Mobile Systems

Abstract

To provide a technique of stopping a mobile body in a right position and providing a service.SOLUTION: A mobile body system controls a mobile body 10 with a wagon unit 14 capable of being equipped with a device according to a type of a service. The mobile body system includes: a request information acquisition unit for acquiring request information including the type of a service and a provision area; an environmental information acquisition unit for acquiring environmental information in the service provision area; an arrangement determination unit for determining an arrangement of the mobile body in the provision area on the basis of the type of the service and the environmental information; and a transmission control unit for transmitting the determined arrangement information to the mobile body.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology using a mobile object that can run. [Background technology]

[0002] Patent Document 1 discloses a vehicle that includes a front section with front wheels, a rear section with rear wheels, and a loading section that is connected between the front and rear sections to integrate the front and rear sections. This loading section is detachable from the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-131039 Summary of the Invention [Problem to be solved by the invention]

[0004] When a mobile object moves to an area desired by a user to provide a service to the user, it is preferable that the mobile object be stopped at an appropriate position.

[0005] An object of the present invention is to provide a technology that can stop a mobile object at an appropriate position to provide a service. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, one aspect of the present invention provides a mobile body system for controlling a mobile body having a carriage unit capable of mounting devices according to the type of service and a traveling unit for towing the carriage unit, the mobile body system including: a request information acquisition unit that acquires request information including the type of service, the service provision area, and the date and time of service provision; an environmental information acquisition unit that acquires environmental information about the service provision area; an arrangement determination unit that determines an arrangement that determines the position and orientation of the mobile body in the provision area based on the type of service and the acquired environmental information; and a transmission control unit that transmits the determined arrangement information to the mobile body. The environmental information includes an image of the provision area transmitted from the traveling unit that has arrived at the provision area. The arrangement determination unit determines the arrangement of the carriage unit based on the degree of congestion in the provision area according to the type of service. In response to the request, the placement determination unit determines which of the plurality of cart units to move to the provision area based on the position information of the cart unit and the type of device mounted on the cart unit. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a technology that can stop a moving object at an appropriate position to provide a service. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a perspective view of a moving body according to the embodiment; [Figure 2] FIG. 2 is a perspective view of a moving body in a separated state. [Figure 3] FIG. 2 is a diagram illustrating the configuration of a moving body. [Figure 4] FIG. 1 is a diagram illustrating an outline of the configuration of a mobile system. [Figure 5] FIG. 1 is a diagram illustrating a functional configuration of a mobile system. [Figure 6] FIG. 2 is a diagram illustrating a functional configuration of a server device. [Figure 7] 10 is a flowchart of a process for determining the placement of a carriage unit according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] FIG. 1 shows a perspective view of a mobile body 10 according to an embodiment. FIG. 2 shows a perspective view of the mobile body 10 in a separated state. The mobile body 10 comprises a traveling unit 12 and a carriage unit 14 on which an object can be placed. The traveling unit 12 has an autonomous traveling function, whereas the carriage unit 14 does not. The mobile body 10 may have a total length of approximately 2 meters to 3 meters, a total width of approximately 50 cm to 1.8 meters, and a total height of approximately 1.5 meters to 2.5 meters.

[0010] 2, the traveling unit 12 can be connected to and separated from the bogie unit 14. The traveling unit 12 and the bogie unit 14 are connected to form the mobile body 10. Note that the traveling unit 12 or the bogie unit 14 alone may also be referred to as the mobile body.

[0011] Since the traveling unit 12 and the bogie unit 14 are configured to be connectable and disconnectable, once the traveling unit 12 has towed the bogie unit 14 to a target position, it can detach the bogie unit 14 and execute another task. For example, if the other task is towing another bogie unit 14 to another target position, the traveling unit 12 moves to the position where the other bogie unit 14 is located, connects with the other bogie unit 14, and tows it to the other target position.

