Mobile body, storage box for mobile body, and storage system for mobile body

Abstract

Provided is a moving body comprising a travel body and a mounting body that is attachable to and detachable from the travel body, wherein both attachment and detachment of the mounting body are appropriately executed. A moving body 100 comprises: a travel body 200 that can travel in a first direction and is provided with a mounting surface 210 oriented in a second direction facing upward with respect to the first direction; and a mounting body 300 that is configured to be attachable to and detachable from the mounting surface 210, the mounting body 300 moving integrally with the travel body 200 when attached to the mounting surface 210 and mounted on the travel body 200, and being arranged separately from the travel body 200 when detached from the mounting surface 210 and not mounted on the travel body 200.

Description

Mobile object, mobile object storage facility, and mobile object storage system

[0001] The present invention relates to a mobile object, a storage facility for a mobile object, and a storage system for a mobile object.

[0002] Conventionally, a mobile body is known that includes a running body that runs on a running surface and a mounting body that is mounted on the running body. The mounting body can be attached to the running body, and the mounted mounting body can be detached from the running body. Depending on the application situation of the mobile body, various types of mounting bodies can be attached to the running body as appropriate. An example of this type of mobile body is disclosed in Non-Patent Document 1 below.

[0003] Honda Unveils 3E-D18 Robotic Workhorse at CES 2018, YouTube [online][video], broadcast on January 11, 2018, [retrieved on April 4, 2023], see mainly 1:20 to 1:43, URL, https: / / www.youtube.com / watch?v=PuGoP_eCXZk

[0004] Incidentally, in the above-mentioned moving body, although the concept of attaching the mount to the running body can be confirmed, the specific manner of attachment, such as the attachment position and attachment method of the mount on the vehicle, when attaching the mount to the vehicle, is unclear. Furthermore, the treatment of the mount before attachment, such as from where and how to move the mount to the running body, is also unclear. For this reason, it cannot be said that the mount is attached to the running body appropriately.

[0005] Furthermore, although the concept of detaching the onboard body from the vehicle can be confirmed in the above-mentioned mobile body, the specific manner of detachment, such as the detachment method when detaching the onboard body from the vehicle, is unclear. Furthermore, the disposition of the onboard body after detachment, such as how and where to move the onboard body from the vehicle, is also unclear. Therefore, it cannot be said that the onboard body is properly detached from the traveling body. For the above reasons, it can be said that there is room for improvement in this type of mobile body in terms of properly performing both the attachment and detachment of the onboard body.

[0006] In view of the above, an object of the present invention is to provide a mobile body that includes a running body and a mounting body that can be attached and detached to the running body, and that can properly perform both the attachment and detachment of the mounting body.

[0007] The technical means of the present invention for solving this technical problem is characterized as follows: A storage for moving bodies according to a first aspect of the present invention is a storage for storing moving bodies including: a running body that is capable of traveling in a first direction and has a mounting surface facing a second direction that faces upward relative to the first direction, and a mounting body that is configured to be detachable from the mounting surface and moves integrally with the running body when attached to the mounting surface and mounted on the running body, and that is disposed separately from the running body when detached from the mounting surface and not mounted on the running body, and includes an arrangement unit that is positioned apart from the running body in the first direction and in a fourth direction that is orthogonal to both the first direction and the second direction, and is configured to be able to arrange the detached mounting body.

[0008] A storage facility for moving bodies according to a second aspect of the present invention is the storage facility for moving bodies according to the first aspect described above, in which the placement unit positions the mounted body by supporting the mounted body toward the second direction.

[0009] A storage facility for moving bodies according to a third feature of the present invention is a storage facility for moving bodies according to the second feature described above, in which the placement section has a planar shape capable of supporting the bottom surface of the mounted body to be placed, and has a shape that faces the bottom surface of the mounted body and extends in the first direction.

[0010] A storage facility for a moving body according to a fourth feature of the present invention is a storage facility for a moving body according to any one of the first to third features described above, and is provided with a power supply unit configured to be able to supply electrical energy for charging batteries provided in either or both of the running body and the mounted body.

[0011] A fifth aspect of the present invention relates to the storage for mobile bodies of the fourth aspect, and further includes a display unit that displays information corresponding to the state of charge of the battery on the outside.A sixth aspect of the present invention relates to a storage for mobile bodies that includes a running body and a mount that moves integrally with the running body when mounted on the running body and can be positioned separately from the running body when detached from the running body, and further includes a placement unit configured to place the detached mount on top of the running body.A seventh aspect of the present invention relates to the storage for mobile bodies of the sixth aspect, and further includes the placement unit having a planar shape that can support a bottom surface of the mount to be placed and that faces the bottom surface of the mount.A eighth aspect of the present invention relates to the storage for mobile bodies of the sixth or seventh aspect, and further includes a power supply unit configured to supply electrical energy for charging batteries provided in either or both of the running body and the mount.

[0012] A storage system for a moving body according to a ninth aspect of the present invention comprises: a moving body capable of traveling in a first direction and having a mounting surface facing a second direction that faces upward relative to the first direction; a mounting body configured to be detachable from the mounting surface, which moves integrally with the moving body when attached to the mounting surface and mounted on the moving body, and which is positioned separately from the moving body when detached from the mounting surface and not mounted on the moving body; a storage facility for storing a moving body; and a stop position determination unit for determining the stop position of the moving moving body within the storage facility.

[0013] A tenth aspect of the present invention is a storage system for moving bodies according to the ninth aspect described above, wherein the storage facility is provided with a detectable part corresponding to a part whose positional relationship with the stopping position is specified, and the stopping position determination part determines the stopping position based on the detection result of the detectable part.

[0014] The mobile body storage system according to the eleventh aspect of the present invention is the mobile body storage system according to the tenth aspect described above, which is provided with an automatic driving control unit that automatically drives the moving body so that it stops at the determined stopping position.

[0015] A storage system for a moving body according to a twelfth feature of the present invention is a storage system for a moving body according to any one of the above-mentioned ninth to eleventh features, wherein the storage facility is located above the running body in the second direction and includes a placement section configured to be able to place the detached mount, and the stopping position is located below the placement section and is a position for attaching the mount that is placed in the placement section to the running body that does not have the mount attached, and is a position for detaching the mount from the running body to which the mount is attached and placing it in the placement section.

[0016] A storage system for a moving body according to a thirteenth feature of the present invention is a storage system for a moving body according to the twelfth feature described above, which is provided with an attachment control unit that controls the attachment of the mounted body placed in the placement unit to the moving body that does not have the mounted body attached when the moving body is stopped at the stopping position.

[0017] A storage system for a moving body according to a fourteenth aspect of the present invention is a storage system for a moving body according to the twelfth aspect described above, which is provided with a detachment control unit that controls the detachment of the mounted body from the moving body to which it is attached and the placement of the mounted body in the placement unit when the moving body is stopped at the stopping position.

[0018] A storage system for a moving body according to a fifteenth feature of the present invention is a storage system for a moving body according to the twelfth feature described above, which includes an attachment control unit that controls the attachment of the mount placed in the placement unit to the moving body to which the mount is not attached when the moving body is stopped at the stopping position, and a detachment control unit that controls the detachment of the mount from the moving body to which the mount is attached and the placement of the mount in the placement unit when the moving body is stopped at the stopping position.

[0019] A storage system for a moving body according to a sixteenth feature of the present invention is the storage system for a moving body according to the ninth feature described above, wherein the storage facility is provided with a power supply unit configured to be able to supply electrical energy for charging batteries provided on either or both of the running body and the mounted body.

[0020] A seventeenth aspect of the present invention is a storage system for a mobile body according to the sixteenth aspect described above, wherein the storage facility is provided with a display unit that displays information corresponding to the charge state of the battery to the outside.

[0021] A storage system for a moving body according to an eighteenth aspect of the present invention is the storage system for a moving body according to the sixteenth aspect, wherein the storage cabinet includes a display unit that displays information corresponding to the charge state of the battery on an outside. The storage system for a moving body of the present invention includes a storage cabinet for storing a moving body including a running body and a mounting body that moves integrally with the running body when mounted on the running body and that can be arranged separately from the running body when detached from the running body, and a stop position determination unit that determines a stop position within the storage cabinet for the running body.

[0022] A 19th feature of the present invention is a storage system for moving bodies, which is the storage system for moving bodies according to the 18th feature described above, in which the storage facility is provided with a detectable part corresponding to a part whose positional relationship with the stopping position is specified, and the stopping position determination part determines the stopping position based on the detection result of the detectable part.

[0023] The mobile body storage system according to the 20th feature of the present invention is the mobile body storage system according to the 19th feature described above, and is equipped with an automatic driving control unit that automatically drives the moving body so that it stops at the determined stopping position.

[0024] According to the present invention, in a moving body that includes a traveling body and a mount that is detachable from the traveling body, both the mounting of the mount and the detachment of the mount can be performed appropriately.

[0025] 1 is a perspective view of a moving body according to a first embodiment of the present invention. FIG. 1 is a perspective view of the moving body shown in FIG. 1. FIG. 1 is a perspective view of the moving body shown in FIG. 1. FIG. 2 is a perspective view of the moving body provided in the moving body shown in FIG. 1. FIG. 3 is a side view of the moving body provided in the moving body shown in FIG. 1. FIG. 4 is a plan view of the moving body provided in the moving body shown in FIG. 1. FIG. 5 is a rear view of the moving body provided in the moving body shown in FIG. 1. FIG. 6 is a front view of the moving body provided in the moving body shown in FIG. 1. FIG. 7 is a perspective view of a lift section, an engagement section, a fixing section, and a support section provided in the moving body shown in FIG. 1. FIG. 8 is a cross-sectional view showing a state in which the lift section provided in the moving body shown in FIG. 1 rises and moves the mounted body upward while supporting it. FIG. 9 is a cross-sectional view showing a state in which the lift section provided in the moving body shown in FIG. 1 descends and moves the mounted body downward while supporting it. FIG. 10 is a functional block diagram of each element provided in the moving body shown in FIG. 1. FIG. 11 is a side view of the mounted body provided in the moving body shown in FIG. 1. FIG. 12 is a plan view of the mounted body provided in the moving body shown in FIG. 1. FIG. 13 is a bottom view of the mounted body provided in the moving body shown in FIG. 1. FIG. 14 is a front view of the mounted body provided in the moving body shown in FIG. 1. FIG. 15 is a rear view of the mounted body provided in the moving body shown in FIG. 1. FIG. 16 is a side view of the mounted body provided in the moving body shown in FIG. 1 when the mounted body is in a stored attitude. FIG. 17 is a side view of the moving body shown in FIG. 1. 20 is a perspective view of a storage system including a storage for storing a moving body according to a first embodiment of the present invention. FIG. 21 is a rear view of the storage shown in FIG. 20. FIG. 22 is a rear view of the storage shown in FIG. 20 when a moving body is stored in the storage. FIG. 23 is a rear view of the storage shown in FIG. 20 when a running body is stored in the storage. FIG. 23 is a perspective view of the interior of the storage shown in FIG. 20 when a running body is stored in the storage. FIG. 24 is a rear view of the storage shown in FIG. 20 when a mounted body is stored in the storage. FIG. 24 is a perspective view of the interior of the storage shown in FIG. 20 when a mounted body is stored in the storage. FIG. 25 is a side view showing the relationship between the detected unit and the stopping position of the running body in the storage shown in FIG. 20. FIG. 26 is a view for explaining a process for detaching a mounted body provided in a moving body from the running body in the storage shown in FIG. 20. FIG. 27 is a view for explaining a process for detaching a mounted body provided in a moving body from the running body in the storage shown in FIG. 20. FIG. 28 is a view for explaining a process for detaching a mounted body provided in a moving body from the running body in the storage shown in FIG. 20.20。 FIG. 20 is a diagram for explaining a process for detaching a mounted body provided in a moving body from a running body in the storage facility shown in FIG. 20. FIG. 20 is a diagram for explaining a process for detaching a mounted body provided in a moving body from a running body in the storage facility shown in FIG. 20. FIG. 20 is a perspective view of the inside of the storage facility when a mounted body is stored in the storage facility shown in FIG. 20. FIG. 20 is a diagram for explaining a process for attaching a mounted body provided in a moving body to a running body in the storage facility shown in FIG. 20. FIG. 20 is a diagram for explaining a process for attaching a mounted body provided in a moving body to a running body in the storage facility shown in FIG. 20. FIG. 20 is a diagram for explaining a process for attaching a mounted body provided in a moving body to a running body in the storage facility shown in FIG. 20. FIG. 20 is a diagram for explaining a process for attaching a mounted body provided in a moving body to a running body in the storage facility shown in FIG. 20. FIG. 20 is a diagram for explaining a process for attaching a mounted body provided in a moving body to a running body in the storage facility shown in FIG. 20. 20. FIG. 21 is a flowchart showing a series of operations for detaching a mounted body provided on a movable body from a running body in the storage facility shown in FIG. 20. FIG. 21 is a flowchart showing a series of operations for attaching a mounted body provided on a movable body to a running body in the storage facility shown in FIG. 20. FIG. 22 is a perspective view of an engaging portion provided on a movable body according to a modified example of the first embodiment of the present invention. FIG. 23 is a cross-sectional view showing how a protruding portion of an engaging portion provided on a movable body according to a modified example of the first embodiment of the present invention rotates and screws into a fitting portion, thereby moving the movable body upward and downward. FIG. 24 is a plan view of a running body provided on a movable body according to a modified example of the first embodiment of the present invention. FIG. 25 is a perspective view of an engaging portion provided on a movable body according to a second embodiment of the present invention. FIG. 26 is a perspective view of the interior of a storage facility that stores movable bodies according to the second embodiment of the present invention, in a state where a mounted body provided on a movable body is to be attached to a running body. FIG. 27 is a perspective view of the interior of a storage facility that stores movable bodies according to the second embodiment of the present invention, in a state where a mounted body provided on a movable body is to be attached to a running body.1 is a perspective view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in a state in which a mounted body provided in a moving body is attached to a running body. FIG. 2 is a perspective view of an engagement portion provided in a moving body according to a modified example of the second embodiment of the present invention. FIG. 3 is a perspective view of an engagement portion and a fixing portion provided in a moving body according to a third embodiment of the present invention. FIG. 4 is a perspective view showing a state before and after fixing in a fixing portion provided in a moving body according to the third embodiment of the present invention. FIG. 5 is a perspective view of the inside of a storage facility for storing a moving body according to a fourth embodiment of the present invention. FIG. 6 is a perspective view of a moving body according to the fourth embodiment of the present invention. FIG. 7 is a perspective view of a storage system including a storage facility for storing a moving body according to the fourth embodiment of the present invention. FIG. 8 is a functional block diagram of each element provided in a storage system including a storage facility for storing a moving body according to the fourth embodiment of the present invention. FIG. 9 is a view for explaining a process for charging each of the mounted body and the running body provided in the moving body, in a storage facility for storing a moving body according to the fourth embodiment of the present invention. FIG. 10 is a view for explaining a process for charging each of the mounted body and the running body provided in the moving body, in a storage facility for storing a moving body according to the fourth embodiment of the present invention. FIG. 11 is a view for explaining a process for charging each of the mounted body and the running body provided in the moving body, in a storage facility for storing a moving body according to the fourth embodiment of the present invention. FIG. 10 is a bottom view of a mounting body provided in a moving body according to a fifth embodiment of the present invention. FIG. 11 is a functional block diagram of each element provided in a moving body according to a fifth embodiment of the present invention. FIG. 12 is a diagram for explaining a process for connecting a first end and a second end provided in a moving body according to a fifth embodiment of the present invention. FIG. 13 is a diagram for explaining a process for connecting a first end and a second end provided in a moving body according to a fifth embodiment of the present invention. FIG. 14 is a cross-sectional view showing a state in which the first end and the second end provided in a moving body according to a fifth embodiment of the present invention are contact-type terminals and an electrical connection is made at the terminals.10 is a cross-sectional view showing a state in which a first end and a second end of a moving body according to a fifth embodiment of the present invention are non-contact coils, and an electrical connection is made by the coils. FIG. 11 is a time chart showing changes over time in the remaining battery charge of the power source of the running body and the power source of the mounted body of a moving body according to the fifth embodiment of the present invention. FIG. 12 is a perspective view of a moving body according to a sixth embodiment of the present invention. FIG. 13 is a functional block diagram of each element of a moving body according to the sixth embodiment of the present invention. FIG. 14 is a cross-sectional view showing a state in which transmission is made by a mechanism between a transmitting unit and a transmitted unit of a moving body according to a modified sixth embodiment of the present invention. FIG. 15 is a cross-sectional view showing a state in which transmission is made by a fluid between a transmitting unit and a transmitted unit of a moving body according to a modified sixth embodiment of the present invention. FIG. 16 is a functional block diagram of each element of a moving body according to a modified sixth embodiment of the present invention. FIG. 17 is a perspective view of a moving body according to a modified sixth embodiment of the present invention. FIG. 18 is a perspective view of a moving body according to a modified sixth embodiment of the present invention. FIG. 19 is a perspective view of a moving body according to a seventh embodiment of the present invention. FIG. 19 is a perspective view of a moving body according to the seventh embodiment of the present invention. FIG. 19 is a perspective view of a moving body according to the seventh embodiment of the present invention. FIG. 19 is a plan view of a running body and an outer shell part of a moving body according to the seventh embodiment of the present invention. FIG. 19 is a front view of a moving body according to the seventh embodiment of the present invention. Fig. 10 is a functional block diagram of each element included in a moving body according to a seventh embodiment of the present invention. Fig. 11 is a perspective view of an outer shell part included in a moving body according to a modified example of the seventh embodiment of the present invention. Fig. 12 is a plan view of a moving body according to a modified example of the seventh embodiment of the present invention. Fig. 13 is a diagram for explaining an example of operation of a moving body according to a modified example of an embodiment of the present invention. Fig. 14 is a diagram for explaining an example of operation of a moving body according to a modified example of an embodiment of the present invention.

[0026] Hereinafter, each embodiment of the present invention will be described with reference to the drawings.

[0027] First Embodiment In the first embodiment of the present invention, the moving body 100, the traveling body 200, the mounted body 300, and the storage system 400 (storage facility 500) will be described in detail in this order.

[0028] <Mobile body> As shown in Figures 1, 2, 3, and 4, the mobile body 100 according to the first embodiment of the present invention comprises a running body 200 and a mounting body 300 (hereinafter, sometimes referred to as "attachment 300").

[0029] In the present embodiment, the directions of up, down, left, right, front, and rear correspond to the directions of the arrows shown in the drawings.

[0030] The traveling object 200 can travel in a first direction. Here, the "first direction" is any of the following: forward / backward, left / right, front diagonally left / front diagonally right, and rear diagonally left / rear diagonally right, and corresponds to the horizontal direction. The oblique angles of the front diagonally left / front diagonally right and rear diagonally left / rear diagonally right are each arbitrary.

[0031] The "first direction" also corresponds to a direction parallel to the traveling surface. That is, the traveling body 200 can travel in all directions along the traveling surface. This omnidirectional traveling is made possible by the traveling device 270, the configuration of which will be described in detail later.

[0032] The running body 200 has a mounting surface 210 facing a second direction that faces upward relative to the first direction. The mounting surface 210 is included in the upper surface of the running body 200. Here, the "second direction" corresponds to the upward direction. The "second direction" also corresponds to the vertical direction away from the running surface.

[0033] A third direction opposite to the second direction is also defined. Here, the "third direction" corresponds to downward and also corresponds to the vertical direction approaching the running surface. A fourth direction perpendicular to each of the first direction and the second direction is also defined. Here, the "fourth direction" corresponds to the horizontal direction and also corresponds to the direction parallel to the running surface. For example, if the first direction is forward, the fourth direction is left or right.

[0034] The mounting body 300 is configured to be detachable from the mounting surface 210 of the traveling body 200. When the mounting body 300 is detached (see, for example, FIGS. 3 and 4), first, the bottom surface of the mounting body 300 facing the third direction is made to face the mounting surface 210 facing the second direction. Then, by bringing the two surfaces relatively close to each other, the mounting body 300 can be attached to the mounting surface 210.

[0035] More specifically, when the mounted body 300 is disposed above the mounting surface 210, the running body 200 is caused to travel to the mounting position of the mounted body 300 so that both surfaces face each other. Then, with both surfaces facing each other, the mounted body 300 may be moved in the third direction to achieve attachment. When the mounted body 300 is attached to the mounting surface 210 and mounted on the running body 200, the mounted body 300 moves integrally with the running body 200.

[0036] On the other hand, when the mounting body 300 is attached (see, for example, Figures 1 and 2), the mounting body 300 can be detached from the mounting surface 210 by moving the underside of the mounting body 300 relatively away from the mounting surface 210.

[0037] More specifically, with both surfaces facing each other, the mount body 300 is moved in the second direction from the running body 200. Then, the mount body 300 may be disposed above the mounting surface 210, and the running body 200 may be caused to run from the position where the mount body 300 was disposed, thereby achieving detachment. When the mount body 300 is detached from the mounting surface 210 and is not mounted on the running body 200, it is disposed separately from the running body 200.

[0038] The attachment and detachment control is performed by an attachment control unit 283a and a detachment control unit 283b provided in the moving body 100 (see, for example, FIG. 12). The attachment and detachment control, operation, and placement of the detached mount body 300 in the storage facility 500 will be described in detail later.

[0039] The mounted body 300 attached to the running body 200 is a so-called attachment 300, and the attached and detached attachments may be the same. Alternatively, a different attachment 300 may be attached after detaching one attached attachment 300. That is, a plurality of different attachments 300 may be attached to one running body 200 depending on the situation. The attachment 300 may be configured to be capable of performing various tasks such as agricultural work, construction work, and transportation work when attached to the running body 200, or may be configured to provide ride-on mobility. The attachment 300 may be configured in any manner. For example, when the attachment 300 is configured to be compatible with agricultural work, the attachment 300 may be configured to be capable of mowing, sowing seeds, spraying, ridge making, and the like.

[0040] In this embodiment, the mounting body 300 is described as an attachment 300 that functions as a backhoe when attached. In this embodiment, the mounting body 300 is described as being the same attachment 300 that is attached and detached. The configuration of the mounting body 300 and the attachment and detachment operation will be described in detail later.

[0041] The moving body 100 also includes a lift unit 220, an engaging unit 230, fixing units 240a and 240b, and a support unit 250. The lift unit 220 is configured to support the mounting body 300 and move the mounting body 300 in a second direction or a third direction relative to the mounting surface 210. In this embodiment, the lift unit 220 is provided on the running body 200 side, but may be provided on either the running body 200 or the mounting body 300 (see, for example, FIG. 3 ).

[0042] The engaging portion 230 is configured so that the running body 200 and the mounting body 300 can be engaged with each other, and the mounting body 300 is attached by engaging the engaging portion 230, and the mounting body 300 is detached by disengaging the engaging portion 230. The engaging portion 230 has a protruding portion 231 and a fitting portion 232. The fitting portion 232 is configured so that the protruding protruding portion 231 can be fitted into the fitting portion 232, and is engaged by being fitted into the protruding portion 231.

[0043] In this embodiment, the engagement portion 230 is provided at a location corresponding to the lift portion 220. The lift portion 220 corresponds to the protruding portion 231 and protrudes toward the fitting portion 232. The fitting portion 232 that fits into the protruding portion 231 (lift portion 220) is provided on the mounting body 300 side, but may be provided on the other of the running body 200 and the mounting body 300 (see, for example, FIG. 4). Alternatively, the engagement portion 230 may be disposed independently of the lift portion 220.

