JP2018109989A - Method for operating autonomous mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method with which a vehicle allocation service can be properly carried out for a user who desires to use an autonomous mobile body.SOLUTION: A method for operating an autonomous mobile body includes: a first step (STEP 3) of moving an autonomous mobile body 1 so as to bring the autonomous mobile body 1 to be used close to a person who desires to use the autonomous mobile body 1 on the basis of information on the position of the person who desires to use the autonomous mobile body; a second step (STEP 3) of identifying the person who desires to use the autonomous mobile body from the surroundings of the autonomous mobile body 1 to be used on the basis of identification information on the person who desires to use the autonomous mobile body; and a third step (STEPS 5, 6) of causing the autonomous mobile body 1 to be used to perform either one of operations of combination patterns different from each other depending on whether the identification of the person who desires to use the autonomous mobile body is successful or failed.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a method for operating an autonomous mobile body.

  As an autonomous mobile body that can autonomously move, an inverted pendulum type vehicle as seen in, for example, Patent Documents 1 and 2 is conventionally known. This kind of inverted pendulum type vehicle is a vehicle that can move so that its entire center of gravity is kept in a balanced state like the mass of an inverted pendulum, and it can move autonomously by using surrounding sensing information etc. Is possible.

  Here, the balance state of the overall center of gravity of an inverted pendulum type vehicle (hereinafter sometimes simply referred to as a vehicle) is more specifically, gravity acting on the overall center of gravity and inertial force (centrifugal force) acting on the overall center of gravity. Etc.) and the road surface reaction force that the vehicle receives from the road surface means a state in which a dynamic balance is achieved so that the moment generated in the vehicle (the moment in the direction around the horizontal axis) is zero or almost zero. .

  In this case, for example, the balance state when the vehicle is stopped or during steady straight traveling at a constant speed is such that the overall center of gravity is located immediately above or almost immediately above the ground contact portion of the vehicle. On the other hand, the balance state at the time of turning of the vehicle is such that the overall center of gravity is directly above the grounding part of the vehicle so that the moment generated in the vehicle due to the centrifugal force, which is the inertial force, cancels out the moment generated in the vehicle due to gravity. It will be in the state shifted to the side.

  In addition, as an autonomous mobile body, not only the above vehicles but an electric wheelchair, an electric cart, etc. are known conventionally.

JP 2014-198500 A JP 2014-198503 A

  An autonomous mobile body such as the vehicle can be used as a simple moving means in various event venues, public facilities, and the like. In this case, when the user desires to use the vehicle, it is desirable that the user who wants to use the vehicle can comfortably receive the vehicle dispatch service.

  This invention is made | formed in view of this background, and it aims at providing the method which can perform appropriately the dispatch service to the user who desires the utilization of an autonomous mobile body.

In order to achieve the above object, the autonomous mobile object operating method of the present invention assigns an autonomous mobile object to be used to the user who wishes to use it based on the location information of the user who wishes to use the autonomous mobile object. A first step of moving the autonomous mobile body so as to approach,
Based on the identification information of the user who wants to use, a second step of identifying the user who wants to use from the periphery of the autonomous mobile object to be used;
The first case where the user who wants to use can be identified and the second case where the candidate who can not be identified is a first combination operation which is different from each other in the autonomous mobile body to be used. And a third step for performing a case operation and a second case operation (first invention).

  Here, the “combination pattern” refers to a combination of at least two operations selected from a plurality of operations that can be executed by the autonomous mobile body. Therefore, in the present invention, combination patterns having the same operations as constituent elements are different in timing for executing each operation (for example, whether a plurality of operations are performed simultaneously or in a predetermined order), and whether each operation is long or short. Regardless of the difference, etc., they are treated as the same combination pattern.

  According to the present invention, in the second step, when the user who wants to use can be specified (the first case), the autonomous mobile body (hereinafter referred to as the use target) in the temporal change pattern corresponding to the case. The operation (the operation for the first case) is simply performed.

  Accordingly, it is possible to appeal to the user who wants to use the mobile object to be used that is a mobile body dispatched to the user who wants to use. As a result, the user who wishes to use can easily recognize that the use target moving body has been dispatched to him and can quickly start using the use target moving body.

  Further, in the second step, when the user who wishes to use cannot be specified (second case), the operation of the moving object to be used in the temporal change pattern corresponding to the case (second case) Operation) is performed.

  As a result, it is possible for a user wishing to exist around the use target mobile body to recognize the presence of the use target mobile body, and that the use target mobile body side has not yet identified itself. Can be recognized. As a result, the user who wants to use can quickly take action for recognizing the user to be used that the user to be used by the user to be used is a vehicle to be allocated.

