of a specific wavelength. Therefore, the light-projecting unit 27 and the light-receiving unit 27 may be photoelectric sensors that can detect the markers by projecting light of a specific wavelength onto the markers and receiving the reflected light. For example, if fluorescent pigments are used as the markers, the light-projecting unit irradiates the traveling surface of the route 10 with ultraviolet light (black light), and the light-receiving unit receives the ultraviolet light and then receives visible light emitted from the fluorescent pigment of the markers. When the light-receiving unit receives the visible light from the fluorescent pigment of the markers, it converts information regarding the relative position of the marker with respect to the light-receiving unit into an electrical signal and transmits the electrical signal to the control device 21. In addition, various known sensors such as sound sensors, RFID, QR code (registered trademark) sensors, barcode sensors, IR marker sensors, image recognition sensors, UWB sensors, magnet / Hall sensors, etc. can be used as sensors to detect the stopping area AR.

[0025] As shown in FIG. 2, the sensors 27 of the traveling device 20 further include a proximity sensor 27b. This proximity sensor 27b is attached to the front end portion of the body of the traveling device 20. The proximity sensor 27b detects when the traveling device 20 approaches the traveling device 20 in front of it within a predetermined distance. A known sensor can be used as the proximity sensor 27b. For example, an infrared sensor, millimeter-wave radar, or ultrasonic sensor can be used as the proximity sensor 27b. These sensors can measure the distance when another traveling device 20 is present in front of the traveling device 20. Specifically, an infrared sensor transmits infrared rays and measures the reflected light. A millimeter-wave radar transmits radio waves and measures the reflected waves. An ultrasonic sensor transmits sound waves and measures the reflected sound. When such a remote measurement sensor is used as the proximity sensor 27b and it is detected that the distance to the traveling device 20 in front is less than a predetermined distance, the traveling device 20 automatically stops while maintaining a predetermined distance from the traveling device 20 in front in order to prevent a collision between the traveling devices 20. On the other hand, after this automatic stop, if it is detected that the distance to the traveling device 20 in front is equal to or greater than the predetermined distance, the traveling device 20 starts again and continues traveling.

[0026] As shown in FIG. 2, the traveling device 20 may further include one or more light-emitting elements 28. The light-emitting elements 28 are electrically connected to the control device 21 via an electronic board or the like and are controlled by the control device 21. The cover 29 of the traveling device 20 is transparent or translucent, so that when the light-emitting elements 28 emit light, the light passes through the cover 29 and is visible from the outside. The cover 29 may be made of, for example, a known polycarbonate material or silicone material. The cover 29 may also be made of a half mirror. A half mirror transmits light traveling from the inside to the outside and reflects light traveling from the outside to the inside. In this case, a half mirror film may be attached to the inner surface of the cover 29, which is made of, for example, a silicone material.

[0027] FIG. 3 is a block diagram showing a control system centered around the control device 21. In the example shown in FIG. 3, the control device 21 includes a processor 21a, a memory 21b, a wireless module 21c, a drive control circuit 21d, a sensor control circuit 21e, and a light emission control circuit 21f. Examples of the processor 21a include a known CPU or other control circuit. The processor 21a performs predetermined arithmetic processing in accordance with predetermined algorithms (programs) and data stored in the memory 21b, and executes various control processes while writing the results of the calculations to a workspace in the memory 21b. The memory 21b is composed of, for example, a volatile memory such as a RAM (Random Access Memory) or a non-volatile memory such as a flash memory, and is used for the arithmetic processing by the processor 21a. In this embodiment, the processor 21a reads the programs stored in the memory 21b and performs processing to drive the motors 22 and cause the light-emitting elements 28 to emit light in accordance with the programs.

