JP7647346B2 - Mobile Systems - Google Patents

Description

The present invention relates to a mobile system having a traveling unit and a carriage unit.

In recent years, systems have been devised that use autonomous vehicles to transport items such as luggage. Patent Document 1 discloses an autonomous vehicle that includes a front section with front wheels, a tail section with rear wheels, and a loading section that is connected between the front and tail sections to integrate the front and tail sections. When the front and tail sections are stopped, the loading section is configured to be detachable from the vehicle and connectable to the vehicle in a direction that intersects with the vehicle's traveling direction.

JP 2019-131039 A

In the system disclosed in Patent Document 1, when a server device receives a dispatch request from outside, it determines which autonomous vehicle to dispatch and generates an operation command in response to the dispatch request. It is expected that a system equipped with a mobile object with an autonomous driving function can provide useful services in a variety of situations.

The object of the present invention is to provide a useful system equipped with a mobile body having an autonomous driving function.

A mobile system according to one embodiment of the present invention includes a traveling unit having an autonomous traveling function, a cart unit that can be connected to the traveling unit and has a storage unit for storing an object, and a server device. The server device includes a reception unit that receives a storage request from a user, the storage request including location information indicating a location where the object is to be received, a control unit that generates a task execution instruction that instructs the traveling unit to perform a task of towing the cart unit to the receiving location and then to a specified storage location based on the received storage request, and a first communication unit that transmits the task execution instruction to the traveling unit. The traveling unit includes a second communication unit that receives the task execution instruction from the server device, and a processing device that controls the drive device to make the traveling unit travel based on the task execution instruction. The processing device makes the traveling unit connected to the cart unit travel to the receiving location, and when the user has completed the storage operation in the storage unit, makes the traveling unit travel to the storage location and separates the traveling unit from the cart unit at the storage location.

In addition, any combination of the above components, and expressions of the present invention converted between methods, devices, systems, computer programs, recording media on which computer programs are readably recorded, data structures, etc. are also valid aspects of the present invention.

FIG. 1 is a diagram showing an overview of a mobile system according to an embodiment of the present invention; FIG. 2 is a perspective view of a moving body according to the embodiment; FIG. 13 is a diagram showing a state in which the traveling unit and the carriage unit are separated. 11A and 11B are diagrams illustrating an example of a door provided in a main body portion. FIG. 2 is a diagram for explaining the configuration of a moving body. FIG. 4 is a diagram showing a storage section of the carriage unit. FIG. 2 is a diagram showing functional blocks of a mobile system. FIG. 11 is a sequence diagram of a process using the cart unit. FIG. 4 is a diagram showing a storage section of the carriage unit.

Figure 1 shows an overview of a mobile body system 1 according to an embodiment. The mobile body system 1 includes a driving unit 12, a cart unit 14 capable of storing objects, a user terminal device 16 operated by a user, and a server device 6. The driving unit 12 has an autonomous driving function, whereas the cart unit 14 does not. The driving unit 12 and the cart unit 14 each have a wireless communication function, and are communicatively connected to the server device 6 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 with each other via the network 2, but may also communicate directly without going through the network 2.

In the mobile body system 1, the traveling unit 12 and the bogie unit 14 are configured to be connectable and detachable, and the traveling unit 12 and the bogie unit 14 are connected to form the mobile body 10. Note that the traveling unit 12 with an automatic traveling function may be referred to as a mobile body by itself.

By configuring the traveling unit 12 and the bogie unit 14 to be connectable and detachable, the traveling unit 12 can tow the bogie unit 14 to the destination, then detach the bogie unit 14 and execute a different task. For example, if the different task is tow another bogie unit 14 to another destination, the traveling unit 12 moves to the location where the other bogie unit 14 is located, connects to the other bogie unit 14, tows it to the other destination, and detaches the other bogie unit 14. By configuring the traveling unit 12 and the bogie unit 14 to be connectable and detachable in this way, the traveling unit 12 can execute tasks related to different bogie units 14 one after another.

The server device 6 manages the positions and states of the multiple traveling units 12 and the multiple cart units 14. The state of the traveling units 12 includes a state indicating whether a task is being executed, and the state of the cart units 14 includes a state indicating whether a service is being provided. In the embodiment, the cart units 14 provide a service for storing items for a user, and the user can use the cart units 14 as a trunk room in which items can be stored. The server device 6 determines the tasks to be assigned to each traveling unit 12 based on the positions and states of the multiple traveling units 12 and the multiple cart units 14. The traveling units 12 operate based on task execution instructions sent from the server device 6.

