JP2017182301A - Automatic transport vehicle and automatic transport system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic transport vehicle and an automatic transport system which can detect a usage completion easily and surely and can increase the convenience.SOLUTION: An automatic transport vehicle is connected to a user terminal in a manner that information communication is possible therebetween, and operates based on a usage request from the user terminal. The automatic transport vehicle includes: a traveling controller for conducting a control to set the vehicle to give transportation services to the user of the user terminal and to go to the next location when the usage is completed in accordance with an automatic driving program; a load sensor for detecting a change in weight of the automatic transport vehicle caused by incoming into and outgoing out of the vehicle of the user; and a usage completion determination unit for determining whether the usage of the automatic transport vehicle has been completed according to the result of detection by the load sensor.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an automatic transportation vehicle and an automatic transportation system for transporting a user (including only a thing) using an automatic driving technique.

  2. Description of the Related Art In recent years, an automatic transportation vehicle that unmannedly transports a user according to a user's usage request like an automatic driving taxi has been developed and put into practical use. An automated transport vehicle, for example, automatically travels a specified route according to a transport instruction (including operation route) provided by the management center in response to a request for use from a user, and picks up the user to the boarding point, After transporting to the destination, head to a predetermined point such as a parking lot that is a waiting point.

  For the user, the use is completed when the user gets off at the destination. However, in order to move the automatic transport vehicle to the next point, it is necessary to instruct the automatic transport vehicle to complete the use. The use completion instruction is given by the user who gets off from the outside of the vehicle, for example, by pressing a return switch provided on the exterior of the vehicle or holding the IC card over the short-range wireless sensor.

  Further, for example, in Patent Document 1, a seating sensor (including a load sensor and a pressure sensor) provided on a vehicle seat, an in-vehicle camera that images a vehicle interior, and a microphone that collects sound in the vehicle interior are used. It is disclosed to determine the presence or absence of.

International Publication No. 2015/166811

  However, when the user gives an instruction for completion of use, it is troublesome for the user, and if the user forgets to give an instruction, the automatic transport vehicle cannot move to the next point. In addition, the technique described in Patent Document 1 requires a complicated processing circuit, and even if a baggage is left behind in a space (for example, under a seat or a trunk room) that is not captured by the in-vehicle camera, it is determined that the use is completed.

  An object of the present invention is to provide an automatic transport vehicle and an automatic transport system that can detect the completion of use easily and reliably and can improve convenience.

  An automatic transport vehicle reflecting one aspect of the present invention is an automatic transport vehicle that is connected to a user terminal so as to be capable of information communication and operates based on a use request from the user terminal. A transfer control unit that picks up a user of the user terminal and controls to go to the next point when the use is completed, a load sensor that detects a change in the weight of the automatic transportation vehicle when the user gets on and off, And a use completion determination unit that determines whether or not the use of the automatic transportation vehicle is completed based on the detection result of the load sensor.

  An automatic transportation system reflecting one aspect of the present invention is a user terminal, an automatic transportation vehicle that operates based on a usage request from the user terminal, an operation management center that manages the operation of the automatic transportation vehicle, These automatic transportation systems are connected so as to be capable of communicating information, and the automatic transportation vehicle transfers the user of the user terminal according to an automatic driving program, and at the next point upon completion of use. A travel control unit that controls the vehicle to go and a load sensor that detects a change in weight of the automatic transport vehicle when the user gets on and off, and the operation management center is based on a detection result of the load sensor. The use completion determination unit for determining whether or not the use of the automatic transport vehicle is completed.

  According to the present invention, an automatic transport vehicle and an automatic transport system that can detect the completion of use easily and reliably and can improve convenience are provided.

It is a figure which shows the structure of the automatic transportation system which concerns on embodiment. It is a figure which shows the structure by the side of the management center in an automatic transport system. It is a figure which shows the structure by the side of the automatic transportation vehicle in an automatic transportation system. It is a figure which shows an example of the installation aspect of a load sensor. It is a figure which shows the structure by the side of the user terminal in an automatic transportation system. It is a figure which shows the operation | movement outline | summary in an automatic transport system. It is a flowchart which shows an example of a boarding process. It is a flowchart which shows an example of an alighting process.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing a configuration of an automatic transportation system 1 according to the present embodiment. As shown in FIG. 1, the automatic transportation system 1 includes an operation management center 10 installed by a taxi company, a taxi 20 (automatic transportation vehicle) owned by the taxi company, and a use owned by a user of the automatic transportation system 1. Person terminal 30 is provided. The operation management center 10, the taxi 20, and the user terminal 30 are connected to be able to communicate information via a communication line (for example, an Internet line).

