JP7596941B2 - Mobile Systems - Google Patents

Description

The present invention relates to technology that uses a mobile object that can run.

Patent Document 1 discloses a vehicle that includes a front section with front wheels, a rear section with rear wheels, and a loading section that is connected between the front section and the rear section to integrate the front section and the rear section. This loading section is separable from the vehicle.

JP 2019-131039 A

In a moving body that has a traveling unit and a carriage unit, the power supply device mounted on the carriage unit may experience a power shortage.

The object of the present invention is to provide a technology that compensates for the energy shortage of the power supply device mounted on the bogie unit.

In order to solve the above problems, one aspect of the present invention is a mobile body system that controls a mobile body including a traveling unit capable of traveling autonomously and a bogie unit that is connectable and detachable to the traveling unit, the system including a bogie unit information acquisition unit that acquires the remaining energy amount of a bogie power supply device mounted on the bogie unit and acquires usage information of the bogie unit used by a user, a determination unit that determines whether the bogie power supply device will have an energy shortage based on the remaining energy amount and the usage information, and an instruction unit that instructs the traveling unit to supply energy to the bogie power supply device when it is determined that the bogie power supply device will have an energy shortage. The traveling unit receives an instruction from the instruction unit to supply energy to the bogie power supply device, moves to a charging station and charges the traveling power supply device mounted on the traveling unit, and then moves to the bogie unit and supplies energy from the traveling power supply device to the bogie power supply device.

The present invention provides a technology that compensates for energy shortages in the power supply device mounted on the bogie unit.

FIG. 2 is a perspective view of a moving body according to the embodiment; FIG. 2 is a perspective view of a movable body in a separated state. FIG. 2 is a diagram for explaining the configuration of a moving body. FIG. 1 is a diagram showing an overview of the configuration of a mobile system. FIG. 2 is a diagram showing a functional configuration of a mobile system. FIG. 2 is a diagram illustrating a functional configuration of a server device.

Figure 1 shows a perspective view of a moving body 10 of an embodiment. Figure 2 shows a perspective view of the moving body 10 in a separated state. The moving body 10 comprises a running unit 12 and a cart unit 14 on which an object can be placed. The running unit 12 has an autonomous running function, whereas the cart unit 14 does not have an autonomous running function. The moving body 10 may have a total length of about 2 m (meters) to 3 m, a total width of about 50 cm to 1.8 m, and a total height of about 1.5 m to 2.5 m.

As shown in FIG. 2, the traveling unit 12 can be connected and separated from the bogie unit 14. The traveling unit 12 and the bogie unit 14 are connected to form the mobile body 10. Note that the traveling unit 12 or the bogie unit 14 alone may be referred to as the mobile body.

The traveling unit 12 and the bogie unit 14 are configured to be connectable and disconnectable, so that when the traveling unit 12 tows the bogie unit 14 to a target position, it can detach the bogie unit 14 and execute a different task. For example, if the different task is tow another bogie unit 14 to a different target position, the traveling unit 12 moves to the position where the other bogie unit 14 is located, connects with the other bogie unit 14, and tows it to the different target position.

The detached cart unit 14 provides a service at that location. In an embodiment, the cart unit 14 can provide, for example, a store service for selling products. The various services provided by the cart unit 14 will be described later. When the provision of the service is completed, the cart unit 14 may be coupled to the traveling unit 12 and towed by the traveling unit 12 to a specific location. In the mobile body system 1, the combination of the traveling unit 12 and the cart unit 14 that constitute the mobile body 10 is not fixed, and the combination of the traveling unit 12 and the cart unit 14 may be appropriately determined by the server device 16.

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

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

Figure 3 is a diagram for explaining the configuration of the moving body 10. The traveling unit 12 has wheels 20, a main body 22, a detection sensor 24, a coupling device 26, a processing device 30, a communication unit 32, a drive device 34, and a power supply device 36. The cart unit 14 has a main body 40, front wheels 42, rear wheels 44, legs 46, a coupled part 48, a power supply device 50, a processing device 52, a communication unit 54, and a mounting device 56.

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

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

The coupling device 26 is provided at the rear of the main body 22 and is coupled to the coupled part 48 of the cart unit 14 shown in FIG. 2. When the traveling unit 12 and the cart unit 14 are close to each other, the processing device 30 has the function of controlling the drive of the pair of wheels 20 to connect the coupling device 26 to the coupled part 48 and activating the locking mechanism to couple the coupling device 26 to the coupled part 48. When the coupling device 26 is coupled to the coupled part 48, a signal indicating completion of coupling is sent to the processing device 30. The locking mechanism that couples the coupling device 26 to the coupled part 48 may have a structure that mechanically couples them, for example, with a hook-shaped hook, but may also have a structure that couples them electromagnetically. The processing device 30 releases the locking mechanism to separate the coupling device 26 from the coupled part 48.

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

The processing device 30, details of which will be described later, controls the autonomous driving of the traveling unit 12. Based on the detection results of the detection sensor 24 and the position information of the traveling unit 12, the processing device 30 drives the drive device 34 to realize the autonomous driving of the traveling unit 12. The communication unit 32 is connected to a network and communicates with the cart unit 14 and/or a server device (not shown). Note that when the traveling unit 12 and the cart unit 14 are close to each other, the communication unit 32 of the traveling unit 12 and the communication unit 54 of the cart unit 14 may communicate directly without going through the network 2.

