JP7706842B2 - MOBILE SYSTEM AND FUNCTION CONTROL METHOD - Google Patents

Description

This disclosure relates to a mobile system and a function control method, and in particular to a mobile system that travels autonomously and achieves a purpose.

As a mobile body that moves independently and achieves a purpose, there is a PMV that moves with a person on board, and an AMR that is a transport robot that runs autonomously. PMV is an abbreviation of Personal Mobility Vehicle. AMR is an abbreviation of Automatic Guided Vehicle. In addition, a wide variety of other things have been proposed, such as a self-propelled security robot, a self-propelled floor cleaner, a self-propelled watering machine, and a self-propelled lawn mower, and some of them have been put to practical use. These mobile bodies are usually manufactured for each purpose.
These vehicles have almost the same configuration in terms of the autonomous driving parts. However, these vehicles are designed as individual units and are not versatile.
There were problems with purchasing these mobile devices individually, such as costs and complicated management.

Patent Document 1 discloses a vehicle whose functions can be customized by replacing the upper unit on the driving unit. Patent Document 1 also discloses a technology for arranging multiple upper units in a desired combination.

JP 2020-098610 A

In the vehicle of Patent Document 1, multiple upper units can be arranged on the traveling unit in any combination desired. However, in the vehicle of Patent Document 1, each of the multiple upper units only realizes the single function of that upper unit. In order to achieve a more complex purpose than the individual functions of the multiple upper units, it was necessary to design an attachment for each purpose.

The objective of this disclosure is to provide a mobile system that can achieve more complex objectives by combining multiple attachments, each with its own unique function, with a self-propelled device.

The mobile system of the present disclosure is a mobile system that achieves a purpose by comprising a self-propelled device that travels autonomously and a plurality of attachments that are detachably attached to the self-propelled device, each of which has its own unique function.
The self-propelled device is
The self-propelled device further includes a position and orientation acquisition unit that acquires position and orientation information indicating the position and direction of the self-propelled device.
The plurality of attachments include:
A main function attachment having a main function that is a main function for achieving the above-mentioned purpose;
a sub-function attachment for acquiring auxiliary information used to assist the main function;
The system includes a control attachment that acquires position and orientation information indicating the position and direction of the self-propelled device, acquires the auxiliary information from the sub-function attachment, and controls the autonomous traveling of the self-propelled device and the main function attachment based on the position and orientation information and the auxiliary information.

In the mobile body system according to the present disclosure, the control attachment acquires position and orientation information, which is the position and direction of the self-propelled device. The control attachment also acquires auxiliary information from the sub-function attachment, which is used to assist the main function, which is the main function for achieving a purpose. The control attachment then controls the autonomous driving of the self-propelled device and the main function attachment, which has the main function, based on the position and orientation information and the auxiliary information. In this way, according to the mobile body system according to the present disclosure, the control attachment controls the autonomous driving and the main function attachment based on the position and orientation information and the auxiliary information, which has the effect of enabling the realization of more complex purposes.

FIG. 1 is a diagram showing a configuration example of a mobile body system according to a first embodiment. FIG. 2 is a diagram showing an example of a hardware configuration of a mobile body system according to the first embodiment. 4 is a flow diagram showing a procedure for achieving a purpose by the mobile system according to the first embodiment. FIG. 2 is a diagram showing a specific example of a mobile system according to the first embodiment. FIG. 13 is a diagram showing an example of a purpose achieved by a mobile body system according to a first modification of the first embodiment. FIG. 13 is a diagram showing a configuration example of a mobile system according to a second modification of the first embodiment. FIG. 13 is a diagram showing a configuration example of a mobile body system according to a second embodiment. FIG. 13 is a diagram showing a configuration example of a mobile body system according to a third embodiment. FIG. 13 is a diagram showing a specific example of a mobile system according to a third embodiment.

The present embodiment will be described below with reference to the drawings. In each drawing, the same or corresponding parts are given the same reference numerals. In the description of the embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate. Furthermore, the size relationships of the components in the drawings below may differ from the actual relationships. Furthermore, in the description of the embodiment, directions or positions such as up, down, left, right, front, back, front, and back may be indicated. These notations are given for the convenience of explanation and do not limit the arrangement, direction, or orientation of devices, instruments, parts, etc.