  Therefore, according to the first aspect of the present invention, it is possible to appropriately provide a dispatch service to a user who wishes to use an autonomous mobile body.

  In the first invention, the operation for the first case is at least one of tilting and turning of the autonomous mobile body in a state where the autonomous mobile body to be used is moved to the front side of the user who wants to use it. It is preferable to include an operation (second invention).

  According to this, the use request is made by performing an operation different from the simple movement operation of the use target moving body, that is, at least one operation of tilting and turning of the use target moving body on the front side of the user who desires use. It is possible to enhance the effect of causing the person to recognize that the use target moving body is a moving body dispatched to him / her.

  In the second aspect of the invention, the operation for the first case is performed by tilting the autonomous mobile body toward the user who wants to use in a state where the autonomous mobile body to be used is moved to the front side of the user. It is preferable that the operation to be included (third invention).

  According to this, since the use target moving body performs a tilting operation such as bowing to the use applicant on the front side of the use applicant, the use object movement dispatched to the use applicant is performed. The effect of making the user who wants to recognize the body can be further enhanced, and the user who wants to use can comfortably recognize the moving object to be used.

  In the first to third aspects of the invention, the operation for the first case preferably includes an operation of moving the autonomous mobile body to be used to a boarding position around the user who desires to use the vehicle (fourth). invention).

  More specifically, the “boarding position” is a position at which the user can use the autonomous mobile body at the position, and the user who wants to use the vehicle around the user. Means a position close to.

  According to the fourth aspect of the invention, the user who wants to use can quickly board the autonomous mobile body that has moved to the boarding position without moving much.

  In addition, when combining 4th invention with 2nd invention or 3rd invention, after execution of operation | movement in 2nd invention or 3rd invention, it is preferable to make an autonomous mobile body perform operation | movement by 4th invention.

  In the fourth invention, as the boarding position, for example, any one of the front, back and side surfaces of the user who desires to use can be adopted (fifth invention).

  In the fourth invention or the fifth invention, it is preferable that the boarding position is a position in which the empty space is relatively wider than the other positions in the periphery of the user who desires to use the vehicle (the sixth invention). ).

  Here, the empty space means that the user who wants to use performs the boarding operation without causing any obstruction factors such as interference with other objects when the user wants to use the autonomous mobile body to be used. Means a space where possible.

  According to the sixth aspect of the invention, the user who wants to use can easily board the autonomous mobile body that has moved to the boarding position.

  In the fourth to sixth inventions, the boarding position in the case where there is another person lined up next to the user who wants to use is the use position between the user and the other person around the user who wants to use the board. It is preferable that the position is determined so that the applicant exists (seventh invention).

  According to this, the user who wishes to use can quickly board the autonomous mobile body without interfering with other people who are lined up next to each other.

  In the fourth to seventh inventions, in the first case, the movement of the autonomous mobile body to be used to a boarding position around the user who wants to use is based on the gaze or face of the user who wants to use. It is preferable that the operation is performed on the condition that the front or the front of the body is directed to the autonomous mobile body to be used (8th invention).

  According to this, the autonomous mobile body is moved to the boarding position in a state where the user who wants to use recognizes or is highly likely to recognize the existence of the autonomous mobile body to be used. Therefore, it is possible to prevent the user who wishes to use from feeling uncomfortable with the approach of the autonomous mobile body to himself / herself.

  In the first to eighth aspects of the invention, the operation for the first case is the use of the autonomous mobile object to be used in a state in which the orientation of the autonomous mobile body with respect to the user who wants to use is oriented in a predetermined direction. It is preferable to include an operation of stopping around the applicant (the ninth invention).

  According to this, since the autonomous mobile body to be used stops around the user who wants to use the vehicle in a state in which the orientation is directed to the user who wants to use the user, It becomes easier to recognize that the mobile body can be boarded.

  When the ninth aspect of the invention is combined with the fourth to eighth aspects of the invention, the use-target autonomous mobile body is used in a state in which the autonomous mobile body is oriented in a predetermined direction with respect to the user who desires to use the vehicle. It is preferable that the position to be stopped around the applicant is the boarding position.

  In the ninth aspect, it is preferable that the predetermined direction is a predetermined direction for boarding the user who desires to use the vehicle (tenth aspect).

  According to this, the user who wishes to use can board the autonomous mobile body in a state where the autonomous mobile body faces in a direction in which the autonomous mobile body can easily board.