  Although simplified in FIG. 1, it goes without saying that there are a plurality of taxis 20 and user terminals 30 connected to the operation management center 10. In the automatic transportation system 1, an operation route (current location to boarding location to destination to the next location) is appropriately set according to a user's usage request. The operation route may be determined at the start of use or may be updated as appropriate while the taxi 20 is traveling.

  In the present embodiment, as an example, it is assumed that the user makes a use start request and a use request (including changing the boarding section and canceling the use request) on the website provided by the operation management center 10. Note that the use start request and the use request may be made using a dedicated application, e-mail, or telephone without going through the website.

  The taxi 20 is an automatic transport vehicle that can automatically run according to an automatic driving program. For example, the taxi 20 automatically travels along a predetermined operation route according to an operation plan generated at the management center in response to a use request from a user. In the present embodiment, the automatic driving program is described as being generated in the operation management center 10 and provided to the taxi 20, but may be generated in the taxi 20.

  FIG. 2 is a diagram illustrating a configuration on the operation management center 10 side in the automatic transportation system 1. As shown in FIG. 2, the operation management center 10 includes a control unit 11, a storage unit 12, a communication unit 13, and the like.

  The control unit 11 includes a CPU (Central Processing Unit) as an arithmetic / control device and a RAM and a ROM as a main storage device (both not shown). The CPU reads a program corresponding to the processing content from the ROM, expands it in the RAM, and controls each block in cooperation with the expanded program. The ROM stores a basic program called BIOS (Basic Input Output System), as well as an operation management program for realizing operation management. The control unit 11 transmits / receives information to / from the taxi 20 and the user terminal 30 via the communication unit 13.

  The control unit 11 functions as a use reception unit 111, an operation plan generation unit 112, a user management unit 113, a taxi dispatch unit 114, an automatic driving program generation unit 115, and an information provision unit 116. These functions will be described in detail with reference to the flowchart of FIG.

  The storage unit 12 is configured by, for example, a hard disk drive (HDD). The storage unit 12 stores map information 121, user information 122, and the like. The user information 122 includes a user ID (identification information) issued to a user who uses the automatic transportation system 1, and may include a usage record (use date / time, boarding section, etc.) of the user.

  FIG. 3 is a diagram illustrating a configuration on the taxi 20 side in the automatic transportation system 1. As shown in FIG. 3, the taxi 20 includes a control unit 21, a storage unit 22, a communication unit 23, a drive unit 24, a display unit 25, a GPS unit 26, a load sensor 27, and the like.

  The control part 21 has CPU, RAM, and ROM (all are not shown) similarly to the control part 11 of the operation management center 10. The ROM stores the vehicle information of the taxi 20 (including the vehicle width, the vehicle height, the vehicle length, the number of passengers, etc.) in addition to the program executed when the taxi 20 is activated. The control unit 21 transmits and receives information to and from the operation management center 10 and the user terminal 30 via the communication unit 23. The control unit 21 functions as a travel control unit 211, a display control unit 212, a traffic condition providing unit 213, and a boarding / exiting processing unit 214. The functions of the travel control unit 211 and the boarding / alighting processing unit 214 will be described in detail with reference to the flowcharts of FIGS.

  The storage unit 22 is an auxiliary storage device such as an HDD or an SSD (Solid State Drive). In addition to the map information 221, the storage unit 22 stores operation plan information 222 provided from the operation management center 10, an automatic operation program 223, a load sensor value, and the like.

  The drive unit 24 includes a drive system that travels the taxi 20, a braking system that decelerates the taxi 20, and an ECU (Electronic Control Unit) that controls the travel of the taxi 20. The ECU controls engine output, clutch engagement / disengagement, and transmission shift according to the drive command from the travel control unit 211, and also controls the braking force of the brake according to the braking command from the travel control unit 211.

  The display unit 25 is an in-vehicle monitor and presents information to the passengers according to instructions from the display control unit 212. The display unit 25 displays an operation route, an estimated arrival time at the destination, and the like as an operation plan of the taxi 20, for example.