Embodiment 1.
***Configuration Description***
FIG. 1 is a diagram showing an example of the configuration of a mobile system 500 according to this embodiment.

The mobile system 500 is a mobile system for achieving a purpose, which may mean, for example, automatically performing functions such as watering, cleaning, night security, delivery, lighting, ventilation, or lawn mowing under more complex conditions.
The mobile system 500 includes a self-propelled device 100 and a plurality of attachments 200 .

The self-propelled device 100 is a moving body that moves autonomously.
The self-propelled device 100 includes a position and orientation acquisition unit 101, a driving control unit 110, a steering and propelling unit 120, and a drive unit 130.
The position and orientation acquisition unit 101 acquires position and orientation information 30 that indicates the position and direction of the self-propelled device 100. The position and orientation acquisition unit 101 transmits the position and orientation information 30 to the control attachment 230.
The traveling control unit 110 acquires from the control attachment 230 a position and direction instruction 31 indicating a position and direction for achieving a goal, and controls the autonomous traveling so that the self-propelled device 100 faces a direction corresponding to the position and direction instruction 31 at a position corresponding to the position and direction instruction 31. The traveling control unit 110 causes the self-propelled device 100 to travel while controlling the position and attitude of the self-propelled device 100, for example, using an IMU (inertial measurement unit).
The steering and traveling unit 120 is a device that causes the self-propelled device 100 to travel autonomously. The steering and traveling unit 120 causes the self-propelled device 100 to travel autonomously under the control of the traveling control unit 110.
The drive unit 130 generates power 34 for autonomous driving. The drive unit 130 also supplies the power 34 for autonomous driving to the steering and driving unit 120, and also supplies the power 34 to the main function attachment 210.

Each of the multiple attachments 200 is detachably attached to the self-propelled device 100. Each of the multiple attachments 200 has its own unique function.
The plurality of attachments 200 includes a main function attachment 210, a sub-function attachment 220, and a control attachment 230. Each of the main function attachment 210, the sub-function attachment 220, and the control attachment 230 may be multiple.

Main Function Attachment 210 has a main function that is a primary function for achieving a purpose.
Specifically, the main functions are watering, cleaning, night security, delivery, lighting, ventilation, or lawn mowing. Other functions are also possible.

The sub-function attachment 220 captures auxiliary information 32 that is used to support the main function.
The sub-function attachment 220 is a sensor that detects the surroundings of the main function attachment, and obtains sensing information as the auxiliary information 32 .
Specifically, the sensors include a human presence sensor, an illuminance sensor, or a noise sensor. Any sensor may be used as long as it assists the main function. The sub-function attachment 220 may instruct the main function attachment 210 or may obtain information from the main function attachment 210. For example, the sub-function attachment 220 may instruct the main function attachment 210 to open a solenoid valve. The sub-function attachment 220 may also obtain information from the main function attachment 210 that a tank is empty.

The control attachment 230 acquires position and orientation information 30, which is the position and direction of the self-propelled device 100, from the position and orientation acquisition unit 101, and acquires auxiliary information 32 from the sub-function attachment 220. The control attachment 230 controls the autonomous traveling of the self-propelled device 100 and the main function attachment 210 based on the position and orientation information 30 and the auxiliary information 32.
The control attachment 230 generates a position and direction instruction 31 that instructs the self-propelled device 100 on its position and direction based on the position and orientation information 30 and the auxiliary information 32 , and transmits the position and direction instruction 31 to the self-propelled device 100 .
Furthermore, the control attachment 230 generates control commands 33 for controlling the supply of power to the main function attachment 210 based on the position and orientation information 30 and the auxiliary information 32, and transmits the control commands 33 to the drive unit 130. The control attachment 230 controls the main function attachment 210 by generating the control commands 33 and transmitting the generated control commands 33 to the drive unit 130.

