Mobile Systems

Abstract

To provide a new mobile body system.SOLUTION: A gate unit 14a has an opening connectable to a travel unit 12 and a user can pass through the opening. The travel unit 12 has a function of connecting to the gate unit 14a to tow the gate unit to a specified position and then cutting off the gate unit 14a. The gate unit 14a includes: a leg part 46 for limiting movement of the gate unit 14a while being separated from the travel unit 12; and a provision unit 62 for providing a predetermined service to a user who is passing through the opening.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a mobile body system including a traveling unit and a gate unit. [Background technology]

[0002] In recent years, a system for transporting items such as luggage using an autonomous vehicle has been devised. Patent Document 1 discloses an autonomous vehicle that includes a front section having front wheels, a rear section having rear wheels, and a loading section that is connected between the front section and the rear section to integrate the front section and the rear section. When the front section and the rear section are stopped, the loading section is configured to be detachable from the vehicle and connectable to the vehicle in a direction intersecting the traveling direction of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-131039 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the system disclosed in Patent Document 1, when a server device receives a dispatch request from the outside, it determines an autonomous vehicle to be dispatched and generates an operation command according to the dispatch request. A system equipped with a mobile object with an autonomous driving function is expected to provide useful services in various situations.

[0005] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a new mobile system. [Means for solving the problem]

[0006] A mobile body system according to one embodiment of the present invention relates to a mobile body system including a traveling unit having an autonomous traveling function and a gate unit that can be connected to the traveling unit and has an opening through which a user can pass. The traveling unit has a function of connecting to the gate unit, towing the gate unit to a specified position, and then detaching the gate unit. The gate unit has a movement restriction unit that restricts the movement of the gate unit when detached from the traveling unit, and a providing unit that provides a predetermined service to a user passing through the opening.

[0007] In addition, any combination of the above components, and conversions between expressions of the present invention such as methods, devices, systems, computer programs, recording media on which computer programs are readably recorded, and data structures are also valid aspects of the present invention. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an overview of a mobile system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a perspective view of a moving body according to the embodiment; [Diagram 3] FIG. 13 is a diagram showing a state in which the traveling unit and the carriage unit are separated. [Figure 4] FIG. 2 is a diagram for explaining the configuration of a moving body. [Diagram 5] FIG. 13 is a diagram showing an example in which a carriage unit is used as a gate unit. [Figure 6] FIG. 2 is a diagram showing functional blocks of a mobile system. [Figure 7] FIG. 11 is a flowchart showing a process in the server device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 1 shows an overview of a mobile body system 1 of an embodiment. The mobile body system 1 includes a traveling unit 12, a cart unit 14, and a server device 6. The traveling unit 12 has an autonomous traveling function, whereas the cart unit 14 does not have an autonomous traveling function. The traveling unit 12 and the cart unit 14 each have a wireless communication function, and are communicatively connected to the server device 6 via a network 2 such as the Internet via a wireless station 4, which is a base station. The traveling unit 12 and the cart unit 14 can communicate with each other via the network 2, but may also communicate with each other directly without going through the network 2.

[0010] In the mobile body system 1, the traveling unit 12 and the bogie unit 14 are configured to be connectable and detachable, and the traveling unit 12 and the bogie unit 14 are connected to each other to form the mobile body 10. Note that the traveling unit 12 having an automatic traveling function may be referred to as a mobile body by itself.

[0011] By configuring the traveling unit 12 and the bogie unit 14 to be connectable and disconnectable, the traveling unit 12 can tow the bogie unit 14 to the destination and then disconnect the bogie unit 14 to execute another task. For example, if the other task is tow another bogie unit 14 to another destination, the traveling unit 12 moves to a position where the other bogie unit 14 is located, connects to the other bogie unit 14, tows the other bogie unit 14 to the other destination, and disconnects the other bogie unit 14. By configuring the traveling unit 12 and the bogie unit 14 to be connectable and disconnectable in this way, the traveling unit 12 can execute tasks related to different bogie units 14 one after another.