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

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

A pair of front wheels 42 and a pair of rear wheels 44 are rotatably supported on the main body 40. The cart unit 14 does not have a drive device for driving the front wheels 42 and the rear wheels 44. The coupled part 48 is provided at the front of the main body 40, and is coupled to the coupling device 26 of the running unit 12. The coupled part 48 has a function of notifying the coupling device 26 of its position, and may output a position signal such as infrared light. When the coupling device 26 and the coupled part 48 are coupled, the coupled part 48 may send a signal indicating completion of coupling to the processing device 52.

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

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

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

Figure 4 is a diagram showing an overview of the configuration of the mobile system 1. The mobile system 1 comprises a driving unit 12, a cart unit 14, a server device 16, and a user terminal device 18. The driving unit 12 and the cart unit 14 each have a wireless communication function, and are communicatively connected to the server device 16 via a network 2 such as the Internet via a wireless station 4, which is a base station. The driving unit 12 and the cart unit 14 can communicate via the network 2, but when linked, they may also be able to communicate directly without going through the network 2. The user terminal device 18 is communicatively connected to the server device 16 via the network 2.

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

The server device 16 manages the positions and status of the multiple traveling units 12 and the cart units 14. The server device 16 determines the operation of each traveling unit 12 based on the positions and status of the multiple traveling units 12 and the cart units 14. The server device 16 accepts requests from the user terminal device 18 and instructs the traveling units 12 and the cart units 14 to dispatch in response to the request. The traveling units 12 move based on the operation instructions sent from the server device 16, and tow the cart units 14 if necessary.

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

The position information acquisition unit 28 acquires current position information of the propulsion unit 12 using a satellite positioning system, and supplies the acquired position information to the processing device 30. The position information acquisition unit 28 may be a GPS (Global Positioning System) receiver. The processing device 30 transmits the current position information of the propulsion unit 12 together with identification information (propulsion unit ID) of the propulsion unit 12 from the communication unit 32 to the server device 16. It is preferable that the current position information is transmitted periodically.

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

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

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

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

The mounting device 56 operates according to the user's operation or the instruction of the processing device 52. The mounting device 56 differs depending on the type of service that can be provided. The types of services provided by the cart unit 14 include a service that provides a place to eat, a service that provides a place to pray, a place to rest, or a place to work, a service that provides a kitchen, a service that provides a space to sell goods, a service that displays advertisements, and the like. In the service that provides a place to eat, a table and chairs are mounted on the cart unit 14. In the service that provides a place to pray, a place to rest, or a place to work, a container that forms an interior space is mounted on the cart unit 14. The container is equipped with equipment according to the service, such as a desk, sofa, and bed. In the service that provides a space to sell goods, a refrigerator and a shelf are mounted on the cart unit 14. In the service that displays advertisements, display devices are mounted on both sides of the opening of the cart unit 14.

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

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

Figure 6 is a diagram showing the functional configuration of the server device 16. In Figure 6, each element described as a functional block that performs various processes can be configured in hardware with a circuit block, memory, or other LSI, and in software with a program loaded into memory. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination of both, and are not limited to any one of them. The server device 16 includes a communication unit 60, a traveling unit information acquisition unit 62, a cart unit information acquisition unit 64, a judgment unit 66, and an instruction unit 68.

The communication unit 60 communicates with the traveling unit 12, the bogie unit 14, and the user terminal device 18. The request reception unit 61 receives request information from the user terminal device 18, together with the user ID, which requests the use of the moving body 10, and receives the user's request. The request information includes information indicating the type of service provided by the bogie unit 14 of the moving body 10, the date and time of service provision, and the area in which the service is provided. The user inputs the type of service, the date and time of service provision, and the area in which the service is provided into the application program of the user terminal device 18, and transmits the information to the server device 16 as request information. The area in which the service is provided is determined in advance, and the user selects which area the service is provided in. When the request reception unit 61 receives a user's request, it selects the traveling unit and the bogie unit that will execute the request. The request reception unit 61 generates usage information according to the received request, and transmits the usage information to the traveling unit information acquisition unit 62 and the bogie unit information acquisition unit 64 in association with the traveling unit ID and the bogie unit ID that will execute the request.

The traveling unit information acquisition unit 62 acquires traveling unit information from the traveling unit 12. The traveling unit information includes the position information of the traveling unit 12, the remaining energy amount of the power supply device 36, and the traveling unit ID. The traveling unit information acquisition unit 62 also acquires usage information of the traveling unit 12 from the request reception unit 61 and includes it in the traveling unit information. The usage information of the traveling unit 12 includes schedule information indicating the planned actions of the traveling unit 12.

