Drive unit

Abstract

To provide a drive unit that is able to transmit a current state or a traveling direction.SOLUTION: A drive unit freely connected to a carriage 3 capable of storing a cargo and capable of autonomously traveling, includes: an illumination unit provided in an annular shape so as to follow a shape of a drive wheel and capable of emitting light of a predetermined wavelength band; and a processor configured to acquire a detection result of detecting a state of the drive unit and to control a light emission pattern of the illumination unit, based on the detection result.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a drive unit. [Background technology]

[0002] Patent Document 1 discloses a technology that provides a loading section that is detachable from a leading section having front wheels and a trailing section having rear wheels in a direction intersecting the traveling direction of the vehicle and that is connectable to the leading section or the trailing section. According to this technology, cargo loaded on the vehicle can be easily transferred by switching the loading section. [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] Incidentally, in vehicles such as those described in Patent Document 1, in which the drive units at the front and rear, etc., can be connected to the loading section, the drive units may be able to run independently and may move close to people, so technology is needed to recognize the current state or direction of travel of the drive units, but this has not been taken into consideration at all.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a drive unit capable of transmitting a current state or a traveling direction. [Means for solving the problem]

[0006] The drive unit according to the present disclosure is a drive unit capable of autonomous travel that can be freely connected to a cart capable of accommodating luggage, and includes an illumination unit that is arranged in a circular ring shape to follow the shape of the drive wheels and is capable of emitting light in a predetermined wavelength band, and a processor configured to obtain a detection result that detects the state of the drive unit and control the light emission pattern of the illumination unit based on the detection result. Effect of the Invention

[0007] According to the present disclosure, an effect of being able to recognize a current state or a traveling direction is achieved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of a delivery unit according to one embodiment. [Diagram 2] FIG. 2 is a block diagram showing a functional configuration of the drive unit according to the embodiment. [Diagram 3] FIG. 3 is a block diagram illustrating a functional configuration of the cart according to one embodiment. [Figure 4] FIG. 4 is a flowchart showing an outline of the process executed by the drive unit according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a drive unit, a cart, and a delivery unit according to embodiments of the present disclosure will be described with reference to the drawings. Note that the present disclosure is not limited to the following embodiments. In addition, in the following description, the same parts are denoted by the same reference numerals.

[0010] [Outline of delivery unit configuration] 1 is a diagram illustrating a schematic configuration of a delivery unit according to an embodiment. The delivery unit 1 shown in FIG.

[0011] In the following, when explaining the arrangement of each component of the delivery unit 1, the front-rear direction, left-right direction, and up-down direction are used. The front-rear direction is the longitudinal direction of the trolley 3. The left-right direction is the lateral direction of the trolley 3 that is perpendicular to the longitudinal direction of the trolley 3. The up-down direction is the direction perpendicular to the longitudinal and lateral directions of the trolley 3, and coincides with the height direction of the trolley 3. When the delivery unit 1 is placed horizontally, the front-rear direction and left-right direction are horizontal directions, and the up-down direction is vertical directions.

[0012] As shown in Fig. 1, the drive unit 2 is substantially cylindrical, and drive wheels 20 are driven by driving force supplied from a drive mechanism such as a motor. The drive unit 2 also travels autonomously based on detection results from various sensors, which will be described later. The drive unit 2 is also freely connectable to a cart 3, and connects to the cart 3 to tow the cart 3. The drive unit 2 connects to the cart 3 specified by the server according to instruction information, task information, and a travel route output from a server (not shown), and tows and moves the connected cart 3 to a location specified by the server.