[0012] In the embodiment, the cart unit 14 has a main body portion that forms an opening through which people can pass. When the cart unit 14 is separated from the traveling unit 12, the cart unit 14 functions as a gate unit that provides predetermined services to users passing through the opening at that location.

[0013] The server device 6 manages the positions and states of the multiple traveling units 12 and the multiple cart units 14. The state of the traveling units 12 includes a state indicating whether a task is being executed, and the state of the cart units 14 includes a state indicating whether a service is being provided. The server device 6 determines a task to be assigned to each traveling unit 12 based on the positions and states of the multiple traveling units 12 and the multiple cart units 14. The traveling units 12 operate based on task execution instructions transmitted from the server device 6.

[0014] 2 shows a perspective view of a moving body 10 of an embodiment. The moving body 10 is configured by connecting a traveling unit 12 to a cart unit 14. The cart unit 14 has an opening 8 for people to pass through. The moving body 10 may have a total length of about 2 m (meters) to 3 m, a total width of about 0.5 m to 1.8 m, and a total height of about 1.5 m to 2.5 m.

[0015] 3 shows a state in which the traveling unit 12 and the bogie unit 14 are separated. The bogie unit 14 has a main body 40 that forms an opening 8 through which people can pass. The opening 8 is defined by a base 40a on which the front wheels 42 and the rear wheels 44 are provided, a ceiling 40b provided opposite the base 40a, a front wall 40c, and a rear wall 40d, and is formed as a through hole penetrating in the vehicle width direction. When the bogie unit 14 is separated from the traveling unit 12, the legs 46 of the bogie unit 14 are in contact with the ground and cannot move, and the position of the bogie unit 14 is fixed.

[0016] 4 is a diagram for explaining the configuration of the moving body 10. The traveling unit 12 has wheels 20, a main body 22, an object detection sensor 24, a coupling device 26, a processing device 30, a communication unit 32, a drive device 34, and a power supply device 36. The cart unit 14 has a main body 40, front wheels 42, rear wheels 44, legs 46, a coupled portion 48, a power supply device 50, a processing device 52, a communication unit 54, and a human detection sensor 56.

[0017] In the traveling unit 12, a pair of wheels 20 are provided on the left and right sides, and are rotatably supported by the main body 22. A driving device 34 is provided on each of the pair of wheels 20. The driving device 34 includes a motor, and rotates the wheels 20 in response to a driving command generated by the processing device 30. As the pair of wheels 20 rotate independently of each other, the traveling unit 12 can turn left and right due to the difference in the rotation speed of the pair of wheels 20. Note that in addition to the pair of wheels 20, the main body 22 may be provided with one or more auxiliary wheels (not shown).

[0018] The main body 22 is composed of a body frame and a cover that covers the internal structure. The object detection sensor 24 is provided in the main body 22 and detects objects in the traveling direction. The object detection sensor 24 may be a camera, a millimeter wave radar, an infrared laser, a sonic sensor, or a combination of these. The object detection sensor 24 may be provided not only in the front of the main body 22 but also in various positions on the main body 22 to detect objects in the rear or lateral directions. The object detection sensor 24 supplies the detection result to the processing device 30.

[0019] The coupling device 26 is provided at the rear of the main body 22, and is coupled to the coupled part 48 (see FIG. 3) of the cart unit 14. When the traveling unit 12 and the cart unit 14 are close to each other, the processing device 30 controls the driving of the wheels 20 to connect the coupling device 26 to the coupled part 48, and activates the locking mechanism to couple the coupling device 26 to the coupled part 48. When the coupling device 26 is coupled to the coupled part 48, it sends a signal indicating completion of coupling to the processing device 30. The locking mechanism that couples the coupling device 26 to the coupled part 48 may have a structure that mechanically couples the coupling device 26 by including a hook-shaped hook, for example, or may have a structure that couples the coupling device 26 electromagnetically. The processing device 30 releases the locking mechanism to separate the coupling device 26 from the coupled part 48.