The user terminal device 16 is a terminal device operated by a user, such as a smartphone, tablet, or personal computer, and is communicatively connected to the server device 6 via the wireless station 4 and the network 2. In the embodiment, the user terminal device 16 is a portable terminal device with wireless communication capabilities, but it may also be a stationary terminal device connected to a wired router via a cable.

Figure 2 shows a perspective view of the moving body 10 of the embodiment. The moving body 10 is configured by connecting a running unit 12 to a cart unit 14. The cart unit 14 has a storage section 8 in which items can be stored. The moving body 10 may have a total length of about 2 m (meters) to 3 m, a total width of about 0.5 m to 1.8 m, and a total height of about 1.5 m to 2.5 m.

Figure 3 shows the state in which the running unit 12 and the cart unit 14 are separated. The cart unit 14 has a main body 40 that forms the storage section 8. The storage section 8 is defined by a base 40a on which the front wheels 42 and the rear wheels 44 are provided, a ceiling section 40b that is provided opposite the base 40a, a front wall section 40c, and a rear wall section 40d, and is configured as a space that penetrates in the vehicle width direction. The front wall section 40c and the rear wall section 40d are formed with a plurality of protrusions 40e that face each other, and shelves and the like can be attached. For example, by placing shelves on the plurality of protrusions 40e, the user can store items on a plurality of shelves. When the cart unit 14 is separated from the running unit 12, the legs 46 of the cart unit 14 are in contact with the ground and cannot move, and the position of the cart unit 14 is fixed.

Opening doors are provided at both openings of the storage section 8 in the bogie unit 14 to separate the storage section 8 from the outside of the vehicle.
4 shows an example of a door 60 provided on the main body 40. The door 60 may be a flip-up door with hinges provided on both sides of the ceiling 40b. By closing the door 60, the storage section 8 can be separated from the outside space. The door 60 may be entirely or partially made of a transparent or semi-transparent material. Note that the door 60 may be of a type other than the flip-up type as long as it can separate the storage section 8 from the outside of the vehicle.

Figure 5 is a diagram for explaining the configuration of the moving body 10. The traveling unit 12 has wheels 20, a main body 22, an object 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 an object sensor 56.

In the traveling unit 12, a pair of wheels 20 are provided on the left and right sides, and are rotatably supported by the main body 22. A driving device 34 is provided on each of the pair of wheels 20. The driving device 34 includes a motor, and rotates the wheels 20 in response to a driving 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 object detection sensor 24 is provided in the main body 22 and detects objects in the traveling direction. The object detection sensor 24 may be a camera, a millimeter wave radar, an infrared laser, a sonic sensor, etc., or a combination of these. The object 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 object 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 (see FIG. 3) of the cart unit 14. When the traveling unit 12 and the cart unit 14 are close to each other, the processing device 30 controls the drive of the wheels 20 to connect the coupling device 26 to the coupled part 48 and activates 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, it sends a signal indicating completion of coupling 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 the coupling device 26, for example, with a hook-shaped hook, but may also have a structure that couples the coupling device 26 electromagnetically. The processing device 30 releases the locking mechanism to separate the coupling device 26 from the coupled part 48.

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

The processing device 30 controls the autonomous driving of the driving unit 12. Based on the detection results of the object detection sensor 24 and the position information of the driving unit 12, the processing device 30 drives the drive device 34 to realize the autonomous driving of the driving unit 12. The communication unit 32 is connected to the network 2 and communicates with the server device 6 and/or the cart unit 14. Note that when the driving unit 12 and the cart unit 14 are close to each other, the communication unit 32 of the driving unit 12 and the communication unit 54 of the cart unit 14 may communicate directly without going through the network 2.

In the cart unit 14, a pair of front wheels 42 and a pair of rear wheels 44 are rotatably supported on the base 40a of 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 traveling unit 12. 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 a movement limiting section that limits 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, acting as a stopper. 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 a power source and supplies power to each component mounted on the cart unit 14. Figure 3 shows three hydrogen tanks inserted into three slots in the front of the main body 40. The processing device 52 monitors the remaining amount of power in the power supply unit 50.