[0013] As shown in FIG. 1, the cart 3 includes a main body 30 having a substantially rectangular parallelepiped shape and a sorting mechanism 31. The main body 30 of the cart 3 can be connected to a drive unit 2, and is moved by being towed by the drive unit 2. The main body 30 has a space D1 capable of accommodating luggage 100, and a rack 41 or chest accommodating a plurality of luggage 100 is accommodated in the space D1. The sorting mechanism 31 also has a delivery port 311 having an openable / closable shutter 311a. The sorting mechanism 31 accepts luggage 100 from a user or a small logistics mobility such as a micro-palette through the delivery port 311. Furthermore, the sorting mechanism 31 transports the cargo 100 received at the delivery port 311 in three axial directions (front-rear, left-right, and up-down) relative to the surface on which the main body 30 is placed, and transports it to a predetermined location in the space D1 or to a position in a predetermined rack 41. There are multiple types of carts 3, each with a different function (e.g., transportation function, mobile store function) and load capacity.

[0014] In the delivery unit 1 configured in this manner, the drive unit 2 connects to the dolly 3 designated by a server (not shown) and tows and moves the connected dolly 3 to the designated location. After that, when the server (not shown) inputs instruction information to tow another dolly 3 to the drive unit 2 after the delivery unit 1 arrives at the designated location, the drive unit 2 disconnects from the dolly 3 and moves to the designated location.

[0015] [Functional configuration of the drive unit] Next, a description will be given of the functional configuration of the drive unit 2. FIG.

[0016] The drive unit 2 shown in FIG. 2 includes a drive section 21, a sensor group 22, an illumination section 23, a battery 24, a connection section 25, a communication section 26, a memory section 27, a display section 28, and an ECU (Electronic Control Unit) 29.

[0017] The drive section 21 is configured using a motor, gears, etc. Under the control of the ECU 29, the drive section 21 supplies driving force to the drive wheels 20 (see FIG. 2) of the drive unit 2 based on the power supplied from the battery 24.

[0018] The sensor group 22 is configured using a sensor for realizing automatic driving, an imaging device for imaging the surroundings including the traveling direction of the drive unit 2, a GPS (Global Positioning System) sensor for detecting the position information of the drive unit 2, and a sensor for detecting the remaining amount of the battery 24. Specifically, the sensor group 22 is configured using a 3D-LiDAR, a millimeter wave sensor, an infrared sensor, a vehicle speed sensor, an angular velocity, a GPS sensor, a gyro sensor, an acceleration sensor, and the like. Furthermore, the sensor group 22 is configured using an imaging device including an optical system for imaging the surroundings of the drive unit 2, and a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor that generates image data by receiving a subject image formed by the optical system. Furthermore, the sensor group 22 is configured using a tester and a temperature sensor that detect the remaining amount (SOC), temperature, SOH (State of Health), voltage value, and current value of the battery 24. The sensor group 22 outputs various detection results to the ECU 29.

[0019] The illumination unit 23 is provided in an annular shape so as to follow the shape of the left and right drive wheels 20 of the drive unit 2 (see FIG. 2, for example). The illumination unit 23 emits light in a predetermined wavelength band under the control of the ECU 29. Furthermore, the illumination unit 23 can emit light in different wavelength bands for each predetermined region along the annular shape so as to follow the shape of the left and right drive wheels 20 of the drive unit 2 under the control of the ECU 29. The illumination unit 23 is configured using an LED (Light Emitting Diode) light source. The illumination unit 23 functions as one or more of a lighting fixture, a turn signal, and a hazard lamp by emitting light in a predetermined wavelength band, for example, any one of white, red, blue, green, and orange, under the control of the ECU 29.

[0020] Battery 24 is configured using a rechargeable secondary battery such as a nickel-metal hydride battery or a lithium-ion battery. Battery 24 stores high-voltage DC power for driving drive unit 21. Battery 24 can be electrically connected to a charging device (not shown) via a charging port (not shown), and is charged with external power supplied from the charging device.

[0021] The coupling unit 25 is connected to the bogie 3 under the control of the ECU 29. Specifically, the coupling unit 25 is coupled to the bogie 3 by connecting to a connection unit provided on the bogie 3, which will be described later. The coupling unit 25 is configured using, for example, a single-axis coupler or a dual-axis coupler. Note that the coupling unit 25 may be configured using, for example, an electromagnet, etc., as long as it can be connected to the bogie 3.