[0020] The power supply device 36 is a rechargeable battery, and supplies power to each component mounted on the traveling unit 12. The power supply device 36 may be capable of transmitting and receiving power to and from a power supply device 50 of the carriage unit 14. The processing device 30 monitors the remaining amount of power in the power supply device 36.

[0021] The processing device 30 controls the autonomous driving of the propulsion unit 12. The processing device 30 drives the drive device 34 based on the detection results of the object detection sensor 24 and the position information of the propulsion unit 12, thereby realizing the autonomous driving of the propulsion unit 12. The communication unit 32 is connected to the network 2 and communicates with the server device 6 and / or the cart unit 14. Note that when the propulsion unit 12 and the cart unit 14 are close to each other, the communication unit 32 of the propulsion unit 12 and the communication unit 54 of the cart unit 14 may communicate directly without going through the network 2.

[0022] In the bogie unit 14, a pair of front wheels 42 and a pair of rear wheels 44 are rotatably supported on the base 40a of the main body 40. The bogie unit 14 does not have a drive device for driving the front wheels 42 and the rear wheels 44. The coupled part 48 is provided at the front of the main body 40, and is coupled to the coupling device 26 of the traveling unit 12. When the coupling device 26 and the coupled part 48 are coupled to each other, the coupled part 48 may send a signal indicating completion of coupling to the processing device 52.

[0023] The pair of legs 46 are provided at the front of the main body 40 and are configured to be movable forward and backward relative to the ground. When the legs 46 advance and touch the ground, they function as a movement limiting section that limits the movement of the cart unit 14. Therefore, when the cart unit 14 is separated from the traveling unit 12, the legs 46 advance and touch the ground, serving as a stopper. On the other hand, when the cart unit 14 is connected to the traveling unit 12, the legs 46 retreat and are no longer in contact with the ground. For example, when the processing device 52 receives a signal indicating completion of connection from the connected part 48, the legs 46 may be retreated and removed from the ground.

[0024] The legs 46 are one embodiment of a movement limiting portion that limits the movement of the cart unit 14, and the movement limiting portion may have a different structure. For example, the movement limiting portion may be a locking mechanism that locks the rotation of the front wheels 42 and the rear wheels 44.

[0025] The power supply unit 50 uses at least one of hydrogen, gasoline, electricity, etc. as a power source and supplies power to each component mounted on the cart unit 14. Figure 3 shows three hydrogen tanks inserted into three slots in the front of the main body 40. The processing device 52 monitors the remaining amount of power in the power supply unit 50.

[0026] The communication unit 54 is connected to the network 2 and communicates with the server device 6 and / or the traveling unit 12. When the traveling unit 12 and the cart unit 14 are close to each other, the communication unit 54 of the cart unit 14 and the communication unit 32 of the traveling unit 12 may communicate directly without going through the network 2.

[0027] The cart unit 14 has an opening 8 through which a user can pass. In the mobile body system 1 of the embodiment, the cart unit 14 is used as a gate unit that provides a predetermined service to a user when the user passes through the opening 8.

[0028] 5 shows an example of using a cart unit as a gate unit. The gate unit 14a is placed at the entrance of an event venue, for example, and visitors enter the event venue by passing through the opening 8 of the gate unit 14a. The human detection sensor 56 detects whether or not a person is present at the opening 8. For example, the human detection sensor 56 may be an image sensor that captures an image of the opening 8. The human detection sensor 56 may also be a human detection sensor that uses infrared rays, ultrasonic waves, visible light, or the like. The human detection sensor 56 supplies the acquired sensor information to the processing device 52.