[0044] The fixing portions 240a and 240b are configured to be able to fix the mounting body 300 to the running body 200; when fixed, the relative movement of the mounting body 300 with respect to the running body 200 is restricted, and when the fixation is released, the relative movement is permitted. The fixing portions 240a and 240b include a protruding portion 241 and an insertion portion 242. The insertion portion 242 is configured so that the protruding protruding portion 241 can be inserted therein, and is fixed by being inserted into the protruding portion 241.

[0045] In this embodiment, the fixing portion 240a is provided at a location corresponding to the lifting portion 220 (engaging portion 230). The protruding portion 241 and the fitting portion 242 of the fixing portion 240a correspond to the protruding portion 231 and the fitting portion 232 of the engaging portion 230, respectively. Alternatively, the fixing portion 240a may be disposed independently of the engaging portion 230 and the lifting portion 220. On the other hand, the fixing portion 240b is provided at a location different from the location where the lifting portion 220 (engaging portion 230) is provided. The protruding portion 241 and the fitting portion 242 of the fixing portion 240b are separate from the protruding portion 231 and the fitting portion 232 of the engaging portion 230.

[0046] The support units 250 are provided on the traveling body 200 and are configured to support the mounted body 300 when the mounted body 300 is attached to the mounting surface 210. The support units 250 are disposed at positions corresponding to the vertices of a polygon in a plan view. In this embodiment, the support units 250 correspond to the protruding portions 231 and 241, respectively. The aspects of the lift unit 220, the engaging unit 230, the fixing units 240a and 240b, and the support units 250, as well as the controls for lifting, engaging, fixing, and supporting, will be described in detail later.

[0047] <Running Body> As shown in Figures 5, 6, 7, and 8, the running body 200 includes a vehicle body 260 and a running device 270. The vehicle body 260 is configured as a substantially rectangular parallelepiped housing, and is equipped with a power source 280 and various electrical devices (communication devices, control devices, sensors, etc.). A mounting surface 210 is provided at the upper end of the vehicle body 260. In addition, support portions 250 (lift portion 220, engagement portion 230, fixing portions 240a and 240b) are provided at the front and rear of the upper surface of the vehicle body 260.

[0048] Protruding portions 261 are provided on the left and right side surfaces of the vehicle body 260. The protruding portions 261 are installed in approximately the center of the vehicle body 260 in the vehicle length direction. The protruding portions 261 protrude outward in the vehicle width direction from the side surfaces of the vehicle body 260. The protruding portions 261 are trapezoidal in a plan view of the vehicle body 260, with the lower base of the trapezoid connected to the side surfaces of the vehicle body 260 and the upper base of the trapezoid corresponding to the end portions in the protruding direction.

[0049] <<Traveling Devices>> The traveling devices 270 are arranged at both ends of the vehicle body 260 in the vehicle width direction so as to support the vehicle body 260. That is, the traveling devices 270 are arranged at both left and right ends in a plan view. The traveling devices 270 are provided with front wheels 271 at the front of the vehicle body 260 in the vehicle length direction, and rear wheels 272 at the rear of the vehicle body 260 in the vehicle length direction. The front wheels 271 and rear wheels 272 are arranged in front of and behind the protruding portion 261, respectively. That is, the protruding portion 261 is interposed between the front wheels 271 and the rear wheels 272 on the side of the vehicle body 260. Note that the dimensions of the protruding portion 261 and the front wheels 271 and rear wheels 272 are arbitrary, but it is preferable that the outer end of the protruding portion 261 be located more inward than the outer ends of the front wheels 271 and rear wheels 272 in the vehicle width direction.

[0050] In this embodiment, the front wheels 271 and the rear wheels 272 are all Mecanum wheels. More specifically, each of the front wheels 271 and the rear wheels 272 includes a wheel 273 and a tire 274. The wheels 273 are generally disk-shaped and are disposed at the front and rear of the vehicle body 260 in the vehicle length direction. The wheels 273 are driven to rotate to enable travel, and each wheel has a wheel axle 275 that serves as the axis of rotation.

[0051] The tire 274 has a generally cylindrical shape, with both ends slightly tapered and having a solid portion. A plurality of tires 274 are provided for one wheel 273. The axis of each tire 274 is positioned so as to be inclined relative to the wheel axis 275 of the corresponding wheel 273 in a plan view. The tires 274 as a whole are configured to be rotatable integrally with the wheel 273 while in contact with the traveling surface. Each tire 274 is also configured to be rotatable relative to the wheel 273.

[0052] Independent motors are provided on the inner side of each of the front and rear wheels 271 and 272 in the vehicle width direction. The wheels 273 and tires 274 of each Mecanum wheel are driven to rotate independently based on the power of the motors. In other words, the rotational direction of each Mecanum wheel can be adjusted individually. This allows the traveling device 270 to travel in all directions in a plan view. While the present embodiment uses Mecanum wheels configured as described above as the traveling device 270 (front and rear wheels 271 and 272), any type of Mecanum wheel may be used as long as the wheels and tires operate independently and the traveling device 100 can travel in all directions in a plan view without a steering mechanism. Furthermore, a drive system, mechanism, etc. other than a Mecanum wheel may be used as the traveling device 270. In this case, it is sufficient that the front and rear wheels 271 and 272 each have independent drive units, allowing the traveling device 100 to travel in any direction (all directions in a plan view). For example, an omniwheel (registered trademark), a caster mechanism, a ball drive mechanism, or the like may be used.

[0053] In this embodiment, the motor and the electric devices related to driving the motor are provided on the vehicle body 260 side, but instead, for example, the motor and / or the electric devices may be provided on the wheel 273 side. In other words, the front wheel 271 and the rear wheel 272 may be in-wheel motor type Mecanum wheels.

[0054] Furthermore, the traveling device 270 may be arranged to be detachable from the vehicle body 260. In this case, the vehicle body 260 may be configured so that, when the attached traveling device 270 is detached, a traveling device 270 of a different type from the detached traveling device 270 can be attached. More specifically, when a wheel having a predetermined diameter is attached to the vehicle body 260, the wheel may be detached and a wheel or crawler having a different diameter may be attached to the vehicle body 260.

[0055] <<Power Supply>> In this embodiment, the power supply 280 is a battery capable of repeatedly charging and discharging. The power supply 280 can supply power to various drive components such as the traveling device 270 and the support unit 250, the communication device 281, the control device 283, various sensors, and the like. The power supply 280 has a substantially rectangular parallelepiped shape, and both sides of the power supply 280 extend along the vehicle length direction of the vehicle body 260. The bottom surface of the power supply 280 is substantially horizontal to the traveling surface. Note that the power supply 280 may be rechargeable via a cable connection, contactless power supply, or the like, via a predetermined electrical device (e.g., a fixed or mobile charger, etc.). The charging method, timing, location, etc. of the power supply 280 are arbitrary. For example, as described below, the power supply 280 may be charged by contact or contactless power supply when the traveling body 200 is stored in the storage facility 500. On the other hand, the power supply 280 may be charged outside the storage facility 500.

[0056] The power source 280 is disposed between the traveling devices 270 at both ends in the vehicle width direction of the vehicle body 260. The power source 280 is also disposed between the front and rear wheel axles 275 in the vehicle length direction of the vehicle body 260. More specifically, the power source 280 is disposed in approximately the center of the vehicle body 260 in a plan view. That is, the front end of the power source 280 is located rearward in the vehicle length direction from the wheel axle 275 of the front wheel 271. The rear end of the power source 280 is located forward in the vehicle length direction from the wheel axle 275 of the rear wheel 272.

[0057] Furthermore, the power source 280 is disposed such that the center of gravity of the power source 280 is located higher in the second direction than the wheel axle 275 in a side view. That is, the height H1 from the running surface G to the center of gravity of the power source 280 is greater than the height H2 from the running surface G to the wheel axle 275. In this manner, in this embodiment, the power source 280 is disposed slightly higher than the wheel axle, and the clearance between the running surface G and the power source 280 is large (see FIG. 5 ).

[0058] The battery serving as the power source 280 may be any type of secondary battery that can be charged and discharged, such as a lithium-ion battery or an all-solid-state battery. Alternatively, a primary battery may be used. In this case, it is preferable that the battery is detachable and replaced when the remaining charge is low. Alternatively, the power source 280 may be, instead of a battery, a fuel cell, a generator (engine and alternator) that converts motive power into electric power, or the like.

[0059] <<Arrangement of Support Units>> When the mounted body 300 is attached to the mounting surface 210, the support units 250 support the mounted body 300 in the second direction. A plurality of support units 250 are arranged on the upper surface of the vehicle body 260 of the running body 200. When the bottom surface of the mounted body 300 and the mounting surface 210 of the running body 200 face each other, the support units 250 protrude toward the bottom surface of the mounted body 300, i.e., upward in the second direction. Therefore, when the mounted body 300 is attached to the mounting surface 210, the mounted body 300 is supported from the bottom surface by the support units 250. The arrangement positions and number of support units 250 may be determined taking into consideration the center of gravity of the mounted body 300, etc., so as to achieve stable attachment when the mounted body 300 is attached to the running body 200, for example, or may be adjusted so as not to interfere with an arrangement unit 560 in the storage 500, which will be described later. The positions and number of the support parts 250 may be arbitrarily determined, but it is preferable to adopt the following configuration.

[0060] The support portions 250 are disposed at positions corresponding to the vertices of a polygon in a plan view (see FIG. 6 ). In this embodiment, the support portion 250 includes six support portions: 250a, 250b, 250c, 250d, 250e, and 250f. The positions of the support portions 250a, 250b, and 250c, and the positions of the support portions 250d, 250e, and 250f correspond to the vertices of a triangle on the same plane.

[0061] That is, in a plan view, there are multiple polygonal regions whose vertices are the positions of the support portions 250. In this embodiment, there are two triangular regions in total, one at the front and one at the rear in the vehicle length direction of the vehicle body 260. The triangular region may be, for example, an isosceles triangle, and the interior angles corresponding to the support portions 250a and 250d may each be vertices.

[0062] Furthermore, the multiple polygonal regions are arranged symmetrically with respect to one another in a plan view. In this embodiment, the figures of the two regions are arranged, for example, in a plan view so as to be line-symmetric with respect to one another about a line of symmetry that passes through power source 280 and extends in the vehicle width direction of vehicle body 260. That is, an isosceles triangle having support portion 250a, support portion 250b, and support portion 250c as vertices, and an isosceles triangle having support portion 250d, support portion 250e, and support portion 250f as vertices are line-symmetric with respect to the line of symmetry.

[0063] Furthermore, support portion 250 is disposed outward of power source 280 in the vehicle width direction of vehicle body 260. Support portion 250 is disposed outward of power source 280 in the vehicle length direction of vehicle body 260. More specifically, support portion 250a, support portion 250b, and support portion 250c are disposed forward of the front end of power source 280 in the vehicle length direction of vehicle body 260. Support portion 250b is disposed to the left of the left side surface of power source 280 in the vehicle width direction of vehicle body 260. Support portion 250c is disposed to the right of the right side surface of power source 280 in the vehicle width direction of vehicle body 260.

[0064] Support portion 250d, support portion 250e, and support portion 250f are arranged rearward of the rear end of power source 280 in the vehicle length direction of vehicle body 260. Support portion 250e is arranged to the left of the left side surface of power source 280 in the vehicle width direction of vehicle body 260. Support portion 250f is arranged to the right of the right side surface of power source 280 in the vehicle width direction of vehicle body 260.

[0065] Furthermore, in a plan view, the support portion 250 is disposed on a virtual line that coaxially passes through the wheel axles 275 of the wheels 273. More specifically, the virtual lines include a forward virtual line FL and a rearward virtual line RL. The forward virtual line FL is a virtual line that coaxially passes through the wheel axles 275 of the left and right front wheels 271. The rearward virtual line RL is a virtual line that coaxially passes through the wheel axles 275 of the left and right rear wheels 272. In a plan view, the support portion 250b and the support portion 250c are disposed on the forward virtual line FL, and the support portion 250e and the support portion 250f are disposed on the rearward virtual line RL.

[0066] In a plan view, the support portion 250a is disposed between the front virtual line FL and the front end of the power source 280. The support portion 250d is disposed between the rear virtual line RL and the rear end of the power source 280. The support portions 250a and 250d are disposed in approximately the center of the vehicle body 260 in the vehicle width direction.

[0067] <<Details of Lifting Portion, Engaging Portion, and Fixing Portion>> In this embodiment, the support portion 250 may function as the lifting portion 220, the protruding portion 231 of the engaging portion 230, and the protruding portion 241 of the fixing portion 240a and the fixing portion 240b. More specifically, the support portions 250b, 250c, 250e, and 250f correspond to the lifting portion 220 (the protruding portion 231 of the engaging portion 230 and the protruding portion 241 of the fixing portion 240a). The support portions 250a and 250d correspond to the protruding portion 241 of the fixing portion 240b (see FIG. 6 ).

[0068] As shown in FIG. 9 , the lift section 220 (i.e., support section 250b, support section 250c, support section 250e, and support section 250f) has a cylindrical shape. The lift section 220 is coaxially fitted into a hole 221 that partially accommodates the lower portion of the lift section 220. The hole 221 is located on the upper surface of the vehicle body 260 at each of the four corners in a plan view. The hole 221 is provided to correspond to the position of the lift section 220. The hole 221 has a circular opening with a diameter slightly larger than that of the lift section 220. The lower portion of the lift section 220 is accommodated inside the vehicle body 260 through this opening. Note that the shape of the lift section 220 (i.e., support section 250b, support section 250c, support section 250e, and support section 250f) is not limited to a cylindrical shape, and may be any shape, such as a prismatic shape (e.g., a square prism), as long as the axis and the translation direction coincide with each other.

[0069] The lift section 220 is relatively movable in a second direction (upward) and a third direction (downward) through the opening. An actuator (e.g., a stepping motor) built into the vehicle body 260 is provided at the lower end of the lift section 220. The power of the actuator is transmitted to the lower end of the lift section 220, and the rotational power is converted into translational motion of the lift section 220 in the axial direction.

[0070] When the actuator rotates forward, the lift portion 220 moves relative to the vehicle body 260 in the second direction and is exposed from the opening of the hole portion 221, causing the top portion 222 to move further upward. On the other hand, when the actuator rotates reversely, the lift portion 220 moves relative to the vehicle body 260 in the third direction and is accommodated in the opening of the hole portion 221, causing the top portion 222, which had been moving upward, to move further downward.

[0071] The lifting section 220 protrudes toward the fitting portion 232 of the engaging section 230 of the mounting body 300 (i.e., the fitting portion 242 of the fixing section 240a). The fitting portions 232 are provided at the four corners of the mounting body 300 in a bottom view. The fitting portions 232 are positioned to correspond to the arrangement of the lifting section 220 when the mounting body 300 is attached to the running body 200. The fitting portions 232 are recessed upward, allowing the lifting section 220 to fit into them when the mounting body 300 is attached.

[0072] By fitting the lift unit 220 into the fitting portion 232, the mount body 300 can be lifted and lowered while supporting the mount body 300. That is, the mount body 300 moves in the second direction (upward) in response to the movement of the lift unit 220 in the second direction (see FIG. 10 ). The mount body 300 moves in the third direction (downward) in response to the movement of the lift unit 220 in the third direction (downward) (see FIG. 11 ).

[0073] Furthermore, when the lifting section 220 is fitted into the fitting section 232, the running body 200 and the mounting body 300 are engaged with each other. In this way, the lifting section 220 also functions as the protruding section 231 of the engaging section 230. Furthermore, when the lifting section 220 is fitted into the fitting section 242, the relative movement between the running body 200 and the mounting body 300 is restricted, and the mounting body 300 is fixed to the running body 200. In this way, the lifting section 220 also functions as the protruding section 241 of the fixing section 240a.

[0074] The fitting portion 232 of the engaging portion 230 (fitting portion 242 of the fixing portion 240a) has a recessed shape into which the protruding portion 231 (protruding portion 241 of the fixing portion 240a) can be fitted. The shape has a portion that narrows in diameter along the fitting direction of the protruding portion 231 (protruding portion 241 of the fixing portion 240a).

[0075] More specifically, the fitting portion 232 (fitting portion 242 of the fixed portion 240a) has a circular opening 232a at its lower end and a stop 232b at its upper end. The diameter of the opening 232a is larger than the diameter of the stop 232b. In this embodiment, the fitting portion 232 (fitting portion 242 of the fixed portion 240a) has a cone or cup shape in bottom view. Here, the diameter of the cylindrical shape of the lift portion 220, which is the protruding portion 231 of the engagement portion 230 (protruding portion 241 of the fixed portion 240a), is approximately the same as the diameter of the stop 232b and smaller than the diameter of the opening 232a (see FIGS. 9, 10, and 11).

[0076] The protruding portion 241 of the fixed portion 240b (i.e., the support portion 250a and the support portion 250d) has a cylindrical shape and is disposed at a position different from that of the lift portion 220. Unlike the lift portion 220, the protruding portion 241 of the fixed portion 240b does not move in the vertical direction and is fixed integrally with the vehicle body 260. In other words, although the protruding portion 241 of the fixed portion 240b always protrudes upward from the vehicle body 260, the position of its top 241a is unchanged in the vertical direction.

[0077] The fixing portion 240b also has an attraction portion at the top 241a. Hereinafter, the top 241a may also be referred to as the attraction portion 241a. The attraction portion 241a is configured to be able to generate an attraction force based on magnetism between the running body 200 and the mounted body 300, and fixes the mounted body 300 to the running body 200 by the action of the attraction force. In this embodiment, the magnetization / demagnetization of the attraction portion 241a is switched in response to the supply of electricity. The attraction portion 241a may be configured to generate an attraction force when excited and to cancel the attraction force when demagnetized. The attraction portion 241a may, for example, have multiple electromagnets built in, and the generation / cancellation of the attraction force may be switched by adjusting the magnetization direction of each electromagnet.

[0078] Note that similar suction sites may also be provided on the tops 222 of the lift portions 220. In this case, magnetic suction force is generated at a total of six suction sites corresponding to the four lift portions 220 and the two fixed portions 240b.

[0079] The protruding portion 241 (adsorption portion 241a) of the fixing portion 240b protrudes toward the fitting portion 242 of the fixing portion 240b on the mounting body 300. The fitting portion 242 is provided in approximately the center of the mounting body 300 in the vehicle width direction when viewed from the bottom. The fitting portion 242 is positioned to correspond to the arrangement of the protruding portion 241 (adsorption portion 241a) when the mounting body 300 is attached to the running body 200. The fitting portion 242 is recessed upward, allowing the protruding portion 241 (adsorption portion 241a) to fit into it when the mounting body 300 is attached.

[0080] The protruding portion 241 (adsorption portion 241a) is fitted into the fitting portion 242, and excitation of the adsorption portion 241a generates an attraction force, thereby restricting the relative movement between the running body 200 and the mounting body 300. This fixes the mounting body 300 to the running body 200. The fitting portion 242 of the fixing portion 240b has a recessed shape into which the protruding portion 241 of the protruding fixing portion 240b can fit. The fitting portion 242 may have any shape as long as it allows the protruding portion 241 of the fixing portion 240b to fit. In this embodiment, the fitting portion 242 has the same diameter along the fitting direction (see FIGS. 9, 10, and 11). Alternatively, the fitting portion 242 may have a shape that decreases in diameter along the fitting direction.

[0081] 10 and 11 , the lift unit 220 is configured to move the mount 300 in the second direction (upward) and the third direction (downward) by its own operation. As an example of the operation, it is assumed that at the start of the operation, the mount 300 is disposed at a position above the mounting surface 210 of the running body 200 in the second direction. It is also assumed that the top 222 of the lift unit 220 has transitioned to the lowest position.

[0082] Furthermore, at the start of operation, in a plan view, the circular cross section of the lift portion 220 is eccentric from the abutment 232b of the fitting portion 232 and is located within the area of ​​the circular cross section of the opening 232a. That is, there is a misalignment between the axis of the lift portion 220 and the axis of the fitting portion 232. There is also a misalignment between the axis of the protruding portion 241 (the suction portion 241a) and the axis of the fitting portion 242.

[0083] 10( a), the lift portion 220 moves relative to the vehicle body 260 in the second direction (the lift portion 220 is exposed from the hole 221). The lift portion 220 is fitted into the fitting portion 232 through the opening 232a, with the rising top portion 222 as the leading end. As shown in FIG. 10( b), as the top portion 222 rises, the edge of the top portion 222 comes into contact with the inner wall of the fitting portion 232.

[0084] Here, the diameter of the fitting portion 232 decreases along the fitting direction. Therefore, the top portion 222 rises and is guided to the abutment 232b on the inner wall of the fitting portion 232. As a result, the fitting portion 232 slides relative to the lift portion 220, and the circular cross section of the lift portion 220, which was eccentric in plan view, approaches the abutment 232b of the fitting portion 232. In other words, the mounting body 300 moves in a direction in which the axis of the lift portion 220 and the axis of the fitting portion 232 coincide with each other.

[0085] 10C, when the rising top portion 222 reaches the end 232b, the circular cross section of the lift portion 220 coincides with the end 232b of the fitting portion 232 in a plan view. That is, the axis of the lift portion 220 coincides with the axis of the fitting portion 232. Also, the axis of the protruding portion 241 (the suction portion 241a) coincides with the axis of the fitting portion 242.

[0086] After the top 222 reaches the abutment 232b, the top 222 comes into contact with the top 222, and the top 222 stops at the uppermost position. As a result, the mounting body 300 facing the mounting surface 210 moves upward from its position in the second direction while being supported by the rising lift part 220.

[0087] 11A, the top 222 of the lift section 220 is in the uppermost position. The top 222 and the abutment 232b come into contact with each other, so that the mounting body 300 is supported by the lift section 220. From this state, the lift section 220 moves relative to the vehicle body 260 in the third direction (the lift section 220 is housed in the hole 221).

[0088] That is, the top 222 descends while supporting the mounting body 300. Therefore, the mounting body 300 moves in the third direction with the top 222 and the abutment 232b in contact with each other. At the same time, the fitting portion 242 descends to approach the protruding portion 241 (the suction portion 241a). Here, the axis of the protruding portion 241 (the suction portion 241a) and the axis of the fitting portion 242 coincide with each other.

[0089] 11(b), the protruding portion 241 is fitted into the descending fitting portion 242, with the suction portion 241a at the leading end. As shown in FIG. 11(c), the descending top portion 222 stops at the lowest position. At the same time, the fitting of the protruding portion 241 into the fitting portion 242 is completed. As a result, the mounting body 300, which had been moving upward, moves downward so as to approach the mounting surface 210 while being supported by the descending lift portion 220.

[0090] In the state shown in Figure 11(c), the lift sections 220 at the four corners are fitted into the fitting sections 232, respectively. This achieves engagement between the running body 200 and the mounting body 300. This also restricts relative movement between the running body 200 and the mounting body 300, and also achieves fixation of the mounting body 300 to the running body 200. Furthermore, the state shown in Figure 11(c) is a state in which the abutment of the fitting section 242 and the suction section 241a come into contact. By magnetizing the suction section 241a, an attraction force based on magnetism is generated, and further fixation of the mounting body 300 to the running body 200 is achieved.

[0091] 12 , the traveling body 200 includes, as electrical equipment, a power supply 280, a communication device 281, a sensor 282, and a control device 283. The power supply 280 is electrically connected to the communication device 281, the control device 283, the motor of the traveling device 270, the actuator of the lift unit 220, and the electromagnet of the suction part 241 a so as to be able to supply power to each of them.

[0092] Motor-related devices (such as a converter), switches, etc. may be interposed between the power source 280 and the power supply target. Power supply from the power source 280 is controlled by a control device 283, and the traveling device 270, the lift unit 220, and the suction portion 241a are controlled by the control device 283. As shown in FIGS. 6 and 7 , the communication device 281, the control device 283, and the motor-related devices are arranged behind the power source 280 in the vehicle length direction of the vehicle body 260. These may be arranged integrally as an electronic unit at the rear of the vehicle body 260.