[0012] The detached cart unit 14 provides a service at that location. In an embodiment, the cart unit 14 can provide, for example, a store service that sells products. The various services provided by the cart unit 14 will be described later. After providing the service, the cart unit 14 may be coupled to the propulsion unit 12 and towed by the propulsion unit 12 to a specific location. In the mobile body system 1, the combination of the propulsion unit 12 and the cart unit 14 that make up the mobile body 10 is not fixed, and the combination of the propulsion unit 12 and the cart unit 14 may be determined as appropriate by the server device 16.

[0013] The bogie unit 14 includes a main body 40 that forms a storage space. The storage space is defined by a base 40a on which front wheels 42 and rear wheels 44 are provided, a ceiling 40b that faces the base 40a, a front wall 40c, and a rear wall 40d, and is configured as a space that penetrates in the vehicle width direction. The direction of the rotation axes of the pair of front wheels 42 and rear wheels 44 is referred to as the left-right direction or vehicle width direction, and the direction perpendicular to the left-right direction and in which the bogie unit 14 travels is referred to as the front-rear direction.

[0014] The front wall 40c and the rear wall 40d are formed with a plurality of opposing ridges 40e, to which shelves or the like can be attached. For example, by placing shelves on the ridges 40e and placing products on the shelves, the cart unit 14 can function as a mobile store that provides store services. The configurations of the traveling unit 12 and the cart unit 14 will be further described with reference to FIG. 3.

[0015] 3 is a diagram illustrating the configuration of the moving body 10. The traveling unit 12 has wheels 20, a main body 22, a 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 bogie 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 mounting device 56.

[0016] A pair of wheels 20 are provided on the left and right sides and are rotatably supported on the main body 22. Each of the pair of wheels 20 is provided with a drive unit 34, which rotates the wheel 20. The drive unit 34 includes a motor and rotates the wheel 20 in accordance with a drive command generated by the processing device 30. As the pair of wheels 20 rotate independently of each other, the difference in the rotation speed of the pair of wheels 20 allows the traveling unit 12 to turn left and right. In addition to the pair of wheels 20, the main body 22 may be provided with one or more auxiliary wheels (not shown).

[0017] The main body 22 is composed of a body frame and a cover that covers the internal structure. The detection sensor 24 is provided in the main body 22 and detects objects in the traveling direction. The detection sensor 24 may be a camera, millimeter-wave radar, infrared laser, sonic sensor, etc., or a combination thereof. The 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 behind or to the side. The detection sensor 24 supplies the detection results to the processing device 30.

[0018] The coupling device 26 is provided at the rear of the main body 22 and is coupled to the coupled portion 48 of the bogie unit 14 shown in FIG. 2 . When the traveling unit 12 and the bogie unit 14 are close to each other, the processing device 30 controls the drive of the pair of wheels 20 to connect the coupling device 26 to the coupled portion 48 and activates the locking mechanism, thereby coupling the coupling device 26 to the coupled portion 48. When the coupling device 26 is coupled to the coupled portion 48, a signal indicating completion of coupling is sent to the processing device 30. The locking mechanism that couples the coupling device 26 to the coupled portion 48 may have a structure that mechanically couples them, for example, with a hook-shaped hook, or may have a structure that couples them electromagnetically. The processing device 30 releases the locking mechanism to separate the coupling device 26 from the coupled portion 48.

[0019] The power supply device 36 is a rechargeable battery that supplies power to each device mounted on the traveling unit 12. The power supply device 36 may be capable of sending and receiving power to and from a power supply device 50 of the bogie unit 14. The processing device 30 monitors the amount of remaining energy in the power supply device 36.

[0020] The processing device 30, details of which will be described later, controls the autonomous driving of the propulsion unit 12. Based on the detection results of the detection sensor 24 and the position information of the propulsion unit 12, the processing device 30 drives the drive device 34, thereby realizing the autonomous driving of the propulsion unit 12. The communication unit 32 connects to a network and communicates with the cart unit 14 and / or a server device (not shown). Note that if 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.

[0021] The main body 40 of the cart unit 14 has a rectangular frame as shown in Fig. 2, and defines a storage space for placing an object. When the cart unit 14 is separated from the traveling unit 12, the legs 46 of the cart unit 14 contact the ground, making it immovable and fixing the position of the cart unit 14. Note that opening and closing doors may be provided on both sides of the storage space of the main body 40 to partition the space.