[0022] The communication unit 26 transmits various data and the like to the server through the network NW under the control of the ECU 29, and receives various data from the server. For example, under the control of the ECU 29, the communication unit 26 obtains instruction information including towing information for towing the specified dolly 3 from the server, the stopping position of the dolly 3, and information on the towing destination of the dolly 3, and outputs the obtained instruction information to the ECU 29. The communication unit 26 is configured using a communication module or the like capable of transmitting and receiving various information.

[0023] The storage unit 27 stores various information related to the drive unit 2. The storage unit 27 stores CAN data of the drive unit 2 input from the ECU 29, various programs executed by the ECU 29, and the like. The storage unit 27 is configured using a dynamic random access memory (DRAM), a read only memory (ROM), a flash memory, a hard disk drive (HDD), a solid state drive (SSD), and the like. The storage unit 27 also has a program storage unit 271 executed by the drive unit 2, and a drive unit information storage unit 272 that stores drive unit information for identifying the drive unit 2. Here, the drive unit information includes identification information (e.g., a unit ID) for identifying the drive unit 2, the vehicle model of the drive unit 2, the remaining battery power, the towing load capacity, and the like.

[0024] The display unit 28 displays images, videos, and text information under the control of the ECU 29. The display unit 28 is configured using a display such as a liquid crystal display or an organic EL (Electro Luminescence) display.

[0025] The ECU 29 is configured using a memory and a processor having hardware such as an FPGA (Field-Programmable Gate Array) or a CPU (Central Processing Unit). The ECU 29 controls each part of the drive unit 2. For example, the ECU 29 controls the drive unit 21 to travel autonomously toward a designated location according to instruction information input from a server (not shown) using the detection result of the sensor group 22, etc., to drive the drive unit 2. The ECU 29 also controls the light emission pattern of the illumination unit 23 according to the state of the drive unit 2. Specifically, the ECU 29 controls the light emission pattern of the illumination unit 23 according to the state of the drive unit 2 detected by the sensor group 22. For example, the ECU 29 causes the illumination unit 23 to emit light of different wavelength bands for each light-emitting area capable of emitting light, based on the detection result detected by the gyro sensor of the sensor group 22. In one embodiment, the ECU 29 functions as a processor.

[0026] [Functional configuration of the trolley] Next, a description will be given of the functional configuration of the cart 3. FIG 3 is a block diagram showing the functional configuration of the cart 3.

[0027] The cart 3 shown in FIG. 3 includes a sorting mechanism 31, an acquisition unit 32, a connection unit 33, a communication unit , a sensor group 35, a battery , a memory unit 37, and an ECU .

[0028] The sorting mechanism 31 is movable in three axial directions relative to the surface on which the main body 30 is placed, and receives the luggage 100 from a user or a small logistics mobility vehicle through a delivery port 311 under the control of the ECU 38. Furthermore, the sorting mechanism 31 transports the received luggage 100 to a rack 41 (described later) or the like housed in the space D1 of the main body 30.

[0029] The acquisition unit 32 acquires the package information attached to the package 100, and outputs the acquired package information to the ECU 38. Here, the package information is a one-dimensional code, a two-dimensional code (e.g., QR Code (registered trademark)), or an IC tag that stores information such as the sender, the delivery address, and the recipient. The acquisition unit 32 is configured using a reader capable of reading the one-dimensional code, the two-dimensional code, or the IC tag, such as an imaging device or an IC tag reader.

[0030] The connection portion 33 is connectable to the coupling portion 25 of the drive unit 2 , and is connected to the coupling portion 25 of the drive unit 2 under the control of the ECU 38 .

[0031] The communication unit 34 transmits various data, such as baggage information and location information, to the server through the network NW under the control of the ECU 38, and receives various data from the server. For example, the communication unit 34 acquires baggage information of the baggage 100 input from the server under the control of the ECU 38, and outputs the acquired baggage information to the ECU 38. The communication unit 34 is configured using a communication module or the like capable of transmitting and receiving various information.