  The first to tenth aspects of the present invention may further include a fourth step in which notification indicating the arrival of the autonomous mobile body to be used is made to the user who wishes to use in the first case (the eleventh aspect). ).

  According to this, it is possible to further enhance the effect of causing the user who wants to recognize the use target moving body dispatched to the user who wants to use by the notification.

  Note that the execution timing of the fourth step may be any timing before, during, or after execution of the first operation.

  In the first to eleventh aspects of the invention, it is preferable that the operation for the second case is an operation of repeating a predetermined operation of the autonomous mobile body to be used (the twelfth aspect).

  According to this, it is possible to easily recognize that there is a usage target mobile body that cannot identify itself among users who want to use it in the vicinity of the usage target mobile body.

  In the twelfth aspect of the invention, the operation for the second case is preferably an action of alternately turning the use-target autonomous mobile body in a clockwise direction and a counterclockwise direction (invention 13).

  According to this, since the operation of the use target mobile unit when the user who wants to use cannot be identified is an operation similar to the operation of a person, the use target user existing around the use target mobile unit is not affected. It is possible to enhance the effect of recognizing that there is a usage target moving body that cannot identify itself.

  In the first to thirteenth inventions, it is preferable to further include a fifth step of notifying that the autonomous mobile body to be used is searching for the user who wants to use in the second case (14th invention). ).

  According to this, it is possible to further enhance the effect of allowing a user who exists in the vicinity of the usage target mobile body to recognize that there is a usage target mobile body that cannot identify itself.

  The execution timing of the fifth step may be any timing before, during, or after execution of the second operation.

  In the first to fourteenth aspects, the sixth step of determining whether or not the user's line of sight is directed toward the use-target autonomous mobile body before the operation for the first case is performed. And when the determination result of the sixth step is negative, the autonomous mobile body is caused to execute an action to call the user's attention to the autonomous mobile body to be used, or It is preferable that the method further includes a seventh step of performing a notification that calls for attention (15th invention).

  According to this, even if the user wishing to use is not aware of the usage target mobile body before the execution of the operation in the first case, the use of the usage target mobile body is confirmed by the process of the seventh step. It is possible to make the user who wants to recognize it with high certainty.

  Then, the operation for the first case of the usage target moving body is performed in a state where the user who wishes to use recognizes the presence of the usage target moving body. As a result, it is possible to further enhance the effect of allowing the user who wishes to use the vehicle to use the vehicle to recognize that the user object to be used has been dispatched.

  In the above first to fifteenth inventions, if it is determined that the specified user is not the correct user after the user is specified in the second step, the user is specified. It is preferable to further comprise an eighth step of causing the autonomous mobile body to be used to execute an error indicating that the user has been erroneously notified or notifying that the specification of the desired user has been erroneously specified (16th invention).

  According to this, it is possible to prevent the other person who has been erroneously identified as the user who wishes to use the user from being uncomfortable or misunderstanding that the other person can use the use target moving body.

  It should be noted that the execution timing of the eighth step may be any timing before or after execution of the operation for the first case.

  In the first to sixteenth inventions, in the first case, the accuracy of the specific result of the user who desires to use in the second step is determined, and when the accuracy is low, it is higher than when it is high, The method further comprises a ninth step of determining whether or not the specified use requester is a correct use requester while slowly approaching the use-target autonomous mobile body closer to the use requester. As a necessary condition that the result is affirmative, it is preferable to perform the operation for the first case of the autonomous mobile body to be used (17th invention).

  According to this, when the accuracy of the identification result of the user who wants to use in the second step is low, it is highly reliable whether or not the user who wants to use is a correct user by performing the ninth step. This makes it possible to prevent the person who is not a user wishing to perform the first case operation as much as possible.

  In the first to seventeenth aspects, in the first case, the tenth step of determining whether or not the location where the user wishes to use is a place suitable for boarding the autonomous mobile body to be used is used. And when the determination result of the tenth step is negative, the use target autonomous mobile body is guided so as to guide the user who wants to use to a position suitable for boarding the use target autonomous mobile body. It is preferable that the method further includes an eleventh step of notifying the user who wants to use the device or to guide the user who wants to use the user to the position suitable for boarding the autonomous mobile object to be used (18th). invention).

  According to this, the user who wishes to use can board the use target moving body at a position suitable for boarding the use target moving body. As a result, the user who wishes to use can easily board the mobile object to be used.

  Note that the execution timing of the eleventh step may be any timing before or after execution of the operation for the first case.

  In the first to eighteenth aspects of the invention, in the first step, the inverted pendulum type moving mobile body to be used is moved to the destination target point, with the point in the central visual field area of the user who wants to use as the destination target point. It is preferable (19th invention).