[0028] The wireless module 21c transmits and receives wireless signals to and from the base station 30. The base station 30 transmits, for example, a stop signal to stop the traveling device 20, a start signal to start the traveling device 20, and a charge signal to start charging the traveling device 20. These wireless signals (stop signal, start signal, and charge signal) transmitted from the base station 30 are intended for all of the traveling devices 20 traveling on the route, and the same instruction wireless signal is transmitted to all of the traveling devices 20. In other words, the base station 30 does not transmit wireless signals individually to each traveling device 20 and individually control the stopping, starting, etc. of each traveling device 20 using the wireless signals. The wireless signals do not include information for identifying the traveling device 20 that is the target of control by the signal. When each traveling device 20 receives a stop signal from the base station 30 while traveling, it stops on the spot. Furthermore, when each traveling device 20 receives a start signal from the base station 30 while stopped, it starts traveling. Furthermore, when each traveling device 20 receives a charging signal from the base station 30 while traveling, it starts adjusted traveling, which will be described in detail below. The radio waves transmitted by the base station 30 may conform to known wireless standards such as 2.4 GHz, 5 GHz, or Sub1 GHz. Each traveling device 20 can also transmit a predetermined wireless signal to the base station 30 via the wireless module 21c.

[0029] The drive control circuit 21d is a circuit that supplies power from the battery 25 to each motor 22 (R, L) based on a control command from the processor 21a so that the motors 22 (R, L) are driven under predetermined rotation conditions (rotation speed, rotation direction, etc.). Note that by switching the rotation direction of each motor 22, it is also possible to switch between forward and reverse movement of the traveling device 20. Furthermore, this drive control circuit 21d is capable of independently controlling the first motor 22(R) and the second motor 22(R).

[0030] The sensor control circuit 21e is a circuit that supplies power from the battery 25 to the sensor 27 and controls its on / off operation based on a control command from the processor 21a, and transmits information (electrical signals) obtained by the light receiving unit 27b and the proximity sensor 27b to the processor 21a. The processor 21a generates a control command to stop the motor 22 based on, for example, position information of a marker on the path 10 detected by the light receiving unit 27b, and outputs the control command to the drive control circuit 21d. Furthermore, the processor 21a generates a control command to stop the motor 22 when, for example, the proximity sensor 27b detects the proximity state of the preceding traveling device 20, and outputs the control command to the drive control circuit 21d. Furthermore, the processor 21a generates a control command to restart the motor 22 when the proximity sensor 27b detects the separation of the preceding traveling device 20, and outputs the control command to the drive control circuit 21d.

[0031] The light-emission control circuit 21f is a circuit that supplies power from the battery 25 to each of the light-emitting elements 28 so that each of the light-emitting elements 28 emits light under predetermined light-emission conditions (e.g., emitted light color, brightness, etc.) based on a control command from the processor 21a. The light-emission control circuit 21f can control each of the light-emitting elements 28 independently.

[0032] Next, with reference to FIGS. 4 to 7 , an algorithm will be described that allows multiple traveling devices 20 traveling on the route 10 to independently determine whether to stop at a battery charging stopping area AR. As shown in FIGS. 6 and 7 , a base station 30 is installed near the route 10, and this base station 30 transmits a wireless signal to all traveling devices 20 on the route 10. However, this base station 30 does not provide control commands related to stopping, starting, etc., to each traveling device 20 individually. Upon receiving the wireless signal from the base station 30, each traveling device 20 independently determines whether to stop or start based on an algorithm implemented in the traveling device 20. Nevertheless, in this embodiment, all traveling devices 20 can be ultimately dispersed and stopped at multiple stopping areas AR (for battery charging) without causing a concentration of traveling devices 20 exceeding the capacity of a single stopping area AR or collisions between traveling devices 20 on the route 10. FIGS. 4 and 5 show examples of algorithms implemented in each traveling device 20 to achieve this. 6 and 7 show an example of the operation of the plurality of traveling devices 20 on the route 10. In FIG.

[0033] As shown in FIG. 4, each traveling device 20 is basically in a free traveling state on the route 10 (step S1). When the traveling device 20 receives a start signal from, for example, the base station 30, it drives the motor 22 to start traveling and continues free traveling on the route 10. Note that even in the free traveling state, if the proximity sensor 27b detects that another traveling device 20 in front has approached, the traveling device 20 temporarily stops until the distance to the traveling device 20 in front increases by a predetermined amount. This free traveling of the traveling device 20 continues until it receives a stop signal or a charge signal from the base station 30. When all traveling devices 20 receive a stop signal from the base station 30, they stop on the spot. When all traveling devices 20 receive a charge signal from the base station 30, they transition to adjusted traveling, which will be described later. Here, a case where a charge signal is transmitted from the base station 30 will be described in detail.