The cart unit information acquisition unit 64 acquires cart unit information from the cart unit 14. The cart unit information includes location information of the cart unit 14, the remaining energy amount of the power supply device 50, and the cart unit ID. The cart unit information acquisition unit 64 also acquires usage information of the cart unit 14 used by the user from the request reception unit 61, and includes it in the cart unit information. The usage information of the cart unit 14 includes the type of mounted device 56 mounted on the cart unit 14, the date and time of provision of the service provided by the cart unit 14, and the area of provision.

The determination unit 66 determines whether the power supply device 50 will be insufficient in energy based on the remaining energy amount of the cart unit 14 and the usage information. For example, the determination unit 66 determines whether the remaining energy amount of the cart unit 14 will be equal to or less than a predetermined value before the end of the provision of the service to the user. The end of the provision of the service is indicated in the usage information.

The determination unit 66 estimates the expected energy consumption of the cart unit 14 based on the type of mounted device 56 mounted on the cart unit 14 and the remaining time of the service provided by the cart unit 14. The determination unit 66 determines that there is an energy shortage if the value obtained by subtracting the expected energy consumption amount from the remaining energy amount is equal to or less than a predetermined value, and determines that there is no energy shortage if the value is greater than the predetermined value. The predetermined value may be set to 10 percent of the total energy amount of the power supply device 50, for example. In this way, the determination unit 66 estimates the expected energy consumption amount based on the usage information of the cart unit 14, and determines whether the power supply device 50 will have an energy shortage by comparing the remaining energy amount with the expected energy consumption amount.

When the determination unit 66 determines that the power supply device 50 will be insufficient in energy, the instruction unit 68 instructs the propulsion unit 12 to supply energy to the power supply device 50. The instruction unit 68 causes the propulsion unit 12 to transmit instruction information to cause the power supply device 50 to supply energy.

When the processing device 30 of the traveling unit 12 receives the instruction information, it executes an energy supply process. Any of a number of types of energy supply processes are executed. For example, when the remaining energy amount of the power supply device 36 of the traveling unit 12 is equal to or greater than a predetermined amount, energy is supplied from the power supply device 36 to the power supply device 50 of the cart unit 14. In addition, the traveling unit 12 may move to a charging station to charge the power supply device 36, and then move to the cart unit 14 and supply energy from the power supply device 36 to the power supply device 50 of the cart unit 14. In addition, the traveling unit 12 may carry a container filled with an energy source to the cart unit 14. The container may be replaced by a user, and a device capable of replacing the container may be provided in the traveling unit 12. In this way, when the amount of energy of the cart unit 14 is insufficient, the traveling unit 12 can provide energy to the cart unit 14.

In addition to supplying energy from the traveling unit 12 to the bogie unit 14, energy may be supplied from the bogie unit 14 to the traveling unit 12. The determination unit 66 determines whether the power supply device 36 will be insufficient in energy based on the remaining energy amount and usage information of the traveling unit 12. The determination unit 66 estimates the expected energy consumption amount based on the usage information of the traveling unit 12, and compares the remaining energy amount with the expected energy consumption amount to determine whether the power supply device 36 will be insufficient in energy. When the determination unit 66 determines that the power supply device 36 will be insufficient in energy, the instruction unit 68 instructs the bogie unit 14 to supply energy from the power supply device 50 to the power supply device 36. When the processing device 52 of the bogie unit 14 receives the instruction information, it executes a process of supplying energy from the power supply device 50 to the power supply device 36. In this way, when either the traveling unit 12 or the bogie unit 14 is insufficient in energy, the energy can be supplemented by supplying energy from the other.

Please note that the examples are merely illustrative, and those skilled in the art will understand that various modifications are possible in the combination of each component, and that such modifications are also within the scope of the present invention.

1 Mobile body system, 10 Mobile body, 12 Travel unit, 14 Cart unit, 16 Server device, 18 User terminal device, 20 Wheel, 22 Main body, 24 Detection sensor, 26 Coupling device, 28 Position information acquisition unit, 30 Processing device, 32 Communication unit, 34 Drive device, 36 Power supply device, 40 Main body, 42 Front wheel, 44 Rear wheel, 46 Leg, 48 Coupled part, 50 Power supply device, 52 Processing device, 54 Communication unit, 56 Mounting device, 58 Position information acquisition unit, 60 Communication unit, 61 Request reception unit, 62 Travel unit information acquisition unit, 64 Cart unit information acquisition unit, 66 Determination unit, 68 Instruction unit.

Claims (1)

A mobile body system for controlling a mobile body including a traveling unit capable of traveling autonomously and a carriage unit that is provided so as to be connectable and detachable to the traveling unit,
a cart unit information acquisition unit that acquires a remaining energy amount of a cart power supply device mounted on the cart unit and acquires usage information of the cart unit used by a user;
a determination unit that determines whether the trolley power supply device will experience an energy shortage based on the remaining energy amount and usage information;
and an instruction unit that instructs the traveling unit to supply energy to the bogie power supply device when it is determined that the bogie power supply device will be insufficient in energy,
The mobile system is characterized in that the traveling unit receives an instruction from the instruction unit to supply energy to the bogie power supply unit, moves to a charging station and charges the traveling power supply unit mounted on the traveling unit, and then moves to the bogie unit and supplies energy from the traveling power supply unit to the bogie power supply unit .

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