[0022] The storage space inside the main body 40 can accommodate various devices depending on the type of service. For example, by storing a refrigerator in the main body 40, the mobile object 10 can function as a mobile refrigerator. Also, by storing shelves loaded with products in the main body 40, the mobile object 10 can function as a mobile store. Also, by providing display devices in the openings on both sides of the main body 40, the mobile object 10 can function as a moving display. Devices depending on the type of service include mounted devices 56, but are not limited to electronic devices and may simply be tables or chairs.

[0023] A pair of front wheels 42 and a pair of rear wheels 44 are rotatably supported on 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. The coupled part 48 has a function of notifying the coupling device 26 of its position, and may output a position signal such as infrared light. When the coupling device 26 and the coupled part 48 are coupled, the coupled part 48 may send a signal indicating completion of coupling to the processing device 52.

[0024] A pair of legs 46 are provided at the front of the main body 40 and are configured to be able to move forward and backward relative to the ground. When the legs 46 move forward and touch the ground, they function as stoppers that limit the movement of the carriage unit 14. Therefore, when the carriage unit 14 is detached from the traveling unit 12, the legs 46 move forward and touch the ground, serving as stoppers. On the other hand, when the carriage unit 14 is coupled to the traveling unit 12, the legs 46 move backward and are no longer in contact with the ground. For example, when the processing device 52 receives a signal from the coupled part 48 indicating that coupling is complete, the legs 46 may be moved backward and away from the ground.

[0025] The power supply unit 50 uses at least one of hydrogen, gasoline, electricity, etc. as an energy source and supplies power to the onboard equipment 56 and other devices mounted on the bogie unit 14. Figure 2 shows three hydrogen tanks inserted into three slots in the front of the main body 40. The processing device 52 monitors the amount of remaining energy in the power supply unit 50.

[0026] The processing device 52 controls the legs 46 and the mounted devices 56. The communication unit 54 connects to a network and communicates with the traveling unit 12 and a server device (not shown). The mounted devices 56 are provided in the accommodation space of the main body 40 and include, for example, a refrigerator, a display, a speaker, an air conditioner, etc. Various devices can be mounted in the accommodation space of the main body 40 depending on the type of service.

[0027] FIG. 4 is a diagram showing an outline of the configuration of the mobile body system 1. The mobile body system 1 includes a traveling unit 12, a bogie unit 14, a server device 16, and a user terminal device 18. The traveling unit 12 and the bogie unit 14 each have wireless communication capabilities and are communicatively connected to the server device 16 via a wireless station 4, which is a base station, and over a network 2 such as the Internet. The traveling unit 12 and the bogie unit 14 can communicate over the network 2, but when they are linked, they may also be able to communicate directly without going through the network 2. The user terminal device 18 is communicatively connected to the server device 16 over the network 2.

[0028] The user terminal device 18 is used by a user to reserve the use of the cart unit 14. The user terminal device 18 transmits request information for reserving the cart unit 14 to the server device 16. The user terminal device 18 may have a wireless communication function.

[0029] The server device 16 manages the positions and status of the multiple propulsion units 12 and bogie units 14. The server device 16 determines the operation of each propulsion unit 12 based on the positions and status of the multiple propulsion units 12 and bogie units 14. The server device 16 accepts requests from the user terminal device 18 and instructs the propulsion units 12 and bogie units 14 to dispatch in accordance with the request. The propulsion units 12 move based on the operation instructions sent from the server device 16, and tow the bogie units 14 if necessary.

[0030] 5 is a diagram showing the functional configuration of the mobile body system 1. The detection sensor 24 of the traveling unit 12 sends the detection results of objects located around the traveling unit 12 to the processing device 30. The coupling device 26 locks onto the coupled part 48 as the traveling unit 12 moves toward the coupled part 48. The coupling device 26 unlocks the coupled part 48 in response to an instruction from the processing device 30. The coupling device 26 sends information indicating whether it is in a locked state or an unlocked state to the processing device 30.