[0034] When the plurality of traveling devices 20 receive a charging signal from the base station 30 in a free traveling state (step S2), they start adjusted traveling to make dispersed stops in charging stopping areas AR (hereinafter also referred to as "charging areas") (step S3). A detailed flow from the start to the end of adjusted traveling will be described later with reference to FIG. 5.

[0035] When each traveling device 20 receives a charging signal from the base station 30 during free traveling and transitions to adjusted traveling, it determines whether it is currently within a charging area (step S4). For example, as shown in FIG. 6(a), multiple charging areas are provided on the route 10 that can be traveled. Each charging area is provided with multiple chargers 40 for wirelessly charging the batteries 25 of the traveling devices 20. Each charging area has a limit on the number of traveling devices 20 that can be accommodated, and traveling devices 20 within this limit can be wirelessly charged at the same time. In the example shown in FIGS. 6 and 7, each charging area can accommodate three traveling devices 20. When each traveling device 20 enters a charging area on the route 10, it receives power from the charger 40 provided in the charging area, and wireless charging of the battery 25 begins. Therefore, each traveling device 20 determines that it is within a charging area when its battery 25 is in a charging state, and determines that it is not within a charging area when its battery 25 is not in a charging state.

[0036] After that, the traveling device 20 determined not to belong to the charging area in step S4 continues free traveling as is, but will eventually enter the charging area (step S5). In this case, the traveling device 20, which was in an uncharged state when receiving the charging signal, changes to a charged state upon entering the charging area. In this way, if the traveling device 20 changes from an uncharged state to a charged state due to entering the charging area after receiving the charging signal within the predetermined time from the start to the end of the adjusted traveling, the traveling device 20 starts target stop traveling toward the end of the charging area (step S6). Target stop traveling refers to traveling with the goal of stopping near the end of the charging area. A traveling device 20 that meets the above conditions has a target stop traveling flag set and performs an operation specific to the target stop traveling state. A traveling device 20 performing target stop traveling in this manner is referred to as a "target stop traveling vehicle." Note that, as will be described later, even a target stop traveling vehicle will temporarily stop temporarily until the distance from the traveling device 20 ahead is increased by a predetermined amount or more when the proximity sensor 27b detects the approach of another traveling device 20 ahead. Furthermore, if the travel device 20 does not enter the charging area within a predetermined time until the end of the adjusted travel, the travel device 20 does not perform the target stop travel.

[0037] On the other hand, if the traveling device 20 is determined to belong to the charging area in step S4, it continues free traveling toward outside the charging area (step S7). When the traveling device 20 leaves the charging area, it changes from a charged state to a non-charged state. This traveling device 20 continues free traveling even after leaving the charging area. However, if the proximity sensor 27b detects that another traveling device 20 in front has approached, the traveling device 20 will temporarily stop until the distance to the traveling device 20 in front is greater than or equal to a predetermined distance. Note that even if the traveling device 20 was in the charging area when the charging signal was received, if it changes from a non-charged state to a charged state by re-entering the charging area within the predetermined time from the start to the end of the adjustment traveling (step S5), it will start target stop traveling toward the end of the charging area (step S6).

