JP7615897B2 - Transport system, transport device and transport program - Google Patents

Description

The present disclosure relates to a transportation system, a transportation device, and a transportation program.

Patent document 1 discloses a delivery system that uses autonomous mobile objects to deliver packages to users.

JP 2020-152533 A

There is a demand for technology that allows autonomous vehicles to travel stably even when towing objects of different weights, sizes, etc.

The present disclosure has been made in consideration of the above, and aims to provide a transportation system, transportation device, and transportation program that enable an autonomously traveling mobile body to travel stably even when towing objects of different weights, sizes, etc.

The transportation system according to the present disclosure is configured to be capable of connecting to and disconnecting from multiple types of towed objects and to travel while towing the towed objects, and includes a transportation device having a processor, the processor selecting one driving mode from multiple preset driving modes based on the type of towed object to be connected, and controlling the driving of the transportation device so that the transportation device travels while towing the towed object in the selected driving mode.

The transport device according to the present disclosure is configured to be capable of connecting to and disconnecting from multiple types of towed objects and to travel while towing the towed objects, and is equipped with a processor, which selects one driving mode from multiple preset driving modes based on the type of towed object to be connected, and controls the travel of the transport device so that the device travels while towing the towed object in the selected driving mode.

The transportation program according to the present disclosure is for a transportation device equipped with a processor that is configured to be capable of connecting to and disconnecting from multiple types of towed objects and traveling while towing the towed objects, and causes the processor to select one driving mode from multiple preset driving modes based on the type of towed object to be connected, and to control the traveling of the transportation device so that the device travels while towing the towed object in the selected driving mode.

According to the present disclosure, an autonomously capable mobile body can travel stably even when towing objects of different weights, sizes, etc.

FIG. 1 is a schematic diagram showing an overall configuration of a conveyance system according to an embodiment. FIG. 2 is a diagram showing a state in which a dolly is coupled to a drive unit in the transport system according to the embodiment. FIG. 3 is a block diagram showing details of each component of the transport system according to the embodiment. FIG. 4 is a flowchart illustrating an example of a processing procedure of a transporting method executed by the transporting system according to the embodiment.

The transport system, transport device, and transport program according to the embodiments of the present disclosure will be described with reference to the drawings. Note that the components in the following embodiments include those that are easily replaceable by a person skilled in the art, or those that are substantially identical.

(Transportation System)
The configuration of a transportation system including a transportation device according to an embodiment will be described with reference to Fig. 1 to Fig. 3. The transportation system 1 is for transporting goods, products, parts, and user cargo using an autonomous mobile object. This transportation system 1 can be used in a wide range of situations, such as factories, markets, and homes.

As shown in FIG. 1, the transportation system 1 has a drive unit 10 and a terminal 30. The transportation device according to the embodiment is realized by the functions of the drive unit 10 in the transportation system 1. In addition, the drive unit 10 and the terminal 30 both have communication functions and are configured to be able to communicate with each other through a network NW. This network NW is composed of, for example, an Internet network, a mobile phone network, etc. Each component of the transportation system 1 will be described below.

(Drive unit)
The drive unit 10 is an electric unit capable of autonomous driving (automatic driving). The drive unit 10 operates according to instructions (transportation reservation information) from the terminal 30, for example, but a server (center server) for controlling the drive unit 10 may be provided separately from the terminal 30, and the operation of the drive unit 10 may be controlled through this server.

The drive unit 10 is equipped with a connecting attachment that can be connected to multiple types of towed objects. The specific configuration of this connecting attachment is not particularly limited as long as it is configured to be connectable to multiple types of towed objects. In addition, a towed object that can be connected to the drive unit 10 only needs to have wheels that can run with the drive unit 10. The towed object may be, for example, a dolly, a foldable dolly, a basket dolly, a rack with wheels, a suitcase, or the like, which can carry a load, or it may not be able to carry a load. In this embodiment, the description will be given assuming a dolly 20 that can carry a load as an example of a towed object, as shown in Figures 1 and 2.