[0093] The communication device 281 is connected to the control device 283 and the sensor 282 via a communication network N1 such as a CAN. The communication device 281 is also connected to an external terminal (not shown) and is capable of information communication. The communication device 281 sends information received from the external terminal to the communication network N1, and also transmits information from the communication network N1 to the external terminal.

[0094] The external terminal is, for example, a terminal to which an operator can input instructions, and may be a mobile terminal or a server owned by the operator. Examples of instructions from the mobile terminal or server include instructions to run and steer the running device 270, attach and detach the mounted body 300 to the running body 200, and operate the first movable tool 310 and the second movable tool 320 described below.

[0095] Furthermore, the external terminal is a terminal capable of displaying information indicating the status of the mobile object 100, and may be a fixed terminal provided outside the storage facility 500 described below. Information communication between the communication device 281 and the external terminal may be wireless communication according to, for example, the IEEE 802.11 series of standards (for example, Wi-Fi (registered trademark) or the like). Note that the form of wireless communication is not limited to the above, and for example, infrared communication, Bluetooth (registered trademark), cellular / non-cellular LPWA or the like may also be used. Furthermore, information communication via a wired connection may be performed instead of wireless communication.

[0096] The sensor 282 includes a distance sensor (ranging sensor), a battery remaining amount sensor, etc. Hereinafter, the sensor 282 may also be referred to as a ranging sensor 282. The ranging sensor 282 is capable of measuring the distance between the vehicle body 260 and a detected object that is spaced apart from the vehicle body 260. The ranging sensor 282 may measure the distance based on the reflection status of a beam, etc. As the ranging sensor 282, for example, an ultrasonic sensor, LiDAR, etc. may be used. Note that a range sensor may be used instead of the ranging sensor 282.

[0097] 8, in this embodiment, the distance measurement sensor 282 is provided at the front end of the vehicle body 260 in the vehicle length direction, approximately in the center in the vehicle width direction. This allows the distance between the front end of the running body 200 and a detected part 531, which will be described later, to be measured. In addition, multiple distance measurement sensors 282 may be provided near the outer edge of the side of the front of the vehicle body, for example.

[0098] In this embodiment, the distance measurement sensor 282 is provided at the front end of the vehicle body 260, but instead, a camera may be provided at the front end of the vehicle body 260. The camera may, for example, capture images of the outside of the vehicle 200. The captured image data may be transmitted to an external terminal via the communication network N1 and the communication device 281.

[0099] 12, the control device 283 is a device that executes control of the traveling device 270, control of the lift unit 220, control of the suction portion 241a, etc. The control device 283 includes an attachment control unit 283a, a detachment control unit 283b, a stop position determination unit 283c, and an automatic driving control unit 283d, each of which is composed of electric / electronic circuits, programs stored in a CPU, etc. Instruction signals received by the communication device 281 and detection signals detected by the sensor 282 are sent to the control device 283 via the communication network N1.

[0100] The mounting control unit 283a performs control to mount the mounted body 300 on a running body 200 that does not have the mounted body 300 mounted thereon. More specifically, when mounting the mounted body 300 that is positioned above the mounting surface 210 in the second direction on a running body 200 that does not have the mounted body 300 mounted thereon, the mounting control unit 283a controls the lift unit 220 to support the mounted body 300 that faces the mounting surface 210 and move it above the position in the second direction (see FIG. 10 ). In this embodiment, the mounted body 300 is positioned at a position in a storage cabinet 500, which will be described later.

[0101] This control of the lift unit 220 is executed when the traveling body 200 is stopped at a stop position. The stop position is determined by a stop position determination unit 283c. In this embodiment, the stop position is determined based on the detection result of the detection target by the distance measurement sensor 282. At the stop position, the mounting surface 210 faces the bottom surface of the mounting body 300. The determination of the stop position will be described in detail later.

[0102] Next, the mounting control unit 283a controls the traveling device 270 so that the traveling body 200 travels in the first direction integrally with the mounting body 300, with the mounting body 300 shifted upward from the placement position. Next, the mounting control unit 283a controls the lift unit to move the mounting body 300, which has shifted upward, in the third direction while supporting the mounting body 300 (see FIG. 11 ).

[0103] Then, the mounting control unit 283a controls the fixing units 240a and 240b to fix the mount 300 to the running unit 200. More specifically, the attachment control unit 283a switches the demagnetized attraction portion 241a to an excited state, thereby generating an attraction force based on magnetism.

[0104] The detachment control unit 283b performs control to detach the mount 300 from the running body 200 to which the mount 300 is attached and to place the mount 300. More specifically, when the mount 300 is detached from the running body 200 to which the mount 300 is attached and placed at a position higher than the mounting surface 210 in the second direction, the detachment control unit 283b controls the fixing unit 240a and the fixing unit 240b to release the fixation of the mount 300 to the running body 200. More specifically, the magnetized attraction part 241a is switched to a demagnetized state to cancel the magnetic attraction force.

[0105] Next, the detachment control unit 283b controls the lift unit 220 to support and move the mounting body 300 attached to the mounting surface 210 above its arrangement position in the second direction. Next, the detachment control unit 283b controls the traveling device 270 to cause the traveling body 200 to travel to the above-mentioned stopping position together with the mounting body 300, with the mounting body 300 moved above its arrangement position.

[0106] Then, the detachment control unit 283b controls the lift unit 220 to support the mounted body 300, which has been moving upward, and move it in the third direction (see FIG. 11 ). This control of the lift unit 220 is executed when the running body 200 is stopped at the above-mentioned stopping position.

[0107] The automatic driving control unit 283d automatically drives the running body 200 to stop at the determined stop position. In this embodiment, the automatic driving control unit 283d is executed in accordance with the execution of the attachment control unit 283a in response to an instruction from an external terminal when the mounted body 300 is attached to the running body 200. Furthermore, the automatic driving control unit 283d is executed in accordance with the execution of the detachment control unit 283b in response to an instruction from the external terminal when the mounted body 300 is detached from the running body 200.

[0108] 13 , 14 , 15 , 16 , 17 , 18 , and 19 , the mounting body 300 of this embodiment is an attachment 300 that functions as a backhoe when attached to the traveling body 200. The mounting body 300 includes a first movable tool 310, a second movable tool 320, and a base 330.

[0109] The mounting body 300 also includes a driving unit 340. The driving unit 340 includes driving units 340a, 340b, 340c, 340d, and 340e. The driving units 340a, 340b, 340c, and 340d are used to drive the first movable tool 310. The driving unit 340e is used to drive the second movable tool 320.

[0110] The base 330 is detachable from the mounting surface 210 of the vehicle body 260. The base 330 is configured as a substantially rectangular parallelepiped housing, and a power source 380 and various electrical devices (communication devices, control devices, etc.) are mounted on the base 330. A bottom surface 331 (lower end) of the base 330 faces the mounting surface 210 of the running body 200 in approximately parallel relation.

[0111] 15 , the bottom surface 331 of the base 330 is provided with fitting portions 232 and 242 for the lift portion 220, the engagement portion 230, and the fixing portions 240a and 240b. The fitting portions 232 and 242 are arranged to correspond to the six support portions 250 of the running body 200, respectively. The details of the arrangement and structure of the fitting portions 232 and 242 are as described above (see FIGS. 9 , 10 , and 11 ).

[0112] 14 and 15 , protruding portions 332 are provided on the left and right side surfaces of the base 330. The protruding portions 332 are trapezoidal in plan view, and protrude outward in the vehicle width direction from the side surfaces of the base 330 so as to face the protruding portions 261 of the vehicle body 260 in the up-down direction. The lower base of the trapezoid is connected to the side surfaces of the base 330, and the upper base of the trapezoid corresponds to the end portions in the protruding direction.

[0113] <<First movable part>> As shown in Fig. 13 , the first movable part 310 includes a boom 311, an arm 312, and a bucket 313. These are articulated to form a long first movable part 310. The boom 311 has a truss structure and is bent at approximately the middle between one end 311a and the other end. One end 311a of the boom 311 is supported by the base 330 so that the boom 311 can rotate relative to the base 330. The position where one end of the boom 311 is supported is a position in the front of the base 330 and approximately in the center in the vehicle width direction.

[0114] The arm 312 has a truss structure and extends substantially linearly from one end to the other end. One end of the arm 312 is supported by the boom 311 so that the arm 312 is rotatable relative to the boom 311. The position where one end of the arm 312 is supported is the other end of the boom 311.

[0115] The bucket 313 is configured so that one end is supported and the other end 313a describes a trajectory of the turning radius. A cutting edge is provided on the other end 313a. One end of the bucket 313 is supported by the arm 312 via a bucket link so that the bucket 313 can rotate relative to the arm 312. The position where one end of the bucket 313 is supported is the other end of the arm 312.

[0116] Drive units 340a, 340b, 340c, and 340d are each a cylinder with defined ends that can extend and retract in the axial direction. Drive units 340a, 340b, 340c, and 340d each have an actuator (e.g., a stepping motor) built in, and the rotational power of the actuator is converted into extension and contraction motion in the axial direction. When the actuator rotates forward or backward, drive units 340a, 340b, 340c, and 340d extend or contract.

[0117] One end of the drive unit 340a is connected to the base 330 forward of the support position of the boom 311 (one end 311a of the boom 311). The other end of the drive unit 340a is connected to the underside of the boom 311, slightly forward of the bending portion. The boom 311 rotates relative to the base 330 in response to the extension / retraction of the drive unit 340a.

[0118] One end of drive unit 340b is connected to the upper side of boom 311, slightly rearward of the connection position of drive unit 340a. The other end of drive unit 340b is connected to arm 312, slightly above the support position. Arm 312 rotates relative to boom 311 in response to the extension / retraction of drive unit 340b.

[0119] One end of the drive unit 340c is connected slightly above the support position on the arm 312. The other end of the drive unit 340c is connected to a bucket link provided on one end of the bucket 313 at the other end of the arm 312. The bucket 313 rotates relative to the arm 312 in response to the extension / retraction of the drive unit 340c.

[0120] In this way, the boom 311, arm 312, and bucket 313 that constitute the first movable tool 310 rotate relative to each other as described above by the driving of the driving units 340a, 340b, and 340c. The other end 313a of the bucket 313 extends from the base 330 in the first direction in response to the relative rotation of the boom 311, arm 312, and bucket 313, and is operable as a cutting edge.

[0121] 13 and 14 , one end of drive unit 340d (corresponding to first drive unit) is connected to a rear half portion in the vehicle length direction, rearward of the support position of boom 311 (one end 311a of boom 311) on base 330. The other end of drive unit 340d is connected to the vicinity of one end 311a of boom 311. Boom 311 rotates relative to base 330 in response to extension / retraction of drive unit 340d.

[0122] 18 , when the first movable part 310 is stored in a storage cabinet 500 or the like (described later), it rotates relative to the base part 330, with one end 311 a as a fulcrum. In this embodiment, the first movable part 310, which has been extending in the first direction, is pulled in the direction opposite to the first direction by the driving part 340d, thereby bringing the first movable part 310 closer to the base part 330.

[0123] More specifically, drive units 340a, 340b, and 340c are also driven to fold in arm 312 and bucket 313 of first movable device 310, while drive unit 340d is driven to tilt boom 311 clockwise on the page, with one end 311a as the fulcrum. This maintains the posture of first movable device 310 close to base 330. Therefore, the moving body 100 as a whole assumes a shape suitable for storage.

[0124] <<Second Movable Part>> As shown in Fig. 13 , in this embodiment, the second movable part 320 is configured in a plate shape as a dozer. Hereinafter, the second movable part 320 will be described as a dozer 321. When the mounting body 300 is attached to the running body 200, the dozer 321 is arranged forward of the running body 200 (see, for example, Figs. 1 , 2 , and 19 ).

[0125] 15, 16, and 17, the dozer 321 is disposed below the base 330 via the dozer arms 322. The dozer 321 has a generally rectangular shape when viewed from the front, and is capable of performing work on the surface facing the first direction. The opposite side of the surface faces the front end of the vehicle body 260, and one end of each of the two dozer arms 322 is connected to the opposite side.

[0126] 13 , the dozer arm 322 extends upward from a connection portion of the dozer 321 and is supported by the base 330 so as to be rotatable relative to the base 330. The other end of the dozer arm 322 is located above the support portion of the base 330.

[0127] The drive unit 340e (corresponding to the second drive unit) is a cylinder with defined ends that can expand and contract in the axial direction. The drive unit 340e has an actuator (e.g., a stepping motor) built in, and its rotational power is converted into expansion and contraction motion in the axial direction. When the actuator rotates forward or backward, the drive unit 340e expands or contracts.

[0128] 14 and 15, two drive units 340e are provided, one for each dozer arm 322. The two drive units 340e and the dozer arms 322 are arranged to sandwich the first movable member 310 therebetween. One end of the drive unit 340e is located above the support position of the dozer arm 322 on the base 330 and is connected to the other end of the dozer arm 322. The other end of the drive unit 340e is located rearward of one end 311a of the boom 311 and is connected to a rear half of the boom 311 in the vehicle length direction.

[0129] In this way, the driving unit 340e is provided above the second movable member 320 in the second direction, and by driving itself, moves the second movable member 320 relatively. That is, the dozer 321 moves relatively to the base 330 via the dozer arm 322 in accordance with the extension / contraction of the driving unit 340e. As a result, work is performed on the surface of the dozer 321 facing the first direction.

[0130] 19 , the second movable member 320 is configured to be able to come into contact with the ground surface (i.e., the running surface G) of the running member 200 when work is performed by the first movable member 310 in a state in which the mounted body 300 is attached to the running member 200. More specifically, the lower end of the substantially rectangular dozer 321 faces the ground surface. When the first movable member 310 works, if the center of gravity shifts and the mobile body 100 tilts, the lower end of the dozer 321 comes into contact with the ground. That is, the second movable member 320 has a function as an outrigger in addition to a function of working as the dozer 321.

[0131] <<Electrical Equipment>> As shown in FIG. 12 , the on-board body 300 includes, as electrical equipment, a power supply 380, a communication device 381, and a control device 382. The power supply 380 is electrically connected to the communication device 381, the control device 382, ​​and the actuators of the drive units 340a, 340b, 340c, 340d, and 340e so as to be able to supply power to each of them. Note that the power supply 380 may be rechargeable via a predetermined electrical device (e.g., a fixed or mobile charger) by cable connection power supply, contactless power supply, or the like. The charging method, timing, location, etc. of the power supply 380 are arbitrary. For example, as described below, the power supply 380 may be charged by contact or contactless power supply when the on-board body 300 is stored in the storage facility 500. On the other hand, the power supply 380 may be charged outside the storage facility 500.

[0132] Motor-related devices (such as a converter), switches, and the like may be interposed between the power supply 380 and the power supply target. Power supply from the power supply 380 is controlled by a control device 382, ​​which controls the drive units 340a, 340b, 340c, 340d, and 340e. As shown in Figures 14 and 17, the power supply 380, communication device 381, control device 382, ​​and motor-related devices may be integrally arranged as an electronic unit at the rear of the base 330 in the vehicle length direction or on the protruding portion 332.

[0133] The communication device 381 is connected to the control device 382 via a communication network N2 such as a CAN. A battery sensor (not shown) for the power supply 380 may also be connected to the communication network N2. The communication device 381 is also connected to the external terminal described above, enabling information communication. The communication device 381 transmits information received from the external terminal to the communication network N2, while transmitting information from the communication network N2 to the external terminal. Information communication between the communication device 381 and the external terminal may be, for example, wireless communication according to the above-mentioned standard. Note that the wireless communication format is not limited to the above, and may also be, for example, infrared communication, Bluetooth (registered trademark), cellular / non-cellular LPWA, etc. Alternatively, information communication via a wired connection may be performed instead of wireless communication.

[0134] 12, the control device 382 is a device that executes control of each of the drive units 340a, 340b, 340c, 340d, and 340e. The control device 382 is composed of electric and electronic circuits, programs stored in a CPU, etc. Instruction signals and the like received by the communication device 381 are sent to the control device 382 via the communication network N2.

[0135] 12 and 20, a storage system 400 for a moving body 100 according to the first embodiment of the present invention includes a storage cabinet 500, a stop position determination unit 283c, an automatic driving control unit 283d, an attachment control unit 283a, and a detachment control unit 283b. In this embodiment, the stop position determination unit 283c, the automatic driving control unit 283d, the attachment control unit 283a, and the detachment control unit 283b are provided in the running body 200 of the moving body 100. Alternatively, they may be provided in a location different from the running body 200 (for example, the mounted body 300, another terminal, etc.).

[0136] In the storage system 400, the stop position determination unit 283c determines the stop position of the mobile body 100 or the running body 200 inside the storage facility 500. In the storage system 400, the automatic driving control unit 283d causes the mobile body 100 or the running body 200 located outside the storage facility 500 to travel by automatic driving and stop at the stop position.

[0137] The storage system 400 is configured to detach the mounted body 300 from the moving body 100 to which the mounted body 300 is attached at the stopping position of the storage facility 500 by the detachment control unit 283b, and place and store the mounted body 300 in the placement unit 560 of the storage facility 500. The storage system 400 is configured to attach the mounted body 300 placed in the placement unit 560 to the traveling body 200 at the stopping position of the storage facility 500 by the attachment control unit 283a.

[0138] In addition, the storage facility 500 may store both the mounted body 300 and the running body 200 (i.e., the moving body 100) at the same time, or may store only the running body 200 or only the mounted body 300 (see, for example, Figures 22, 23, and 25).

[0139] 20 and 21 , the storage facility 500 is a housing capable of accommodating the entire moving body 100. The storage facility 500 has a rectangular bottom surface 510, and the longitudinal and lateral directions of the bottom surface 510 correspond to the longitudinal and lateral directions of the vehicle body 260. The longitudinal dimension of the bottom surface 510 is greater than the longitudinal dimension of the vehicle body 260. The lateral dimension of the bottom surface 510 is greater than the lateral dimension of the vehicle body 260.

[0140] A side surface portion 520 extends upward from each long side of the bottom surface portion 510. A front surface portion 530 extends upward from one short side on the front side of the bottom surface portion 510. A roof portion 540 is provided at the top so as to face the bottom surface portion 510 in the vertical direction.

[0141] An entrance / exit is formed on the other short side at the rear of the bottom surface portion 510 so that the mobile body 100 or the running body 200 can enter and exit. A slope portion 550 is connected to the short side via a hinge. When the storage cabinet 500 is placed on the ground, the bottom surface portion 510 transitions slightly above the ground surface. The slope portion 550 forms a downward slope from the entrance / exit of the storage cabinet 500 toward the outside.

[0142] When the mobile body 100 or the running body 200 enters or leaves the storage facility 500, it travels along the slope section 550. That is, the slope section 550 can guide the mobile body 100 or the running body 200 from the entrance / exit of the storage facility 500 to the outside, or from the outside of the storage facility 500 to the entrance / exit. On the other hand, the slope section 550 is configured to be able to be flipped up. When the end of the slope section 550 is flipped up toward the roof section 540, the opening serving as the entrance / exit is closed.

[0143] The storage cabinet 500 includes a placement section 560. The placement section 560 is used to place the mounting body 300. The placement section 560 is configured with a plate member that is inverted L-shaped when viewed from the front. The two placement sections 560 are each disposed inside the storage cabinet 500 so as to extend in a direction along the long side of the bottom surface section 510.

[0144] More specifically, one of the two surfaces constituting the inverted L shape of each placement unit 560 is connected to the corresponding side surface unit 520. The other of the two surfaces protrudes from the corresponding side surface unit 520 toward the center of the interior. The other of the two surfaces is substantially parallel to the bottom surface unit 510, and the mounting body 300 can be placed on top of it. The configuration of the storage cabinet 500 is not limited to the above-described configuration and may be any configuration that allows the mounting body 300 to be placed inside. For example, the storage cabinet 500 may be simply configured with only the placement unit 560 and a member that supports the placement unit 560. The storage cabinet 500 may also have a frame structure that allows the interior to be viewed, or may have a wall structure that provides protection from wind and rain from the outside or for security purposes. Furthermore, the front surface part 530 may be detachable from the storage 500, and when the front surface part 530 is detached, the mobile body 100 (running body 200) can run forward from the storage 500. Furthermore, the placement position of the mounting body 300 (the installation position of the placement part 560) inside the storage 500 is preferably above the bottom surface part 510, but is optional. For example, the storage 500 may be configured so that the mounting body 300 is placed on any of the front side (first direction side), side side (fourth direction side), and upper side (second direction side) of the running body 200 inside the storage 500.

[0145] 22 , for example, when the moving body 100 is stored in the storage cabinet 500, the moving body 100 is arranged in a predetermined orientation in the internal space of the storage cabinet 500. Inside the storage cabinet 500, the running devices 270 on both sides of the running body 200 are in contact with the bottom surface 510 and face the inside of each side surface 520 of the storage cabinet 500. The bottom surface of the running body 200 faces the bottom surface 510, and the top of the mounting body 300 is covered by the roof portion 540.

[0146] 23, for example, when the running body 200 is stored in the storage cabinet 500, the running body 200 is arranged in the same manner as when the moving body 100 is stored (see FIG. 22). The running body 200 is arranged below the arrangement section 560 (the other surface thereof). In other words, when the internal space of the storage cabinet 500 is divided into an upper side and a lower side by the arrangement section 560, the arrangement position of the running body 200 is the lower side of the internal space.

[0147] 24 , the running body 200 is stored inside the storage shed 500 so that the first direction is forward. In this case, the running body 200 is arranged so that the vehicle length direction is along the longitudinal direction of the bottom surface portion 510. The front end of the vehicle body 260 of the running body 200 faces the inside of the front surface portion 530 of the storage shed 500.

[0148] The arrangement portion 560 is positioned away from the running body 200 in the first direction and the fourth direction. More specifically, the arrangement portion 560 may be located forward of the front end of the body 260 of the running body 200. Furthermore, the arrangement portion 560 may be located on the outer side of the body 260 of the running body 200 in the vehicle width direction. In this embodiment, the arrangement portion 560 is located above the running body 200 in the second direction, but this arrangement relationship is not limited thereto.

[0149] In addition, in a plan view, the four lift sections 220 of the vehicle body 260 are positioned between the two arrangement sections 560 on both sides in the vehicle width direction. In other words, the upper sides of the four lift sections 220 are not covered by the arrangement sections 560.

[0150] As shown in FIG. 25 , for example, when the mounted body 300 is stored in the storage cabinet 500, the mounted body 300 is arranged in the same manner as when the moving body 100 is stored (see FIG. 22 ). The mounted body 300 is arranged above the arrangement section 560 (the other surface thereof). That is, when the internal space of the storage cabinet 500 is divided into an upper side and a lower side by the arrangement section 560, the mounted body 300 is arranged in the upper side of the internal space. Depending on the configuration of the storage cabinet 500 and the environment in which the storage cabinet 500 is installed, moisture, mud, dust, and the like may accumulate on the bottom surface 510. Furthermore, this phenomenon is likely to be accelerated by adhesions such as tires of the traveling body 200. As described above, by arranging the mounted body 300 in the upper side of the internal space of the storage cabinet 500, the mounted body 300 can be separated from the bottom surface 510, thereby preventing the mounted body 300 from getting wet or dirty during storage.

[0151] 26 , the mounting body 300 is accommodated inside the storage cabinet 500 so that the first direction is forward. In this case, the mounting body 300 is arranged so that the longitudinal direction of the base 330 is aligned with the longitudinal direction of the bottom surface 510. The first movable tool 310 and the second movable tool 320 of the mounting body 300 face the inside of the front surface 530 of the storage cabinet 500.