[0038] FIG. 6(a) schematically illustrates an example of the arrangement of the traveling devices 20 on the route 10 at the time when a charging signal is transmitted from the base station 30. FIG. 6(b) illustrates an example of the arrangement of the traveling devices 20 after a certain amount of time has passed since the state shown in FIG. 6(a) during adjusted traveling. In this example, seven traveling devices 20 (respectively indicated by numbers 1 to 7) are present on the route 10, and three charging areas (respectively indicated by symbols A to C) are provided on the route 10. Each charging area can accommodate three traveling devices 20. As shown in FIG. 6(a), of the seven traveling devices 20 traveling on the route 10, the traveling devices 20 numbered 1, 4, and 7 are not in a charging area at the time when the charging signal is received. Of these traveling devices 20, the traveling devices 20 numbered 4 and 7 enter a charging area after a certain amount of time has passed, as shown in FIG. 6(b). Therefore, the No. 4 and No. 7 traveling devices 20 determine that they are target traveling vehicles to be stopped. In particular, the No. 4 traveling device 20, having entered charging area A, sets its goal to stop near the end of charging area A. Furthermore, the No. 7 traveling device 20, having entered charging area B, sets its goal to stop near the end of charging area B. Note that the No. 1 traveling device 20 also becomes a target traveling vehicle to be stopped when it enters a charging area. On the other hand, of the seven traveling devices 20 traveling on the route 10, the No. 2, No. 3, No. 5, and No. 6 traveling devices were in the charging area at the time they received the charging signal. These traveling devices 20 travel toward the outside of the charging area, and continue free traveling after leaving the charging area.

[0039] Next, Fig. 5 shows the flow mainly from the start of the adjustment run to the end of the adjustment run. The flow shown in Fig. 4 and the flow shown in Fig. 5 are executed in parallel.

[0040] 5, when the control device 21 of each traveling device 20 receives the charging signal and starts the adjustment traveling (step S3), it starts measuring the elapsed time from the start of the adjustment traveling. Note that, in addition to or instead of measuring the elapsed time, the traveling device 20 may also measure the distance traveled from the start of the adjustment traveling.

[0041] The adjustment travel of each traveling device 20 ends when a predetermined time has elapsed. Therefore, each traveling device 20 determines whether the predetermined time has elapsed since the start of the adjustment travel (step S8). Then, each traveling device 20 ends the adjustment travel if the predetermined time has elapsed (step S15). Meanwhile, each traveling device 20 performs the processes of steps S9 to S14 described below until the predetermined time has elapsed. The "predetermined time" referred to here may be determined based on, for example, the time required for the traveling device 20 to complete the section between two adjacent charging areas on the route 10, which has the longest distance from the start of the first charging area to the end of the next charging area. In the example shown in FIGS. 6 and 7, the section from the start of charging area A to the end of charging area B is the longest section. Because all traveling devices 20 travel along the route 10 at approximately the same speed (within ±10%), the time required for each traveling device 20 to complete this longest section is approximately the same. If the traveling speed of the traveling device 20 varies by, for example, ±10% or more, the time required to travel this longest section (i.e., the predetermined time) can be calculated based on the average speed of the traveling device 20 along the route 10. Note that if the traveling device 20 is measuring the distance traveled since the start of the adjusted travel, it can also determine whether a predetermined distance has been traveled in step S8, instead of determining whether the predetermined time has elapsed. In this case, the predetermined distance can be determined based on the longest section.

[0042] After the start of the adjusted traveling, until a predetermined time has elapsed, the traveling device 20 set as the target stopped traveling vehicle in step S6 determines whether it has reached the end point of the charging area that is its target (step S9). Whether it has reached the end point of the charging area may be determined, for example, by reading an NFC tag installed near the end point of the charging area with the NFC sensor 27a. Furthermore, since the total length of the charging area is known, the traveling device 20 may start measuring the traveling distance after entering the charging area and determine that it has reached the end point when the measured traveling distance reaches the total length of the charging area (i.e., the distance to the end point). Furthermore, since the total length of the charging area and the traveling speed of the traveling device 20 are known, the traveling device 20 may start measuring the traveling time after entering the charging area and determine that it has reached the end point when the measured traveling time reaches the time required to travel the entire length of the charging area. In this way, if the traveling device 20, which is the target stopped traveling vehicle, determines that it has reached the end point of the charging area, it stops near the end point of the charging area (step S10). On the other hand, if the traveling device 20 that is the target stopped traveling vehicle determines that it has not reached the end point of the charging area, it proceeds to the next step (step S11). Note that steps S9 and S10 are performed only by the traveling device 20 that was set as the target stopped traveling vehicle in step S6, and steps S9 and S10 are omitted for the other traveling devices 20.