FIG. 2 is a diagram showing an example of a hardware configuration of a mobile system 500 according to the present embodiment.
The hardware configuration will be described using the control attachment 230 as an example.
The control attachment 230 is a computer.
The control attachment 230 includes a processor 910, as well as other hardware such as a memory 921, an auxiliary storage device 922, and an interface 930. The other hardware may include a communication device. The processor 910 is connected to the other hardware via signal lines and controls the other hardware.
The memory 921 stores control programs for implementing the objectives of the mobile system 500 .
The processor 910 executes a control program that serves the purpose of the mobile system 500 .

The control attachment 230 includes a control unit 231 as a functional element.
The functions of the control unit 231 are realized by software.
The processor 910 is a device that executes a control program. The control program is a program that realizes the functions of the control unit 231.
The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 include a static random access memory (SRAM) and a dynamic random access memory (DRAM).
The auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is a HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, a CF, a NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

The interface 930 includes an input interface and an output interface.
The input interface is a port connected to an input device. Specifically, the input interface is a Universal Serial Bus (USB) terminal. The input interface may be a port connected to a Local Area Network (LAN).
The output interface is a port to which a cable of an output device such as a display is connected. Specifically, the output interface is a USB terminal or a High Definition Multimedia Interface (HDMI) (registered trademark) terminal. Specifically, the display is a Liquid Crystal Display (LCD).

The communication device has a receiver and a transmitter. The communication device is connected to a communication network such as a LAN, the Internet, or a telephone line. Specifically, the communication device is a communication chip or a NIC (Network Interface Card).

The control program is executed in the control attachment 230. The control program is loaded into the processor 910 and executed by the processor 910. The memory 921 stores not only the control program but also an OS (Operating System). The processor 910 executes the control program while executing the OS. The control program and the OS may be stored in an auxiliary storage device 922. The control program and the OS stored in the auxiliary storage device 922 are loaded into the memory 921 and executed by the processor 910. Note that a part or all of the control program may be incorporated into the OS.

The control attachment 230 may include multiple processors that replace the processor 910. These multiple processors share the execution of the control program. Each processor is a device that executes the control program, just like the processor 910.

The data, information, signal values and variable values used, processed or output by the control program are stored in memory 921, auxiliary storage device 922, or in a register or cache memory within processor 910.

The "part" of each part of the control unit 231 may be interpreted as a "circuit,""step,""procedure,""process," or "circuitry." The control program causes a computer to execute a control process. The "process" of the control process may be interpreted as a "program,""programproduct,""computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." The information collection method is a method performed by the control attachment 230 executing the control program.
The control program may be provided by being stored in a computer-readable recording medium, or may be provided as a program product.

The functions of the control unit 231 may also be realized by hardware. In that case, the control attachment 230 includes an electronic circuit instead of the processor 910.

The electronic circuit is a dedicated electronic circuit that realizes the functions of the control unit 231. Specifically, the electronic circuit is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

The functions of the control unit 231 may be realized by a single electronic circuit, or may be distributed across multiple electronic circuits.

As another variation, some of the functions of the control unit 231 may be realized by electronic circuitry, and the remaining functions may be realized by software. Also, some or all of the functions of the control unit 231 may be realized by firmware.

Each of the processor and electronic circuitry is also called processing circuitry. In other words, the functions of the control unit 231 are realized by the processing circuitry.

The self-propelled device 100 also includes a computer and realizes the functions of the traveling control unit 110. The hardware configuration of the self-propelled device 100 is similar to that described for the control attachment 230.
In FIG. 2, the control attachment 230 and the self-propelled device 100 have the same hardware configurations denoted by the same reference numerals, but this is for the sake of simplicity of explanation, and it goes without saying that they have their own hardware configurations.

Furthermore, other attachments besides the control attachment 230 are also equipped with a computer for general function control. For example, if the sub-function attachment 220 is a human presence sensor, a computer for acquiring and transmitting sensing information is equipped with the attachment. The hardware configuration of the computer equipped in other attachments besides the control attachment 230 is similar to that described for the control attachment 230.

*** Operation Description ***
<Procedure for Achieving a Goal Using the Mobile System 500>
Next, a procedure for realizing a purpose by the mobile system 500 according to this embodiment will be described. The procedure for realizing a purpose by the mobile system 500 corresponds to a function control method. Also, a program for realizing the operation of the control attachment 230 in the procedure for realizing a purpose by the mobile system 500 corresponds to a control program.