The dolly 20 is configured in a box shape and is configured to be able to load cargo in the internal space. In addition, a plurality of racks (e.g., two) for loading cargo are installed in the internal space of the dolly 20. The dolly 20 may also be provided with, for example, a weight sensor for measuring the weight of the cargo loaded on the dolly 20 and a communication function for transmitting the measurement value of the weight sensor to the drive unit 10. As shown in FIG. 2, the drive unit 10 is configured to be able to freely connect and disconnect to and from the dolly 20 by a connecting attachment, and to travel while towing the dolly 20.

3, the drive unit 10 includes a control unit 11, a communication unit 12, a memory unit 13, a camera 14, a positioning unit 15, a sensor group 16, and a battery 17. Specifically, the control unit 11 includes a processor such as a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), etc., and a memory (main memory unit) such as a RAM (Random Access Memory), a ROM (Read Only Memory), etc.

The control unit 11 loads the programs stored in the memory unit 13 into the working area of the main memory unit, executes them, and realizes functions that meet a predetermined purpose by controlling each component through the execution of the programs. The control unit 11 functions as a driving mode selection unit 111 and a driving control unit 112 through the execution of the programs stored in the memory unit 13.

The driving mode selection unit 111 selects the driving mode when transporting a towed object. The drive unit 10 can be connected to various towed objects, and by towing these towed objects, it is possible to transport various loads (luggage). Therefore, the driving mode selection unit 111 selects a driving mode according to the towed object to be towed by the drive unit 10 and the load to be loaded on the towed object. Examples of this "driving mode" include a low-speed driving mode in which the vehicle travels at low speed while minimizing vibration and shock, a high-speed driving mode in which the vehicle travels at high speed without considering vibration and shock, and a variable driving mode in which the vehicle travels while changing its speed according to the conditions of the transport route.

When selecting a driving mode, the driving mode selection unit 111 first obtains transportation reservation information from the terminal 30. This "transportation reservation information" is information created in the transportation reservation unit 311 of the terminal 30, and includes information such as the transportation reservation holder (user name or user ID), transportation reservation acceptance date and time, transportation reservation number, cargo name, cargo weight, cargo size, cargo quantity, transportation origin, transportation destination, designated transportation date and time, type of towed object, towed object weight, towed object size, etc. Note that it is not essential to obtain the transportation reservation information from the terminal 30, and it is sufficient that information equivalent to the transportation reservation information is linked to the cargo loaded on the towed object.

Next, the driving mode selection unit 111 selects one driving mode from among a plurality of preset driving modes (e.g., low-speed driving mode, high-speed driving mode, variable driving mode) based on the type of towed object connected to the drive unit 10. The type of towed object may be input in advance to the drive unit 10, or may be determined by referring to the transportation reservation information obtained from the terminal 30.

For example, if the weight or size of the towed object connected to the drive unit 10 is large, the impact of vibrations and shocks during driving will be large, so the drive mode selection unit 111 selects the low-speed drive mode as the drive mode. On the other hand, if the weight or size of the towed object connected to the drive unit 10 is small, the impact of vibrations and shocks during driving will be small, so the drive mode selection unit 111 selects the high-speed drive mode as the drive mode. In this way, by selecting the drive mode based on the type of towed object, transportation can be performed without adversely affecting the towed object and its cargo.

Here, the driving mode selection unit 111 may select one of a plurality of driving modes based on the type of towed object, the weight of the load placed on the towed object, and the remaining battery charge of the drive unit 10. The weight of the load may be determined, for example, by obtaining a measurement value from a weight sensor provided on the dolly 20, or by referring to transportation reservation information obtained from the terminal 30.

For example, if the load is heavy, the impact of vibrations and shocks during driving will be large, so the driving mode selection unit 111 selects the low-speed driving mode as the driving mode. Also, if the battery charge remaining in the drive unit 10 is low, the driving mode selection unit 111 selects the low-speed driving mode as the driving mode to prevent the battery 17 from running out during transport. In this way, by selecting the driving mode based on the type of towed object, the weight of the load loaded on the towed object, and the battery charge remaining in the drive unit 10, transportation can be performed without adversely affecting the driving of the towed object, its load, and the drive unit 10.