[0152] The placement unit 560 is configured to be able to place the detached mount body 300. More specifically, a portion of the placement unit 560 may be configured to support the mount body 300 in the second direction, thereby placing the mount body 300. Furthermore, the portion of the placement unit 560 may have a planar shape that can support the bottom surface 331 of the mount body 300 to be placed, may face the bottom surface 331 of the mount body 300, and may have a shape that extends in the first direction. Note that the position in the placement unit 560 where the mount body 300 is placed may also be referred to as the placement position.

[0153] As shown in FIGS. 21 and 24 , the storage cabinet 500 includes a detectable portion 531. The detectable portion 531 is used to determine the stopping position of the traveling object 200 in the storage cabinet 500. In this embodiment, the detectable portion 531 is provided on the inside of the front portion 530. The detectable portion 531 corresponds to a portion whose positional relationship with the stopping position is specified. The detectable portion 531 is configured to be detectable by the distance measuring sensor 282 at the front end of the vehicle body 260. Note that in this embodiment, the detectable portion 531 is a component of the storage cabinet 500 located on the inside of the front portion 530. However, this is not limited thereto. For example, the detectable portion 531 may be a component of the storage cabinet 500 located on the inside of the side, bottom, or top. Furthermore, the detectable portion 531 may be an identification code attached to the inside of the storage cabinet 500 instead of a component of the storage cabinet 500. The identification code is preferably one that can be easily identified and detected by the distance measurement sensor 282, and may be, for example, a barcode or a QR code (registered trademark). In this case, various information may be stored in the identification code so that it can be read by the sensor. It is also preferable to adjust the mounting position of the distance measurement sensor 282 in accordance with the position of the detected portion 531.

[0154] 27 , in this embodiment, the positional relationship between the detected part 531 and the stop position is defined in advance. For example, the height of the detected part 531 on the front part 530 of the storage 500 from the bottom part 510 and the height of the distance measuring sensor 282 at the front end of the vehicle body 260 are assumed to be the same.

[0155] In this case, as shown by the solid line, the running body 200 is stopped and positioned inside the storage facility 500, and at this stopped position, the horizontal distance from the detected part 531 to the distance measuring sensor 282 is set to the reference distance DS. At this stopped position, the mounted body 300 is detached from the mounting surface 210 of the running body 200 and placed in the placement part 560 described above.

[0156] At this time, the distance measurement sensor 282 detects the horizontal distance from the detected part 531 and stores it in advance in a memory or the like as a reference distance DS, and a stop position corresponding to the reference distance DS is determined. The next time the mounted body 300 is attached, control is executed to run and stop the traveling body 200 with the determined stop position as a target. This enables the mounted body 300 to be attached appropriately.

[0157] Based on this knowledge, in this embodiment, the stop position determiner 283c determines a stop position based on the detection result of the detectable portion 531. More specifically, when the running body 200 is stopped in the storage facility 500 and detachment of the mounting surface 210 is executed, the stop position determiner 283c detects the horizontal distance from the detectable portion 531 to the distance measuring sensor 282, and determines and stores the horizontal distance as a reference distance DS. That is, in this embodiment, determining the reference distance DS corresponds to determining the stop position. Alternatively, the stop position may be determined directly by calculating coordinates and vectors.

[0158] After the reference distance DS is determined (i.e., after the stopping position is determined), it is assumed that the running body 200 starts running out of the storage facility 500 with only the mounted body 300 placed in the placement section 560. Then, it is assumed that the running body 200 returns to the storage facility 500 in order to reattach the mounted body 300.

[0159] In this case, as shown by the dashed line, the horizontal distance D from the detected part 531 to the distance measuring sensor 282 is detected by the distance measuring sensor 282. The detected horizontal distance D is successively compared with the stored reference distance DS. Based on the comparison result, the running object 200 runs or stops.

[0160] In this embodiment, when it is determined that the horizontal distance D is greater than the reference distance DS, the automatic driving control is performed to move forward in the first direction. When the horizontal distance D decreases and approaches the reference distance DS and it is determined that the horizontal distance D is equal to the reference distance DS, the automatic driving control is performed to stop the traveling object 200 on the spot. In this way, the stop position determination unit 283c determines the stop position, and the traveling object 200 can be stopped at the determined stop position.

[0161] <<Mounted body detachment operation>> With reference to Figures 28 to 34 and the flowchart of Figure 42, a series of operations for detaching the mounted body 300 from the running body 200 to which the mounted body 300 is attached and placing the detached mounted body 300 in the placement section 560 inside the storage facility 500 will be explained in chronological order.

[0162] 28, it is assumed that neither the mounted body 300 nor the running body 200 is stored inside the storage facility 500, and the mobile body 100 is running or working outside the storage facility 500. When the mounted body 300 is to be detached, first, the operator operating the mobile body 200 via the external terminal runs the mobile body 200 (mobile body 100) toward the slope section 550 (step S1 in FIG. 42).

[0163] 29 , when the traveling device 270 approaches a slope, the operator instructs the traveling body 200 and the mounted body 300 via an external terminal to enter the detachment mode. In the mounted body 300, when the communication device 381 receives the instruction for the detachment mode, the control device 382 drives the drive units 340 a, 340 b, 340 c, and 340 d to tilt the first movable device 310 clockwise on the page, and maintains the stored position in which the first movable device 310 is close to the base 330 (see FIGS. 12 and 18 ) (step S2 in FIG. 42 ).

[0164] When the communication device 281 receives the instruction for the detachment mode, the running object 200 switches to automatic driving control. The control device 283 causes the automatic driving control unit 283d to drive the running object 270 in automatic driving so that the running object 270 stops at a stopping position within the storage facility 500. The reference distance DS determined and stored the previous time the running object 200 was attached may be used to stop the running object 200 at the stopping position. The horizontal distance D from the detected portion 531 to the front end of the vehicle body 260 is detected by the distance measurement sensor 282. However, because the reference distance DS is less than the horizontal distance D at this point, the running object 200 moves forward in the first direction (see FIG. 27 ).

[0165] Next, as shown in FIG. 30, the control device 283 controls the fixing units 240a and 240b via the detachment control unit 283b to release the mounting body 300 from the running body 200 (controlling the suction portion 241a to switch to a demagnetized state), and controls the lift unit 220 to support and move the mounting body 300 attached to the mounting surface 210 above the placement unit 560 in the second direction (step S3 in FIG. 42).

[0166] Next, the control device 283 controls the traveling device 270 by the detachment control unit 283b and the automatic driving control unit 283d so that the traveling body 200 travels in automatic driving together with the on-board body 300 to the above-mentioned stopping position, with the on-board body 300 moved above the placement unit 560. At this point, the reference distance DS is smaller than the horizontal distance D, so the moving body 100 moves forward in the first direction. The moving body 100 enters through the entrance / exit of the storage facility 500, and the horizontal distance D detected by the distance measurement sensor 282 approaches the reference distance DS.

[0167] Next, as shown in Figure 31, when the moving body 100 enters the storage facility 500 and the horizontal distance D becomes equal to the reference distance DS, the control device 283 stops the running device 270 via the automatic driving control unit 283d (see Figure 27) (step S4 in Figure 42).

[0168] 34 , the mounting body 300 is supported by the lift unit 220 above the placement unit 560 of the storage cabinet 500 in the second direction. Therefore, the placement unit 560 is located between the bottom surface 331 of the mounting body 300 and the mounting surface 210 of the running body 200 in the up-down direction. The mounting body 300 moves above the placement unit 560 in the second direction.

[0169] 32, the control device 283 controls the lift unit 220, via the detachment control unit 283b, to move the mount 300, which has been moving upward, in the third direction while supporting it, while the running body 200 is stopped at the stopping position. As a result, the mount 300 is detached from the running body 200, and the mount 300 is placed on the placement unit 560. In this way, the stopping position of the running body 200 is located below the placement unit 560, and is a position where the mount 300 is detached from the running body 200 to which it is attached and placed on the placement unit 560 (step S5 in FIG. 42).

[0170] At this time, the control device 283 determines and stores a reference distance DS (i.e., a stop position) from the detected part 531 to the distance measuring sensor 282 by the stop position determination part 283c. The reference distance DS determined this time may update the previously stored reference distance DS. The currently stored reference distance DS may be used the next time the mounted body 300 is attached (step S5 in FIG. 42).

[0171] 33, while the carrier 300 remains placed in the placement section 560, only the running body 200 runs backward in the first direction and exits through the entrance of the storage facility 500 (step S6 in FIG. 42). Through the above series of operations, the carrier 300 is detached from the running body 200 to which it is attached and placed in the placement section 560.

[0172] <<Mounting operation of the mounted body>> With reference to Figures 35 to 41 and the flowchart of Figure 43, a series of operations for mounting the mounted body 300 placed in the placement section 560 to the running body 200 on which the mounted body 300 is not mounted will be explained in chronological order.

[0173] As shown in Fig. 35, it is assumed that the on-board body 300 is stored in the placement section 560 inside the storage facility 500, and the running body 200 is running outside the storage facility 500. That is, it is assumed that the above-mentioned detachment operation of the on-board body 300 has been executed. When attaching the on-board body 300, first, the operator operating the on-board body 300 via the external terminal causes the running body 200 to run toward the slope section 550 (step S7 in Fig. 43).

[0174] 36, when the traveling device 270 approaches a slope, the operator instructs the traveling body 200 and the mounting body 300 from an external terminal to enter the mounting mode. When the communication device 281 of the traveling body 200 receives the instruction to enter the mounting mode, the traveling body 200 switches to automatic driving control (step S8 in FIG. 43).

[0175] The control device 283 causes the automatic driving control unit 283d to automatically drive the traveling device 270 so that the traveling device 270 stops at a stopping position within the storage facility 500. For stopping at the stopping position, the reference distance DS determined and stored at the time of the previous detachment may be used.

[0176] The horizontal distance D from the detected portion 531 to the front end of the vehicle body 260 is detected by the distance measurement sensor 282, but at this point, the reference distance DS is smaller than the horizontal distance D, so the running object 200 moves forward in the first direction (see FIG. 27). The running object 200 enters the storage facility 500 through the entrance and exit, and the horizontal distance D detected by the distance measurement sensor 282 approaches the reference distance DS.

[0177] Next, as shown in Figure 37, when the running object 200 enters the storage facility 500 and the horizontal distance D becomes equal to the reference distance DS, the control device 283 stops the running device 270 via the automatic driving control unit 283d (see Figure 27). As a result, the running object 200 is positioned below the mounted object 300 placed in the placement unit 560. At the stopped position, the mounting surface 210 of the running object 200 faces the bottom surface 331 of the mounted object 300 with a gap therebetween (step S9 in Figure 43).

[0178] Next, as shown in Figure 38, the control device 283 controls the lift unit 220 by the mounting control unit 283a to support the mounting body 300 facing the mounting surface 210 and move it above the placement unit 560 in the second direction while the running body 200 is stopped at the stopping position (step S10 in Figure 43).

[0179] As a result, the running body 200 and the mounting body 300 engage with each other via the lifting section 220 (engagement section 230). In this way, the stopping position of the running body 200 is located below the placement section 560, and is also a position for attaching the mounting body 300 placed on the placement section 560 to the running body 200 that does not have the mounting body 300 attached.

[0180] In addition, if the actual stopping position of the running body 200 is slightly deviated from the intended stopping position, or if the mounting body 300 placed in the placement section 560 moves slightly during storage, a misalignment may occur between the axis of the lift section 220 and the axis of the insertion section 232, as shown in Figure 10.

[0181] Even in this case, the recessed shape of the fitting portion 232 has a shape (for example, a mortar or cup shape when viewed from the bottom) that has a portion that narrows in diameter along the fitting direction (i.e., the second direction), so that the misalignment of the axes is corrected when the lift portion 220 is raised, thereby enabling reliable support and engagement.

[0182] At this time, the control device 283 also causes the stop position determination unit 283c to determine and store a reference distance DS (i.e., a stop position) from the detected part 531 to the distance measurement sensor 282. The reference distance DS determined this time may update the previously stored reference distance DS. The currently stored reference distance DS may be used the next time the on-board body 300 is detached (step S10 in FIG. 43).

[0183] 39 , the control device 283 controls the running body 200 to run integrally with the on-board body 300 with the rear facing in the first direction, with the on-board body 300 moved above the placement unit 560, by using the mounting control unit 283 a and the automatic driving control unit 283 d. As a result, the running body 200 runs out of the entrance / exit of the storage facility 500 together with the on-board body 300 (step S11 in FIG. 43 ).

[0184] 40 , the control device 283 controls the lift unit 220 by the mounting control unit 283a to support the mount body 300, which has been moving upward, and move it in the third direction. As a result, all of the engaging units 230 and the fixing units 240a and 240b are fitted into the corresponding fitting portions 232 and fitting portions 242, and the mount body 300 is mounted on the mounting surface 210 of the vehicle body 260. Next, the control device 283 controls the fixing units 240a and 240b by the mounting control unit 283a to fix the mount body 300 to the traveling body 200 (controls the suction portion 241a to switch to an excited state) (step S12 in FIG. 43 ).

[0185] 41, in the receiving mount 300 that has received the above-mentioned instruction for the mounting mode, the control device 382 drives the drive units 340a, 340b, 340c, and 340d to tilt the first movable tool 310, which has been in the stored position, counterclockwise on the paper. That is, the position of the first movable tool 310 is returned to one that is ready for work (step S13 in FIG. 43).

[0186] This enables the moving body 100 to travel using the running body 200 and to perform work using the first movable tool 310 and the second movable tool 320. Through the above series of operations, the mounting body 300 arranged in the arrangement section 560 above the mounting surface 210 in the second direction is attached to the running body 200 to which the mounting body 300 is not attached.

[0187] <Modification of Engagement Portion> In this embodiment, the engagement portion 230 includes a protruding portion 231 and a fitting portion 232. The protruding portion 231 protrudes in the second direction or the third direction. The fitting portion 232 has a shape including a portion whose diameter decreases along the fitting direction of the protruding portion 231 (see FIGS. 9, 10, and 11).

[0188] 44 and 45 , the fitting portion 232 may have a recessed shape into which the protruding protrusion portion 231 can be fitted, and may have a shape having a portion that screws into the protruding portion 231 when the protruding portion 231 is fitted, so that the fitting portion 232 engages with the protruding portion 231 by being fitted into the protruding portion 231. The protruding direction of the protruding portion 231 may be the same as in the first embodiment.

[0189] In this case, for example, the protruding portion 231 may have a male thread structure 231a, and the fitting portion 232 may have a female thread structure 232c that can be threadedly engaged with the protruding portion 231. It is preferable that the protruding portion 231 is configured to be rotatable about its axis without changing its height.

[0190] The bottom surface 331 of the base 330 of the mounting body 300 is placed opposite the mounting surface 210 of the running body 200, and the axes of the protruding portion 231 and the fitting portion 232 are aligned, allowing for screwing (see FIG. 45(b)). In this state, when the protruding portion 231 is rotated forward, the male screw structure 231a and the female screw structure 232c engage with each other, and the bottom surface 331 approaches the mounting surface 210. This causes the mounting body 300 to move downward in the third direction. Then, the fixing portion 240b also fits into the fitting portion 242, and the mounting body 300 moves to the lowest position, achieving engagement and fixation, and completing the installation (see FIG. 45(a)).

[0191] When the protruding portion 231 is rotated in the reverse direction while the mounting body 300 is attached (see FIG. 45(a)), the male screw structure 231a and the female screw structure 232c engage with each other, and the bottom surface 331 moves away from the mounting surface 210. This causes the mounting body 300 to move upward in the second direction. Then, the fixing portion 240b also fits out of the fitting portion 242, and the mounting body 300 moves to the top, releasing the engagement and fixation, completing the detachment (see FIG. 45(b)).

[0192] <Modifications of Support Portions> In the present embodiment, as described above, a plurality of support portions 250 are arranged at specific positions on the upper end of vehicle body 260. In particular, support portion 250a, support portion 250b, support portion 250c, support portion 250d, support portion 250e, and support portion 250f are each arranged with geometric regularity in a plan view of vehicle body 260 (see FIG. 6 ).

[0193] As shown in FIG. 46 , instead of or in addition to the above-described arrangement, the support portion 250 may be arranged at the upper end of the overhang portion 261. In this way, the space of the overhang portion 261 may be effectively utilized. In addition to arranging the support portion 250 on the overhang portion 261, a motor and / or electrical equipment 284 related to driving the motor may also be provided. In this case, the electrical equipment 284 may be arranged, for example, on the side surface of the overhang portion 261 or at the lower end of the overhang portion 261 so as not to structurally interfere with the attachment of the mounting body 300. Note that the electrical equipment 284 arranged on the overhang portion 261 may include an auxiliary power source (auxiliary battery). This makes it possible to effectively utilize the space of the overhang portion 261 and increase the power supply capacity.

[0194] Second Embodiment A moving body 100 according to a second embodiment of the present invention differs from the first embodiment described above in that the manner of engagement between the running body 200 and the mounted body 300 is different. In the first and second embodiments, the engaging portion 230 is configured to be able to engage the running body 200 and the mounted body 300 with each other, and the mounted body 300 is attached by the engagement, and the mounted body 300 is detached by releasing the engagement. This point is common to the first and second embodiments.

[0195] The engaging portion 230 of the first embodiment includes a protruding portion 231 and a fitting portion 232, and the engagement is achieved by fitting the protruding portion 231 into the fitting portion 232. In contrast, the engaging portion 230 of the second embodiment is configured to engage with the carrying body 300 while the running body 200 is running, and to mount the carrying body 300. The second embodiment differs from the first embodiment only in this respect, and is the same as the first embodiment in other respects.

[0196] Only the differences between the second embodiment and the first embodiment will be described below. In the second embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

[0197] 47 , the engaging portion 230 of the second embodiment includes an outer rail 233 and an inner rail 234. In this embodiment, the outer rail 233 is provided on the mounting body 300, and the inner rail 234 is provided on the traveling body 200. Alternatively, the positional relationship between the outer rail 233 and the inner rail 234 may be reversed.

[0198] The outer rail 233 is configured as a recess in the bottom surface of the base 330 of the mounting body 300. The recess is recessed from bottom to top, and its cross-sectional shape corresponds to the protrusion of the inner rail 234. The outer rail 233 extends along the first direction at approximately the center in the vehicle width direction. The rear end of the outer rail 233 is an open end, allowing the front end of the inner rail 234 to enter.

[0199] The inner rail 234 is configured as a convex portion on the mounting surface 210 at the upper end of the running body 200. The convex portion is convex from bottom to top, and its cross-sectional shape corresponds to the concave portion of the outer rail 233. The inner rail 234 extends along the first direction at approximately the center in the vehicle width direction. When the inner rail 234 enters the outer rail 233 from the front end, it is guided along the first direction.

[0200] Furthermore, the engaging portion 230 of the second embodiment includes an upright portion 233a and an abutment portion 234a. The upright portion 233a stands facing the second direction or the third direction and has a surface facing the first direction. The abutment portion 234a is configured to be able to abut against the surface of the upright portion 233a. In this embodiment, the upright portion 233a is configured to stand facing the third direction as the front end of the outer rail 233, and the abutment portion 234a is configured as the front end of the inner rail 234. Alternatively, the positional relationship between the upright portion 233a and the abutment portion 234a may be reversed.

[0201] 48, when the running body 200 and the mounting body 300 are engaged and attached, the mounting body 300 is supported and placed in the placement section 560 of the storage cabinet 500. Note that the storage cabinet 500 in this embodiment is designed so that the running body 200 can enter from the rear end and can exit from the front end. That is, the rear end of the storage cabinet 500 is configured as the entrance, and the front end is configured as the exit.

[0202] The mounting body 300 has its position (height and direction) adjusted in the positioning section 560 so that the front end of the inner rail 234 can enter the rear end of the outer rail 233. The traveling body 200 is automatically controlled so that the front end of the inner rail 234 faces the rear end of the outer rail 233.

[0203] When the running body 200 enters the storage cabinet 500 from the rear entrance, the running body 200 travels below the mounting body 300, and the front end of the inner rail 234 enters from the rear end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.

[0204] As shown in Figure 49, when the inner rail 234 slides while the traveling body 200 is traveling, the erected portion 233a of the outer rail 233 comes into contact with the abutment portion 234a of the inner rail 234 (see Figure 48). At this time, the sliding movement of the inner rail 234 stops, and the engagement is achieved.

[0205] 50, when the running body 200 travels out from the front end exit of the storage facility 500, the mounting body 300 separates from the placement unit 560 and becomes attached to the running body 200. In this way, the mounting body 300 is attached to the running body 200 by being engaged while the running body 200 is traveling.

[0206] <Modifications of Engagement Portion> In the present embodiment, the engagement portion 230 includes the outer rail 233 and the inner rail 234, but may be configured not to include these. As shown in Figure 51, for example, the erected portion 233a may be provided at the front end of the base 330 of the mounting body 300, and the abutment portion 234a may be provided at the front end of the vehicle body 260 of the running body 200.

[0207] The upright portion 233a may protrude downward in the third direction from the bottom surface 331 at the front end of the base 330 of the mounting body 300 over the entire length in the vehicle width direction. The surface of the upright portion 233a facing the first direction (the surface that abuts against the abutment portion 234a) may be inclined with respect to the vertical direction. For example, the inclination may be configured so that the surface that abuts against the abutment portion 234a extends obliquely downward and rearward.

[0208] The abutment portion 234a may have a notch structure extending from the mounting surface 210 downward in the third direction and from the front end to the rear side at the front end of the vehicle body 260 of the running vehicle 200 over the entire length in the vehicle width direction. The abutment surface of the abutment portion 234a may be inclined to correspond to the shape of the upright portion 233a. The upright portion 233a and the abutment portion 234a configured in this manner may have a Z-shape or an inverted Z-shape in side view.

[0209] [Third Embodiment] A moving body 100 according to a third embodiment of the present invention differs from the first embodiment described above in the manner of engagement and fixation between the running body 200 and the mounting body 300. In the first and third embodiments, the engaging portion 230 is configured to be able to engage the running body 200 and the mounting body 300 with each other, and the mounting body 300 is attached by the engagement, and the mounting body 300 is detached by releasing the engagement.

[0210] In the first and third embodiments, the fixing portion 240a is configured to be able to fix the mounted body 300 to the running body 200, and by fixing the mounted body 300, the relative movement of the mounted body 300 with respect to the running body 200 is restricted, and by releasing the fixation, the relative movement is permitted. These points are common to the first and third embodiments.

[0211] The engaging portion 230 and the fixing portion 240a of the first embodiment include a protruding portion 231 and a fitting portion 232, and are engaged and fixed by fitting the protruding portion 231 into the fitting portion 232. The protruding portion 231 protrudes upward in the second direction.

[0212] In contrast, the engaging portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234, and is configured to engage with the outer rail 233 and the inner rail 234 while the traveling body 200 is traveling, thereby mounting the mounting body 300. The fixing portion 240a of the third embodiment includes a protruding portion 243 and an inserting portion 244, and is fixed by inserting the protruding portion 243 into the inserting portion 244. This protruding portion 243 protrudes in a direction approximately perpendicular to the second direction. The third embodiment differs from the first embodiment only in these respects, and is otherwise the same as the first embodiment.

[0213] Only the differences between the third embodiment and the first embodiment will be described below. In the third embodiment, the same reference numerals as in the first embodiment are used for the same or equivalent configurations and parts as in the first embodiment.