[0031] The position information acquisition unit 28 acquires current position information of the propulsion unit 12 using a satellite positioning system and supplies the acquired 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 16. It is preferable that the current position information be transmitted periodically.

[0032] The drive device 34 operates in accordance with instructions from the processing device 30. The drive device 34 can set output in multiple stages, and the number of rotations per hour of the wheels 20 can be set. The drive device 34 functions as a driving mechanism that drives the propulsion unit 12. The power supply device 36 sends the amount of remaining energy to the processing device 30. The amount of remaining energy may be an absolute value, or may be a ratio of the current charge amount to a full charge.

[0033] The processing device 30 receives information indicating the destination (waypoint) transmitted from the server device 16, and derives a target driving route based on the destination information, pre-stored map information, and current position information acquired from the position information acquisition unit 28. Using the map information and current position information, the processing device 30 controls the drive device 34 to travel along the target driving route, causing the traveling unit 12 to travel to the destination.

[0034] While traveling to the destination, the processing device 30 acquires information about objects present around the traveling unit 12 based on the detection results of the detection sensor 24. The target objects include static objects that obstruct traveling, such as structures and gutters, and movable objects (moving objects), such as people and other mobile bodies 10. The processing device 30 determines the traveling direction and traveling speed so as to avoid collisions with surrounding objects, and drives the drive device 34.

[0035] The power supply device 50 of the bogie unit 14 sends the amount of remaining energy to the processing device 52. The position information acquisition unit 58 acquires position information of the bogie unit 14 using a satellite positioning system and supplies the acquired position information to the processing device 52. The position information acquisition unit 58 may be a GPS receiver. The communication unit 54 transmits bogie information including the position information of the bogie unit 14 and the equipment mounted thereon to the server device 16, together with identification information (bogie unit ID) of the bogie unit 14.

[0036] The mounting device 56 operates in response to user operation or instructions from the processing device 52. The mounting device 56 differs depending on the type of service it can provide. The types of services provided by the cart unit 14 include a service that provides a place to eat, a service that provides a place to pray, a place to rest, or a place to work, a service that provides a kitchen, a service that provides a space to sell goods, and a service that displays advertisements. For a service that provides a place to eat, a table and chairs are mounted on the cart unit 14. For a service that provides a place to pray, a place to rest, or a place to work, a container that forms an interior space is mounted on the cart unit 14. The container is equipped with facilities appropriate for the service, such as a desk, sofa, and bed. For a service that provides a space to sell goods, a refrigerator and shelves are mounted on the cart unit 14. For a service that displays advertisements, display devices are mounted on both sides of the opening of the cart unit 14.

[0037] A user can temporarily operate a restaurant such as a cafeteria by using the kitchen mounted on the cart unit 14. A user can enter the container room mounted on the cart unit 14 and work therein. A user can sell fresh food and the like by displaying it in the refrigerator mounted on the cart unit 14. In this way, by mounting equipment according to the type of service on the cart unit 14, the cart unit 14 can provide multiple types of services. The mounting device 56 of the cart unit 14 may be different for each cart unit 14, and may be mounted according to the user's request.

[0038] The processing device 52 acquires the remaining energy amount of the power supply device 50 and the position information of the cart unit 14, and transmits this information to the server device 16 via the communication unit 54. The processing device 52 may also transmit to the server device 16 that the energy amount of the power supply device 50 has fallen below a predetermined value. The processing device 52 may control the on-board device 56, and may, for example, activate an air conditioner device, which is the on-board device 56, when the user starts using the device.

[0039] FIG. 6 is a diagram showing the functional configuration of server device 16. In FIG. 6, each element described as a functional block performing various processes can be configured in hardware using circuit blocks, memory, or other LSIs, and in software using programs loaded into memory. Therefore, those skilled in the art will understand that these functional blocks can be implemented in various forms using only hardware, only software, or a combination thereof, and are not limited to any one of these. Server device 16 includes a request information acquisition unit 60, an environment information acquisition unit 62, an allocation determination unit 64, a communication unit 66, and a transmission control unit 68.