  The GPS unit 26 includes a GPS receiver that detects (positions) the position of the host vehicle based on radio waves transmitted from an artificial satellite, a gyro sensor that detects the rotational angular velocity of the host vehicle, an acceleration sensor, and the like. The traffic condition providing unit 213 provides the location information of the own vehicle acquired by the GPS unit 26 to the operation management center 10. The operation management center 10 generates a vehicle allocation and an operation plan based on the position information of the taxi 20. In addition, the operation management center 10 can estimate the traveling state of the taxi 20 and thus the current traffic state on the operation route based on the position information of the taxi 20.

  The load sensor 27 is a sensor that detects a change in the weight of the taxi 20 that accompanies the user getting on and off. The load sensor 27 includes a first load sensor 271 that detects a change in weight in the vehicle compartment and a second load sensor 272 that detects a change in weight in the trunk room. For example, when the user gets on the vehicle, the detected value of the first load sensor 271 is larger than the value before boarding, and when the user gets off, the detected value of the first load sensor 271 is the value before boarding. Be the same. Also, for example, when a user loads a luggage in the trunk room, the detection value of the second load sensor 272 becomes larger than the value before boarding, and when the luggage is lowered, the detection value of the second load sensor 272 is: It becomes the same as the value before boarding.

  For example, as shown in FIG. 4A, the first load sensor 1 is preferably installed on the seating portion of the seat S and the floor under the foot. As a result, a change in the weight of the passenger compartment can be detected with certainty, and the cost can be reduced as compared with the case where the vehicle is installed on the entire floor including directly under the seat S (see FIG. 4B).

  FIG. 5 is a diagram illustrating a configuration of the user terminal 30 in the automatic transportation system 1. As shown in FIG. 5, the user terminal 30 includes a control unit 31, a storage unit 32, a communication unit 33, an input unit 34, a display unit 35, a speaker 36, and the like. The user terminal 30 is a mobile terminal such as a mobile phone, a smartphone, or a tablet terminal.

  The control part 31 has CPU, RAM, and ROM (all are not shown) similarly to the control part 11 of the operation management center 10. The control unit 31 transmits and receives information to and from the operation management center 10 and the taxi 20 via the communication unit 33.

  The storage unit 32 is an auxiliary storage device such as an HDD, an SSD, or an SD (Secure Digital) card. The storage unit 32 stores, for example, a user ID 321 issued by the operation management center 10 and a browser application program 322 for browsing the website of the automatic transportation system 1.

  The input unit 34 and the display unit 35 are configured by, for example, a flat panel display with a touch panel. As the flat panel display, known ones such as a liquid crystal display and an organic EL display can be used. The user can browse the website of the automatic transportation system 1 on the display unit 35 and can operate the input unit 34 to make a use request on the website.

  The speaker 36 outputs sound according to instructions from the control unit 31. For example, when the use of the speaker 36 is not completed for a predetermined time after arriving at the destination, the speaker 36 outputs a sound indicating that there is something left behind.

  FIG. 6 is a diagram showing an outline of the operation of the automatic transportation system 1. As shown in FIG. 6, the automated transportation system 1 is realized by cooperation of the operation management center 10, the taxi 20, and the user terminal 30.

  Here, it is assumed that the user has acquired a user ID for using the automatic transportation system 1 as a premise for using the automatic transportation system 1. The user ID may be a one-time ID issued at the time of use and invalid at the time of getting off, or an ID with a time limit provided with a valid period. Only the use request by the user who has acquired the user ID can be accepted by the operation management center 10. Issuance and management of user IDs are performed by the user management unit 113.

  When using the automatic transportation system 1, when the user terminal 30 connects to the website of the automatic transportation system 1, the operation management center 10 provides a service on the website (processing of the information providing unit 116). The user makes a use start request on this website (step S31). The use start request is, for example, a login operation by inputting a user ID.

  The operation management center 10 determines whether or not the user is a regular user based on the user ID included in the use start request, and if the operation management center 10 authenticates that the user is a regular user, Usage is permitted (step S11, processing as the user management unit 113). The user terminal 30 can input a usage request.

  When activated, the taxi 20 transmits vehicle information to the operation management center 10 (step S21). The vehicle information includes the vehicle width, the vehicle height, the vehicle length, the number of passengers, and the like. The operation management center 10 uses the acquired vehicle information when dispatching a taxi or generating an automatic driving program.

  The user terminal 30 makes a usage request to the operation management center 10 based on the input operation of the usage request by the user (step S32). A usage request from the user terminal 30 is received by the usage receiving unit 111. The user inputs a boarding point, a getting-off point (destination), the number of passengers, a desired ride time, and the like. The user can input a boarding / alighting point by, for example, displaying a map of the operation area on the display unit 35 of the user terminal 30 and tapping a desired boarding / alighting point on the map. In addition, the input of alighting point should just be performed by the time of boarding the taxi 20.