  According to this, when the utilization object mobile body dispatched to himself / herself arrives, the utilization candidate can easily visually recognize the utilization object mobile body. Therefore, it is possible to further enhance the effect of making the user who wishes to use know that the use target moving body has been dispatched.

  In the nineteenth aspect of the invention, in the first step, the destination target point is determined so that the time required for movement of the autonomous mobile body from the departure point to the destination target point is minimized in the first step. It can be set (20th invention).

  According to this, the utilization object moving body can be moved to the central visual field area of the user who wishes to use as quickly as possible.

  In the above first to twentieth inventions, before the use candidate specified in the second step starts using the autonomous mobile object to be used, a person other than the user who wants to use uses the autonomous mobile object. When it is presumed that the user intends to use the mobile device, the user moves the autonomous mobile body so as to refuse the use of the autonomous mobile body by a person other than the user who wants to use, or by a person other than the user who wants to use It is preferable to further include a twelfth step of informing that the use of the autonomous mobile body is rejected (the twenty-first invention).

  According to this, the use target moving body is used by a person other than the use request person before the use target move object is dispatched to the use request person, for example, during the movement of the use target moving object to the vicinity of the use request person. Can be prevented.

  In the twenty-first aspect, the boarding part of the autonomous mobile body is configured to be able to selectively operate between a boarding permission state in which a person can be boarded normally and a boarding impossible state in which it is impossible to board normally. Can be done. In this case, in the twelfth step, it is preferable that the boarding part of the autonomous mobile body to be used is operated in the boarding disabled state (22nd invention).

  According to this, it is possible to enhance the effect of causing a person other than the user who wishes to use to recognize that the use target moving body cannot be used.

  In the above first to twenty-first inventions, the boarding part of the autonomous mobile body can selectively operate between a boarding permission state in which a person can be boarded normally and a boarding impossible state in which it is impossible to board normally. In this case, the boarding part of the autonomous mobile body to be used is maintained in the boarding disabled state at least until the user who wants to use is specified in the second step, and the user desires to use After the person is identified, it is possible to adopt a mode in which the boarding part of the autonomous mobile body to be used is operated in a boarding permission state (a twenty-third invention).

  According to this, since the boarding part of the mobile object to be used is kept in a boarding-disabled state at least until the user who wants to use is specified in the second step, a person other than the user who wants to use It can be easily recognized that the target moving body cannot be used. As a result, it is possible to prevent the use target moving body from being used by a person other than the user who wants to use it.

  In the above first to twenty-third inventions, the method further comprises an A step of arranging a plurality of available autonomous mobile bodies in the available area of the autonomous mobile body, and approaching the user who wishes to use in the first step. The autonomous mobile body to be used is the autonomous mobile body closest to the user who wants to use among the plurality of available autonomous mobile bodies, or the autonomous mobile body existing within a predetermined distance from the user who wants to use, or It is preferably an autonomous mobile body that can move to the peripheral position of the user who desires in the shortest time, or an autonomous mobile body that can move to the peripheral position of the user who wants to use it within a predetermined time or less (24th invention). .

  According to this, it is possible to perform the use target moving body close to the use applicant as quickly as possible.

  In the twenty-fourth aspect of the invention, in the step A, more usable autonomous mobile bodies exist in an area that is higher than an area that has a low observed value or predicted value of the density of people among the available areas. Thus, the autonomous mobile body is preferably arranged (25th invention).

  According to this, since more available autonomous mobile objects are arranged in an area where the observed value or predicted value of the degree of crowding is relatively high, the number of users who wish to use the area increases. In addition, it becomes possible to dispatch the use target moving body to each use applicant as quickly as possible.

  In the twenty-fourth aspect of the invention, in the step A, the level of fatigue level of each person existing in the available area or the level of burden of movement of each person is estimated, and among the available areas, An aspect in which the autonomous mobile body is arranged so that more usable autonomous mobile bodies exist in an area where the number of persons estimated to have a high degree of fatigue or the burden degree is greater than an area where there are few. It can also be adopted (26th invention).

  According to this, since more available autonomous mobile bodies are arranged in an area where there are a large number of people with a relatively high degree of fatigue or movement burden, the degree of fatigue or movement burden is relative. When a person who is very high desires to use an autonomous mobile body, it becomes possible to dispatch the target mobile body as quickly as possible to a person with a relatively high degree of fatigue or a burden of movement.