FIG. 3 is a flow diagram showing a procedure for achieving a purpose by the mobile system 500 according to this embodiment.
First, in step S100, a plurality of attachments 200 are attached to the self-propelled device 100.

FIG. 4 is a diagram showing a specific example of a mobile system 500 according to this embodiment.
The mobile body system 500 in FIG. 4 is a mobile body whose main function is watering.
For example, in the case of a mobile system 500 that automatically sprinkles water on plants during the day in a facility such as a theme park, the purpose is to sprinkle water under the following conditions.
- Watering a specific location in a specific direction, i.e. towards where the plants are.
- Change the amount of water sprayed depending on the intensity of sunlight.
・Do not water if there are people around.

In the mobile body system 500 of FIG. 4, a plurality of attachments 200 are attached to the self-propelled device 100 to achieve the above-mentioned purpose.
The sprinkler is attached to the self-propelled device 100 as a main function attachment 210. The sprinkler has a water sprinkling function as a main function for achieving the above-mentioned purpose.
A human presence sensor and an illuminance sensor are attached to the self-propelled device 100 as sub-function attachments 220. The human presence sensor acquires auxiliary information 32 for realizing an objective, such as not sprinkling water when a person is present. The illuminance sensor acquires auxiliary information 32 for realizing an objective, such as changing the amount of water sprinkled depending on the sunlight illuminance. The auxiliary information 32 is sensing information acquired by the human presence sensor and the illuminance sensor.
The control attachment 230 acquires position and orientation information 30 indicating the position and direction of the self-propelled device 100, and acquires auxiliary information 32 from the sub-function attachment 220. Then, the control attachment 230 controls the autonomous traveling of the self-propelled device 100 and the main function attachment 210 based on the position and orientation information 30 and the auxiliary information 32.

<<Determining the control program>>
In step S110, the control unit 231 of the control attachment 230 detects a combination of the main function attachment 210 and the sub-function attachment 220. The control unit 231 executes a control program corresponding to the purpose of the mobile system 500 based on the detected combination.
The memory 921 of the self-propelled device 100 stores a plurality of control programs for realizing a plurality of types of objectives in the mobile body system 500. The control unit 231 executes an appropriate control program among the plurality of control programs that corresponds to the combination of the main function attachment 210 and the sub-function attachment 220.
For example, when the main function attachment 210 and the sub-function attachment 220 are attached to the self-propelled device 100, the self-propelled device 100 transmits information indicating the combination of the attachments to the control unit 231 of the control attachment 230. Then, the control unit 231 selects and executes an appropriate control program from the multiple control programs stored in the memory 921 based on the information indicating the combination.
Alternatively, the user may instruct the control attachment 230 via the interface 930 on an appropriate control program.
Alternatively, one specific control program may be stored in the control attachment 230. In this case, when multiple attachments are attached to the self-propelled device 100, an appropriate control attachment 230 according to the purpose is selected and attached.

<Autonomous Driving of Self-Propelled Device 100>
In step S<b>120 , the position and orientation acquisition unit 101 of the self-propelled device 100 acquires position and orientation information 30 that indicates the position and direction of the self-propelled device 100 .

In step S130 , the position and orientation acquisition unit 101 transmits the position and orientation information 30 indicating the position and direction of the self-propelled device 100 to the control attachment 230 .
The position and orientation acquisition unit 101 may monitor the position and orientation of the self-propelled device 100 and periodically transmit position and orientation information 30 to the control attachment 230 .

In the mobile system 500 of FIG. 4, the self-propelled device 100 moves to a specific location where watering is to be performed, and changes its position so that the watering direction faces a specific direction toward a certain plant.

<Acquisition of position and direction information 30 and auxiliary information 32>
In step S140, the control unit 231 of the control attachment 230 acquires the position and orientation information 30 of the self-propelled device 100 from the position and orientation acquisition unit 101 of the self-propelled device 100, and acquires the auxiliary information 32 from the sub-function attachment 220. The control unit 231 acquires sensing information as the auxiliary information 32.