[0029] Fig. 6 is a diagram showing functional blocks of the mobile body system 1. The mobile body system 1 of the embodiment includes a traveling unit 12, a gate unit 14a, and a server device 6. The gate unit 14a is one mode of use of the cart unit 14, and includes the functions and structure of the cart unit 14 described with reference to Figs. 1 to 4. Although one traveling unit 12 and one gate unit 14a are shown in Fig. 6, the mobile body system 1 may include a plurality of traveling units 12 and a plurality of gate units 14a.

[0030] In the propulsion unit 12, the position information acquisition unit 28 acquires current position information indicating the current position of the propulsion unit 12 using a satellite positioning system, and supplies the acquired current position information to the processing device 30. The position information acquisition unit 28 may be a GPS (Global Positioning System) receiver. The processing device 30 transmits the current position information of the propulsion unit 12 together with identification information (propulsion unit ID) of the propulsion unit 12 from the communication unit 32 to the server device 6. It is preferable that the current position information is transmitted periodically.

[0031] The map storage unit 38 stores map information indicating road positions. The processing device 30 controls the drive device 34 to drive the traveling unit 12 based on a task execution instruction transmitted from the server device 6. The task execution instruction includes at least information indicating a destination (destination), and the processing device 30 derives a driving route toward the destination included in the task execution instruction using the map information stored in the map storage unit 38 and the current position information provided by the position information acquisition unit 28. The processing device 30 controls the drive device 34 to drive along the derived driving route. The driving route may be derived by the server device 6 and included in the task execution instruction. During driving to the destination, the processing device 30 acquires information about objects present around the traveling unit 12 based on detection data by the object detection sensor 24. The processing device 30 determines a traveling direction and a driving speed so as to avoid collision with surrounding objects, and drives the drive device 34.

[0032] In the gate unit 14a, the position information acquisition unit 58 acquires current position information indicating the current position of the gate unit 14a using a satellite positioning system, and supplies the acquired current position information to the processing device 52. The position information acquisition unit 58 may be a GPS receiver. The processing device 52 transmits the current position information of the gate unit 14a together with identification information (cart unit ID) of the gate unit 14a from the communication unit 54 to the server device 6. It is preferable that the current position information is transmitted periodically.

[0033] The server device 6 includes a communication unit 70 and a processing device 72 , and the processing device 72 has a gate position receiving unit 80 , a task determining unit 82 , a task execution instruction generating unit 84 , and a unit managing unit 86 .

[0034] The communication unit 70 receives current position information from the multiple traveling units 12 and the multiple gate units 14a. The unit management unit 86 manages the current positions of the multiple traveling units 12 and the multiple gate units 14a based on the current position information transmitted from the multiple traveling units 12 and the multiple gate units 14a.

[0035] 6, each element described as a functional block performing various processes can be configured in hardware as a circuit block, memory, or other LSI, and in software as a program loaded into memory, etc. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination thereof, and are not limited to any one of them.

[0036] In the embodiment, the gate unit 14a is placed at the entrance of the event venue, and visitors enter the event venue by passing through the opening 8 of the gate unit 14a. By arranging multiple gate units 14a in a line, a venue entrance with multiple entrance gates can be formed. The gate unit 14a in the embodiment can be arranged in any position, which contributes to flexible design of the event venue.

[0037] 7 shows a flowchart of the process in the server device 6. The construction company of the event venue specifies the installation positions of the gates in the event venue and the number of gates to be installed, and the gate position receiving unit 80 receives installation position information indicating the installation positions of the gates and number information indicating the number of gates (S10). The task determination unit 82 determines a task in which the traveling unit 12 tows the gate unit 14a to the position specified by the construction company (S12). At this time, the gate unit 14a may be placed in any location unrelated to the event venue.