  In the first to twenty-sixth aspects of the present invention, after the user wishing to use the vehicle has left the autonomous mobile object to be used, the user wishing to use has deviated from a predetermined area around the autonomous mobile object to be used. It is preferable to further include a B-step for starting the movement of the autonomous mobile body to be used after the detection is detected (the 27th invention).

  Alternatively, after detecting that the user wishing to use has performed a predetermined operation after leaving the autonomous mobile object to be used, the movement of the autonomous mobile object to be used is started. It is preferable to further comprise a B step (28th invention).

  Alternatively, after detecting that the user wishing to use has started moving after the user wants to leave the autonomous mobile body to be used, the Bth to start the autonomous mobile body to be used is started. It is preferable to further comprise a step (29th invention).

  According to these inventions, the movement of the autonomous mobile body can be started after the user who wants to use the vehicle can assume that the use of the autonomous mobile body has ended. The twenty-seventh to twenty-eighth aspects can be combined with each other.

The side view of the inverted pendulum type vehicle as an example autonomous mobile body in the embodiment of the present invention. The block diagram which shows the structure which concerns on the operation control of the inverted pendulum type vehicle of embodiment. The figure which shows the example of the arrangement | positioning state of the available inverted pendulum type vehicle, and the integrated management apparatus regarding dispatch of this inverted pendulum type vehicle. The flowchart which shows the process (1st Embodiment) in the case of dispatching an available inverted pendulum type vehicle to a use applicant. The flowchart which shows the process (2nd Embodiment) in the case of dispatching an available inverted pendulum type vehicle to a use applicant. The flowchart which shows the process (3rd Embodiment) in the case of dispatching an available inverted pendulum type vehicle to a use applicant. The flowchart which shows the process (4th Embodiment) in the case of dispatching a useable inverted pendulum type vehicle to a use applicant. The flowchart which shows the process (5th Embodiment) in the case of dispatching an available inverted pendulum type vehicle to a use applicant. The figure for demonstrating the process (6th Embodiment) in the case of dispatching an available inverted pendulum type vehicle to a use candidate. The flowchart which shows the process (7th Embodiment) in the case of dispatching a useable inverted pendulum type vehicle to a use applicant. The figure which shows the example of the inverted pendulum type vehicle in 7th Embodiment or 8th Embodiment of this invention. The figure which shows the example of the arrangement | positioning state of the available inverted pendulum type vehicle in 9th Embodiment of this invention, and the integrated management apparatus regarding the allocation of this inverted pendulum type vehicle. 13A and 13B are views for explaining the operation of the inverted pendulum type vehicle according to the tenth embodiment of the present invention. The figure for demonstrating operation | movement of the inverted pendulum type vehicle in 11th Embodiment of this invention. The figure which illustrates the electric cart as other examples of the autonomous mobile body of this invention.

[First Embodiment]
A first embodiment of the present invention will be described with reference to FIGS. First, with reference to FIG.1 and FIG.2, the structure of the autonomous mobile body in this embodiment is demonstrated.

  As shown in FIG. 1, the autonomous mobile body of this embodiment is an inverted pendulum type vehicle 1, for example. The inverted pendulum type vehicle 1 (hereinafter sometimes simply referred to as the vehicle 1) includes a base body 2, a first movement operation unit 3 and a second movement operation unit 4 that can move on a road surface, and use of the vehicle 1. And an occupant boarding section 5 on which the person rides.

  The 1st movement operation part 3 is a main movement operation part of the vehicle 1, and is comprised so that it can move on a road surface to all directions (arbitrary directions). As an example, the first moving operation units 3 are arranged in an annular core body 6 (hereinafter referred to as an annular core body 6) and equiangular intervals in the circumferential direction of the annular core body 6 (direction around the axis). In this manner, a plurality of annular rollers 7 inserted on the annular core body 6 are provided. In FIG. 1, only some of the rollers 7 are representatively shown.

  Each roller 7 can rotate integrally with the annular core body 6 around the axis of the annular core body 6, and the central axis (annular axis) of the cross section of the annular core body 6 at the position where each roller 7 is disposed. It can be rotated around a tangential axis of the circumference centering on the axis of the core body 6.

  The first moving operation unit 3 having such a structure rotates the annular core body 6 about its axis while the lower roller 7 is in contact with a road surface such as a floor surface or a ground surface of the moving environment of the vehicle 1. It is possible to move in all directions on the road surface by performing one or both of driving and rotationally driving each roller 7 around its axis.