The driving control unit 112 remotely controls the driving of the drive unit 10 via the network NW so that the vehicle travels while towing a towed object (e.g., a trolley 20) in the driving mode selected by the driving mode selection unit 111.

Here, the driving control unit 112 may notify the terminal 30 of the selection result of the driving mode in the driving mode selection unit 111 before controlling the driving of the drive unit 10. In this case, the driving control unit 112 transmits the selection result of the driving mode selected by the driving mode selection unit 111 to the terminal 30. Then, when the driving control unit 112 obtains information from the terminal 30 indicating that the selection result is accepted, it controls the driving of the drive unit 10 so that the towed object is towed and driven in the driving mode related to the selection result.

On the other hand, when the driving control unit 112 receives information from the terminal 30 instructing a change to a driving mode different from the selected result, it controls the driving of the drive unit 10 so that the towed object is towed in the different driving mode. In this way, by transmitting the driving mode selection result in the driving mode selection unit 111 to the terminal 30, it is possible to confirm whether the driving mode that the user wants has been selected, thereby improving user convenience.

The communication unit 12 is composed of, for example, a LAN (Local Area Network) interface board, a wireless communication circuit for wireless communication, and the like. The communication unit 12 is connected to a network NW such as the Internet, which is a public communication network. The communication unit 12 communicates with the terminal 30 by connecting to the network NW.

The storage unit 13 is composed of recording media such as an EPROM (Erasable Programmable ROM), a hard disk drive (HDD), and removable media. Examples of removable media include a universal serial bus (USB) memory, a compact disc (CD), a digital versatile disc (DVD), and a Blu-ray (registered trademark) disc (BD). The storage unit 13 can store an operating system (OS), various programs, various tables, various databases, and the like.

The memory unit 13 stores, as necessary, information such as images captured by the camera 14, information about the current position of the drive unit 10 detected by the positioning unit 15 (hereinafter referred to as "position information"), sensor information detected by the sensor group 16, and the remaining battery charge of the drive unit 10.

The camera 14 is used to enable the drive unit 10 to travel autonomously, and is configured as an imaging device incorporating an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). A plurality of cameras 14 are installed, for example, at predetermined positions on the drive unit 10.

The positioning unit 15 receives radio waves from GPS (Global Positioning System) satellites to detect the position information of the drive unit 10. The method of detecting the position information is not limited to the method using GPS satellites, and may be, for example, a method that combines LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) with a three-dimensional digital map.

The sensor group 16 is a plurality of sensors for enabling the drive unit 10 to drive autonomously, and is composed of, for example, a 3D LiDAR, a millimeter wave sensor, an infrared sensor, an acceleration sensor, a GPS sensor, a vehicle speed sensor, etc.

The battery 17 is intended to supply power to the power source (motor) of the drive unit 10.

(Terminal)
The terminal 30 is realized by a smartphone, mobile phone, tablet terminal, wearable computer, etc., carried by a user who uses the luggage transportation service provided by the drive unit 10.

As shown in FIG. 3, the terminal 30 includes a control unit 31, a communication unit 32, a memory unit 33, and an operation/display unit 34. In terms of hardware, the control unit 31, the communication unit 32, and the memory unit 33 are similar to the control unit 11, the communication unit 12, and the memory unit 13. The control unit 31 functions as a transportation reservation unit 311 and a driving mode determination unit 312 through the execution of a program stored in the memory unit 33.

The transportation reservation unit 311 creates transportation reservation information, for example, based on the user's operation of the operation/display unit 34, and transmits the created transportation reservation information to the drive unit 10. The transportation reservation unit 311, for example, displays a transportation reservation screen on the operation/display unit 34, and creates transportation reservation information based on the user's input on the transportation reservation screen.