[0038] The unit management unit 86 identifies the traveling units 12 that are not assigned a task among the traveling units 12 that exist around the gate unit 14a (S14). If the installation of multiple gates is specified, the unit management unit 86 identifies the multiple traveling units 12 that are not assigned a task. The unit management unit 86 notifies the task execution instruction generation unit 84 of the traveling unit ID of the identified traveling unit 12 and the current position information of the gate unit 14a. The task execution instruction generation unit 84 generates a task execution instruction to move to the position of the gate unit 14a, connect with the gate unit 14a, and tow it to the installation position of the gate (S16). The task execution instruction generation unit 84 transmits a task execution instruction including the current position information of the gate unit 14a to be moved and the installation position information of the gate from the communication unit 70 to the traveling unit 12 of the notified traveling unit ID (S18).

[0039] In the traveling unit 12 having the traveling unit ID, the communication unit 32 receives the task execution instruction. Based on the task execution instruction, the processing device 30 moves the traveling unit 12 to the position of the gate unit 14a, connects it to the gate unit 14a, and then travels it to the installation position of the gate. The specific operation will be described below.

[0040] Based on the task execution instruction, the processing device 30 derives a driving route toward the destination (the current position of the gate unit 14a) included in the task execution instruction, using the map information stored in the map storage unit 38 and the current position information of the traveling unit 12 supplied from the position information acquisition unit 28. During traveling to the destination, the processing device 30 determines the traveling direction and traveling speed along the traveling route based on the detection data by the object detection sensor 24 so as to avoid collision with surrounding objects, and controls the driving of the driving device 34.

[0041] When the traveling unit 12 moves to the position of the gate unit 14a, the processing device 30, in a state in which the traveling unit 12 and the gate unit 14a are close to each other, controls the drive of the wheels 20 to connect the coupling device 26 to the coupled part 48, and activates the locking mechanism to couple the coupling device 26 to the coupled part 48. When the coupling device 26 is coupled to the coupled part 48, it sends a signal to the processing device 30 indicating completion of coupling.

[0042] In the gate unit 14a, when the connected part 48 is connected to the connecting device 26, the connected part 48 sends a signal indicating completion of connection to the processing device 52. When the processing device 52 receives the signal indicating completion of connection from the connected part 48, it moves the leg 46 backward to move it away from the ground.

[0043] The processing device 30 of the traveling unit 12 uses the map information stored in the map storage unit 38 and the current position information of the traveling unit 12 supplied from the position information acquisition unit 28 to derive a traveling route toward the gate installation position included in the task execution instruction. The processing device 30 controls the driving of the drive device 34 so that the traveling unit 12 travels along the traveling route. When the traveling unit 12 tows the gate unit 14a to the gate installation position specified by the installation company, the processing device 30 notifies the gate unit 14a that it has arrived at the gate installation position. In response to this notification, the processing device 52 of the gate unit 14a causes the legs 46 to touch the ground.

[0044] Thereafter, the processing device 30 releases the locking mechanism that couples the coupling device 26 and the coupled part 48, and separates the gate unit 14a. When the processing device 30 completes the task according to the task execution instruction transmitted from the server device 6, it notifies the server device 6 of the task completion. In response to this notification, the unit management section 86 in the server device 6 manages the traveling unit 12 as a traveling unit to which no task has been assigned.

[0045] In this manner, the gate unit 14a is placed at a position designated by the installer of the event venue. The legs 46, which are grounded while separated from the traveling unit 12, limit the movement of the gate unit 14a. The gate unit 14a functions as an entrance gate at the event venue, and users enter the event venue by passing through the opening 8.

[0046] The human detection sensor 56 detects the presence of a user passing through the opening 8. For example, the human detection sensor 56 may be an image sensor that acquires an image of the opening 8. The human detection sensor 56 may also be a human detection sensor that uses infrared rays, ultrasonic waves, visible light, or the like. The human detection sensor 56 supplies the acquired sensor information to the processing device 52.

[0047] The processing device 52 receives the sensor information and, upon detecting the presence of a user at the opening 8, activates the providing unit 62. The providing unit 62 provides a predetermined service to the user passing through the opening 8. The providing unit 62 may provide the predetermined service on the condition that the traveling unit 12 is detached from the cart unit 14.