[0043] Next, during the adjusted traveling, each traveling device 20 approaches the traveling device 20 in front of it and determines whether the distance between it and the traveling device 20 in front is less than a predetermined distance (step S11). The distance between it and the traveling device 20 in front is measured by the control device 21 based on detection information from the proximity sensor 27b. Note that this determination in step S11 is made by all traveling devices 20, regardless of whether it is a target stopped traveling vehicle or not. When the distance between it and the traveling device 20 in front becomes the predetermined distance, the traveling device 20 stops on the spot while keeping a distance from the traveling device 20 in front (step S12). On the other hand, when the distance between it and the traveling device 20 in front is equal to or greater than the predetermined distance, the traveling device 20 continues traveling and determines whether a predetermined time has elapsed (step S8) and whether it has reached the end of the charging area (step S9, but limited to target stopped traveling vehicles).

[0044] Next, when each traveling device 20 approaches and temporarily stops near the traveling device 20 ahead of it during the adjustment traveling, the traveling device 20 ahead of it moves away and determines whether the distance between the traveling device 20 ahead of it is equal to or greater than a predetermined distance (step S13). When the distance between the traveling device 20 ahead of it is equal to or greater than the predetermined distance, the traveling device 20 starts moving again and continues traveling on the route 10 (step S14). When the distance between the traveling device 20 ahead of it is less than the predetermined distance, the traveling device 20 continues to stop on the spot. Thereafter, the traveling device 20 determines whether a predetermined time has elapsed (step S8) and whether it has reached the end of the charging area (step S9, but only for the target stopped traveling vehicle).

[0045] Each traveling device 20 continues to perform the above-described processing from steps S9 to S14 from the start of the adjustment travel until a predetermined time has elapsed. Then, each traveling device 20 ends the adjustment travel when the predetermined time has elapsed (step S15). By performing adjustment travel for the predetermined time, the traveling devices 20 on the route 10 will basically stop in step S10 or step S12. However, since there may exceptionally be a traveling device 20 that has not stopped even after the predetermined time has elapsed, each traveling device 20 stops traveling at the end of the adjustment travel (step S15). Note that traveling devices 20 that have already stopped will continue to stop.

[0046] After the adjustment travel is completed, each traveling device 20 determines whether it belongs to the charging area (step S17). That is, if the battery 25 of each traveling device 20 is being charged, it is determined that it belongs to the charging area, and if the battery 25 is not being charged, it is determined that it does not belong to the charging area. If the traveling device 20 determines that it belongs to the charging area, it stops in the charging area and charges its battery 25. On the other hand, if the traveling device 20 determines that it does not belong to the charging area, it transmits a wireless signal to the base station 30 via the wireless module 21c to notify that it does not belong to the charging area. The base station 30 receives the wireless signal from the traveling device 20. After the adjustment travel is completed, each traveling device 20 continues to wait in place until a start signal is again transmitted from the base station 30.

[0047] Continuing from FIG. 6, FIG. 7 shows an example of the operation of each traveling device 20 during the adjustment run. As shown in FIG. 7(c), traveling devices 20 Nos. 4, 6, and 7 changed from a non-charging state to a charging state by entering a charging area during the adjustment run, and are therefore set as target stopped traveling devices. As a result, traveling devices 20 Nos. 4, 6, and 7 stop near the end of each charging area. The other traveling devices 20 Nos. 1, 2, 3, and 5 stop on the spot because the distance between them and the traveling device 20 ahead of them is less than a predetermined distance. Note that among these traveling devices 20 Nos. 1, 2, 3, and 5, some changed from a non-charging state to a charging state during the adjustment run and were set as target stopped traveling devices, but these traveling devices 20 did not reach the end of the charging area due to the presence of another traveling device 20 ahead of them.

[0048] In the example shown in FIG. 7(c), each charging area can accommodate up to three traveling devices 20. Traveling devices 20 numbered 4 and 5 belong to charging area A, traveling devices 20 numbered 7, 1, and 2 belong to charging area B, and traveling device 20 numbered 6 belongs to charging area C. However, traveling device 20 numbered 3 cannot belong to any of the charging areas. Three traveling devices 20 already belong to charging area B, and traveling device 20 numbered 3 cannot enter charging area B because traveling device 20 numbered 20 is stopped in front of it, so traveling device 20 numbered 3 is stopped just before it. In this case, once the predetermined time for the adjustment travel has elapsed, traveling device 20 numbered 3 transmits a wireless signal to base station 30 informing that it was unable to belong to the charging area.