[0040] The request information acquisition unit 60 acquires request information including the type of service and the service provision area together with the user ID from the user terminal device 18. The request information requests the use of the cart unit 14. The request information includes information indicating the type of service provided by the cart unit 14, the date and time of service provision, and the service provision area. The user inputs the type of service, the date and time of service provision, and the service provision area into the application program of the user terminal device 18 and transmits it to the server device 16 as request information. The service provision area is predetermined, and the user selects which provision area they wish to use.

[0041] The environmental information acquisition unit 62 acquires environmental information for the service provision area. The service provision area is the area included in the request information, and is the location requested by the user. The coupling device 26 may acquire the environmental information from another server device that stores environmental information, or may acquire the environmental information from the traveling unit 12. The environmental information includes information acquired when a request is accepted, such as weather information and map information, and information acquired when the service is executed, such as captured images.

[0042] The placement determination unit 64 determines the placement of vehicles in the service area based on the type of service included in the request information and the environmental information acquired by the environmental information acquisition unit 62. When a service area such as a square or park is requested, the placement determination unit 64 determines where in that area to park the cart unit 14.

[0043] The placement determination unit 64 determines the optimal placement within the area depending on the type of service. After determining the placement of the cart unit 14, the placement determination unit 64 generates placement information and transmits it to the traveling unit 12. For example, in a service that provides a dining area or a rest area, the placement determination unit 64 analyzes captured images acquired from the traveling unit 12 and determines to place the cart unit 14 in a location with a good view. Whether a location has a good view is determined based on multiple factors such as a good view, proximity to trees, and a location away from toilets. The placement determination unit 64 calculates a score based on multiple factors obtained from the environmental information and determines to place the cart unit 14 in the location with the highest score. This allows the service used by the user using the cart unit 14 to be provided in an appropriate location.

[0044] The placement determination unit 64 determines not only the position of the cart unit 14 but also the orientation of the cart unit 14. For example, when placing the cart unit 14 in a position with a good view, the placement determination unit 64 determines the orientation of the cart unit 14 to provide a good view. The orientation of the cart unit 14 is set so that the left and right directions of the cart unit 14 face the direction with a good view. The placement determination unit 64 selects a direction with a good view, such as a direction with a view of mountains or a direction with a view of trees. Furthermore, in the case of selling goods, the placement determination unit 64 determines that the opening of the cart unit 14 should face a place where many people pass by. Furthermore, in a service that provides a prayer space, the placement determination unit 64 may determine that the front and rear directions of the cart unit 14 should face a holy place.

[0045] If the type of service is merchandise sales, the placement determination unit 64 analyzes the captured image acquired from the traveling unit 12 and determines to place the cart unit 14 in a location where people are crowded. On the other hand, if the type of service is a service that provides a place for prayer, a place for rest, or a place for work, the placement determination unit 64 analyzes the captured image acquired from the traveling unit 12 and determines to place the cart unit 14 in a location where people are not crowded. In other words, the placement determination unit 64 determines the placement of the cart unit 14 based on the degree of crowding of people depending on the type of service. The degree of crowding of people is calculated as the density of people per unit time in a divided region within the area. Services that are placed in locations where people are crowded include merchandise sales and advertising displays, and services that are placed in locations where people are not crowded include providing places for prayer, a place for rest, a place for work, and a place to eat.

[0046] The placement determination unit 64 determines which of the multiple cart units 14 to move to the service area based on the position information of the cart units 14 and the type of mounting device 56. A mounting device 56 corresponding to the type of service may be installed on the cart unit 14 for each request. Also, a mounting device 56 corresponding to the type of service may be installed in advance on the cart unit 14.

[0047] The placement determination unit 64 may determine the equipment to be mounted on the cart unit 14 according to the type of service indicated in the request information. The equipment to be mounted on the cart unit 14 according to the type of service is determined in advance, and data indicating the correspondence between the type of service and the type of equipment is stored in advance.

[0048] When the transmission control unit 68 receives the request, it transmits to the traveling unit 12 information specifying the service area and information indicating which cart unit 14 to tow. The traveling unit 12 moves to the determined position of the cart unit 14, couples with it, and tows the cart unit 14 to the service area. The transmission control unit 68 also transmits the determined location of the cart unit 14 to the user terminal device 18. This allows the user to know the exact location of the cart unit 14.