In the example of FIG. 4, the control unit 231 acquires sensing information indicating illuminance from the illuminance sensor as auxiliary information 32. The control unit 231 also acquires sensing information indicating the presence or absence of a person from the human presence sensor as auxiliary information 32. Using this auxiliary information 32, the control unit 231 can perform control such as changing the amount of water sprayed depending on the illuminance and not spraying water when a person is present.

<Generation and Transmission of Position Direction Instructions 31 and Control Commands 33>
In step S<b>150 , the control unit 231 generates a position/direction instruction 31 and a control command 33 based on the position/direction information 30 and auxiliary information 32 of the self-propelled device 100 .
The control unit 231 generates a position and direction instruction 31 that instructs the self-propelled device 100 on its position and direction based on the position and orientation information 30 and auxiliary information 32 of the self-propelled device 100 .
In addition, the control unit 231 generates a control command 33 that controls the supply of power to the main function attachment 210 .
The control unit 231 transmits the position and direction instruction 31 to the traveling control unit 110 of the self-propelled device 100 .
Furthermore, the control unit 231 transmits a control command 33 to the drive unit 130 of the self-propelled device 100. The control command 33 instructs the drive unit 130 to start and stop the supply of power to the main function attachment 210. The control attachment 230 controls the start and end of operation of the main function attachment 210 by the control command 33 that instructs the start and stop of the supply of power to the main function attachment 210.

<Autonomous driving control>
In step S<b>160 , the driving unit 130 of the self-propelled device 100 receives the position/direction instruction 31 and the control command 33 .
In step S<b>171 , the driving control unit 110 controls the autonomous driving so that the vehicle faces a direction corresponding to the position/direction instruction 31 at a position corresponding to the position/direction instruction 31 .
The traveling control unit 110 controls the autonomous traveling so that the self-propelled device 100 faces a direction according to the position and direction instruction 31 at a position according to the position and direction instruction 31. Specifically, the traveling control unit 110 controls the steering traveling unit 120 to cause the self-propelled device 100 to travel to a position where a goal is achieved, and to face the self-propelled device 100 in the direction where the goal is achieved.
The self-propelled device 100 transmits position and orientation information 30 acquired by the position and orientation acquisition unit 101 to the control attachment 230 , and performs autonomous traveling in accordance with position and direction instructions 31 received from the control attachment 230 .

<Control of the main function attachment 210>
In step S172, the drive unit 130 controls the supply of power to the main function attachment 210 in response to the control command 33. Specifically, the drive unit 130 starts and stops the supply of power to the main function attachment 210 in response to the control command 33. In this way, the main function attachment 210 is controlled (step S180).
In step S180, the start and end of the operation of the main function of the main function attachment 210 is controlled by starting or ending the supply of power by the drive unit 130.

In the specific example of Fig. 4, the control unit 231 determines, based on the position and orientation information 30 of the self-propelled device 100, that the watering direction is facing a specific direction in which plants are located in a specific location where watering is to be performed. Then, when the control unit 231 acquires, based on the auxiliary information 32, that there is no person present and that the illuminance is present, it transmits, to the drive unit 130 of the self-propelled device 100, a control command 33 to start supplying power to the sprinkler with an amount of power that will result in an amount of water being sprinkled according to the illuminance. Furthermore, when the control unit 231 acquires, based on the auxiliary information 32, sensing information indicating that there is a person present, it transmits, to the drive unit 130, a control command 33 to end the supply of power to the sprinkler.
In this way, the control unit 231 generates a position direction instruction 31 and a control command 33 based on the position and orientation information 30 and auxiliary information 32, and transmits them to the self-propelled device 100, thereby achieving the purpose of the mobile system 500.