[0214] 52 , the engagement portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234. In this embodiment, the outer rail 233 is provided on the traveling body 200, and the inner rail 234 is provided on the mounting body 300. Alternatively, the positional relationship between the outer rail 233 and the inner rail 234 may be reversed.

[0215] Two outer rails 233 are provided on the mounting surface 210 at the upper end of the running body 200. The outer rails 233 are installed parallel to each other and spaced apart in the vehicle width direction, and each extends along the first direction. Each of the two outer rails 233 is recessed outward in the vehicle width direction, and its cross-sectional shape corresponds to the protrusion of the inner rail 234. The front end of the outer rail 233 is an open end, allowing the rear end of the inner rail 234 to enter.

[0216] Two inner rails 234 are provided on the bottom surface 331 at the lower end of the mounting body 300. The inner rails 234 are installed parallel to each other and spaced apart in the vehicle width direction, and are located inward of the two outer rails 233, and each extend along the first direction. Each of the two inner rails 234 protrudes outward in the vehicle width direction, and its cross-sectional shape corresponds to the recess of the outer rail 233. When the inner rail 234 enters the outer rail 233 from its rear end, it is guided along the first direction.

[0217] 52 and 53, a plurality of protruding portions 243 are provided along the first direction on the outer surfaces of the convex portions of the two inner rails 234. Each protruding portion 243 can protrude in a direction substantially perpendicular to the second direction, i.e., toward the outside in the vehicle width direction (see FIG. 53(b)).

[0218] Each protruding portion 243 can be retracted into the inner rail 234, facing inward in the vehicle width direction (see FIG. 53(a)). The protruding and retracting operations of the protruding portions 231 may be controlled by the control device 382, ​​for example, via a built-in actuator.

[0219] A plurality of fitting portions 244 are provided along the first direction on the side walls of the two outer rails 233. Each fitting portion 244 is arranged to correspond to the position of a plurality of protruding portions 243. Each fitting portion 244 penetrates the side wall of the outer rail 233 in a direction substantially perpendicular to the second direction, i.e., in the vehicle width direction. Each fitting portion 244 as a through hole is configured to allow the protruding protruding portion 231 to fit therein (see FIG. 53(b)).

[0220] When the carrying body 300 is attached to the running body 200, all of the protruding portions 231 are housed in the inner rail 234 (see FIG. 53(a)). When the running body 200 enters the interior of the storage cabinet 500 from the rear entrance, the running body 200 travels below the carrying body 300, while the rear end of the inner rail 234 enters from the front end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.

[0221] As the sliding movement described above progresses, when the protruding portion 243 and the fitting portion 244 overlap in a side view, the running body 200 reaches the stop position and stops. Next, while the running body 200 is stopped at the stop position, the stored protruding portion 243 is controlled to protrude outward in the vehicle width direction (see FIG. 53(b)). This achieves engagement and fixation, and the mounting body 300 is attached to the running body 200. After attachment, the moving body 100 travels with the rear as the first direction, and runs out to the outside through the rear entrance of the storage facility 500.

[0222] [Fourth embodiment] A storage facility 500 (storage system 400) for a moving body 100 according to a fourth embodiment of the present invention is different from the first embodiment described above in that the power supply of the running body 200 and / or the power supply 380 of the mounted body 300 can be charged inside the storage facility 500, and information corresponding to the charging status can be displayed externally.

[0223] In the first and fourth embodiments, the storage system 400 includes a stop position determination unit 283c that determines a stop position inside the storage 500, and the storage 500 includes a placement unit 560 that is configured to be able to place the detached mount 300. These points, including the manner in which the mount 300 is attached to and detached from the storage 500, are common to the first and fourth embodiments.

[0224] The bottom surface portion 510 of the storage cabinet 500 of the first embodiment is configured to face the bottom surface of the vehicle body 260 of the running body 200 when the running body 200 stops at the stopping position. Addition of functions to the bottom surface portion 510 is optional. The placement portion 560 of the storage cabinet 500 of the first embodiment is configured to support the mounting body 300 from the bottom surface of the base portion 330 of the mounting body 300 upward in the second direction when the mounting body 300 is placed. Addition of functions other than supporting the mounting body 300 to the placement portion 560 is optional.

[0225] In contrast, the storage cabinet 500 of the fourth embodiment includes power supply units 570a and 570b, and a display unit 580. Furthermore, the power sources 280 and 380 of the mobile body 100 of the fourth embodiment are both rechargeable batteries (secondary batteries).

[0226] Power supply units 570a and 570b are configured to be able to supply electrical energy for charging to power supply 280 of running body 200 and power supply 380 of mounted body 300. Display unit 580 is configured to be able to externally display information corresponding to the charging state of power supply 280 and power supply 380. The fourth embodiment differs from the first embodiment only in these respects, and is the same as the first embodiment in other respects.

[0227] Only the differences between the fourth embodiment and the first embodiment will be described below. In the fourth embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

[0228] 54 , power supply unit 570a is provided on bottom surface 510 of storage cabinet 500. Power supply unit 570a has a flat plate shape. When the upper surface of power supply unit 570a and the lower surface of power receiving unit 285 (described later) overlap each other, electrical energy is supplied from power supply unit 570a to power receiving unit 285.

[0229] Power supply unit 570b is provided in placement unit 560 of storage cabinet 500. Power supply unit 570b has a flat plate shape. When the upper surface of power supply unit 570b and the lower surface of power receiving unit 385 (described later) overlap each other, electrical energy is supplied from power supply unit 570b to power receiving unit 385.

[0230] As shown in Figure 55, a power receiving unit 285 is provided on the bottom surface of the vehicle body 260 of the running object 200. The power receiving unit 285 has a flat plate shape. The lower surface of the power receiving unit 285 is positioned so as to overlap the upper surface of the power supply unit 570a when the running object 200 is stopped at a stop position. The power receiving unit 285 is electrically connected to the power source 280 of the running object 200. The power receiving unit 285 is capable of sending electrical energy for charging to the power source 280.

[0231] A power receiving unit 385 is provided on the bottom surface of the base 330 of the mounting body 300. The power receiving unit 385 has a flat plate shape. The lower surface of the power receiving unit 385 is arranged so as to overlap the upper surface of the power supply unit 570b when the mounting body 300 is arranged on the arrangement section 560. The power receiving unit 385 is electrically connected to the power source 380 of the mounting body 300. The power receiving unit 385 is capable of sending electrical energy for charging to the power source 280.

[0232] 56 and 57 , the display unit 580 is disposed, for example, on the outside of the roof portion 540 of the storage facility 500. The display unit 580 may be an external terminal equipped with a communication device, a monitor device, electric / electronic circuits, a CPU, etc. The monitor device of the display unit 580 may be visible from outside the storage facility 500.

[0233] When it is determined that power source 280 or power source 380 is being charged, display unit 580 receives information on the remaining battery charge from communication device 281 or communication device 381. Based on the received information, display unit 580 displays information corresponding to the charging state via a monitor device. Examples of the information displayed include a numerical value indicating the ratio (percentage, etc.) of the remaining charge to the full charge, and a logo corresponding to the status (charging / charging complete, etc.).

[0234] Power supply unit 570a and power supply unit 570b may be supplied with charging electric energy that has been boosted or the like from outside storage facility 500, for example, via a wire or the like (not shown). The form of power supply from power supply unit 570a and power supply unit 570b to power receiving unit 285 and power receiving unit 385 may be, for example, either contact or contactless. The power supply form is arbitrary as long as electrical connection between power supply unit 570a and power supply unit 570b and between power supply unit 570a and power supply unit 570b is possible.

[0235] When the power supply method is contact-type, for example, the power supply unit 570a and the power supply unit 570b and the power receiving unit 285 and the power receiving unit 385 may have contact-type terminals (see, for example, FIG. 69 of the fifth embodiment). In this case, the terminals of the power supply unit 570a and the power supply unit 570b and the terminals of the power receiving unit 285 and the power receiving unit 385 are in contact with each other, thereby allowing current to flow between them.

[0236] When the power supply method is non-contact, for example, the power supply unit 570a, the power supply unit 570b, and the power receiving unit 285, the power receiving unit 385 may have coils (see, for example, FIG. 70 of the fifth embodiment). In this case, the coils of the power supply unit 570a, the power supply unit 570b convert electricity into magnetism. The coils of the power receiving unit 285, the power receiving unit 385 convert magnetism into electricity. The power supply unit 570a, the power supply unit 570b, and the power receiving unit 285, the power receiving unit 385 are each allowed to conduct electricity via magnetism.

[0237] The operation when charging the power sources 280 and 380 in the storage facility 500 will be described below. As shown in FIG. 58 , it is assumed that the mobile unit 100 enters the storage facility 500 in order to detach the on-board unit 300 from the running unit 200. At this time, the on-board unit 300 is supported by the lift unit 220 and moves upward from the mounting surface 210 of the running unit 200. In this state, there is a large distance between the power supply units 570a and 570b and the power receiving units 285 and 385. Therefore, no current is allowed to flow. As the running unit 200 continues to travel toward the stopping position, the power receiving unit 285 on the bottom surface of the vehicle body 260 approaches the power supply unit 570a on the bottom surface 510.

[0238] 59 , when traveling vehicle 200 stops at a stopping position inside storage facility 500, the upper surface of power supply unit 570a and the lower surface of power receiving unit 285 overlap each other. This allows contactless conduction of electricity between power supply unit 570a and power receiving unit 285, and electrical energy for charging is supplied to power supply 280. At the same time, information about the remaining battery capacity of power supply 280 is transmitted from communication device 281 to display unit 580. Information corresponding to the charging state of power supply 280 is displayed on display unit 580 via a monitor device.

[0239] In this state, the power receiving unit 385 on the bottom surface of the base 330 is located higher than the arrangement unit 560, and there is a distance between the power supply unit 570b and the power receiving unit 385. Therefore, current flow is not permitted. When the mount 300 is moved downward while being supported by the lift unit 220, the power receiving unit 385 on the bottom surface of the base 330 approaches the power supply unit 570b of the arrangement unit 560.

[0240] 60 , when the on-board body 300 is placed in the placement section 560 in the storage facility 500, the upper surface of the power supply unit 570b and the lower surface of the power receiving unit 385 overlap each other. This allows contactless conduction of electricity between the power supply unit 570b and the power receiving unit 385, and electrical energy for charging is supplied to the power source 380. At the same time, information on the remaining battery capacity of the power source 380 is transmitted from the communication device 381 to the display unit 580. Information corresponding to the respective charging states of the power sources 280 and 380 is displayed on the display unit 580 via a monitor device.

[0241] In this embodiment, both power source 280 and power source 380 are rechargeable in storage 500, but alternatively, either power source 280 or power source 380 may be rechargeable.

[0242] Fifth Embodiment In a moving body 100 according to a fifth embodiment of the present invention, the running body 200 includes a first end 286, and the mounting body 300 includes a second end 386. When the mounting body 300 is attached to the mounting surface 210, electrical conduction is permitted between the first end 286 and the second end 386, either in contact or without contact. When the mounting body 300 is detached from the mounting surface 210, electrical conduction between the first end 286 and the second end 386, either in contact or without contact, is restricted. The fifth embodiment differs from the first embodiment described above in this respect.

[0243] In the first and fifth embodiments, both the traveling body 200 and the mounted body 300 are equipped with electrical equipment. These points, including the manner in which the mounted body 300 is attached to and detached from the storage facility 500, are common to the first and fifth embodiments.

[0244] In the first embodiment, no electrical connection is formed between the electrical equipment of the running body 200 (corresponding to the first electrical equipment) and the electrical equipment of the mounted body 300 (corresponding to the second electrical equipment) even when the mounted body 300 is attached to the running body 200.

[0245] In contrast, in the fifth embodiment, the first end 286 of the running body 200 is electrically connected to the first electrical device of the running body 200. The second end 386 of the mounting body 300 is electrically connected to the second electrical device of the mounting body 300. As described above, when the first end 286 and the second end 386 are allowed to be electrically connected, an electrical connection is established between the first electrical device of the running body 200 and the second electrical device of the mounting body 300.

[0246] On the other hand, as described above, when the conduction between the first end 286 and the second end 386 is restricted, the electrical connection is released between the first electrical device of the traveling body 200 and the second electrical device of the mounted body 300. The fifth embodiment differs from the first embodiment only in these respects, and is the same as the first embodiment in other respects.

[0247] Only the differences between the fifth embodiment and the first embodiment will be described below. In the fifth embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

[0248] 61 and 63, three first ends 286a, 286b, and 286c are provided on the top surface (upper end) of running body 200. First end 286a, first end 286b, and first end 286c are each located forward in the vehicle length direction of vehicle body 260 in a plan view.

[0249] More specifically, first end 286a may be disposed, for example, between support portion 250b and support portion 250c. First end 286b and first end 286c may be disposed such that support portion 250a is sandwiched between them. As long as first end portions 286 are disposed in front of vehicle body 260, the number of first end portions 286 and their relative positions are arbitrary.

[0250] 62 and 64, three second ends 386a, 386b, and 386c are provided on the lower surface (bottom end) of the mounting body 300. The second ends 386a, 386b, and 386c are each located forward of the base 330 in the vehicle length direction when viewed from the bottom.

[0251] More specifically, second end 386a, second end 386b, and second end 386c are arranged at positions corresponding to first end 286a, first end 286b, and first end 286c, respectively. When mounted body 300 is attached to running body 200, second end 386a, second end 386b, and second end 386c are arranged so as to overlap first end 286a, first end 286b, and first end 286c, respectively. Second end 386 only needs to correspond to first end 286, and the number and relative positions of second end 386 are the same as those of first end 286.

[0252] 65, the first end 286a is electrically connected to the control device 283, communication device 281, etc. of the running body 200 via a communication network N1. The second end 386a is electrically connected to the drive units 340a, 340b, 340c, 340d, 340e, power source 380, battery sensors, etc. of the on-board body 300 via a communication network N2.

[0253] When the first end 286 a and the second end 386 a are allowed to be energized, the communication networks N1 and N2 are connected. This allows a control signal from the control device 283 of the running body 200 to be sent to the drive units 340 a, 340 b, 340 c, 340 d, 340 e, power supply 380, etc. of the on-board body 300, and allows information from the battery sensor of the on-board body 300 to be sent to the communication device 281 of the running body 200.

[0254] The control device 283 of this embodiment further includes a movable tool control unit 283e and a power supply adjustment unit 283f. The control of the drive units 340a, 340b, 340c, 340d, and 340e of the mounted body 300 is executed by the movable tool control unit 283e while the conduction of the first end 286a and the second end 386a is permitted. The adjustment of the power supply amount of the power source 380 of the mounted body 300 and the power source 280 of the traveling body 200 is executed by the power supply adjustment unit 283f.

[0255] First end 286b is electrically connected to power supply 280 of running body 200. Second end 386b is electrically connected to drive units 340a, 340b, 340c, 340d, and 340e of mounted body 300. When electricity is allowed to flow between first end 286b and second end 386b, driving electrical energy can be sent from power supply 380 of mounted body 300 to drive units 340a, 340b, 340c, 340d, and 340e of mounted body 300, not only from power supply 380 of mounted body 300 but also from power supply 280 of running body 200.

[0256] The first end 286c is electrically connected to a drive unit of the traveling device 270 of the traveling body 200. The second end 386c is electrically connected to the power supply 380 of the mounted body 300. When the first end 286c and the second end 386c are allowed to be energized, driving electric energy can be sent to the traveling device 270 of the traveling body 200 from the power supply 380 of the mounted body 300 in addition to the power supply 280 of the traveling body 200.

[0257] The type of electrical connection between the first ends 286 a, 286 b, and 286 c and the second ends 386 a, 386 b, and 386 c may be, for example, contact or non-contact. The type of electrical connection is arbitrary as long as electrical connection between the first ends 286 a, 286 b, and 286 c and the second ends 386 a, 386 b, and 386 c is possible.

[0258] When the energization method is contact-type, for example, the first ends 286a, 286b, and 286c and the second ends 386a, 386b, and 386c may be contact-type terminals (see, for example, FIG. 69 ). In this case, the terminals of the first ends 286a, 286b, and 286c and the second ends 386a, 386b, and 386c contact each other, thereby allowing the respective terminals to be energized.

[0259] When the energization method is non-contact, for example, the first ends 286a, 286b, and 286c and the second ends 386a, 386b, and 386c may be coils (see, for example, FIG. 70 ). In this case, the coils at the first ends 286b and 386c convert electricity into magnetism, and the coils at the first ends 286c and 386b convert magnetism into electricity.

[0260] When current is passed from the first end 286a to the second end 386a, the coil at the first end 286a converts electricity into magnetism, and the coil at the second end 386a converts magnetism into electricity. When current is passed from the second end 386a to the first end 286a, the coil at the second end 386a converts electricity into magnetism, and the coil at the first end 286a converts magnetism into electricity.

[0261] In this way, the first ends 286a, 286b, and 286c and the second ends 386a, 386b, and 386c are allowed to conduct electricity via magnetism. Note that among the first ends 286a, 286b, and 286c and the second ends 386a, 386b, and 386c, some of the current conduction types may be contact-type and the other current conduction types may be non-contact-type. In other words, a mixture of contact-type and non-contact-type current conduction types may be used.

[0262] The following describes the operation when the mounting body 300 placed in the placement section 560 of the storage cabinet 500 is attached to the running body 200 and current is allowed to flow between the first end 286 and the second end 386. In this embodiment, when the running body 200 and the mounting body 300 are separated from each other, current flow between the first end 286 and the second end 386 is restricted.

[0263] Examples of the "case where they are separated from each other" include a case where the mounting body 300 is placed in the placement section 560 and the running body 200 is located outside the storage facility 500, or a case where the running body 200 is located inside the storage facility 500 and the mounting surface 210 of the running body 200 and the bottom surface of the mounting body 300 are separated from each other. More specifically, when the mounting body 300 is detached from the running body 200, the flow of electricity between the first end 286 and the second end 386 is restricted.

[0264] On the other hand, when a running body 200 without a mounted body 300 attached thereto approaches the mounted body 300 arranged on the placement section 560, electrical conduction between the first end 286 and the second end 386 is permitted. The above-mentioned "when the running body 200 approaches" refers, for example, to a case where the first end 286a, the first end 286b, and the first end 286c overlap with the second end 386a, the second end 386b, and the second end 386c. More specifically, when the mounted body 300 is attached to the running body 200, electrical conduction between the first end 286 and the second end 386 is permitted.

[0265] As shown in Fig. 66, the running body 200 without the mounted body 300 attached thereto is stopped at a stopping position inside the storage facility 500, and the lift unit 220 supports the mounted body 300 while moving it upward in the second direction from the placement unit 560. Next, as shown in Fig. 67, while the mounted body 300 is moving upward, the running body 200 and the mounted body 300 run out of the storage facility 500 together, with the rear of the vehicle body 260 as the first direction.

[0266] At this time, the running body 200 and the mounting body 300 are spaced apart from each other. If the current conduction type between the first end 286 and the second end 386 is contact type, the terminals are maintained in a non-contact state, as shown in FIG. 69( b). If the current conduction type between the first end 286 and the second end 386 is non-contact type, the magnetic field is maintained in a state in which it does not reach from one coil to the other coil, as shown in FIG. 70( b). Therefore, the current conduction between the first end 286 and the second end 386 is restricted.

[0267] 68 , the mounting body 300, which has been moving upward, is supported and moved downward in the third direction by the lift unit 220, and the mounting body 300 is attached to the mounting surface 210. At this time, the first end portions 286a, 286b, and 286c and the second end portions 386a, 386b, and 386c are placed in an overlapping state.

[0268] When the current conduction type between the first end 286 and the second end 386 is contact type, the terminals are maintained in contact with each other, as shown in Fig. 69(a). When the current conduction type between the first end 286 and the second end 386 is non-contact type, the magnetic field is maintained in a state in which it reaches from one coil to the other coil, as shown in Fig. 70(a). Therefore, current conduction between the first end 286 and the second end 386 is permitted.

[0269] In this way, when the mounting body 300 is attached to the mounting surface 210, the first end 286 and the second end 386 are allowed to be electrically connected, thereby establishing an electrical connection between the electrical equipment of the running body 200 and the electrical equipment of the mounting body 300. More specifically, the first end 286a and the second end 386a are allowed to be electrically connected, thereby enabling communication of control signals and information between the running body 200 and the mounting body 300 (see FIG. 65 ).

[0270] Furthermore, current is permitted to flow through first end 286b and second end 386b, allowing driving electrical energy to be sent from power supply 280 of running body 200 to drive units 340a, 340b, 340c, 340d, and 340e of mounted body 300. Furthermore, current is permitted to flow through first end 286c and second end 386c, allowing driving electrical energy to be sent from power supply 380 of mounted body 300 to traveling device 270 of running body 200 (see FIG. 65 ).

[0271] On the other hand, when the mounted body 300 is detached from the mounting surface 210, the current flow between the first end 286 and the second end 386 is restricted, and the electrical connection between the electrical equipment of the running body 200 and the electrical equipment of the mounted body 300 is released. That is, the communication of control signals and information between the running body 200 and the mounted body 300 is restricted, and the supply of electricity from the power supply 280 of the running body 200 to the mounted body 300 and the supply of electricity from the power supply 380 of the mounted body 300 to the running body 200 are also restricted.

[0272] In the present embodiment, the amount of electricity supplied from each of the power sources 280 and 380 may be adjusted by a power supply amount adjustment unit 283f of the control device 283 (see FIG. 65 ). In this case, the power supply amount adjustment unit 283f adjusts the amount of power supplied from either or both of the power sources 280 and 380 based on the remaining battery power of the power sources 280 and 380. For example, the power sources 280 and 380 may be provided with a function to adjust their respective power supply amounts (voltage and current) and a switching function, and adjustment and switching may be performed in response to a control signal from the control device 283 (power supply amount adjustment unit 283f).

[0273] 71 , the power supply amount adjustment unit 283f may adjust the amount of power supplied to each of the power supplies 280 and 380, for example, based on the remaining battery charge of each of the power supplies 280 and 380. As an example, assume that in the moving body 100 to which the mounted body 300 is already attached, the load on the traveling device 270 during traveling is large and the operation of the first movable tool 310 and the second movable tool 320 is slight.

[0274] It is assumed that the above-described state begins at time t0, and that the remaining battery power of power supply 280 and power supply 380 is fully charged at time t0. In addition, in Figure 71, the solid line graph indicates the change over time in the remaining battery power of power supply 280, and the dashed line graph indicates the change over time in the remaining battery power of power supply 380.

[0275] In this case, the power supply amount adjustment unit 283f performs the following control: After time t0, the power supply amount adjustment unit 283f adjusts the amount of power supply so that driving electric energy is supplied from the power supply 280 of the running body 200 to the running device 270 and driving electric energy is supplied from the power supply 380 of the mounted body 300 to the drive units of the first movable tool 310 and the second movable tool 320.

[0276] After time t0, the remaining battery charge of power supply 280 decreases significantly, while the remaining battery charge of power supply 380 decreases slowly. As a result, the difference DBL in remaining battery charge increases. At time t1, the difference DBL in remaining battery charge reaches the threshold value DBLth. At this time, the power supply amount adjustment unit 283f reduces the amount of power supplied from power supply 280 to the traveling device 270, and controls the power supply 380 to supply electric energy for driving to the traveling device 270 accordingly.

[0277] After time t1, the remaining battery charge of power supply 280 decreases slightly, and the remaining battery charge of power supply 380 decreases significantly. As a result, the difference DBL in the remaining battery charges decreases. Eventually, the remaining battery charges of power supplies 280 and 380 reverse, and the difference DBL in the remaining battery charges increases again.