[0049] When the traveling unit 12 arrives at the provision area, the placement determination unit 64 analyzes the captured image of the provision area and determines the placement of the carriage unit 14. The transmission control unit 68 transmits the placement information determined by the placement determination unit 64 to the traveling unit 12 of the moving object 10. The traveling unit 12 places the carriage unit 14 in accordance with the placement information.

[0050] 7 is a flowchart of the process for determining the placement of the vehicle units 14 according to the embodiment. The request information acquisition unit 60 acquires request information from the user terminal device 18 and accepts the request (S10). The placement determination unit 64 determines which vehicle unit 14 to dispatch based on the type of service and service area indicated in the request information and the vehicle information of the multiple vehicle units 14 (S12).

[0051] The transmission control unit 68 transmits instruction information to the traveling unit 12 to tow the cart unit 14 determined by the placement determination unit 64 to the provision area (S14). The server device 16 monitors whether the traveling unit 12 arrives at the provision area (N in S16), and when the traveling unit 12 arrives at the provision area (Y in S16), the environmental information acquisition unit 62 acquires environmental information of the provision area from the traveling unit 12 (S18).

[0052] The placement determination unit 64 determines the placement of the vehicle unit 14 based on the type of service indicated in the request and environmental information about the service area, and generates placement information (S20). The transmission control unit 68 transmits the placement information of the vehicle unit 14 to the traveling unit 12 (S22). The traveling unit 12 moves to position and orient the vehicle unit 14 in accordance with the received placement information. The transmission control unit 68 transmits the placement of the vehicle unit 14 determined by the placement determination unit 64 to the user terminal device 18. This allows the vehicle unit 14 to be appropriately placed according to the type of service.

[0053] It should be understood by those skilled in the art that the embodiments are merely illustrative and that various modifications are possible in the combination of the components, and that such modifications are also within the scope of the present invention.

[0054] In the embodiment, the arrangement determination unit 64 determines the arrangement of the vehicle units 14 based on the captured image of the provision area transmitted from the traveling unit 12, but this is not limiting. For example, the environmental information acquisition unit 62 may acquire environmental information of the provision area when accepting a request, and the arrangement determination unit 64 may determine the arrangement of the vehicle units 14 based on the acquired environmental information of the provision area. In this embodiment, the captured image and map information of the provision area are stored in advance in the server device 16 or another server device. [Explanation of symbols]

[0055] 1 Mobile body system, 10 Mobile body, 12 Travel unit, 14 Cart unit, 16 Server device, 18 User terminal device, 20 Wheel, 22 Main body, 24 Detection sensor, 26 Coupling device, 28 Position information acquisition unit, 30 Processing device, 32 Communication unit, 34 Drive device, 36 Power supply device, 40 Main body, 40a Base, 40b Ceiling, 40c Front wall, 40d Rear wall, 42 Front wheels, 44 Rear wheels, 46 Legs, 48 Coupled part, 50 Power supply device, 52 Processing device, 54 Communication unit, 56 Mounting device, 58 Position information acquisition unit, 60 Request information acquisition unit, 62 Environmental information acquisition unit, 64 Placement determination unit, 66 Communication unit, 68 Transmission control section.

Claims

[Claim 1] A mobile body system for controlling a mobile body including a carriage unit capable of mounting a device according to a type of service and a traveling unit for towing the carriage unit, a request information acquisition unit that acquires request information including a type of service, a service provision area, and a service provision date and time; an environmental information acquisition unit that acquires environmental information in a service provision area; a placement determination unit that determines a placement of the mobile object in the service area based on the type of service and the acquired environmental information; a transmission control unit that transmits the determined placement information to the mobile unit; the environmental information includes a captured image of the provision area transmitted from the traveling unit that has arrived at the provision area; the placement determination unit determines placement of the cart units based on a degree of congestion of people in a service area according to a type of service; A mobile system characterized in that the placement determination unit determines which of the multiple cart units to move to the service area in response to a request based on the position information of the cart unit and the type of equipment mounted on the cart unit.

Images