A specific position for achieving a purpose, such as a position where water should be sprayed, is stored in the control attachment 230. In other words, the control attachment 230 knows the specific position for achieving a purpose, such as a position where water should be sprayed. For example, the control attachment 230 acquires the specific position for achieving a purpose designated by the user via the input interface 930.
The control attachment 230 acquires the position and orientation information 30 and the auxiliary information 32, and causes the self-propelled device 100 to autonomously travel to the location where watering is to be performed. When the control attachment 230 reaches the location where watering is to be performed, it uses a human presence sensor to determine whether a person is present, and if no person is present, obtains illuminance from an illuminance sensor and determines the amount of water to be sprinkled. Based on the amount of water to be sprinkled, the control attachment 230 instructs the drive unit 130 on the amount of power to the pump, starts the power, operates the pump, and begins sprinkling water.
However, each attachment is independent and its function can be changed as needed.

For example, if watering is done at night, such as when a theme park is closed, no human or illuminance sensors are required.
In addition, the direction in which people are detected can be changed by changing the orientation of the human sensor. In the case of a device that sprinkles water all around, multiple human sensors can be provided to detect people all around.
If you want to change the amount of water sprayed depending on the temperature rather than the illuminance, you can do so by replacing the illuminance sensor with a temperature sensor.
It is also possible to add an attachment that announces, "Please leave as watering is about to begin" if there are people in an area where water should be sprayed.
Furthermore, if it is desired to supply water automatically, a weight measuring sensor for measuring the weight of the watering tank may be installed, and when the control unit detects that the watering tank is empty, the self-propelled device 100 may be controlled to return to the water supply station.When the self-propelled device 100 reaches its fixed position, a wireless device, which is an additional device of the control unit, may be used to turn on the water, and when the watering tank is full, a weight measuring sensor may be used to stop the device, making complex control possible.
If a fan or spray device is used instead of a sprinkler system, it is possible to control it so that it blows air only when the temperature is high and people are passing by.

***Description of Effects of This Embodiment***
According to the mobile body system 500 of this embodiment, it is possible to provide an attachment system in which the attachments cooperate with each other to achieve more complex and multiple purposes.
According to the mobile body system 500 of this embodiment, many objectives can be achieved by utilizing the functions of each attachment and combining attachments.
Therefore, according to the mobile body system 500 of this embodiment, there is no need to design attachments for each purpose, and the attachments can be rearranged according to the purpose, so that more purposes can be achieved with fewer attachments.

***Other configurations***
<Modification 1>
FIG. 5 is a diagram showing an example of a purpose achieved by a mobile system 500 according to the first modification of this embodiment.
FIG. 5 shows an example of an attachment that can be attached to the self-propelled device 100 as the main function attachment 210 .
5, the main function attachment 210 may be a seat for riding, a vending machine, a security robot, a floor cleaner, lighting, or a fire extinguisher. In addition, the main functions realized by the attachment may include baggage transport such as food delivery, advertising (mobile signage), a trash can, collection of dead leaves, waxing, weeding, removal of accumulated snow, pruning of plants, searching for people, or emergency response such as rushing to the scene of an emergency.
From the viewpoint of moving around automatically, it can be used for multiple purposes other than for people to ride in. By using the self-propelled device continuously at night, on holidays, or in an emergency, the self-propelled device can be operated more efficiently.

<Modification 2>
FIG. 6 is a diagram showing an example of the configuration of a mobile system 500 according to the second modification of the present embodiment.
A plurality of main function attachments 210 may be combined.
In Fig. 6, a lighting main function attachment 210 and a water sprinkler main function attachment 210 are mounted. This allows the light to be bright even when watering at night, so control can be performed such that watering is not performed if people are present. Also, if it is nighttime and the place is bright, control can be performed such that the lighting main function attachment 210 is turned off.
In this way, by combining the main functions, a more multifunctional mobile system can be created.
For example, it will be possible to perform complex controls to achieve goals such as watering the ground while mowing the grass, or providing night-time security while cleaning.

Embodiment 2.
In this embodiment, differences from and additions to the first embodiment will be mainly described.
In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

FIG. 7 is a diagram showing an example of the configuration of a mobile system 500a according to this embodiment.
In the mobile body system 500a according to this embodiment, the self-propelled device 100 includes a weight sensor 140 that measures the weight of each of a plurality of attachments.
The driving control unit 110 controls the autonomous driving using the weight of each of the multiple attachments.