The driving mode determination unit 312 determines whether the driving mode selected by the drive unit 10 is correct, for example, based on the user's operation of the operation and display unit 34. The driving mode determination unit 312, for example, causes the operation and display unit 34 to display a screen showing the selection result of the driving mode by the drive unit 10, an accept button, and a reject button. If the user presses the accept button, information indicating that the selection result of the driving mode by the drive unit 10 is accepted is transmitted to the drive unit 10. On the other hand, if the user presses the reject button, for example, a driving mode change instruction screen is displayed on the operation and display unit 34. Then, based on the user's input, information regarding an instruction to change the driving mode, including an instruction to change to a driving mode different from the selection result of the driving mode by the drive unit 10, is created, and the created information is transmitted to the drive unit 10.

The communication unit 32 communicates with the drive unit 10 by wireless communication via the network NW. The storage unit 33 stores, as necessary, for example, transport reservation information created by the transport reservation unit 311, application software (transport reservation app) that allows the user to make a reservation for transporting luggage, etc.

The operation/display unit 34 is configured, for example, with a touch panel display, and has an input function that accepts operations by the user's fingers, a pen, etc., and a display function that displays various information based on the control of the control unit 31. Based on the control of the control unit 31, the operation/display unit 34 displays, for example, the screen of a transportation reservation app installed on the terminal 30, a screen showing the results of the selection of the driving mode by the drive unit 10, a screen instructing a change of the driving mode, etc.

(Transportation method)
An example of a processing procedure of the transportation method executed by the transportation system 1 according to the embodiment will be described with reference to Fig. 4. In addition, in the same figure, the processing mainly performed by the drive unit 10 after the transportation reservation information is transmitted from the terminal 30 to the drive unit 10 will be described.

First, the driving mode selection unit 111 identifies the type of towed object connected to the drive unit 10 (step S1). Next, the driving mode selection unit 111 selects one driving mode from a plurality of preset driving modes based on, for example, the type of towed object (step S2).

Next, the driving control unit 112 notifies the terminal 30 carried by the user of the selection result of the driving mode selected in step S2 (step S3). Next, the driving control unit 112 determines whether or not the user has accepted the selection result of the driving mode (step S4). In step S4, for example, if information indicating acceptance of the selection result is acquired from the terminal 30, a positive determination is made, and if the information is not acquired, a negative determination is made.

If it is determined that the user has accepted the selected driving mode (Yes in step S4), the driving control unit 112 starts driving the drive unit 10 in the driving mode selected in step S2 (step S5) and ends this process. On the other hand, if it is determined that the user has not accepted the selected driving mode (No in step S4), the driving control unit 112 determines whether the user has instructed a change to another driving mode (step S6). In step S6, for example, if information is acquired from the terminal 30 instructing a change to a driving mode different from the selected result, a positive determination is made, and if the information is not acquired, a negative determination is made.

If it is determined that the user has instructed a change to a different driving mode (Yes in step S6), the driving control unit 112 starts driving the drive unit 10 in the different driving mode instructed by the user (step S7) and ends this process. On the other hand, if it is determined that the user has not instructed a change to a different driving mode (No in step S6), the driving control unit 112 ends this process.

As described above, according to the transportation system, transportation device, and transportation program of the embodiment, the autonomously-traveling drive unit 10 can travel stably even when towing objects of different weights, sizes, etc.

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

In addition, in the transport system, transport device, and transport program according to the embodiment, the size of the trolley 20 may be changed according to the load of cargo. In this case, the components constituting the trolley 20 are rearranged to change the load capacity of the trolley 20 according to the amount of cargo to be loaded onto the trolley 20. In this way, by changing the size of the trolley 20 according to the load of luggage, it is possible to improve space efficiency. Furthermore, by simplifying the configuration of the trolley 20 and standardizing the components, it is possible to improve the maintainability of the trolley 20.

In addition, in the transport system, transport device, and transport program according to the embodiments, a cartridge-type FC (Fuel Cell) tank may be provided in the drive unit 10. By providing an FC tank in the drive unit 10 in this way, it becomes possible to supply power simply by replacing the FC tank, thereby reducing the waiting time for charging.