  In the following description, as shown in FIG. 1, the axial direction of the annular core body 6 when the first moving operation unit 3 is grounded to the road surface so that the axial center of the annular core body 6 is horizontal (see FIG. 1, the direction perpendicular to the paper surface) is the Y-axis direction, the horizontal axis direction orthogonal to the Y-axis direction is the X-axis direction, and the vertical direction is the Z-axis direction. In addition, the X-axis direction, the Y-axis direction, and the Z-axis direction are a front-rear direction, a left-right direction, and a vertical direction (height direction) of the vehicle 1, respectively. The positive directions of the X axis, the Y axis, and the Z axis are the forward direction, left direction, and upward direction of the vehicle 1, respectively.

  The first moving operation unit 3 is assembled to the base 2 so that the annular core 6 can rotate relative to the base 2. In the present embodiment, the base body 2 is provided so as to cover a portion excluding the lower portion of the first moving operation unit 3 that is grounded to the road surface. The annular core body 6 of the first moving operation unit 3 is pivotally supported by the base body 2 so as to be able to rotate relative to the base body 2 around its axis.

  For this reason, in the grounding state of the first moving operation unit 3, the base 2 can tilt in the direction around the Y axis (pitch direction) with the axis of the annular core 6 of the first moving operation unit 3 as a fulcrum. is there. Furthermore, the base body 2 can tilt in the direction around the X axis (roll direction) together with the first movement operation unit 3 with the grounding part (lower part) of the first movement operation unit 3 as a fulcrum.

  A first actuator device 8 that generates a driving force for moving the first moving operation unit 3 is mounted inside the base 2. The first actuator device 8 includes an actuator 8a that rotationally drives the annular core body 6 and an actuator 8b that rotationally drives each roller 7. These actuators 8a and 8b are constituted by, for example, an electric motor, a hydraulic actuator, or the like.

  The actuators 8a and 8b respectively apply a rotational driving force to the annular core body 6 and the rollers 7 via a power transmission mechanism (not shown). The power transmission mechanism may have a known structure.

  An occupant riding part 5 is assembled to the base 2. In the present embodiment, the occupant boarding portion 5 is constituted by a seat on which a user of the vehicle 1 is seated, and is fixed to the upper end portion of the base body 2 so as to be able to tilt integrally with the base body 2. The user of the vehicle 1 can sit on the occupant riding section 5 with the front-rear direction in the X-axis direction and the left-right direction in the Y-axis direction.

  Further, a footrest portion 9 on which a user who sits on the occupant riding portion 5 places his / her feet is assembled to the base body 2. The footrests 9 project from the lower portions of the left and right sides of the base 2.

  The second movement operation unit 4 is an auxiliary movement operation unit for enabling the vehicle 1 to smoothly turn or change direction, and can move in all directions (any direction) on the road surface. It is configured. In the present embodiment, the second moving operation unit 4 is constituted by, for example, an omni wheel. The omni wheel serving as the second moving operation unit 4 is freely rotatable with a pair of coaxial cores (not shown) and a rotational axis of each annular core toward the circumferential direction of the annular core. And a plurality of barrel-shaped rollers 13 extrapolated to a known structure.

  In this case, the second moving operation unit 4 is disposed behind the first moving operation unit 3 with the axial centers of the pair of annular cores directed in the X-axis direction (front-rear direction). Grounded on the road surface.

  Note that the roller 13 on one side of the pair of annular cores and the roller 13 on the other side are arranged out of phase in the circumferential direction of the annular cores, and when the pair of annular cores rotate. Any one of the roller 13 on one side and the roller 13 on the other side of the pair of annular cores is in contact with the road surface.

  The second moving operation unit 4 having such a configuration is connected to the base body 2 or the first moving operation unit 3. More specifically, the second moving operation unit 4 includes a housing 14 that covers a portion on the upper side of the omni wheel (the pair of annular core bodies and the plurality of rollers 13 as a whole). The pair of annular cores of the omni wheel is pivotally supported by the housing 14 so as to be able to rotate around its axis.

  Further, the base body 2 is arranged such that an arm 15 extending from the housing 14 toward the base body 2 can swing within a predetermined angular range around the axis of the annular core body 6 of the first moving operation unit 3. Or is pivotally supported by the axial center portion of the annular core body 6.

  As a result, the second movement operation unit 4 is moved to the base 2 or the first movement operation unit 3 via the arm 15 so that the second movement operation unit 4 can swing with respect to the base 2 around the axis of the annular core 6. It is connected. Therefore, it is possible to tilt the occupant riding section 5 and the base body 2 in the direction around the Y axis (pitch direction) while both the first moving operation section 3 and the second moving operation section 4 are grounded. It has become.