The communication unit 54 is connected to the network 2 and communicates with the server device 6 and/or the traveling unit 12. Note that if the traveling unit 12 and the cart unit 14 are close to each other, the communication unit 54 of the cart unit 14 and the communication unit 32 of the traveling unit 12 may communicate directly without going through the network 2.

Figure 6 shows an example of the storage section 8 of the cart unit 14. In the mobile system 1, the user can use the cart unit 14 as a trunk room in which items can be stored. Figure 6 shows the state before the user has stored items in the storage section 8, and the door 60 that separates the storage section 8 from the outside of the vehicle is not shown. The storage section 8 is provided with multiple shelves 41, allowing the user to place items on the shelves 41. Note that when the user stores large items, the shelves 41 may be removed.

The object sensor 56 is a sensor for monitoring the storage status of items in the storage section 8. The object sensor 56 may be, for example, an image sensor that captures an image of the storage section 8. The object sensor 56 may also be a weight sensor that detects changes in weight in the storage section 8. The object sensor 56 supplies the acquired sensor information to the processing device 52.

Figure 7 is a diagram showing the functional blocks of the mobile body system 1. The mobile body system 1 of the embodiment includes a traveling unit 12, a cart unit 14, a user terminal device 16, and a server device 6. Although one traveling unit 12, one cart unit 14, and one user terminal device 16 are shown in Figure 7, the mobile body system 1 may include multiple traveling units 12, multiple cart units 14, and multiple user terminal devices 16.

In the propulsion unit 12, the position information acquisition unit 28 acquires current position information indicating the current position of the propulsion unit 12 using a satellite positioning system, and supplies the acquired current 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 6. It is preferable that the current position information is transmitted periodically.

The map storage unit 38 stores map information indicating the road position. The processing device 30 controls the drive device 34 to drive the traveling unit 12 based on the task execution instruction sent from the server device 6. The task execution instruction includes at least information indicating the destination (destination), and the processing device 30 derives a driving route toward the destination included in the task execution instruction using the map information stored in the map storage unit 38 and the current position information provided by the position information acquisition unit 28. The processing device 30 controls the drive device 34 to drive along the derived driving route. The driving route may be derived by the server device 6 and included in the task execution instruction. During the driving to the destination, the processing device 30 acquires information about objects present around the traveling unit 12 based on the detection data by the object detection sensor 24. The processing device 30 determines the traveling direction and driving speed so as to avoid collision with surrounding objects, and drives the drive device 34.

In the cart unit 14, the position information acquisition unit 58 acquires current position information indicating the current position of the cart unit 14 using a satellite positioning system, and supplies the acquired current position information to the processing device 52. The position information acquisition unit 58 may be a GPS receiver. The processing device 52 transmits the current position information of the cart unit 14 together with identification information (cart unit ID) of the cart unit 14 from the communication unit 54 to the server device 6. It is preferable that the current position information is transmitted periodically.

The server device 6 includes a communication unit 70 and a processing device 72, and the processing device 72 includes a reception unit 74, a storage status monitoring unit 76, a notification unit 78, and a control unit 80. The control unit 80 includes a task determination unit 84, a task execution instruction generation unit 86, and a unit management unit 88.

The communication unit 70 receives current position information from the multiple traveling units 12 and the multiple cart units 14. The unit management unit 88 manages the current positions of the multiple traveling units 12 and the multiple cart units 14 based on the current position information transmitted from the multiple traveling units 12 and the multiple cart units 14.

In FIG. 7, each element described as a functional block that performs various processes can be configured in hardware as a circuit block, memory, or other LSI, and in software as a program loaded into memory. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms using only hardware, only software, or a combination of both, and are not limited to any one of them.

The following describes the process when a user uses the cart unit 14 as a storage room. Conventionally, when a user uses a storage room, the user needs to take the items to be stored out of their home and carry them into the storage room. However, in the mobile body system 1 of the embodiment, the traveling unit 12 tows the cart unit 14 to the user's home, allowing the user to store the items in the cart unit 14 at home without having to carry them.

Figure 8 is a sequence diagram of the process of using a cart unit. The user generates a storage request requesting the use of a cart unit 14 from the user terminal device 16 (S10). The storage request may include at least location information indicating the location where the item is to be received, the number of cart units 14 to be used, and time information indicating the arrival time of the cart units 14 at the receiving location. The receiving location of the item is the location where the user loads the item onto the cart unit 14, that is, the location where the cart unit 14 receives the item from the user, and may be the user's home, for example. The user terminal device 16 transmits the storage request to the server device 6 (S12). In this embodiment, it is assumed that one cart unit 14 is to be used.