[0049] When the base station 30 receives a wireless signal from one of the traveling devices 20 informing it that it was unable to enter the charging area, it transmits a start signal to each traveling device 20 and, at the same time or immediately thereafter, transmits a charge signal to start adjusted traveling again. That is, after transmitting the start signal to each traveling device 20, the base station 30 transmits a charge signal before the traveling device 20 starts to leave the charging area. The base station 30 may be programmed to automatically transmit the start signal and charge signal, or an operator may manually operate the base station 30 or the like to transmit these signals from the base station 30. When each traveling device 20 receives a charge signal from the base station 30, it leaves the charging area it currently belongs to and travels toward the next charging area.

[0050] FIG. 7(d) shows the state shown in FIG. 7(c) after the base station 30 transmits the start signal and charge signal, and each traveling device 20 then completes its adjusted travel and stops again. As shown in FIG. 7(d), in charging area A, the sixth traveling device 20 becomes the leading target vehicle to stop and stops near its end point. In charging area B, the third traveling device 20, which was unable to enter charging area B in the state shown in FIG. 7(c), becomes the leading target vehicle to stop and stops near its end point. In charging area B, the fourth and fifth traveling devices 20 stop following the third traveling device 20. In charging area C, the seventh traveling device 20 becomes the leading target vehicle to stop and stops near its end point, followed by the first and second traveling devices 20. In the state shown in FIG. 7(d), all traveling devices 20 have successfully stopped within the charging area. In this way, by repeating the adjusted traveling a plurality of times, it becomes possible to eventually stop all of the traveling devices 20 within the charging area.

[0051] In the above example, a traveling device 20 that was unable to stop in a charging area after the adjustment run transmits a wireless signal, thereby performing the adjustment run again. However, this is not limited to this. Alternatively, the number of times the adjustment run is to be repeated may be determined in advance, and the adjustment run may be performed a predetermined number of times regardless of whether or not there is a traveling device 20 that was unable to stop in a charging area after the adjustment run. Specifically, the total number of traveling devices 20 traveling on the route 10 is N (N is an integer greater than or equal to 2), and the allowable number of traveling devices 20 that can be stopped in a charging area at one time is M (M is an integer greater than or equal to 2). In this case, the number of adjustment run attempts S (rounded down to the nearest integer) may be (N / M)+1 or more. For example, in the example shown in FIGS. 6 and 7, the total number N of traveling devices 20 is 7, and the allowable number M of charging areas is 3. In this case, the number of adjustment run attempts S is (7 / 3)+1, or three. In this way, in the illustrated example, by repeating the adjustment run at least three times, theoretically all traveling devices 20 will always stop in a charging area.

[0052] Based on the algorithm implemented in each traveling device 20 described above, each traveling device 20 repeatedly stops and starts, allowing the traveling devices 20 to be dispersed and stopped in multiple charging areas on the route 10. In this embodiment, wireless signals (start signal, stop signal, charging signal) are transmitted from the base station 30 to each traveling device 20, but these wireless signals do not contain complex information and are therefore easily transmitted to each traveling device 20. Furthermore, according to this embodiment, the time required to disperse and stop multiple traveling devices 20 in charging areas on the predetermined route 10 can be further reduced.

[0053] In the above description of the present invention, the embodiments of the present invention have been described with reference to the drawings in order to express the contents of the present invention. However, the present invention is not limited to the above embodiments, and includes modifications and improvements that are obvious to those skilled in the art based on the matters described in the present specification.