[0278] At time t2, the difference DBL in the remaining battery charge reaches the threshold value DBLth again. At this time, the power supply amount adjustment unit 283f reduces the amount of power supplied from the power source 380 to the traveling device 270, and controls the power supply 280 to supply electric energy for driving to the traveling device 270 by that amount.

[0279] By adjusting the power supply amounts of power sources 280 and 380 in this way, the remaining battery power of each of the multiple power sources can be reduced in a balanced manner. This prevents the remaining battery power of some of the multiple power sources from quickly reaching zero, which would otherwise increase the number of times the power source needs to be charged. This prevents early deterioration of power sources 280 and 380.

[0280] On the other hand, in a mobile body 100 equipped with the mounting body 300, when the load on the running device 270 during running is small and the operation of the first movable device 310 and the second movable device 320 is excessive, the power supply amount adjustment unit 283f may be configured to have a control mode opposite to the control mode described above.

[0281] In this embodiment, electricity can be supplied from the power source 280 of the running body 200 to the mounting body 300 via the first end 286b and the second end 386b, and electricity can be supplied from the power source 380 of the mounting body 300 to the running body 200 via the first end 286c and the second end 386c. Alternatively, only one combination of the first end 286b and the second end 386b, or the first end 286c and the second end 386c may be present.

[0282] Furthermore, in this embodiment, when the first end 286 and the second end 386 are of a non-contact type and are configured to allow current to flow through magnetism, in particular, the relative positions of the first end 286, the second end 386, the movable member, the drive unit, and the electrical equipment may be defined as follows.

[0283] 68 , when the mounted body 300 is attached to the running body 200, for example, the first end 286 of the running body 200 is disposed forward in the first direction of the running body 200 (the front half of the vehicle body 260). Also, the first movable tool 310, the second movable tool 320, the drive units 340a, 340b, 340c, 340d, and 340e of the mounted body 300, and the second end 386 are disposed forward in the first direction of the mounted body 300 (for example, the front half of the base 330).

[0284] The electronic unit 287 including the control device 283 and communication device 281 of the running body 200 is disposed rearward in the first direction of the running body 200 (in the rear half of the vehicle body 260). The electronic unit 387 including the control device 382 and communication device 381 of the mounting body 300 is disposed rearward in the first direction of the mounting body 300 (in the rear half of the base 330).

[0285] More specifically, first end 286 may be positioned so that the distance (shortest straight-line distance) from any one of first end 286a, first end 286b, and first end 286c to any one of electronic unit 287 and electronic unit 387 is longer than the distance (shortest straight-line distance) from any one of first end 286a, first end 286b, and first end 286c to any one of drive unit 340a, drive unit 340b, drive unit 340c, drive unit 340d, and drive unit 340e.

[0286] In addition, the second end 386 may be positioned so that the distance (shortest straight-line distance) from any one of the positions of the second end 386a, the second end 386b, and the second end 386c to any one of the positions of the electronic unit 287 and the electronic unit 387 is longer than the distance (shortest straight-line distance) from any one of the positions of the second end 386a, the second end 386b, and the second end 386c to any one of the positions of the drive unit 340a, the drive unit 340b, the drive unit 340c, the drive unit 340d, and the drive unit 340e.

[0287] By defining the arrangement in this way, it is possible to keep the magnetic source (for example, a coil) away from the electronic unit 287, the electronic unit 387. This simplifies the mechanisms and functions for shielding the electromagnetic waves from the electronic unit 287, the electronic unit 387. This allows for greater freedom in designing the traveling body 200 and the mounted body 300 while still employing a non-contact current supply system.

[0288] Sixth Embodiment In a moving body 100 according to a sixth embodiment of the present invention, only the running body 200 is equipped with a power supply 280, and the mounted body 300 is not equipped with a power supply. The running body 200 is also equipped with a transmission unit 290. The transmission unit 290 is configured to transmit driving energy from the running body 200 to the driving units of the first movable tool 310 and the second movable tool 320 in the mounted body 300. The sixth embodiment differs from the first embodiment described above in this respect.

[0289] In the first and sixth embodiments, the running body 200 includes a power supply 280, and electric energy for driving is supplied from the power supply 280 to the running device 270, the lift unit 220, etc. of the running body 200. These points, including the manner in which the mounting body 300 is attached to and detached from the storage facility 500, are common to the first and sixth embodiments.

[0290] In the first embodiment, the on-board body 300 also includes a power supply 380, and electric energy for driving is supplied from the power supply 380 to the drive units 340a, 340b, 340c, 340d, 340e, etc. of the on-board body 300. Even when the on-board body 300 is attached to the running body 200, energy is not transmitted from the running body 200 to the on-board body 300.

[0291] In contrast to this, in the sixth embodiment, when the mounted body 300 is attached to the running body 200, the transmission unit 290 of the running body 200 transmits driving energy from the running body 200 to the driving units of the first movable tool 310 and the second movable tool 320 of the mounted body 300. In addition, the first end 286a and the second end 386a of the fifth embodiment are also provided so that a control signal can be sent from the running body 200 to the mounted body 300. The sixth embodiment differs from the first embodiment only in these respects, and is the same as the first embodiment in other respects.

[0292] Only differences between the sixth embodiment and the first embodiment will be described below. In the sixth embodiment, the same reference numerals as in the first embodiment are used for the same or equivalent configurations and parts as in the first embodiment.

[0293] As shown in Figure 72, the running vehicle 200 includes a transmission unit 290. The transmission unit 290 includes a cylindrical shaft 291 and the like. The shaft 291 is provided on the upper surface (upper end) of the vehicle body 260 at approximately the center thereof, and protrudes upward in the second direction from the vehicle body 260. The upper end of the shaft 291 can be fitted into a spline gear, which will be described later (see Figure 75).

[0294] The lower end of the shaft 291 of the transmission unit 290 is housed inside the vehicle body 260. The lower end receives power from the power source 280 and is driven to rotate based on the driving of an actuator or the like. Note that a predetermined gear mechanism or the like may be interposed between the actuator and the lower end of the transmission unit 290 to reduce the speed as appropriate. This allows the shaft 291 of the transmission unit 290 to rotate about its axis relative to the vehicle body 260.

[0295] 73 , the mounting body 300 includes a transmitted force receiving portion 390. The transmitted force receiving portion 390 includes a fitting portion 391 with a circular cross section. The fitting portion 391 is provided on the bottom surface (lower end) and approximately in the center of the base portion 330 so as to correspond to the position of the shaft 291, and is recessed upward in the second direction from the bottom surface of the base portion 330.

[0296] A spline gear is coaxially housed inside fitting portion 391, and the upper end of shaft 291 can be fitted into the spline gear via fitting portion 391 (see FIG. 75 ). Predetermined gear mechanisms, gear shifters, etc. are housed inside base 330, and power can be transmitted from the spline gear to drive units 340a, 340b, 340c, 340d, and 340e via these.

[0297] 74, the drive of the transmission unit 290 is controlled by a movable tool control unit 283e of the control device 283. Also, as in the fifth embodiment, a first end 286a and a second end 386a are provided at predetermined positions on the running body 200 and the mounting body 300.

[0298] When the first end 286 a and the second end 386 a are allowed to be energized, a control signal from the control device 283 can be sent toward the mounting body 300. For example, in order to control the driving of the driving units 340 a, 340 b, 340 c, 340 d, and 340 e, a gear shifter or the like attached to the transmitted force unit 390 may be controlled by the movable tool control unit 283 e of the control device 283.

[0299] 75(a), the lift unit 220 supporting the mounting body 300 is lowered, and the mounting body 300 is attached to the traveling body 200. At this time, the shaft 291 of the transmitting unit 290 is fitted into the fitting portion 391 of the transmitted part 390, and the tip end of the shaft 291 is fitted into and meshed with the spline gear housed coaxially in the fitting portion 391.

[0300] As a result, when shaft 291 of transmission unit 290 rotates, the spline gear also rotates integrally with shaft 291. This rotational power is transmitted to drive units 340a, 340b, 340c, 340d, and 340e via gear mechanisms, gear shifters, and the like built into base 330 of mounting body 300.

[0301] 75(b), lift unit 220 supporting mounted body 300 rises, and mounted body 300 is detached from running body 200. At this time, shaft 291 of transmission unit 290 is removed from fitting portion 391 of transmitted unit 390, and the fitting and meshing between the tip end of shaft 291 and the spline gear is released. As a result, the transmission of driving force to drive unit 340a, drive unit 340b, drive unit 340c, drive unit 340d, and drive unit 340e is also released.

[0302] <Modifications of Transmission Unit> In the present embodiment, the transmission unit 290 is configured to transmit energy to the drive units of the first movable member 310 and the second movable member 320 via mechanisms such as the shaft 291 and various gears. Alternatively, for example, the transmission unit 290 may be configured to transmit energy to the drive units of the first movable member 310 and the second movable member 320 via a fluid. For example, hydraulic oil or the like may be used as the fluid, and a hydraulic circuit may be formed from the traveling body 200 to the mounting body 300.

[0303] 76, for example, the transmitting unit 290 may include a piping unit 292 instead of the shaft 291, and the transmitted unit 390 may include a flow path unit 392 instead of a mechanism such as a spline gear. The piping unit 292 can be fitted into a fitting unit 391 of the transmitted unit 390. Furthermore, the piping unit 292 and the flow path unit 392 can communicate with hydraulic oil.

[0304] The piping section 292 has a cylindrical shape and protrudes upward in the second direction. An open end that serves as an inlet and outlet for oil is provided on a side surface of the piping section 292. The traveling vehicle 200 may be provided with a hydraulic circuit having a hydraulic pump and an electromagnetic valve, and the end of the hydraulic circuit may be configured to serve as the open end of the piping section 292.

[0305] The flow path portion 392 is formed inside the base portion 330. An open end of the flow path portion 392 is provided on the inner wall surface of the fitting portion 391 of the transmitted force receiving portion 390. The positions of the respective open ends are adjusted so that the open ends overlap when the piping portion 292 is fitted into the fitting portion 391. Furthermore, the driving units 340a, 340b, 340c, 340d, and 340e of the mounting body 300 are each a hydraulic cylinder, and the flow path portion 392 may be connected to each hydraulic cylinder via a switching spool or the like.

[0306] 76(a), the lift unit 220 supporting the mounted body 300 is lowered, and the mounted body 300 is attached to the traveling body 200. At this time, the piping unit 292 of the transmitting unit 290 is fitted into the fitting unit 391 of the transmitted part 390, and the open end of the piping unit 292 overlaps with the open end of the flow path unit 392. Oil is allowed to flow between the piping unit 292 and the flow path unit 392.

[0307] As a result, when the hydraulic pump is driven, pressurized oil flows through the piping portion 292 and the flow path portion 392. This pressure is transmitted to the driving portions 340a, 340b, 340c, 340d, and 340e via the hydraulic circuit including the piping portion 292 and the flow path portion 392.

[0308] 76(b), lift unit 220 supporting mounted body 300 rises, and mounted body 300 is detached from running body 200. At this time, piping unit 292 of transmitting unit 290 is removed from fitting unit 391 of transmitted-by unit 390, and the flow of oil through piping unit 292 and flow path unit 392 is cut off. This also stops the transmission of pressure to drive unit 340a, drive unit 340b, drive unit 340c, drive unit 340d, and drive unit 340e.

[0309] Alternatively, for example, the transmitting unit 290 may be configured to transmit energy via electricity or magnetism to the driving units of the first movable part 310 and the second movable part 320. In this case, as shown in Fig. 77 , for example, the transmitting unit 290 may include the first end 286b of the fifth embodiment instead of the shaft 291, and the transmitted part 390 may include the second end 386b of the fifth embodiment instead of the fitting part 391 (see Figs. 69 and 70 ).

[0310] When energy is transmitted between the first end 286b and the second end 386b via electricity, as shown in Fig. 69(a), the terminals are maintained in contact when the mounting body 300 is attached, whereby the electric energy for driving is transmitted to the driving units 340a, 340b, 340c, 340d, and 340e.

[0311] 69(b), the terminals are kept out of contact when the mounting body 300 is detached, thereby stopping the transmission of electrical energy to the driving units 340a, 340b, 340c, 340d, and 340e.

[0312] 70(a), when energy is transmitted between first end 286b and second end 386b via magnetism, a state in which the magnetic field reaches from one coil to the other coil is maintained when mounting body 300. As a result, electric energy for driving is transmitted via magnetism to drive units 340a, 340b, 340c, 340d, and 340e.

[0313] 70(b), a state in which the magnetic field does not reach from one coil to the other coil is maintained when the mounting body 300 is detached. This stops the magnetic transmission of electric energy to the driving units 340a, 340b, 340c, 340d, and 340e.

[0314] <Modification of Attachment> In this embodiment, the on-board body 300 is attached to the traveling body 200, and an attachment 300 that functions as a backhoe when attached is used as the on-board body 300. Alternatively, for example, an attachment 300 that functions as a mobility for carrying people when attached may be used.

[0315] 78 and 79 , the attachment 300 includes a housing 350, a seat 351, and a handle 352. The attachment 300 does not include a power source. The housing 350 has a substantially rectangular parallelepiped shape. In a plan view, the housing 350 is configured so that its long sides extend along the vehicle length direction and its short sides extend along the vehicle width direction.

[0316] The upper side of the housing 350 is open, and a seat 351 is provided inside the housing 350. The seat 351 is configured so that the inclination of the backrest can be adjusted. This allows the occupant to get into the seat 351 in a seated or lying position. Recesses 353 are formed in the housing 350 on both sides of the seat 351 in the vehicle width direction. The occupant can use the recesses 353 as steps to straddle the seat 351 and get in while placing their feet in the recesses 353 on both sides.

[0317] A handle 352 is provided on the upper front end of the housing 350. The occupant can grip the handle 352 while traveling. A floor 354 is formed between the handle 352 and the seat 351. The occupant can get in while standing with both feet on the floor 354.

[0318] The bottom surface of the lower end of the housing 350 faces the mounting surface 210 of the running body 200. The manner of support, lift operation, engagement, and fixation to the bottom surface is the same as that described above. That is, the manner of attachment and detachment of the attachment 300 is the same as that described above. When the attachment 300 is mounted on the mounting surface 210 of the running body 200, the attachment 300 is configured so that a person can mount it in any of a sitting position, standing position, lying position, and straddling position.

[0319] With a person mounted as a passenger on the attachment 300 mounted on the mounting surface 210, the running body 200 can run integrally with the attachment 300, allowing the person to travel. In other words, by using the attachment 300 configured in this way, the moving body 100 functions as a mobility that transports people.

[0320] [Seventh embodiment] In a moving body 100 according to a seventh embodiment of the present invention, an attachment 300 that functions as a mobile hot / cold box when attached is used as a mounting body 300. The seventh embodiment differs from the first embodiment described above in this respect.

[0321] In the first and seventh embodiments, the attachment 300 is detachable from the traveling body 200. These points, including the manner in which the mounting body 300 is attached to and detached from the storage 500, are common to the first and seventh embodiments.

[0322] In the first embodiment, an attachment 300 that functions as a backhoe when attached is used as the mounting body 300. The structure of the outer shell of the attachment 300, the positional relationship between the outer shell and the outer end of the vehicle body 260, the storage function, etc. are arbitrary.

[0323] In contrast, in the seventh embodiment, the attachment 300 includes an outer shell 360 and a storage section 361. The outer shell 360 is configured to be located outward from the outer edge of the vehicle body 260 in a plan view when the attachment 300 is attached. The storage section 361 is configured to be able to store supplies inside the outer shell 360. The seventh embodiment differs from the first embodiment in these respects only, and is the same as the first embodiment in other respects.

[0324] Only the differences between the seventh embodiment and the first embodiment will be described below. In the seventh embodiment, the same or equivalent configurations and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

[0325] As shown in Figures 80, 81, 82, and 83, the attachment 300 of this embodiment is configured to have a rectangular parallelepiped housing. The housing includes a front wall 360a, side walls 360b, a rear wall 360c, and a bottom 360d. The bottom 360d has a rectangular plate shape and is surrounded by the front wall 360a, side walls 360b, and rear wall 360c so that their four sides correspond to each other. These components of the housing may be made of a heat-insulating material.

[0326] The bottom 360d is slightly raised across the entire attachment 300. The attachment 300 is divided into a lower side and an upper side with the bottom 360d as the boundary. On the lower side of the attachment 300, a front wall 360a, a side wall 360b, and a rear wall 360c extend downward from the bottom 360d.

[0327] When the attachment 300 is attached to the running body 200, the underside of the bottom portion 360d faces the mounting surface 210 at the upper end of the running body 200. A fitting portion 232 is provided on the underside of the bottom portion 360d at a position corresponding to the lift portion 220 (see FIG. 83 ). When attaching the attachment 300, the lift portion 220 and the fitting portion 232 are engaged, and the bottom portion 360d is brought close to the mounting surface 210. This secures the running body 200 to the underside of the attachment 300.

[0328] When the attachment 300 is attached, most of the running body 200 is covered by the bottom 360d, front wall 360a, side wall 360b, and rear wall 360c. More specifically, the front and rear ends of the body 260 in the vehicle length direction face the inside of the front wall 360a and rear wall 360c, respectively. Both ends of the body 260 in the vehicle width direction and both ends of the front and rear running devices 270 face the inside of the side wall 360b on both sides, respectively (see FIG. 84). The lower surface of the bottom 360d faces the entire upper surface of the body 260 and the upper sides of the front and rear running devices 270, respectively.

[0329] 84 , when the attachment 300 (mounted body 300) is mounted on the mounting surface 210, the positional relationship between the attachment 300 and the vehicle body 260 is as follows: The front wall 360a, the side wall 360b, and the rear wall 360c are located outboard of the outer edge of the vehicle body 260. The bottom 360d is located above the traveling device 270 in the second direction. That is, in this embodiment, the front wall 360a, the side wall 360b, the rear wall 360c, and the bottom 360d correspond to the outer shell 360.

[0330] By configuring the outer shell 360 in this way, it is possible to provide overall protection for the running body 200. Because the outer shell 360 itself can also serve as the exterior of the attachment 300, there is no need to add separate guards or fenders to the running device 270. This allows the moving body 100 to have a cohesive design as a whole.

[0331] An electric device that emits a beam outward is provided at the front end of the vehicle body 260 of the traveling vehicle 200. In this embodiment, the electric device is the sensor 282 described above, but it may also be a range sensor or distance sensor (ranging sensor) that emits a detection beam outward, or a light source that emits a visibility beam outward.

[0332] 83, 84, and 85, the outer shell 360 includes a transmitting portion 362. The transmitting portion 362 is configured to be located outside the sensor 282 in a plan view when the attachment 300 (mounting body 300) is mounted on the mounting surface 210, and to allow the beam emitted from the sensor 282 to pass outside.

[0333] More specifically, the transmitting portion 362 is provided on the front wall portion 360a, and its inner side faces the sensor 282 and the front end of the vehicle body 260. The transmitting portion 362 may be disposed at the center and below the entire front wall portion 360a in the vehicle width direction. The area of ​​the transmitting portion 362 on the front wall portion 360a may be adjusted to be larger than the cross-sectional area of ​​the beam projection shadow of the sensor 282.

[0334] The material constituting the transmitting portion 362 may be any material that allows the beam to pass through, and may be changed depending on the beam intensity and wavelength. Alternatively, the transmitting portion 362 may be a through-hole in the front wall portion 360a, allowing the beam to pass through.

[0335] 80, 82, and 85, the attachment 300 is provided with a storage section 361 on the upper side defined by a bottom 360d. The storage section 361 is surrounded by a front wall 360a, a side wall 360b, and a rear wall 360c, with the bottom 360d as its lower end, and is configured as an internal space of the housing. In other words, the storage section 361 is configured to be able to store supplies inside the outer shell 360.

[0336] Materials can be stored in the storage section 361 through a rectangular opening formed at the upper end of the attachment 300. Materials stored in the storage section 361 can also be removed through this rectangular opening. Note that this rectangular opening may be closable with a lid or the like (not shown).

[0337] Furthermore, the storage section 361 is configured to be able to cool or heat the stored material. More specifically, the attachment 300 may have a built-in temperature adjustment device 370. The temperature adjustment device 370 may be configured, for example, with a Peltier element, an electric heater, a heat pump, a fan, or the like, and may be capable of supplying hot or cold air to the material in the storage section 361.

[0338] 86 , the control device 283 of the running body 200 further includes a temperature control unit 283g. The temperature control unit 283g controls the temperature control device 370 to adjust the temperature, air volume, etc. of the hot and cold air supplied by the temperature control device 370. In this embodiment, the attachment 300 does not include a power source. In this case, similar to the modified example of the sixth embodiment described above, the running body 200 may include first ends 286a and 286b, and the attachment 300 may include second ends 386a and 386b (see FIG. 77 ).

[0339] When the attachment 300 is attached to the running body 200, a control signal is sent from the control device 283 of the running body 200 to the temperature adjustment device 370 via the first end 286 a and the second end 386 a. Electrical energy for supplying hot and cold air is supplied from the power source 280 of the running body 200 to the temperature adjustment device 370 via the first end 286 b and the second end 386 b.

[0340] With the attachment 300 mounted on the mounting surface 210 and the goods stored in the storage section 361, the traveling body 200 travels integrally with the attachment 300, thereby enabling the goods to be moved while controlling their temperature. In other words, by using the attachment 300 configured in this manner, the traveling body 100 functions as a mobile hot / cold storage.

[0341] <Modification of Outer Shell> In this embodiment, an attachment 300 that functions as a mobile hot / cold storage unit when attached is used as the mounting body 300, and the attachment is provided with the outer shell 360. Alternatively, an attachment 300 that functions as a backhoe may be used as the mounting body 300, and the attachment may be provided with the outer shell 360.

[0342] 87 and 88 , the outer casing 360 is added to the configuration of the mounted body 300 of the first embodiment. When the mounted body 300 is attached to the running body, the outer casing 360 is located outside the outer end of the vehicle body 260 in a plan view and is located above the running device 270 in the second direction.

[0343] More specifically, the outer shell 360 is divided into four parts, and each part is disposed at a position corresponding to the front wheel 271 and the rear wheel 272 on the base 330 of the mounting body 300. The outer shell 360 may be curved so as to fit along the circumference of the front wheel 271 and the rear wheel 272, respectively.

[0344] When the mounting body 300 is mounted, the outer shell 360 is positioned so as to cover the upper sides of the front wheels 271 and the rear wheels 272. At this time, in a plan view, the outer shell 360 is positioned outward from both side ends in the vehicle width direction of the vehicle body 260. In addition, in a plan view, the area occupied by the outer shell 360 includes the areas of the front wheels 271 and the rear wheels 272, respectively.

[0345] By configuring the outer casing 360 in this manner, the outer casing 360 can function as a fender for the front wheel 271 and the rear wheel 272. Since an outer casing 360 is disposed for each wheel of the traveling device 270, the area of ​​the outer casing 360 can be minimized. This allows for greater freedom in the placement and design of components without interfering with the operation of the movable parts of the mounting body 300, etc.

[0346] [Modifications of the Mounted Body] In each of the above-described embodiments, each mounted body 300 is configured as described above. However, instead of these, various aspects may be adopted as the configuration of each mounted body 300. For example, as shown in Figs. 89 and 90 , the mounted body 300 may be equipped with a searchlight SL. In this case, the searchlight SL may be located on the upper part of the mounted body 300 and may be configured to emit light forward in the first direction. When the mobile body 100 is patrolling by autonomous driving, the searchlight SL may be configured to emit light when it detects an object ahead.