In the server device 6, the communication unit 70 receives the storage request, and the reception unit 74 accepts the storage request (S14). Based on the storage request, the task determination unit 84 determines a task in which the traveling unit 12 tows the cart unit 14 to a receiving location, and then tows the cart unit 14 to a specified storage location (S16).

The unit management unit 88 identifies a traveling unit 12 that has not been assigned a task among the traveling units 12 present in the vicinity of the cart unit 14 that can be used as a storage room (S18). The unit management unit 88 notifies the task execution instruction generation unit 86 of the traveling unit ID of the identified traveling unit 12 and the current position information of the cart unit 14 that can be used as a storage room. The task execution instruction generation unit 86 generates a task execution instruction that instructs the traveling unit 12 to execute a task of towing the cart unit 14 to a receiving location and then to a specified storage location (S20), and the communication unit 70 transmits the task execution instruction to the traveling unit 12 identified by the unit management unit 88 (S22). The task execution instruction includes the traveling unit ID of the traveling unit 12 and the current position information of the cart unit 14.

In the traveling unit 12 having the traveling unit ID, the communication unit 32 receives the task execution instruction (S24). Based on the task execution instruction, the processing device 30 controls the drive device 34 to make the traveling unit 12 travel. The specific processing by the processing device 30 is described below.

Based on the task execution instruction, the processing device 30 derives a driving route toward the first destination (the current position of the cart unit 14) included in the task execution instruction, using the map information stored in the map storage unit 38 and the current position information of the traveling unit 12 supplied from the position information acquisition unit 28. The processing device 30 controls the driving of the drive device 34 so as to travel along the driving route.

When the traveling unit 12 moves to the position of the cart unit 14 (S26), the processing device 30, with the traveling unit 12 and the cart unit 14 approaching each other, controls the drive of the wheels 20 to connect the coupling device 26 to the coupled part 48, and activates the locking mechanism to couple the coupling device 26 to the coupled part 48 (S28). When the coupling device 26 is coupled to the coupled part 48, it sends a signal to the processing device 30 indicating that the coupling is complete.

When the coupled part 48 of the bogie unit 14 is coupled to the coupling device 26, the coupled part 48 sends a signal indicating that coupling is complete to the processing device 52. When the processing device 52 receives a signal indicating that coupling is complete from the coupled part 48, it retracts the leg 46 and moves it away from the ground.

Then, the processing device 30 of the traveling unit 12 uses the map information stored in the map storage unit 38 and the current location information of the traveling unit 12 provided by the location information acquisition unit 28 to derive a traveling route toward the second destination (the item receiving location) included in the task execution instruction. The processing device 30 controls the driving of the drive device 34 so that the item arrives at the receiving location specified by the user at the arrival time included in the storage request.

When the traveling unit 12 arrives at the receiving location (S30), the processing device 30 may report to the server device 6 that the traveling unit 12 has arrived at the receiving location. When the server device 6 receives the arrival report from the traveling unit 12, it notifies the user terminal device 16 of the arrival of the traveling unit 12. Upon receiving the notification, the user confirms that the cart unit 14 has arrived and stores the item in the storage section 8 of the cart unit 14.

Figure 9 shows an example of the storage section 8 of the cart unit 14. As with Figure 6, the door 60 is not shown. Figure 9 shows the storage section 8 with multiple storage boxes 62 filled with items stored inside.

When the user has completed the storage operation, he/she closes and locks the door 60, and transmits information indicating that the storage operation has been completed from the user terminal device 16 to the server device 6 (S32). When the reception unit 74 in the server device 6 receives the storage completion notification, the communication unit 70 transmits a movement instruction to the traveling unit 12 (S34).

When the communication unit 32 in the traveling unit 12 receives a movement instruction, the processing device 30 uses the map information stored in the map storage unit 38 and the current location information of the traveling unit 12 supplied from the location information acquisition unit 28 to derive a traveling route toward the third destination (a specified storage location) included in the task execution instruction. For example, the storage location is a parking lot where multiple cart units 14 used as storage rooms are arranged side by side. The processing device 30 controls the driving of the drive device 34 so as to travel along the traveling route.