  Further, the second moving operation unit 4 can tilt in the direction around the X axis (roll direction) together with the first moving operation unit 3 and the base 2.

  The second moving operation unit 4 may be biased by a spring so as to be pressed against the road surface.

  The second moving operation unit 4 configured as described above is similar to the first moving operation unit 3 by performing one or both of the rotation of the pair of annular cores and the rotation of the roller 13. In addition, it is possible to move in all directions (in any direction) on the road surface.

  An actuator 17 that drives the second movement operation unit 4 is attached to the housing 14 of the second movement operation unit 4. In the present embodiment, the actuator 17 is coupled to the pair of annular cores so as to rotationally drive the pair of annular cores of the second moving operation unit 4. The actuator 17 can be constituted by, for example, an electric motor, a hydraulic actuator, or the like.

  Therefore, in the present embodiment, the second moving operation unit 4 can be moved in the Y-axis direction by rotationally driving the pair of annular cores of the second moving operation unit 4 by the actuator 17. Yes. On the other hand, the movement of the second moving operation unit 4 in the X-axis direction (rotation of the roller 13) is performed following the movement of the first moving operation unit 3 in the X-axis direction. ing.

  The above is the mechanical configuration of the vehicle 1 in the present embodiment.

  Supplementally, the first moving operation unit 3 and the second moving operation unit 4 that can move in all directions on the road surface, and their drive systems are not limited to those described above, and adopt various types of structures. Can do. For example, as the structure of the first moving operation unit 3 and its drive system, the structure proposed by the applicant of the present application in PCT International Publication No. WO / 2008/132778 or PCT International Publication No. WO / 2008/12779 is used. It may be adopted. The first moving operation unit 3 and the second moving operation unit 4 may have the same structure.

  Although not shown in FIG. 1, the vehicle 1 of the present embodiment includes a CPU, a RAM, a ROM, an interface circuit, and the like as components for controlling the operation of the vehicle 1 as shown in FIG. It is possessed by the control device 21 constituted by an electronic circuit unit, various sensors for observing the operation state or the external world state of the vehicle 1, the general management device 30 described later, the other vehicle 1, or the user of the vehicle 1 A communication device 27 for performing wireless communication between the control device 21 and a portable terminal (not shown) (smart phone, feature phone, tablet terminal, etc., hereinafter referred to as a user terminal) and a notification lamp for performing various notifications. 28 are mounted.

  The sensor includes, for example, an inclination sensor 22 for measuring the inclination angle of the occupant riding part 5 (= the inclination angle of the base body 2) with respect to the vertical direction, and the angular velocity in the yaw direction (around the Z axis) of the vehicle 1 is measured. , A camera 24 as an external recognition sensor for recognizing an object (a person, a moving object, an installed object, etc.) existing in the surrounding environment of the vehicle 1, and detecting whether or not the user has boarded the vehicle 1 A boarding detection sensor 25 for detecting the position of the vehicle 1 and a position sensor 26 for detecting the position of the vehicle 1 are included. Outputs (detection data) of these sensors are input to the control device 21.

  As the external environment recognition sensor, for example, a distance measuring sensor such as a laser range finder or a radar device can be used instead of or in addition to the camera 24.

  Further, the tilt sensor 22 can be configured by a set of an acceleration sensor and a gyro sensor (angular velocity sensor), for example. In this case, the tilt sensor 22 may include a yaw rate sensor 23 as a component sensor.

  Further, as the boarding detection sensor 25, for example, a load sensor that detects a load acting on the passenger boarding part 5 or the footrest part 9 can be used. As the position sensor 26, for example, a GPS sensor or the like can be used.

  The notification lamp 28 is configured by a light emitting element such as a light emitting diode so that light of a plurality of light emission colors (for example, blue, yellow, and red) can be output, and the output light can be viewed from the outside of the vehicle 1. In addition, it is attached to the base 2.

  The control device 21 controls the operation of the actuators 8a, 8b, and 17 (as a result, the first moving operation unit 3 and the second moving operation) as a function realized by a hardware configuration or a program (software configuration) to be mounted. And a function of controlling the light emission of the notification lamp 28.

  In this case, the control process executed by the control device 21 with respect to the operation control of the actuators 8a, 8b, and 17 is the control of the operation mode (hereinafter referred to as the non-boarding operation mode) in the state where the user is not on the vehicle 1. The processing is roughly divided into control processing of an operation mode (hereinafter referred to as a boarding operation mode) in a state where the user is on the vehicle 1.

  An outline of the control processing in these operation modes will be described below.