  When the operation management center 10 receives a use request from the user terminal 30, the operation management center 10 generates an operation plan based on the use request and transmits the operation plan to the user terminal 30 that has made the use request (step S12). , Processing of the operation plan generating unit 112). The operation plan includes information on the taxi 20 that has been dispatched, the estimated arrival time (required time) at the boarding point, the operation route from the boarding point to the point of departure, and the like. The generated operation plan is displayed on the website of the automatic transportation system 1 being browsed by the user (step S33). As a result, the user can grasp the scheduled boarding time at the desired boarding point and the taxi dispatched.

  Specifically, the operation plan generation unit 112 searches for a current route of the taxi 20 and an operation route that passes through the boarding point and the getting-off point included in the use request. At this time, it is preferable that the operation plan production | generation part 112 produces | generates an operation plan in consideration of the present traffic condition. The current traffic situation is acquired using a traffic information providing service such as a road traffic information center. Further, during the operation of the taxi 20, the traffic situation on the operation route can be estimated based on the vehicle position information provided from the taxi 20, for example. A user can be comfortably transported by appropriately changing the operation plan based on the current traffic situation.

  The operation management center 10 also transmits the generated operation plan to the taxi 20 that has been dispatched (step S13, processing of the operation plan generation unit 112). The operation plan generating unit 112 can determine the type (sedan type, one box type) of the taxi 20 to be operated based on the planned number of passengers included in the operation plan, and can dispatch the taxi.

  At this time, the operation management center 10 generates an automatic operation program for controlling the drive unit 24 of the taxi 20 so that the taxi 20 travels according to the operation plan, and transmits the automatic operation program to the taxi 20 together with the operation plan (automatic operation). Processing of program generation unit 115). In addition, when the management center 10 provides an automatic driving program to the taxi 20, the operation plan is not necessarily provided.

  The taxi 20 automatically travels by executing the provided automatic driving program, and operates the operation route according to the operation plan (step S22, processing of the travel control unit 211). When the taxi 20 arrives at the boarding point, the taxi 20 performs a boarding process (step S23, processing of the boarding / alighting processing unit 214). This boarding process is performed according to the flowchart shown in FIG.

  That is, the control unit 21 acquires the detection value (load sensor value Lb) of the load sensor 27 before boarding and stores it in the storage unit 22 (steps S101 and S102). The load sensor value Lb includes a detection value of the first load sensor 271 and a detection value of the second load sensor 272. The load sensor value Lb before boarding may be set in advance for each vehicle, but is preferably set immediately before the user boarding in order to reliably determine the completion of use.

  In step S103, the control unit 21 unlocks the vehicle and causes the user to get on. When the user's boarding is completed, in step S104, the control unit 21 transmits a vehicle assignment completion value to the operation management center 10. For example, when it is detected that the door is closed by a door sensor (not shown), it can be considered that the user has completed the boarding. The boarding process is performed as described above.

  Returning to FIG. 6, when the boarding process is completed, the taxi 20 operates from the boarding point to the getting-off point according to the operation plan (step S24, processing of the travel control unit 211). When arriving at the getting-off point, the taxi 20 performs the getting-off process (step S25, processing of the getting-on / off processing unit 214). This getting-off process is performed according to the flowchart shown in FIG.

  That is, the control unit 21 unlocks the vehicle, causes the user to get off, and obtains the detection value (load sensor value La) of the load sensor 27 when getting off (steps S201 and S202). As the user gets off, the load sensor value La at the time of getting off decreases and finally coincides with the load sensor value Lb before getting on.

  In step S <b> 203, the control unit 21 compares the acquired load sensor value La when getting off and the pre-boarding load sensor value Lb stored in the storage unit 22, and determines whether or not they match. If the pre-boarding load sensor value Lb and the unloading load sensor value La match, it is determined that all users have got off without any forgotten items, and the process proceeds to step S204. If the pre-boarding load sensor value Lb and the unloading load sensor value La do not match, the process proceeds to step S202, and the process is repeated until the pre-boarding load sensor value Lb and the unloading load sensor value La match.

  When the user gets off the vehicle, the control unit 21 transmits a use completion notification to the operation management center 10 in step S204. The getting-off process is performed as described above.