[0054] For example, in the above-described embodiment, the traveling control means of the traveling device 20 is a means for adjusting the traveling direction of the traveling device 20 by independently controlling the two motors 22. However, the traveling control means of the traveling device 20 is not limited to this. For example, in addition to the motor 22 that rotates the driving wheels 23 (rear wheels), a steering motor for rotating the direction (yaw angle) of one or more driven wheels 24 (front wheels) can be provided, and the traveling direction of the entire traveling device 20 can be adjusted by controlling the direction of the driven wheels with this steering motor. The traveling direction of the traveling device 20 is determined by the direction of the driven wheels 24. Note that in this case, it is not necessary to independently control the two motors 22 that rotate the driving wheels 23 (rear wheels); they can simply be set to the same rotation speed and the same rotation direction. Other known traveling control means can be adopted for the traveling device 20.

[0055] Furthermore, for example, in the above-described embodiment, a charger 40 is provided in each stop area AR, but it is not necessary to provide a charger 40 in each stop area AR. For example, when multiple traveling devices 20 are traveling continuously on the route 10, differences in the speed of the traveling devices 20 may cause the traveling devices 20 to be crowded together in some areas, or conversely, the traveling devices 20 to be too far apart. In this case, according to the present invention, the traveling devices 20 can be temporarily stopped and then dispersed to stop areas AR provided on the route 10 to temporarily wait there, thereby making it possible to appropriately adjust the intervals at which the traveling devices 20 travel on the route 10. [Explanation of symbols]

[0056] 10...Route 20...Traveling device 21...Control device 21a...Processor 21b...Memory 21c...Wireless module 21d...Drive control circuit 21e...Sensor control circuit 21f...light emitting control circuit 22...motor 23...Drive wheel 24...Driven wheel 25...Battery 26...Wireless power receiver 27...Sensor 27a...NFC sensor 27b... proximity sensor 28... light emitting element 29...Cover 30...Base Station 40...Charger 100...System AR: Parking area (charging area)

Claims

1. A system for causing a plurality of traveling devices to travel on a predetermined route that can be completed in a circuit, A plurality of stopping areas are provided on the route, Each of the traveling devices is an area detection unit that detects that the vehicle belongs to the stopping area; a device detection unit that detects proximity to another traveling device in front; a communication unit capable of receiving a wireless signal for instructing the vehicle to stop in the stopping area; a control unit that controls the start and stop of its own traveling device based on a predetermined algorithm; The control unit When detecting entry into the stopping area after receiving the wireless signal, setting a goal of stopping at an end point of the stopping area, When the vehicle reaches the end point of the stopping area after setting the target, the vehicle stops its own traveling device near the end point of the stopping area, In either case where the target is set or where the target is not set, when the vehicle's own traveling device detects that it has approached another traveling device ahead, the vehicle's own traveling device is temporarily stopped. system.

2. When the area detection unit cannot detect that the vehicle belongs to the stop area even after a predetermined time has elapsed since receiving the wireless signal, the control unit transmits a wireless signal from the communication unit to notify that the vehicle does not belong to the stop area. The system of claim 1 .

3. the system includes a base station capable of transmitting the radio signal; the total number of the traveling devices traveling on the route is N (N is an integer of 2 or more); M (M is an integer of 2 or more) traveling devices can be stopped in each of the stopping areas, The number of attempts S of the action from the time when the wireless signal is transmitted from the base station until all of the plurality of traveling devices are stopped is (N / M)+1 or more. The system of claim 1 .

4. The stopping area includes a charger for charging a battery mounted on the traveling device. The system of claim 1 .

5. A traveling device capable of traveling on a predetermined route that can be circumnavigated and has a plurality of stopping areas, an area detection unit that detects that the vehicle belongs to the stopping area; a device detection unit that detects proximity to another traveling device in front; a communication unit capable of receiving a wireless signal instructing the vehicle to stop in the stopping area; a control unit that controls the start and stop of its own traveling device based on a predetermined algorithm; The control unit When detecting entry into the stopping area after receiving the wireless signal, setting a goal of stopping at an end point of the stopping area, When the vehicle reaches the end point of the stopping area after setting the target, the vehicle stops its own traveling device near the end point of the stopping area, In either case where the target is set or where the target is not set, when the vehicle's own traveling device detects that it has approached another traveling device ahead, the vehicle's own traveling device is temporarily stopped. Running gear.

Images