[0347] As shown in FIG. 89 , for example, the mobile body 100 of this modified example may be operated autonomously at night to patrol a predetermined route around a residential area. In this case, if a suspicious person or the like is detected, a light is emitted from the searchlight SL toward the suspicious person or the like. As shown in FIG. 90 , for example, the mobile body 100 of this modified example may be operated autonomously at night to patrol a predetermined route around a farmland. In this case, if a pest or the like is detected, a light is emitted from the searchlight SL toward the pest or the like. In this way, the light emitted by the searchlight SL can provide the mobile body 100 with functions such as crime prevention and surveillance.

[0348] [Summary: Application 1] The mobile body 100 comprises a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction; a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body when attached to the mounting surface 210 and mounted on the running body 200, and arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200; and a lift unit 220 provided on either the running body 200 or the mounting body 300, configured to support the mounting body 300 and move the mounting body 300 relative to the mounting surface 210 in the second direction or a third direction opposite to the second direction (Claim 1).

[0349] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0350] Furthermore, the lift unit 220 can move the mounting body 300 up and down relative to the traveling body 200 to detach and attach it. That is, the simple operation of the lift unit 220 can easily perform detachment and attachment.

[0351] The moving body 100 is configured to allow the running body 200 and the mounted body 300 to engage with each other, and is provided with an engaging portion 230 that engages to attach the mounted body 300 and disengages to detach the mounted body 300 (Claim 2).

[0352] According to this, when an attachment operation (for example, vertical movement of the mount 300 by the lift unit 220) is performed, the engagement of the engagement unit 230 can prevent the mount 300 from deviating from the movement trajectory. Therefore, the mount 300 can be more reliably attached to the mounting surface 210 of the running body 200. Furthermore, even after attachment is complete, the engagement of the engagement unit 230 can prevent the attached mount 300 from deviating from the mounting surface 210.

[0353] The lift portion 220 protrudes toward the fitting portion 232 of the engagement portion 230, and the fitting portion 232 of the engagement portion 230 is provided at a location corresponding to the lift portion 220 of either the running body 200 or the mounting body 300, and has a recessed shape into which the protruding lift portion 220 can be fitted, and has a shape having a portion whose diameter narrows in the direction in which the lift portion 220 is fitted, and engages by being fitted into the lift portion 220 (Claim 3).

[0354] With this, even if the axes of the fitting portion 232 and the lift portion 220 are misaligned when fitting the lift portion 220 into the fitting portion 232, the lift portion 220 is guided by the unique reduced diameter shape, and the lift portion 220 can be fitted in such a way that the axes automatically align. Therefore, engagement can be achieved more reliably.

[0355] The moving body 100 is configured to be able to fix the mounted body 300 to the running body 200, and is provided with fixing portions 240a and 240b that restrict relative movement of the mounted body 300 with respect to the running body 200 when fixed, and allow the relative movement when the fixation is released (Claim 4).

[0356] This allows the attached mounting body 300 to be fixed to the mounting surface 210, and even if force acts on the mounting body 300 as the moving body 100 travels or operates, it is possible to prevent the mounting body 300 from shifting from the mounting surface 210 or the mounting body 300 from unintentionally detaching.

[0357] The fixing portion 240b is provided at a location different from the installation location of the lift portion 220, and is configured to be able to generate a magnetically based adhesive force between the running body 200 and the mounting body 300, and the mounting body 300 is fixed to the running body 200 by the action of the adhesive force (Claim 5).

[0358] According to this, the fixing action of the fixing part 240b is based on magnetism, so that no fixing mechanism or moving part is required. Therefore, the fixing part 240b can be freely installed. Therefore, when fixing the mount body 300, the fixing part 240b can be installed in an effective location. Furthermore, this can be used in combination with the engagement and fixing function of the lift part 220. As a result, the mount body 300 can be fixed more reliably.

[0359] The running body 200 comprises a first electrical device and a first end 286 electrically connected to the first electrical device, and the mounting body 300 comprises a second electrical device and a second end 386 electrically connected to the second electrical device, and when the mounting body 300 is attached to the mounting surface 210, electrical conduction with or without contact with the first end 286 is allowed, thereby achieving electrical connection between the first and second electrical devices, and when the mounting body 300 is detached from the mounting surface 210, electrical conduction with or without contact with the first end 286 is restricted, thereby releasing the electrical connection between the first and second electrical devices (Claim 6).

[0360] This allows, with the on-board body 300 attached, the supply of electrical energy from the running body 200 to the on-board body 300 (or from the on-board body 300 to the running body 200), the transmission of control signals, the transmission of sensor signals, and the like, via the first end 286 and the second end 386. Therefore, the power supply 280, the control device 283, the sensor 282, and the like can be mounted on either the running body 200 or the on-board body 300. Furthermore, for example, the power supplies 280 and 380 can be mounted on both the running body 200 and the on-board body 300, and the power supply amounts from the respective power supplies 280 and 380 can be shared. This greatly expands the variety of electrical devices that can be mounted and how they can be used.

[0361] When the moving body 100 is to attach the mounting body 300, which is positioned at a position higher in the second direction than the mounting surface 210, to the running body 200 on which the mounting body 300 is not attached, the moving body 100 controls the lift unit 220 to support the mounting body 300 facing the mounting surface 210 and move it above the position in the second direction, and controls the running body 200 to run in the first direction integrally with the mounting body 300 while the mounting body 300 has been moved above the position, and controls the lift unit 220 to support the mounting body 300 that has moved upward and move it in the third direction (Claim 7).

[0362] According to this, by controlling the lift unit 220, the mounted body 300 can be automatically attached to the traveling body 200. That is, the mounted body 300 can be easily and reliably attached.

[0363] When the moving body 100 detaches the mounting body 300 from the running body 200 to which it is attached and places it in a position higher in the second direction than the mounting surface 210, the moving body 100 controls the lift unit 220 to support the mounting body 300 attached to the mounting surface 210 and move it above the position in the second direction, while supporting the mounting body 300; controls the running body 200 to run integrally with the mounting body 300 to a position for placing the mounting body 300, while the mounting body 300 has been moved above the position; and is equipped with a detachment control unit 283b that controls the lift unit 220 to support the mounting body 300 that has moved upward and move it in the third direction (claim 8).

[0364] According to this, by controlling the lift unit 220, the mounted body 300 can be automatically detached from the traveling body 200. That is, the mounted body 300 can be detached easily and reliably.

[0365] [Summary: Application 2] The mobile body 100 comprises a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction, a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and an engaging portion 230 configured to enable the running body 200 and the mounting body 300 to engage with each other, engaging to attach the mounting body 300 and disengaging to detach the mounting body 300 (Claim 1).

[0366] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0367] Furthermore, when an attachment operation (for example, vertical movement of the mount 300 by the lift unit 220, or sliding movement using a rail, etc.) is performed, the engagement of the engaging unit 230 can prevent the mount 300 from deviating from the movement trajectory. Therefore, the mount 300 can be more reliably attached to the mounting surface 210 of the running body 200. Furthermore, even after attachment is complete, the engagement of the engaging unit 230 can prevent the attached mount 300 from deviating from the mounting surface 210.

[0368] The engaging portion 230 includes a protruding portion 231 and a fitting portion 232 configured to be able to fit into the protruding protruding portion 231 and engaging with the protruding portion 231 by fitting into the protruding portion 231 (claim 2).

[0369] This allows reliable engagement to be achieved with a simple configuration of the protruding portion 231 and the fitting portion 232.

[0370] The engaging portion 230 comprises a protruding portion 231 that protrudes toward the second direction or a third direction opposite to the second direction, and an engaging portion 232 that has a recessed shape into which the protruding protruding portion 231 can be fitted, has a shape having a portion that reduces in diameter along the direction in which the protruding portion 231 is fitted, and engages by being fitted into the protruding portion 231 (Claim 3).

[0371] With this, when fitting the protruding portion 231 into the fitting portion 232, even if the axes of the fitting portion 232 and the protruding portion 231 are misaligned, the protruding portion 231 is guided by the unique reduced diameter shape, and the protruding portion 231 can be fitted in such a way that the axes automatically align. Therefore, engagement can be achieved more reliably.

[0372] The engaging portion 230 comprises a protruding portion 231 that protrudes toward the second direction or a third direction opposite to the second direction, and an inserting portion 232 that has a recessed shape into which the protruding protruding portion 231 can be inserted, has a shape having a portion that screws into when the protruding portion 231 is inserted, and engages by being inserted into the protruding portion 231 (Claim 4).

[0373] According to this, when the protruding portion 231 is fitted into the fitting portion 232, the fitting portion 232 and the protruding portion 231 are engaged with each other by screwing. Therefore, once the engagement is achieved, the mounting body 300 can be fixed to the running body 200. Furthermore, as the mounting body 300 is screwed, the mounting body 300 can be moved in the vertical direction relative to the running body 200, which can assist the detachment and attachment operations.

[0374] The engaging portion 230 is configured to engage with the running body 200 while the running body 200 is running, and the mounting body 300 is attached thereto (claim 5).

[0375] According to this, while the running body 200 is running, the mounting body 300 can be attached to the running body 200 via engagement by the engaging portion 230. Therefore, the mounting of the mounting body 300 can be performed quickly.

[0376] The engaging portion 230 comprises an outer rail 233 extending along the first direction, and an inner rail 234 configured to be engageable on the inside of the outer rail 233, and which engages while being guided by the outer rail 233 and moving in the first direction when the running body 200 is running (Claim 6).

[0377] According to this, even when the traveling body 200 is traveling, the simple configuration of the outer rail 233 and the inner rail 234 can reliably achieve engagement.

[0378] The engaging portion 230 is provided with an upright portion 233a that is upright toward the second direction or a third direction opposite to the second direction and has a surface facing the first direction, and an abutment portion 234a that is configured to be able to abut against the surface of the upright portion 233a and that abuts against and engages with the surface when the running body 200 is running (Claim 7).

[0379] With this, even when the running body 200 is running, the engagement can be reliably achieved with the simple configuration of the erected portion 233a and the abutting portion 234a.

[0380] [Summary: Application 3] The mobile body 100 comprises a running body 200 capable of traveling in a first direction and having a mounting surface facing a second direction that faces upward relative to the first direction; a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200; and fixing parts 240a and 240b configured to be able to fix the mounting body 300 to the running body 200, which restrict relative movement of the mounting body 300 with respect to the running body 200 when fixed, and which allow the relative movement when released (Claim 1).

[0381] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0382] Furthermore, the fixing portions 240a and 240b allow the attached mounting body 300 to be fixed to the mounting surface 210, and even if a force acts on the mounting body 300 as the mobile body 100 travels or operates, the mounting body 300 can be prevented from shifting from the mounting surface 210 or from unintentionally detaching.

[0383] The fixing portion 240a includes a protruding portion 241 that protrudes toward the second direction or a third direction opposite to the second direction, and an insertion portion 242 that is configured to be able to insert the protruding protruding portion 241 and that fixes the mounting body 300 to the running body 200 by being inserted into the protruding portion 241 (Claim 2).

[0384] This allows reliable fixation to be achieved with the simple configuration of the protruding portion 241 and the fitting portion 242.

[0385] The fixing portion 240a includes a protruding portion 241 that protrudes in a direction approximately perpendicular to the second direction, and an insertion portion 242 that is configured to be able to insert the protruding protruding portion 241 and that fixes the mounting body 300 to the running body 200 by being inserted into the protruding portion 241 (Claim 3).

[0386] This allows reliable fixation to be achieved with the simple configuration of the protruding portion 241 and the fitting portion 242.

[0387] The fixing portion 240b is configured to be capable of generating a magnetically-based adhesive force between the running body 200 and the mounting body 300, and fixes the mounting body 300 to the running body 200 by the action of the adhesive force (claim 4).

[0388] According to this, the fixing action of the fixing part 240b is based on magnetism, so there is no need for a fixing mechanism or a moving part, etc. Therefore, the fixing part 240b can be freely installed, and therefore, when fixing the mounting body 300, the fixing part 240b can be installed in an effective location.

[0389] The fixing portion 240a comprises a protruding portion 241 that protrudes toward the second direction or a third direction opposite to the second direction, and an insertion portion 242 that is configured to be able to insert the protruding portion 241 and that fixes the mounting body to the running body by being inserted into the protruding portion 241, and the fixing portion 240b comprises an adhesion portion 241a that is configured to be able to generate a magnetic attraction force between the running body and the mounting body and that fixes the mounting body to the running body by the action of the attraction force (Claim 5).

[0390] This allows the suction portion 241a of the fixing portion 240b to be placed in an effective location when fixing the mounting body 300. This can also be used in combination with the fixing functions of the protruding portion 241 and the fitting portion 242. As a result, the mounting body 300 can be fixed more reliably.

[0391] [Summary: Application 4] A storage facility 500 is a storage facility for storing a mobile body 100, the mobile body 100 including: a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction; and a mounting body 300 configured to be detachable from the mounting surface 210, which moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and which is disposed separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200. The storage facility 500 includes a placement unit 560 positioned apart from the running body 200 in the first direction and in a fourth direction perpendicular to both the first direction and the second direction, and configured to be able to place the detached mounting body 300 (Claim 1).

[0392] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0393] Furthermore, by utilizing the placement section 560 of the storage cabinet 500, the detached mount body 300 can be placed and stored in an appropriate posture, for example, so that the bottom surface of the mount body 300 is approximately horizontal. Furthermore, the mount body 300 placed in the placement section 560 can be left in that state waiting for the next attachment.

[0394] The placement section 560 is configured to place the mounting body 300 by supporting the mounting body 300 in the second direction (claim 2).

[0395] This allows the mounting body 300 to be stably placed on the placement section 560 even if the weight of the mounting body 300 is large.

[0396] The placement portion 560 has a planar shape capable of supporting the bottom surface of the mounting body 300 to be placed thereon, and has a shape that faces the bottom surface of the mounting body 300 and extends in the first direction (claim 3).

[0397] This allows the area of ​​the placement section 560 to be enlarged along the planar shape, providing ample space for placement in the placement section 560. Therefore, even if the size or weight of the mounting body 300 is large, the mounting body 300 can be stably placed in the placement section 560.

[0398] The storage facility 500 is equipped with a power supply unit 570a configured to supply electrical energy for charging batteries provided in either or both of the running body 200 and the onboard body 300 (claim 4).

[0399] This allows the opportunity to store the vehicle in the storage facility 500 to charge either or both of the power supply 280 of the vehicle 200 and the power supply 380 of the on-board vehicle 300. This eliminates the need for battery replacement and allows the power supplies 280 and 380 to be easily fully charged.

[0400] The storage cabinet 500 is provided with a display unit 580 that displays information corresponding to the charge state of the battery to the outside (claim 5).

[0401] This makes it possible to easily check the charging state of the power sources 280 and 380. The timing for moving the stored mobile object 100 out of the storage facility 500 can be determined based on the charging state.

[0402] The storage facility 500 stores a moving body 100 that includes a running body 200 and a mounting body 300 that moves integrally with the running body 200 when mounted on the running body 200 and can be placed separately from the running body 200 when detached from the running body 200, and is provided with a placement section 560 configured to be able to place the detached mounting body 300 on top of the running body 200 (claim 6).

[0403] The placement section 560 has a planar shape that can support the bottom surface of the mounting body 300 to be placed thereon, and is shaped to face the bottom surface of the mounting body 300 (claim 7).

[0404] The storage facility 500 is provided with a power supply unit 570a configured to be able to supply electrical energy for charging batteries provided in either or both of the running body 200 and the onboard body 300 (claim 8).

[0405] [Summary: Application 5] A storage system 400 for a moving body 100 includes a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210, which moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and which is disposed separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and a storage facility 500 for storing the moving body 100; and a stop position determination unit 283c for determining a stop position within the storage facility 500 for the running running body 200 (Claim 1).

[0406] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0407] Furthermore, since the stop position determination unit 283c determines the stop position inside the storage facility 500, the traveling body 200 outside the storage facility 500 can be appropriately guided into the storage facility 500.

[0408] The storage facility 500 is provided with a detectable portion 531 corresponding to a portion whose positional relationship with the stop position is specified, and the stop position determination portion 283c determines the stop position based on the detection result of the detectable portion 531 (claim 2).

[0409] According to this, a desired stop position can be determined with high accuracy based on the detection result of the detectable part 531. For example, the detectable part 531 is detected when the mount 300 is detached at a predetermined position inside the storage 500, and the stop position at the next time the mount 300 is attached can be determined with high accuracy based on the detection result.

[0410] The storage system 400 for the moving body 100 includes an automatic driving control unit 283d that automatically drives the moving body 200 so that the moving body 200 stops at the determined stopping position (claim 3).

[0411] This allows the running body 200 to travel to the stopping position by automatic driving, so that the running body 200 can be easily and reliably guided to the stopping position and stopped at the stopping position.

[0412] The storage facility 500 is provided with a placement section 560 that is located above the running body 200 in the second direction and is configured to be able to place the detached mounting body 300, and the stopping position is located below the placement section 560 and is a position for attaching the mounting body 300 that is placed on the placement section 560 to the running body 200 that does not have the mounting body 300 attached, and is a position for detaching the mounting body 300 from the running body 200 to which the mounting body 300 is attached and placing it on the placement section 560 (Claim 4).

[0413] According to this, by using the placement unit 560 of the storage 500, the detached mount 300 can be placed in an appropriate posture, for example, so that the bottom surface of the mount 300 is approximately horizontal, and can also be stored. Also, the mount 300 placed in the placement unit 560 can be left in that state waiting for the next attachment. Also, by using the placement unit 560 of the storage 500, the traveling body 200 can be stopped at a stop position so that the mount 300 can be attached or detached.

[0414] The storage system 400 for the moving body 100 is equipped with an attachment control unit 283a that controls the attachment of the mounting body 300 placed in the placement unit 560 to the running body 200 that does not have the mounting body 300 attached when the running body 200 is stopped at the stopping position (Claim 5).

[0415] According to this, when the running body 200 is stopped at a stopping position inside the storage facility 500, the mounted body 300 can be automatically attached to the running body 200. In other words, the mounting of the mounted body 300 can be easily and reliably performed.

[0416] The storage system 400 for the moving body 100 is equipped with a detachment control unit 283b that controls the detachment of the mounting body 300 from the running body 200 to which it is attached and the placement of the mounting body 300 in the placement unit 560 when the running body 200 is stopped at the stopping position (Claim 6).

[0417] According to this, when the running body 200 is stopped at a stopping position inside the storage facility 500, the mounted body 300 can be automatically detached from the running body 200. In other words, the detachment of the mounted body 300 can be easily and reliably performed.

[0418] The storage system 400 for the moving body 100 includes an attachment control unit 283a that controls the attachment of the mounting body 300 placed on the placement unit 560 to the running body 200 to which the mounting body 300 is not attached when the running body 200 is stopped at the stopping position, and a detachment control unit 283b that controls the detachment of the mounting body 300 from the running body 200 to which the mounting body 300 is attached and the placement of the mounting body 300 in the placement unit 560 when the running body 200 is stopped at the stopping position.

[0419] According to this, when the running body 200 is stopped at a stopping position inside the storage facility 500, the mounting body 300 can be automatically attached to the running body 200, and the mounting body 300 can be automatically detached from the running body 200. In other words, both the attachment and detachment of the mounting body 300 can be easily and reliably performed.

[0420] The storage facility 500 is equipped with a power supply unit 570a configured to supply electrical energy for charging batteries provided in either or both of the running body 200 and the onboard body 300 (claim 8).

[0421] This allows the opportunity to store the vehicle in the storage facility 500 to charge either or both of the power supply 280 of the vehicle 200 and the power supply 380 of the on-board vehicle 300. This eliminates the need for battery replacement and allows the power supplies 280 and 380 to be easily fully charged.

[0422] The storage cabinet 500 is provided with a display unit 580 that displays information corresponding to the charging state of the battery to the outside.

[0423] This allows the charge status of the power sources 280 and 380 to be easily confirmed. The timing for moving the stored mobile object 100 out of the storage facility 500 can be determined based on the charge status. The storage system 400 for the mobile object 100 includes a storage facility 500 for storing the mobile object 100, the storage facility 500 including the running object 200 and the mounting body 300 that moves integrally with the running object 200 when mounted on the running object 200 and that can be positioned separately from the running object 200 when detached from the running object 200, and a stop position determination unit 283c that determines a stop position within the storage facility 500 for the running running object 200 (claim 10). The storage facility 500 includes a detectable unit 531 that corresponds to a portion whose positional relationship with the stop position is specified, and the stop position determination unit 283c determines the stop position based on the detection result of the detectable unit 531 (claim 11). The storage system 400 for the moving body 100 includes an automatic driving control unit 283d that automatically drives the moving body 200 so that the moving body 200 stops at a determined stopping position (claim 12).

[0424] [Summary: Application 6] The mobile body 100 comprises a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210, which moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and which is arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, the mounting body 300 having a base 330 detachable from the mounting surface 210, and a long mounting body 300 having a first movable device 310 whose one end is supported by the base 330 so as to be rotatable relative to the base 330, and whose other end extending from the base 330 in the first direction is operable, and which, when stored, rotates relatively to the base 330 using the one end as a fulcrum so as to approach the base 330 (Claim 1).

[0425] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0426] Furthermore, even if the first movable part 310 of the mounting body 300 is configured to be long so as to be suitable for work, when it is stored, it can be brought into a stored posture by using one end as a fulcrum and moving the first movable part 310 close to the base part 330. For example, when storing the moving body 100 in a storage facility 500 or the like, it can be stored in a state in which the stored posture is maintained, thereby enabling storage in a space-saving manner.

[0427] The mounting body 300 has a first drive unit 340d that uses the one end as a fulcrum to pull the first movable device 310 in the direction opposite to the first direction, thereby rotating the first movable device 310 relative to the base 330 so that it approaches the base 330 (Claim 2).

[0428] This allows the drive unit 340d to be, for example, a simple actuator that can expand and contract, so that the storage position can be easily and reliably taken.

[0429] The mounting body 300 is configured in a plate shape, is supported on the base 330 so that it can move relative to the base 330, and has a second movable tool 320 that is positioned forward of the running body 200 and works on a surface facing the first direction (Claim 3).

[0430] This allows the second movable tool 320 to function as, for example, a dozer. Work can be performed using the first movable tool 310 and the second movable tool 320, allowing the mobile body 100 to function as a so-called backhoe.

[0431] The mounting body 300 is provided above the second movable fixture 320 in the second direction and has a second driving unit 340e that moves the second movable fixture 320 relative to itself by driving the mounting body 300 (claim 4).

[0432] According to this, since the driving part 340e of the second movable part 320 is disposed above the second movable part 320 in the second direction, the lower side of the second movable part 320 in the third direction is not interfered with by the driving part 340e. Therefore, the lower side of the second movable part 320 can be extended relative to the ground surface to expand the working surface as a dozer, or the lower end of the second movable part 320 can be effectively utilized, thereby increasing the degree of freedom in design.

[0433] The second movable device 320 is configured to be able to make contact with the ground surface of the running body 200 when work is performed by the first movable device 310 while the mounting body 300 is attached to the running body 200 (Claim 5).

[0434] This allows the second movable tool 320 to function as an outrigger, thereby preventing the mounting body 300 from tilting and allowing the first movable tool 310 to stably perform work.

[0435] [Summary: Application 7] The mobile body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210, moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, the mounting body 300 having a first power source 380 and a first consumption unit that consumes power supplied from the first power source 380 (Claim 1).

[0436] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0437] In addition, since the drive unit 340, which drives the movable parts of the mounted body 300, the control device 382, ​​the communication device 381, etc. can be powered from the power supply 380 of the mounted body 300, each element of the mounted body 300 can be operated independently of the running body 200.

[0438] The traveling object 200 includes a second power source 280 different from the first power source 380, and a second consumption unit that consumes the power supplied from the second power source 280 (claim 2).