When the traveling unit 12 arrives at the storage location (S36), the processing device 30 notifies the cart unit 14 that it has arrived at the storage location. In response to this notification, the processing device 52 in the cart unit 14 places the legs 46 on the ground.

Then, the processing device 30 releases the locking mechanism connecting the coupling device 26 and the coupled part 48, and separates the cart unit 14 (S38). When the processing device 30 completes the task according to the task execution instruction sent from the server device 6, it notifies the server device 6 of the task completion. In the server device 6, the unit management section 88 receives this notification and manages the traveling unit 12 as a traveling unit to which no task has been assigned.

In this manner, in the mobile body system 1, the processing device 30 drives the traveling unit 12 connected to the cart unit 14 to a receiving location designated by the user, and when the user has completed the storage work in the storage unit 8, drives the traveling unit 12 to a storage location and separates the traveling unit 12 from the cart unit 14 at the storage location. By separating the traveling unit 12 from the cart unit 14, the traveling unit 12 becomes capable of executing a new task.

According to the embodiment of the mobile system 1, the user can use the cart unit 14 as a mobile storage room. Therefore, the user can store items that will not be used at home for a while in the cart unit 14 while at home, and store them for a specified period of time.

When the usage period of the storage room (for example, six months) approaches its expiration, the server device 6 inquires of the user terminal device 16 as to whether or not to extend the usage period. If the user does not extend the usage period, the user generates a pickup request from the user terminal device 16 requesting pickup of the stored item, and transmits the request to the server device 6. The pickup request may include at least location information indicating the pickup location of the item, and time information indicating the arrival time of the cart unit 14 at the pickup location.

In the server device 6, when the communication unit 70 receives a pickup request and the reception unit 74 accepts the pickup request, the task determination unit 84 determines a task for the traveling unit 12 to tow the cart unit 14 to the pickup location based on the pickup request. The unit management unit 88 identifies a traveling unit 12 that is not assigned a task among the traveling units 12 present in the vicinity of the location where the cart unit 14 storing the user's item is placed, and notifies the task execution instruction generation unit 86 of the traveling unit ID of the identified traveling unit 12 and the current position information of the cart unit 14. The task execution instruction generation unit 86 generates a task execution instruction that instructs the traveling unit 12 to execute the task of towing the cart unit 14 to the pickup location, and the communication unit 70 transmits the task execution instruction to the traveling unit 12 identified by the unit management unit 88. The task execution instruction includes the traveling unit ID of the traveling unit 12 and the current position information of the cart unit 14.

In the traveling unit 12 having the traveling unit ID, the communication unit 32 receives the task execution instruction. Based on the task execution instruction, the processing device 30 controls the drive device 34 to make the traveling unit 12 travel. The specific processing by the processing device 30 is described below.

Based on the task execution instruction, the processing device 30 uses the map information stored in the map storage unit 38 and the current position information of the traveling unit 12 supplied from the position information acquisition unit 28 to derive a traveling route toward the first destination included in the task execution instruction (the current position of the cart unit 14 that stores the user's items). The processing device 30 controls the driving of the drive device 34 so as to travel along the traveling route.

When the traveling unit 12 moves to the position of the cart unit 14, the processing device 30 couples the traveling unit 12 to the cart unit 14. When the coupled part 48 of the cart unit 14 is coupled to the coupling device 26, the processing device 52 retracts the leg 46 and pulls it away from the ground.

Then, the processing device 30 of the traveling unit 12 uses the map information stored in the map storage unit 38 and the current location information of the traveling unit 12 provided by the location information acquisition unit 28 to derive a traveling route toward the second destination (the item pick-up location) included in the task execution instruction. The processing device 30 controls the driving of the drive device 34 so that the traveling unit 12 arrives at the pick-up location specified by the user at the arrival time included in the pick-up request.

When the traveling unit 12 arrives at the pick-up location, the processing device 30 may report to the server device 6 that the traveling unit 12 has arrived at the pick-up location. When the server device 6 receives the arrival report from the traveling unit 12, it notifies the user terminal device 16 of the arrival of the traveling unit 12. Upon receiving the notification, the user confirms that the cart unit 14 has arrived and picks up the items stored in the storage section 8 of the cart unit 14.

According to the embodiment of the mobile system 1, the user can retrieve items stored in the cart unit 14 from the comfort of their own home, realizing a highly convenient storage room system.