REFERENCE SIGNS LIST 1 Transportation system 10 Drive unit 11 Control unit 111 Travel mode selection unit 112 Travel control unit 12 Communication unit 13 Memory unit 14 Camera 15 Positioning unit 16 Sensor group 17 Battery 20 Cart 30 Terminal 31 Control unit 311 Transportation reservation unit 312 Travel mode determination unit 32 Communication unit 33 Memory unit 34 Operation and display unit NW Network

Claims (12)

A transportation device having a processor, the transportation device being configured to be capable of connecting to and disconnecting from a plurality of types of towed objects and traveling within a predetermined area while towing the towed objects;
The processor,
selecting one of a plurality of preset driving modes based on the type of the towed object to be connected;
performing travel control of the transport device so as to travel while towing the towed object in a selected travel mode;
Conveying system. the processor identifies a type of the towed object based on a weight and a size of the towed object;
The conveying system of claim 1 . the processor selects one of a plurality of driving modes based on the type of the towed object, the weight of the load loaded on the towed object, and the remaining battery charge of the transport device.
A conveying system according to claim 1 or claim 2. The device further includes a terminal carried by a user,
The processor,
When one driving mode is selected from a plurality of driving modes, the selection result is output to the terminal;
When information indicating that the selection result is accepted is received from the terminal, the driving control of the transport device is performed so that the transport device travels while towing the towed object in a driving mode related to the selection result.
When receiving information from the terminal instructing a change to a driving mode different from the selected result, the driving control of the transport device is performed so that the transport device travels while towing the towed object in the different driving mode.
A conveying system according to any one of claims 1 to 3. A transport device that is capable of connecting to and disconnecting from a plurality of types of towed objects and traveling within a predetermined area while towing the towed objects, the transport device including a processor,
The processor,
selecting one of a plurality of preset driving modes based on the type of the towed object to be connected;
performing travel control of the transport device so as to travel while towing the towed object in a selected travel mode;
Transport device. the processor identifies a type of the towed object based on a weight and a size of the towed object;
6. The transport device of claim 5. the processor selects one of a plurality of driving modes based on the type of the towed object, the weight of the load loaded on the towed object, and the remaining battery charge of the transport device.
A conveying device according to claim 5 or claim 6. The processor,
When one driving mode is selected from a plurality of driving modes, the selection result is output to a terminal carried by the user;
When information indicating that the selection result is accepted is received from the terminal, the driving control of the transport device is performed so that the transport device travels while towing the towed object in a driving mode related to the selection result.
When receiving information from the terminal instructing a change to a driving mode different from the selected result, the driving control of the transport device is performed so that the transport device travels while towing the towed object in the different driving mode.
A conveying device according to any one of claims 5 to 7. A transportation program for a transportation device that is configured to be capable of connecting to and disconnecting from a plurality of types of towed objects and traveling within a predetermined area while towing the towed objects, the transportation program comprising:
The processor,
selecting one of a plurality of preset driving modes based on the type of the towed object to be connected;
performing travel control of the transport device so as to travel while towing the towed object in a selected travel mode;
A transport program that executes the above. identifying a type of the towed object based on a weight and a size of the towed object;
The transportation program according to claim 9, which causes the transporting program to execute the following: the processor selects one of a plurality of driving modes based on the type of the towed object, as well as the weight of the load loaded on the towed object and the remaining battery charge of the transport device;
The transportation program according to claim 9 or 10, which causes the transportation program to execute the steps of: The processor,
When one driving mode is selected from a plurality of driving modes, the selection result is output to a terminal carried by the user;
When information indicating that the selection result is accepted is received from the terminal, the driving control of the transport device is performed so that the transport device travels while towing the towed object in a driving mode related to the selection result.
When receiving information from the terminal instructing a change to a driving mode different from the selected result, the driving control of the transport device is performed so that the transport device travels while towing the towed object in the different driving mode.
The transportation program according to any one of claims 9 to 11, which causes the transportation program to execute the following.

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