[0048] The providing unit 62 may provide a service of non-contact measurement of the body temperature of a user passing through the opening 8. If the measured body temperature is higher than a set temperature, the providing unit 62 may output an audio alarm to restrict the entry of the user. The providing unit 62 may also provide a service of spraying a disinfectant to a user passing through the opening 8.

[0049] In an event venue where face authentication of a user is required for entry, the providing unit 62 may have a face authentication function and provide an identity verification service that determines whether the electronic ticket purchaser and the attendee are the same. If the identity verification service determines that the electronic ticket purchaser and the attendee are the same, the user will be able to enter the event venue without a ticket. The providing unit 62 may have a metal detection function and provide a monitoring service that prohibits the bringing in of dangerous objects, etc.

[0050] Thus, in the mobile body system 1 of the embodiment, the gate unit 14a is used as an entrance gate to an event venue. The gate unit 14a may be placed not only at the event venue but also at the entrance of a shopping mall or a building and used as a temporary entrance gate.

[0051] The present invention has been described above based on several embodiments. These embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each processing process, and that such modifications are also within the scope of the present invention. In the embodiments, the server device 6 includes the processing device 72, but in a modification, the function of the processing device 72 in the server device 6 may be provided in the traveling unit 12.

[0052] In a modified example, the providing unit 62 may provide a mist shower service that sprays mist as a measure against heat stroke. The providing unit 62 may also have an air purification function and provide an air purification service. The providing unit 62 may also have a speaker function and the gate unit 14a may be used as a speaker in the event venue. [Explanation of symbols]

[0053] DESCRIPTION OF THE REFERENCE NUMERALS 1 mobile body system, 6 server device, 8 opening, 10 mobile body, 12 traveling unit, 14 trolley unit, 14a gate unit, 30 processing device, 34 driving device, 52 processing device, 56 human detection sensor, 62 providing unit, 72 processing device, 80 gate position receiving unit, 82 task determination unit, 84 task execution instruction generating unit, 86 unit management unit.

Claims

[Claim 1] A mobile body system comprising: a plurality of traveling units having an autonomous traveling function; a plurality of gate units connectable to the traveling units and having an opening through which a user can pass; and a server device that manages current positions of the plurality of traveling units and the plurality of gate units based on current position information transmitted from the plurality of traveling units and the plurality of gate units, The server device includes: The running unit has a function of managing a state of whether or not the running unit is executing a task, a gate position receiving unit that receives installation position information indicating the installation positions of the gates and number information indicating the number of gates; a task determination unit that determines a task for the traveling unit to tow the gate unit to an installation position indicated by the installation position information; a unit management unit that identifies the running units to which no task is assigned, the number of which is equal to the number of gates; a task execution instruction generation unit that generates an execution instruction for a task of moving to the position of the gate unit that is the object of movement, connecting to the gate unit, and towing the gate to an installation position, and transmits the generated execution instruction for the task to the traveling unit specified by the unit management unit; The traveling unit includes: a function of moving to the position of the gate unit to be moved based on an instruction to execute a task, connecting to the gate unit, towing the connected gate unit to a designated gate installation position, notifying the gate unit that it has arrived at the gate installation position, detaching the gate unit, and notifying the server device of the completion of the task; The gate unit includes: A leg portion that moves toward and contacts the ground to limit the movement of the gate unit; a processing device that retracts the legs and separates them from the ground when the traveling unit is connected to the gate unit; a providing unit that provides a predetermined service to a user passing through the opening, When the processing device is notified that the gate has arrived at the installation position, the processing device causes the legs to land on the ground, In the server device, when the unit management unit receives a notification of completion of the task from the running unit, the unit management unit manages the running unit as a running unit to which no task is assigned. A mobile system comprising:

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