The present invention has been described above based on an embodiment. This embodiment is merely an example, and those skilled in the art will understand that various modifications are possible in the combination of each component and each processing process, and that such modifications are also within the scope of the present invention. In the embodiment, the server device 6 is equipped with a processing device 72, but in a modified example, the function of the processing device 72 in the server device 6 may be provided in the traveling unit 12.

In the embodiment, a case has been described in which a user stores items in one cart unit 14, but items may be stored in multiple cart units 14. In this case, the multiple cart units 14 are configured to be connected in the vertical direction (front-rear direction), making it possible for one traveling unit 12 to tow multiple cart units 14.

The cart units 14 may be configured to be connected horizontally (in the vehicle width direction). By connecting multiple cart units 14 in parallel horizontally and connecting the storage sections 8 without any gaps, it is possible to expand the storage space. The cart units 14 may be equipped with an air conditioning function to maintain constant humidity and temperature in the storage sections 8.

In the cart unit 14 arranged in the storage location, the object sensor 56 acquires sensor information for monitoring the storage status of the objects in the storage section 8, and the processing device 52 transmits the sensor information to the server device 6 from the communication unit 54. In the server device 6, the storage status monitoring unit 76 monitors whether there is any abnormality in the storage status in the storage section 8 based on the sensor information. When the storage status monitoring unit 76 detects that an abnormality has occurred in the storage status in the storage section 8, the notification unit 78 may notify the user terminal device 16 that an abnormality has occurred.

1: Mobile body system, 6: Server device, 8: Storage unit, 10: Mobile body, 12: Travel unit, 14: Cart unit, 16: User terminal device, 30: Processing device, 32: Communication unit, 34: Driving device, 52: Processing device, 54: Communication unit, 70: Communication unit, 72: Processing device, 74: Reception unit, 76: Storage status monitoring unit, 78: Notification unit, 80: Control unit, 84: Task determination unit, 86: Task execution instruction generation unit, 88: Unit management unit.

Claims (2)

A mobile body system including a traveling unit having an autonomous traveling function, a cart unit connectable to the traveling unit and having a storage unit for storing items, and a server device , in which a user uses the cart unit as a storage room ,
The server device includes:
a reception unit that receives a storage request from a user, the storage request including location information indicating a location where an item is to be received and the number of the cart units to be used as a storage room ;
a control unit that generates a first task execution instruction that instructs the traveling unit to execute a task of towing the carriage unit to the receiving location and then towing the carriage unit to a predetermined storage location based on the received storage request;
a first communication unit that transmits the first task execution instruction to the traveling unit, the first task execution instruction including current position information indicating a current position of the cart unit that can be used as a trunk room;
The traveling unit includes:
a second communication unit that receives the first task execution instruction from the server device;
a first processing device that controls a drive device based on the first task execution instruction , causes the traveling unit to travel to a current position of the carriage unit , and couples the traveling unit to the carriage unit ;
The carriage unit includes:
a leg portion configured to be movable forward and backward with respect to the ground and configured to limit movement of the carriage unit by contacting the ground;
a second processing device that, when connected to the traveling unit, moves the legs back and away from the ground;
The first processing device in the traveling unit causes the traveling unit coupled to the cart unit to travel to the receiving location, and when the user completes the storage operation in the storage unit, causes the traveling unit to travel to the storage location and notifies the cart unit that it has arrived at the storage location;
When the second processing device in the cart unit is notified of arrival at the storage location, the second processing device places the legs on the ground,
the first processing device in the traveling unit separates the traveling unit from the carriage unit after the leg is grounded , and notifies the server device of the completion of the task;
When the control unit in the server device receives a notification of the completion of the task from the running unit, the control unit manages the running unit as a running unit to which no task is assigned.
A mobile system comprising: In the server device,
The reception unit receives a pickup request from a user, the pickup request including location information indicating a pickup location of the stored item,
the control unit generates a second task execution instruction for instructing the traveling unit to execute a task of towing the cart unit storing the user's item to the collection location based on the received collection request;
The first communication unit transmits the second task execution instruction to the traveling unit;
the second task execution instruction includes current location information indicating a current location of the cart unit storing the user's item;
In the traveling unit,
The second communication unit receives the second task execution instruction,
The first processing device controls a drive device based on the second task execution instruction, drives the traveling unit to a current position of the cart unit, couples the traveling unit to the cart unit, and drives the traveling unit coupled to the cart unit to the pick-up location.
2. The mobile system according to claim 1 .

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