Furthermore, in the mobile body system 500a according to this embodiment, the self-propelled device 100 includes a balance sensor 150 that measures the balance of a plurality of attachments.
The driving control unit 110 controls the autonomous driving by using the balance of multiple attachments.

The driving control unit 110 controls the autonomous driving speed or the attitude of the self-propelled device 100 .
Specifically, the driving control unit 110 uses the weight of each of the multiple attachments or the balance of the multiple attachments to calculate behavioral constraints such as the speed limit, turning ability limit, or movement pattern limit of the mobile system 500a.

In this way, the driving control unit 110 calculates behavioral constraints that indicate the extent to which the mobile system 500a can act, and performs position and attitude control based on the behavioral constraints. This enables the mobile system 500a to drive more safely.

Embodiment 3.
In this embodiment, differences from the first and second embodiments and additional features to the first and second embodiments will be mainly described.
In this embodiment, components having the same functions as those in the first and second embodiments are given the same reference numerals, and the description thereof will be omitted.

FIG. 8 is a diagram showing an example of the configuration of a mobile system 500b according to this embodiment.
In the mobile body system 500 b according to this embodiment, only one main function attachment 210 is attached to the self-propelled device 100 .
The drive unit 130 acquires a control command 33 for controlling the supply of power to the main function attachment 210 , and controls the supply of power to the main function attachment 210 in accordance with the control command 33 .
The control command 33 is obtained from the user via the interface 930 of the self-propelled device 100 or a communication device.

Since the self-propelled device 100 is a moving device, it is necessarily equipped with a drive unit 130 that generates power. In particular, when the self-propelled device 100 is stationary, this drive unit is not used at all.
When generating power from electricity, a driving device such as a motor is required, but by directly using the power of the self-propelled device 100, it is possible to simplify the structure of the main function attachment 210.
When using power for the main function attachment 210, a system such as a power source or a motor must be installed. Even if power is obtained from the self-propelled device 100, a motor must be installed. This leads to problems such as an increase in size of the main function attachment 210 or an increase in cost.
However, the self-propelled device 100 is manufactured so that the power of the self-propelled device 100 can be used directly via the drive unit 130, and the main function attachment 210 can use that power.
This eliminates the need for a power unit on the main function attachment 210 side, making it possible to reduce the cost and size of the main function attachment 210.

FIG. 9 is a diagram showing a specific example of a mobile system 500b according to this embodiment.
Specifically, examples of the mobile body system 500b according to this embodiment include a lifting device such as a winch, a floor polishing brush, or a pump. When using a winch, it is necessary to attach the other side of the self-propelled device 100 to a fixed object so that the self-propelled device 100 does not move. In addition, it is preferable to have the power of the floor polishing brush directed downward.
This embodiment can also be applied to devices such as a blower or a water sprinkler.
For example, a blower is composed of a motor and a fan. However, as shown in Fig. 8, it is possible to rotate the fan using the power of the self-propelled device 100. At this time, if the self-propelled device 100 is stopped, the power can be simply switched. As shown in Fig. 8, a device such as a gear or a rotating shaft is provided on the self-propelled device 100 to transmit power to the main function attachment 210.
In the case where control is simple, such as the number of rotations, speed control on the side of the self-propelled device 100 may be used. In the case where multiple power transmission devices are present on the side of the self-propelled device 100, control devices for connecting each of them may be provided.

In the above first to third embodiments, each part of the mobile system has been described as an independent functional block. However, the configuration of the mobile system does not have to be as in the above-described embodiments. The functional blocks of the mobile system may have any configuration as long as they can realize the functions described in the above-described embodiments. In addition, the information collection system may be composed of multiple devices instead of one device.
In addition, a combination of multiple parts of the first to third embodiments may be implemented. Alternatively, one part of these embodiments may be implemented. In addition, any combination of these embodiments may be implemented as a whole or in part.
That is, in the first embodiment, the embodiments can be freely combined, or any of the components in each embodiment can be modified, or any of the components in each embodiment can be omitted.

The above-described embodiments are essentially preferred examples, and are not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, or the scope of use of the present disclosure. The above-described embodiments can be modified in various ways as necessary.