  It can be estimated that the user has got off the vehicle by detecting that the door has been closed by a door sensor (not shown), but at this time, the pre-boarding load sensor value Lb and the unloading load sensor value. La may not match. In this case, a sound that urges the user to pay attention to whether there is anything left behind may be output. Further, based on the detection value of the first load detection sensor 271 and the detection value of the second load detection sensor 272, a place where it is considered that there is something left behind may be notified.

  Returning to FIG. 6, when the getting-off process is completed (use is completed), the taxi 20 operates to the next point according to the operation plan (step S26, processing of the travel control unit 211). The taxi 20 heads to the next boarding point when receiving the next operation instruction (providing an operation plan or an automatic driving program) from the operation management center 10, and if not receiving the next operation instruction, the taxi stand, etc. Go to the waiting point and wait until the next operation instruction is given.

  As described above, the taxi 20 (automatic transport vehicle) according to the present embodiment is an automatic transport vehicle that is connected to the user terminal 30 so as to be capable of information communication and operates based on a use request from the user terminal 30. In accordance with the automatic operation program, the user of the user terminal 30 is picked up and the travel control unit 211 that controls to go to the next point when the use is completed, and the weight change of the taxi 20 when the user gets on and off. A load sensor 27 to be detected, and a use completion determination unit (a boarding / alighting processing unit 214) that determines whether or not the use of the taxi 20 has been completed based on the detection result of the load sensor 27.

  According to the taxi 20 as an automatic transport vehicle, since the use completion is determined based on the detection value of the load sensor 27, it is determined whether or not the use is completed easily and reliably without bothering the user. Judgment can be made. In addition, since the use completion can be determined including the presence or absence of the user's forgotten things, convenience is greatly improved.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and can be changed without departing from the gist thereof.

  For example, in the embodiment, the use completion determination performed on the taxi 20 side may be performed at the operation management center 10 based on the load sensor values La and Lb. That is, the operation management center 10 may include a use completion determination unit that determines whether or not the use of the taxi 20 is completed based on the detection result of the load sensor 27.

  Further, for example, in the embodiment, the case where the taxi 20 dispatched by the operation management center 10 picks up a user has been described, but the present invention can also be applied to a private car owned by the user. In this case, the automatic transport vehicle may have the function of the operation management center 10, that is, the function as the use reception unit 111, the operation plan generation unit 112, and the automatic operation program generation unit 115. Furthermore, the present invention can also be applied to a home delivery business that transports only luggage.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  INDUSTRIAL APPLICABILITY The present invention is suitable for an automatic transportation vehicle and an automatic transportation system that transport a user (including a case of only goods) using an automatic driving technique.

1 Automatic transport system 10 Operation management center 20 Taxi (automatic transport vehicle)
21 control unit 211 travel control unit 214 boarding / exiting processing unit (use completion determining unit)
27 Load sensor 30 User terminal

Claims (5)

It is an automatic transport vehicle that is connected to a user terminal so as to be able to communicate information and operates based on a use request from the user terminal,
According to the automatic driving program, the user of the user terminal is picked up and travel control unit that controls to go to the next point with the completion of use,
A load sensor for detecting a change in the weight of the automatic transport vehicle associated with getting on and off the user;
An automatic transport vehicle, comprising: a use completion determination unit that determines whether or not the use of the automatic transport vehicle is completed based on a detection result of the load sensor.   The use completion determination unit compares the detection result of the load sensor before the user gets on and the detection result of the load sensor when the user gets off to determine whether the use of the automatic transport vehicle is completed. The automatic transportation vehicle according to claim 1, wherein:   The load sensor includes a first load sensor that detects a change in weight in a passenger compartment of the automated transport vehicle and a second load sensor that detects a change in weight in a trunk room of the automated transport vehicle. Automatic transport vehicle as described in   The automatic transport vehicle according to claim 3, wherein the first load sensor is installed on a seating portion and a floor of the seat of the automatic transport vehicle. An automatic transportation vehicle comprising: a user terminal; an automatic transportation vehicle that operates based on a usage request from the user terminal; and an operation management center that manages the operation of the automatic transportation vehicle, and these are connected to be capable of information communication A transport system,
The automatic transport vehicle, according to an automatic driving program, transfers the user of the user terminal, and a travel control unit that controls to go to the next point with the completion of use,
A load sensor that detects a change in the weight of the automatic transport vehicle associated with getting on and off the user,
The said operation management center is an automatic transport system which has a use completion judgment part which judges whether use of the said automatic transport vehicle was completed based on the detection result of the said load sensor.

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