[0032] The sensor group 35 is configured using various sensors for realizing traveling when towed by the drive unit 2, an imaging device for imaging the surroundings including the traveling direction of the dolly 3, a GPS sensor for detecting position information of the dolly 3, and a sensor for detecting the remaining charge of the battery 36. Specifically, the sensor group 35 is configured using a 3D-LiDAR, a millimeter wave sensor, an infrared sensor, a vehicle speed sensor, an angular velocity sensor, a GPS sensor, a gyro sensor, an acceleration sensor, and the like.

[0033] The battery 36 is configured using a fuel cell and a rechargeable secondary battery such as a nickel-metal hydride battery or a lithium-ion battery. The battery 36 outputs power for driving the cart 3. For example, the battery 36 generates power using hydrogen supplied from an FC tank (not shown).

[0034] The storage unit 37 stores various information related to the trolley 3. The storage unit 37 stores the CAN data of the trolley 3 input from the ECU 38, various programs executed by the ECU 38, and the like. The storage unit 37 is configured using a DRAM, a ROM, a Flash memory, a HDD, an SSD, and the like. The storage unit 37 also has a program storage unit 371 executed by the trolley 3, and a trolley information storage unit 372 that stores trolley information for identifying the trolley 3. Here, the trolley information includes identification information for identifying the trolley 3 (e.g., a trolley ID), the type of the trolley 3, the load capacity that the trolley 3 can carry, the shape of the trolley 3, and the use of the trolley 3 (e.g., delivery or store), and the like.

[0035] The ECU 38 is configured using a memory and a processor having hardware such as a CPU (Central Processing Unit). The ECU 38 controls each part constituting the bogie 3.

[0036] [Treatment of the drive unit] Next, a description will be given of the processing executed by the drive unit 2. Fig. 4 is a flow chart showing an outline of the processing executed by the drive unit 2.

[0037] 4, the ECU 29 acquires the state of the drive unit 2 (step S101). Specifically, the ECU 29 acquires various detection results including the state of the drive unit 2 detected by the sensor group 22. For example, the ECU 29 acquires the detection result detected by the gyro sensor of the sensor group 22, the speed of the drive unit 2 detected by the vehicle speed sensor, and the position information of the drive unit 2 detected by the GPS sensor. Furthermore, the ECU 29 acquires the state of the coupling part 25, for example, whether or not the bogie 3 is coupled, from the coupling part 25.

[0038] Next, the ECU 29 controls the light emission pattern of the illumination unit 23 according to the state of the drive unit 2 (step S102), and ends this process. In this case, the ECU 29 controls the light emission pattern of the illumination unit 23 according to the state of the drive unit 2 detected by the sensor group 22. For example, the ECU 29 causes the illumination unit 23 to emit light in different wavelength bands for each light-emitting area that can emit light, based on the detection result detected by the gyro sensor of the sensor group 22. Specifically, the ECU 29 controls the light emission pattern so that the upper half of the illumination unit 23 is turned on and the lower half is turned off, based on the detection result detected by the gyro sensor of the sensor group 22. Of course, the ECU 29 may control the light emission pattern so that the upper half of the illumination unit 23 is made to emit red light and the lower half is made to emit blue light, based on the detection result detected by the gyro sensor of the sensor group 22. Note that the ECU 29 divides the light-emitting area of ​​the illumination unit 23 into upper and lower areas, but is not limited to this, and the light-emitting area can be changed as appropriate.

[0039] Furthermore, the ECU 29 may control the wavelength band of light emitted by the illumination unit 23 based on the detection result detected by the speed sensor of the sensor group 22. For example, the ECU 29 may control the wavelength band of light emitted by the illumination unit 23 so that the faster the speed detected by the speed sensor becomes, the more blue the light becomes, and the more red the light becomes. This allows a user or the like in the vicinity of the drive unit 2 to recognize the moving state of the drive unit 2.