30 Position and direction information, 31 Position and direction indication, 32 Auxiliary information, 33 Control command, 34
Power, 100 Self-propelled device, 110 Travel control unit, 120 Steering travel unit, 130 Drive unit, 140 Weight sensor, 150 Balance sensor, 200 Attachment, 210 Main function attachment, 220 Sub-function attachment, 230 Control attachment, 231 Control unit, 500, 500a, 500b Mobile system, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Interface.

Claims (9)

A mobile body system that achieves a purpose, comprising: a self-propelled device that travels autonomously; and a plurality of attachments that are detachably attached to the self-propelled device, each of the attachments having a unique function,
The self-propelled device is
a position and orientation acquisition unit that acquires position and orientation information indicating a position and a direction of the self-propelled device;
The plurality of attachments include:
A main function attachment having a main function that is a main function for achieving the above-mentioned purpose;
a sub-function attachment for acquiring auxiliary information used to assist the main function;
a control attachment that acquires the position and orientation information from the self-propelled device, acquires the auxiliary information from the sub-function attachment, and controls the autonomous traveling of the self-propelled device and the main function attachment based on the position and orientation information and the auxiliary information;
The control attachment comprises:
a memory for storing a plurality of control programs for realizing each of a plurality of types of objectives of the mobile body system;
A mobile system comprising: a processor that detects a combination of the main function attachment and the sub-function attachment, selects a control program corresponding to a purpose of the mobile system from the plurality of control programs based on the combination, and executes the selected control program. The control attachment comprises:
generating a position and direction instruction for instructing the self-propelled device on a position and direction based on the position and direction information and transmitting the position and direction instruction to the self-propelled device;
The self-propelled device is
The mobile system according to claim 1 , further comprising a driving control unit that controls the autonomous driving so that the autonomous vehicle faces a direction corresponding to the position/direction instruction at a position corresponding to the position/direction instruction. The self-propelled device is
A drive unit that generates power for the autonomous driving and supplies power to the main function attachment,
The control attachment comprises:
3. The mobile system according to claim 2 , wherein the main function attachment is controlled by transmitting a control command to the drive unit for controlling the supply of power to the main function attachment based on the position and orientation information and the auxiliary information. The control attachment comprises:
4. The mobile body system according to claim 3 , wherein the start and end of the operation of the main function attachment are controlled by transmitting a control command to the drive unit for controlling the supply of power to the main function attachment. The self-propelled device is
a weight sensor that measures the weight of each of the plurality of attachments;
The traveling control unit is
The mobile body system according to claim 2 , wherein the autonomous traveling is controlled using the weight of each of the plurality of attachments. The self-propelled device is
A balance sensor is provided to measure the balance of the attachments,
The traveling control unit is
The mobile body system according to claim 2 , wherein the autonomous traveling is controlled by using a balance of the plurality of attachments. The traveling control unit is
7. The mobile system according to claim 5 , wherein the autonomous traveling speed or the attitude of the self-propelled device is controlled. The sub-function attachment includes:
8. The mobile system according to claim 1 , wherein the auxiliary information is obtained by acquiring sensing information from a sensor that detects a surrounding situation of the main function attachment. A function control method for a mobile system that includes an autonomously traveling self-propelled device and a plurality of attachments that are detachably attached to the self-propelled device and each of which has a unique function, and that achieves a purpose, comprising:
the self-propelled device acquires a position and direction instruction indicating a position and a direction for achieving the objective, and controls the autonomous traveling so as to face a direction corresponding to the position and direction instruction at a position corresponding to the position and direction instruction;
a control attachment among the plurality of attachments acquires from the self-propelled device position and orientation information indicating a position and direction of the self-propelled device, acquires from a sub-function attachment auxiliary information used to assist a main function, which is a main function for achieving the purpose, and controls the autonomous traveling of the self-propelled device and a main function attachment having the main function based on the position and orientation information and the auxiliary information;
The control attachment has a memory that stores a plurality of control programs that realize each of a plurality of types of objectives of the mobile system, and the function control method detects a combination of the main function attachment and the sub-function attachment, selects a control program corresponding to the objective of the mobile system from the plurality of control programs based on the combination, and executes the control program.

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