[0439] According to this, the running device 270, lift section 220, suction portion 241a, control device 283, communication device 281, etc. of the running body 200 can be powered from the power supply 280 of the running body 200, so that each element of the running body 200 can be operated independently of the mounting body 300.

[0440] The second consumption unit of the traveling body 200 consumes the power supplied from the first power source 380 of the mounting body 300 (claim 3).

[0441] According to this, power can be supplied from the power supply 380 of the on-board body 300 to the traveling device 270, the lift unit 220, the suction portion 241a, the control device 283, the communication device 281, etc. of the traveling body 200. Therefore, in addition to or instead of the power supply from the power supply 280 of the traveling body 200, each element of the traveling body 200 can be operated by the power supply from the power supply 380 of the on-board body 300.

[0442] The first consumption unit of the mounted body 300 consumes the power supplied from the second power source 280 of the traveling body 200 (claim 4).

[0443] This allows power to be supplied from the power supply 280 of the running body 200 to the drive unit 340, which drives the movable parts of the mounted body 300, the control device 382, ​​the communication device 381, etc. Therefore, in addition to or instead of the power supply from the power supply 380 of the mounted body 300, each element of the mounted body 300 can be operated by the power supply from the power supply 280 of the running body 200.

[0444] The second consumption unit of the running body 200 consumes power supplied from the first power source 380 of the mounted body 300, and the first consumption unit of the mounted body 300 consumes power supplied from the second power source 280 of the running body 200 (claim 5).

[0445] According to this, power can be supplied from the power supply 380 of the on-board body 300 to the traveling device 270, the lift unit 220, the suction portion 241a, the control device 283, the communication device 281, etc. of the traveling body 200. Therefore, in addition to or instead of the power supply from the power supply 280 of the traveling body 200, each element of the traveling body 200 can be operated by the power supply from the power supply 380 of the on-board body 300.

[0446] Furthermore, power can be supplied from the power supply 280 of the running body 200 to the drive unit 340 that drives the movable parts of the mounted body 300, the control device 382, ​​the communication device 381, etc. Therefore, in addition to or instead of the power supply from the power supply 380 of the mounted body 300, each element of the mounted body 300 can be operated by power supply from the power supply 280 of the running body 200. In this way, power can be supplied from one side to the other between the running body 200 and the mounted body 300, so that the power supply can be shared appropriately.

[0447] The mounted body 300 is equipped with a first movable device 310 and a second movable device 320, and the first consumption part of the mounted body 300 is a drive part 340 that consumes power supply to generate power and drives the first movable device 310 and the second movable device 320 (Claim 6).

[0448] According to this, in the mounted body 300, the drive unit 340, which is subject to a particularly large load, can be supplied with power from the power supply 380 of the mounted body 300 as well as from the power supply 280 of the running body 200. For example, when the remaining battery charge of the power supply 380 of the mounted body 300 is low and the load on the drive unit 340 is large, assistance can be provided by the power supply 280 of the running body 200, and work by the first movable tool 310 and the second movable tool 320 can be continued without delay.

[0449] The running body 200 includes a running device 270, and the second consumption unit of the running body 200 is a drive unit that consumes the supplied power to generate power and drives the running device 270 (claim 7).

[0450] According to this, in the running body 200, the motor of the running device 270, which has a particularly large load, can be supplied with power from the power supply 280 of the running body 200 as well as from the power supply 380 of the mounted body 300. For example, when the remaining battery charge of the power supply 280 of the running body 200 is low and the load on the running device 270 is large, assistance can be provided by the power supply 380 of the mounted body 300, and the running device 270 can continue to run smoothly.

[0451] The first power source 380 and the second power source 280 are each a battery, and the mobile body 100 is equipped with a power supply adjustment unit 283f that adjusts the power supply amount of either or both of the first power source 380 and the second power source 280 based on the remaining charge of the battery (claim 8).

[0452] According to this, the power supply amount adjustment unit 283f adjusts the power supply amount of the power sources 280 and 380, thereby reducing the remaining battery power of each of the multiple power sources in a balanced manner. This makes it possible to prevent the remaining battery power of some of the multiple power sources from quickly reaching zero, which would increase the number of times the power is charged. This makes it possible to prevent the power sources 280 and 380 from quickly deteriorating.

[0453] [Summary: Application 8] The mobile body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction, and a mounting body 300 that is configured to be detachable from the mounting surface 210, moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and is arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and does not have a power source (Claim 1).

[0454] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0455] Furthermore, since the mount 300 does not include a power supply, the weight of the mount 300 can be reduced compared to when a power supply is included. Furthermore, the mount 300 can be configured so that it does not require power supply from a power supply, which simplifies the configuration of the mount 300 and enables cost reduction of the mount 300.

[0456] The mounting body 300 comprises a first movable device 310, a second movable device 320, and a drive unit 340 to which energy is supplied to drive the first movable device 310 and the second movable device 320, and the running body 200 comprises a transmission unit 290 that transmits energy to the drive unit 340 (Claim 2).

[0457] According to this, the transmission unit 290 can supply energy to the drive unit 340 of the mounted body 300. Therefore, even if the mounted body 300 does not have a power source, the first movable tool 310 and the second movable tool 320 of the mounted body 300 can be operated.

[0458] The transmission section 290 is configured so that the energy is transmitted via a mechanism (claim 3).

[0459] According to this, by providing the on-board body 300 with, for example, a gear or the like that can receive power from the transmission unit 290, the transmission of energy can be reliably executed.

[0460] The transmission section 290 is configured so that the energy is transmitted via electricity or magnetism (claim 4).

[0461] According to this, by providing the mounting body 300 with, for example, a terminal or a coil that can receive electricity or magnetism from the transmission unit 290, the transmission of energy can be reliably executed.

[0462] The transmission section 290 is configured so that the energy is transmitted via a fluid (claim 5).

[0463] According to this, by providing the on-board body 300 with, for example, a hydraulic circuit or the like that can receive oil from the transmission unit 290, the transmission of energy can be carried out reliably.

[0464] The carrier 300 is configured so that a person can ride on it in any of a sitting position, a standing position, a lying position, and a straddling position (claim 6).

[0465] According to this, by attaching the mounted body 300 to the running body 200, the moving body 100 can function as a mobility for transporting people.

[0466] [Summary: Application 9] The mobile body 100 is equipped with a running body 200 that is capable of traveling in a first direction and has a mounting surface 210 facing a second direction that faces upward relative to the first direction, and a car body 260 on which the mounting surface 210 is provided, and a mounting body 300 that is configured to be detachable from the mounting surface 210, moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and is arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and has an outer casing 360 that is located outside the outer end of the car body 260 in a planar view when the mounting body 300 is attached to the mounting surface 210 (Claim 1).

[0467] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0468] Furthermore, since the outer casing 360 is located on the outside of the vehicle body 260, the running body 200 can be protected by the outer casing 360. The outer casing 360 itself can also serve as the outside of the mounting body 300. This eliminates the need to add separate guards or fenders to the running body 200. This allows the moving body 100 to have a cohesive design as a whole.

[0469] The running body 200 is equipped with a running device 270 arranged on the body 260 so as to support the body 260, and the outer casing 360 is positioned outside the outer end of the body 260 in a planar view when the mounting body 300 is attached to the mounting surface 210, and is positioned above the running device 270 in the second direction (Claim 2).

[0470] This allows the outer shell 360 to function as a fender for the running device 270. For example, by disposing an outer shell 360 for each wheel of the running device 270, the area of ​​the outer shell 360 can be minimized.

[0471] The running body 200 is equipped with an electrical device that emits a beam outward, and the outer casing 360 is positioned outward of the electrical device in a planar view when the mounting body 300 is attached to the mounting surface 210, and is equipped with a transparent portion 362 that allows the beam emitted from the electrical device to pass outward (Claim 3).

[0472] This allows the transmitting portion 362 to prevent the beam emitted by the electrical device from being attenuated through the outer portion 360 while maintaining a cohesive design of the moving body 100 as a whole.

[0473] The electrical device is either a range sensor or a distance sensor that emits a detection beam outward, or a light source that emits a visibility beam outward (claim 4).

[0474] This allows the mobile body 100 to maintain a cohesive design as a whole while preventing a decline in the functions of the sensors, distance sensors, light sources, etc., even if the mobile body 100 is equipped with such sensors.

[0475] The mounting body 300 includes a storage section 361 configured to be able to store materials inside the outer shell section 360 (claim 5).

[0476] According to this, even if the mounting body 300 is provided with the storage section 361, the outer shell 360 can protect the materials stored inside.

[0477] The storage section 361 is configured to be able to cool or heat the stored material (claim 6).

[0478] According to this, by attaching the mounted body 300 to the traveling body 200, the moving body 100 can function as a mobile hot / cold storage.

[0479] [Summary: Application 10] The mobile body 100 comprises a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction that faces upward relative to the first direction; a mounting body 300 configured to be detachable from the mounting surface 210, which moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and which is arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200; and support parts 250 provided on the running body 200, which support the mounting body 300 when attached to the mounting surface 210, and which are arranged at positions corresponding to each vertex of a polygon in a planar view (Claim 1).

[0480] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0481] Furthermore, when supporting the mounted body 300 mounted on the support parts 250, the support parts 250 are disposed at positions corresponding to the vertices of a polygon, thereby realizing stable support. Therefore, the mounted body 300 mounted on the running body 200 can be prevented from shifting or detaching from the running body 200.

[0482] The support portion 250 is arranged so that there are a plurality of polygonal regions defined by the vertices in a plan view (claim 2).

[0483] This allows the support section 250 to support the mounted body 300 mounted thereon, by creating a plurality of polygonal regions whose vertices are the support section 250. This allows for more stable support.

[0484] The support portion 250 is arranged such that the plurality of polygonal regions are symmetrically positioned in a plan view (claim 3).

[0485] According to this, when supporting the mounted body 300 attached to the support part 250, it is possible to symmetrically arrange a plurality of polygonal regions whose vertices are the support part 250. Therefore, it is possible to realize a well-balanced and stable support.

[0486] The running body 200 comprises a vehicle body 260 on which the mounting surface 210 is provided, and a protruding portion 261 protruding in the vehicle width direction of the vehicle body 260, and the support portion is arranged on the protruding portion 261 (Claim 4).

[0487] According to this, when the running body 200 is provided with the protruding portion 261, the support portion 250 can be disposed by utilizing the area of ​​the protruding portion 261. Therefore, stable support can be realized on the outer side in the vehicle width direction.

[0488] The running body 200 comprises a body 260 on which the mounting surface 210 is provided, running devices 270 arranged at both ends of the body 260 in the vehicle width direction so as to support the body 260, and a power source 280 arranged between the running devices 270 at both ends of the body 260 in the vehicle width direction, and the support part 250 is arranged outside the power source 280 in the vehicle width direction of the body 260 (claim 5).

[0489] According to this, the relatively heavy power source 280 can be disposed inside, and the mounting body 300 can be supported by the support part 250 outside the power source 280. Therefore, stable support can be achieved while the center of gravity is appropriately adjusted.

[0490] The running devices 270 are respectively arranged at the front and rear of the vehicle body 260 in the vehicle length direction, and are capable of running by being driven to rotate, and are equipped with wheels each having a wheel axle that serves as the axis of rotation center, the power source 280 is arranged between the front and rear wheel axles in the vehicle length direction of the vehicle body 260, and the support part 250 is arranged outside the power source 280 in the vehicle length direction of the vehicle body 260 (Claim 6).

[0491] This allows the relatively heavy power source 280 to be placed inside the front and rear wheel axles, thereby achieving stable running of the running body 200. Furthermore, the support part 250 can support the on-board body 300 outside the power source 280. Therefore, stable running and support can be achieved.

[0492] In a plan view, the support portion 250 is disposed on an imaginary line that coaxially passes through the wheel shafts of the wheels disposed at both ends in the vehicle width direction of the vehicle body 260 (claim 7).

[0493] According to this, the load from the on-board body 300 is applied to the running body 200 via the support part 250, but by arranging the support part 250 on the above-mentioned virtual line, the load can be released to the wheel axle. Therefore, it is possible to realize stable support while mitigating the effect of the load on the vehicle body 260.

[0494] The power source 280 is disposed such that the center of gravity of the power source 280 is located above the wheel axle in the second direction in a side view (claim 8).

[0495] This allows for a larger distance between the ground surface of the traveling device 270 and the power source 280. Therefore, even when the traveling body 200 travels on a slope or a rough road, the power source 280 can be prevented from coming into contact with the ground surface.

[0496] The running body 200 comprises a body 260 on which the mounting surface 210 is provided, running devices 270 arranged at both ends of the body 260 in the vehicle width direction so as to support the body 260, a power source 280 arranged between the running devices 270 at both ends of the body 260 in the vehicle width direction, and a protrusion 261 protruding toward the vehicle width direction of the body, and the protrusion 261 is provided with a motor and / or electrical equipment related to driving the motor, and the support part 250 (Claim 9).

[0497] According to this, when the running body 200 is provided with the protruding portion 261, the area of ​​the protruding portion 261 can be utilized to arrange the motor and / or electrical equipment related to driving the motor, and the support portion 250. Therefore, it is possible to provide a space in the vehicle body 260 for mounting, for example, an additional power source other than the power source 280. In addition, stable support can be realized on the outer side in the vehicle width direction.

[0498] The on-board body 300 is provided with a power supply 380 that is separate from the power supply 280 provided in the vehicle body 260 (claim 10).

[0499] According to this, a power source 380 separate from the power source 280 of the vehicle body 260 can be added to the on-board body 300. Therefore, the moving body 100 can be operated for a longer period of time by the added amount.

[0500] The moving object 200 is equipped with a range sensor or a distance sensor (claim 11).

[0501] According to this, information obtained by the range sensor or distance sensor can be used to control the running object 200, for example.

[0502] The running object 200 is provided with a camera that takes an image of the outside of the running object (claim 12).

[0503] According to this, the information obtained by the camera can be transmitted to, for example, an external terminal, and the image can be displayed on the terminal.

[0504] The running body 200 comprises a body 260 on which the mounting surface 210 is provided, and running devices 270 arranged at both ends of the body 260 in the vehicle width direction to support the body 260, and configured to be able to run in all directions when viewed in a plane (Claim 13).

[0505] This allows the running body 200 to run in all directions, thereby increasing the degree of freedom in operation of the moving body 100 as a whole.

[0506] The running device 270 is arranged at the front and rear of the vehicle body 260 in the vehicle length direction, and is capable of running by being driven to rotate.It is equipped with wheels, each of which has a wheel axle that serves as the axis of rotation center, and tires that have solid portions and are configured to be able to rotate integrally with the wheels when in contact with the ground (Claim 14).

[0507] According to this, the running device 270 can be configured as, for example, a Mecanum wheel, and the running manner unique to the Mecanum wheel can be utilized in the operation of the moving body 100.

[0508] The wheel is driven to rotate based on the power of a motor, and the motor and / or an electric device related to the driving of the motor are provided (claim 15).

[0509] This allows the wheel to be configured as, for example, an in-wheel motor, and allows for more space in the vehicle body 260 to mount the power supply 280 and the like.

[0510] The running device 270 is arranged so as to be detachable from the vehicle body 260, and the vehicle body 260 is configured so that when the running device 270 that was attached is detached, a running device 270 of a different configuration from the detached one can be attached (Claim 16).

[0511] This allows wheels, crawlers, etc. to be replaced depending on the application and running conditions of the mounted body 300, and the running body 200 can be configured after selecting the optimal running device 270.

[0512] [Summary: Application 11] The mobile body 100 is capable of traveling in a first direction and has a mounting surface 210 facing a second direction that faces upward relative to the first direction, and is equipped with a running body 200 having a first electrical device and a first end 286 electrically connected to the first electrical device, and a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being disposed separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and having a second electrical device and a second end 386 electrically connected to the second electrical device and allowing electricity to flow without contact with the first end (Claim 1).

[0513] This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mount 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the running body 300 so as to be substantially parallel to the bottom surface and be able to come close to or into contact with the bottom surface. Therefore, the mounted body 300 can be reliably mounted on the mounting surface 210 of the running body 200. Furthermore, the mounted body 300 detached from the running body 200 can be placed in a desired position. For example, the mounting position of the mounted body 300 can be set to a position above the running body 200 and where the bottom surface of the mounted body 300 can be maintained substantially horizontal, so that the next mounting of the mounted body 300 can be performed smoothly. Therefore, both the mounting and detachment of the mounted body 300 can be performed appropriately.

[0514] Furthermore, with the on-board body 300 attached, it is possible to supply electrical energy from the running body 200 to the on-board body 300 (or from the on-board body 300 to the running body 200), send control signals, send sensor signals, and the like, via the first end 286 and the second end 386. Therefore, the power supply 280, the control device 283, the sensor 282, and the like can be mounted on either the running body 200 or the on-board body 300. Furthermore, for example, the power supplies 280 and 380 can be mounted on both the running body 200 and the on-board body 300, and the power supply amounts from the respective power supplies 280 and 380 can be shared. This greatly expands the variety of electrical devices that can be mounted and how they can be used.

[0515] Furthermore, since the first end 286 and the second end 386 allow electrical conduction without contact with each other, strict alignment is not required compared to when, for example, contact-type electrodes or terminals are used. Therefore, electrical conduction can be easily achieved between the running body 200 and the mounting body 300.

[0516] When the running body 200 without the mounted body 300 attached thereto approaches the mounted body 300 in place, the second end 386 is allowed to conduct electricity without contact with the first end 286, thereby achieving electrical connection between the first and second electrical devices (Claim 2).

[0517] According to this, since the running body 200 and the mounted body 300 are close to each other, electricity can be passed through the first end 286 and the second end 386, and electricity can be passed more easily between the running body 200 and the mounted body 300. On the other hand, by separating the running body 200 and the mounted body 300 from each other, electricity can be easily restricted from passing through.

[0518] When the mounting body 300 is attached to the mounting surface 210, the second end 386 is allowed to pass current without contact with the first end 286, thereby establishing an electrical connection between the first and second electrical devices, and when the mounting body 300 is detached from the mounting surface 210, the non-contact passage of current with the first end 286 is restricted, thereby releasing the electrical connection between the first and second electrical devices (claim 3).

[0519] According to this, when the mounting body 300 is attached to the running body 200, electrical conduction is permitted at the first end 286 and the second end 386, and therefore, the attachment can be used as an opportunity to easily and reliably establish electrical conduction between the running body 200 and the mounting body 300. On the other hand, when the mounting body 300 is detached from the running body 200, electrical conduction at the first end 286 and the second end is restricted, and therefore, the detachment can be used as an opportunity to easily and reliably restrict electrical conduction between the running body 200 and the mounting body 300. In other words, when the running body 200 and the mounting body 300 are attached and an electrical connection between them is required, electrical conduction at the first end 286 and the second end 386 can be permitted, and when the running body 200 and the mounting body 300 are detached and an electrical connection between them is not required, electrical conduction at the first end 286 and the second end 386 can be restricted.

[0520] One of the first electrical device and the second electrical device is a power source 280 / power source 380, and the other is configured to consume power supplied from the power source 280 / power source 380, and the first end 286 and the second end 386 are configured to allow electricity to flow via magnetism (Claim 4).

[0521] With this, even if the power consumer is a device that tends to consume a large amount of energy, magnetic coupling using a coil, magnetic resonance, or the like can be utilized between first end 286 and second end 386. Therefore, a large amount of electrical energy can be reliably and easily supplied from power sources 280 and 380.

[0522] The first electrical equipment of the running body 200 is the power source 280, the mounted body 300 is equipped with a first movable device 310 and a second movable device 320, and the second electrical equipment of the mounted body 300 is a drive unit 340 that consumes power supply to generate power and drives the first movable device 310 and the second movable device 320 (Claim 5).

[0523] This allows a large amount of electrical energy to be reliably and easily supplied from the power supply 280 of the traveling body 200 to the drive unit 340 (for example, a motor, an actuator, etc.), which has a large power load and is likely to consume a large amount of energy.

[0524] The first end 286 of the running body 200 is positioned forward in the first direction on the running body 200, and the first movable device 310, second movable device 320, drive unit 340, and second end 386 of the mounting body 300 are positioned forward in the first direction on the mounting body 300 (Claim 6).

[0525] This allows the second end 386, which is the power supply source, to be closer to the first movable tool 310, the second movable tool 320, and the drive unit 340, which are power supply destinations, at the front of the mounting body 300. Therefore, an efficient design can be realized at the front of the mounting body 300, and more space can be provided at the rear of the mounting body 300 for mounting other electrical devices.

[0526] An electronic unit 287 / electronic unit 387 including a control device or a communication device is provided on either the running body 200 or the mounted body 300, and the first end 286 and the second end 386 are arranged so that the distance from the first end 286 to the electronic unit 287 / electronic unit 387 is longer than the distance from the first end 286 to the drive unit 340, and so that the distance from the second end 386 to the electronic unit 287 / electronic unit 387 is longer than the distance from the second end 386 to the drive unit 340 (Claim 7).

[0527] According to this, by defining the arrangement as described above, the first end 286 and the second end 386, which are magnetic sources (for example, coils, etc.), can be placed away from the electronic unit 287 and the electronic unit 387. This simplifies the mechanisms and functions for shielding the electronic unit 287 and the electronic unit 387 from electromagnetic waves. Therefore, the freedom of design of the traveling body 200 and the mounted body 300 can be increased while employing a non-contact magnetic current-carrying method.

[0528] The above-described embodiments disclosed herein are to be considered as illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0529] 100: Mobile body 200: Traveling body 210: Mounting surface 220: Lifting unit 230: Engagement unit 240: Fixed unit 250: Support unit 260: Body 270: Traveling device 280: Power source 283: Control unit 290: Transmission unit 300: Mounting body (attachment) 310: Base unit 320: First movable device 330: Second movable device 340: Driving unit 360: Outer shell unit 380: Power source 383: Control unit 390: Transmitted unit 400: Storage system 500: Storage shed 560: Placement unit

Claims

1. A storage for storing a mobile body including a traveling body capable of traveling in a first direction and having a mounting surface facing in a second direction that faces upward with respect to the first direction, and a carrier configured to be detachable from the mounting surface and, when mounted on the mounting surface and mounted on the traveling body, move integrally with the traveling body and, when detached from the mounting surface and not mounted on the traveling body, be disposed separately from the traveling body, the storage including an arrangement portion that is spaced apart from the traveling body in the first direction and in a fourth direction perpendicular to each of the first direction and the second direction and is configured to be able to arrange the detached carrier.

2. The storage according to claim 1, wherein the arrangement portion supports the carrier in the second direction so that the carrier is arranged.

3. The storage according to claim 2, wherein the arrangement portion has a planar shape capable of supporting the bottom surface of the arranged carrier and has a shape that faces the bottom surface of the carrier and extends in the first direction.

4. The storage according to any one of claims 1 to 3, further including a power supply portion configured to be able to supply charging electrical energy to a battery provided in either one or both of the traveling body and the carrier.

5. The storage according to claim 4, further including a display portion that displays information corresponding to the charging state of the battery to the outside.

6. A storage for storing a mobile body including a traveling body and a carrier that, when mounted on the traveling body, moves integrally with the traveling body and, when detached from the traveling body, can be arranged separately from the traveling body, the storage including an arrangement portion configured to be able to arrange the detached carrier above the traveling body.

7. The storage according to claim 6, wherein the arrangement portion has a planar shape capable of supporting the bottom surface of the arranged carrier and has a shape that faces the bottom surface of the carrier.

8. The storage according to any one of claims 6 or 7, further including a power supply portion configured to be able to supply charging electrical energy to a battery provided in either one or both of the traveling body and the carrier.

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