[0040] Furthermore, the ECU 29 may control the light emission pattern of the illumination unit 23 according to the mode of the drive unit 2. For example, when the drive unit 2 is towing the dolly 3, the ECU 29 may cause the illumination unit 23 to emit light in red to indicate that the dolly 3 is being towed. Furthermore, when only the drive unit 2 is traveling autonomously, the ECU 29 may cause the illumination unit 23 to emit light in blue to indicate that the drive unit 2 is moving to a destination. This allows a user or the like in the vicinity of the drive unit 2 to recognize the mode state of the drive unit 2.

[0041] Furthermore, the ECU 29 may control the light emission pattern so that the lighting unit 23 is used as a street light when the drive unit 2 is stopped. In this case, the ECU 29 may control the light emitted by the lighting unit 23 to be white light or light in a warm wavelength band (for example, orange), etc. This allows the drive unit 2 to function as a street light.

[0042] Furthermore, the ECU 29 may control to change the light emission pattern of the illumination unit 23 when starting up or shutting down the drive unit 2. For example, the ECU 29 may control the light emission pattern to make the illumination unit 23 blink blue at regular intervals when starting up the drive unit 2, and control the light emission pattern to make the illumination unit 23 blink red at regular intervals when shutting down the drive unit 2.

[0043] Furthermore, the ECU 29 may control the light emission pattern and the wavelength band of light emitted by the illumination unit 23 based on position information detected by the GPS sensor of the sensor group 22. This allows a user or the like in the vicinity of the drive unit 2 to estimate the current location based on the light emission pattern and color of the emitted light of the illumination unit 23.

[0044] Furthermore, the ECU 29 may control the light emission pattern and the wavelength band of light emitted by the illumination unit 23 based on the current time. This allows a user or the like in the vicinity of the drive unit 2 to estimate the current location based on the light emission pattern and the color of the emitted light of the illumination unit 23.

[0045] According to the embodiment described above, the ECU 29 obtains the detection result of detecting the state of the drive unit 2, and controls the light emission pattern of the illumination section 23 based on this detection result, so that the current state or traveling direction of the drive unit 2 can be transmitted.

[0046] (Other embodiments) In addition, in one embodiment, the above-mentioned "unit" can be read as a "circuit" etc. For example, a control unit can be read as a control circuit.

[0047] In addition, the program to be executed by the drive unit in one embodiment is provided as file data in an installable or executable format recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), a USB medium, or a flash memory.

[0048] Furthermore, the program executed by the drive unit according to one embodiment may be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.

[0049] In the description of the flowcharts in this specification, the order of processing between steps is clearly indicated using expressions such as "first," "then," and "continue," but the order of processing required to implement this embodiment is not uniquely determined by these expressions. In other words, the order of processing in the flowcharts described in this specification can be changed as long as there is no contradiction.

[0050] Further advantages and modifications may readily occur to those skilled in the art. The invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Thus, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0051] 1 Delivery Unit 2 Drive unit 3 Cart 20 Drive wheels 21 Drive unit 22 Sensors 23 Lighting Department 24 Batteries 25 Connecting part 26 Communications Department 27 Memory section 28 Display section 29 ECU 271 Program Memory Unit 272 Drive unit information storage unit NW Network

Claims

[Claim 1] A drive unit that can be connected to a cart capable of accommodating luggage and can travel autonomously, an illumination unit that is provided in an annular shape along the shape of the drive wheel and is capable of emitting light in a predetermined wavelength band; A processor configured to obtain a detection result of detecting a state of the driving unit and to control a light emission pattern of the illumination unit based on the detection result; Equipped with The processor, when the drive unit is stopped, a light emission pattern of the lighting unit is controlled based on the position information detected by the sensor group and the current time so that the lighting unit can be used as a street light; Drive unit.

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