  In the boarding operation mode, the control device 21 responds to an operation command of the vehicle 1 by, for example, a weight shift (movement of the center of gravity) of an occupant (a user seated on the occupant riding section 5) or an operation of the occupant's user terminal. Accordingly, the movement of the first movement operation unit 3 and the second movement operation unit 4 is controlled.

  In this case, the movement of the first movement operation unit 3 and the second movement operation unit 4 is controlled so that the vehicle 1 moves or turns at a required movement speed while ensuring a balanced state of the overall center of gravity of the vehicle 1. The In addition, the total center of gravity of the vehicle 1 in the boarding operation mode means more specifically the total center of gravity of the vehicle 1 and the occupant. Also, the balance state of the overall center of gravity is the moment (horizontal) generated in the vehicle by the gravity acting on the overall center of gravity, the inertial force (centrifugal force, etc.) acting on the overall center of gravity, and the road surface reaction force that the vehicle 1 receives from the road surface. This means a state in which dynamic balance is achieved so that the moment around the axis is zero or almost zero.

  Specific control processing of the control device 21 in the boarding mode is performed as follows, for example. That is, the control device 21 performs a predetermined acceleration processing target value DVw1_cmd_x of the first moving motion unit 3 in the X-axis direction and the Y-axis direction in the predetermined control processing cycle, for example, by the following equations (1a) and (1b). By determining the target value DVw1_cmd_y of the translational acceleration and controlling the actuators 8a and 8b so as to realize the translational movement speed (target value) obtained by integrating these target values, the first moving operation unit 3 Control movement.

DVw1_cmd_x = Kvb_x ・ (Vb_cmd_x−Vb_act_x)
+ Kth_y ・ (θb_cmd_y−θb_act_y)
-Kw_y ・ ωb_act_y (1a)
DVw1_cmd_y = Kvb_y ・ (Vb_cmd_y−Vb_act_y)
+ Kth_x ・ (θb_cmd_x−θb_act_x)
−Kw_x · ωb_act_x (1b)

  Here, Vb_cmd_x on the right side of Expression (1a) is a target value of the translational movement speed in the X-axis direction of the entire center of gravity of the vehicle 1, Vb_act_x is an actual translational movement speed in the X-axis direction of the entire center of gravity of the vehicle 1, and θb_cmd_y. Is the target value of the inclination angle in the direction around the Y axis (pitch direction) of the occupant riding part 5 (or base 2), and θb_act_y is the actual value in the direction around the Y axis (pitch direction) of the occupant riding part 5 (or base 2). Is an inclination angle, ωb_act_y is a temporal change rate (inclination angular velocity) of an actual inclination angle in the direction around the Y axis (pitch direction) of the occupant riding part 5 (or base 2), and Kvb_x, Kth_y, and Kw_y are predetermined values, respectively. Gain (feedback gain).

  Further, Vb_cmd_y on the right side of the equation (1b) is a target value of the translational movement speed in the Y-axis direction of the entire center of gravity of the vehicle 1, Vb_act_y is an actual translational movement speed in the Y-axis direction of the entire center of gravity of the vehicle 1, and θb_cmd_x is The target value of the inclination angle in the direction around the X axis (roll direction) of the occupant riding part 5 (or base 2), θb_act_x is the actual value in the direction around the X axis (roll direction) of the occupant riding part 5 (or base 2) The inclination angle, ωb_act_x is the temporal change rate (inclination angular velocity) of the actual inclination angle in the direction around the X axis (roll direction) of the occupant riding part 5 (or the base body 2), and Kvb_y, Kth_x, Kw_x are predetermined values, respectively. Gain (feedback gain).

  In this case, as the values of the actual inclination angles θb_act_x, θb_act_y and their temporal change rates (inclination angular velocities) ωb_act_x, ωb_act_y, measured values indicated by the output of the inclination sensor 22 can be used.

  Further, as the values of the actual translational movement speeds Vb_act_x and Vb_act_y of the entire center of gravity, for example, estimated values calculated by the following expressions (2a) and (2b) can be used.

Vb_act_x = Vw1_act_x + h · ωb_act_x (2a)
Vb_act_y = Vw1_act_y + h · ωb_act_y (2b)

  Vw1_act_x is the actual translation movement speed in the X-axis direction of the first movement operation unit 3, Vw1_act_y is the actual translation movement speed in the Y-axis direction of the first movement operation unit 3, and h is the height of the overall center of gravity ( Set value). As the values of Vw1_act_x and Vw1_act_y, measured values by appropriate sensors can be used. Alternatively, as the pseudo estimated values of Vw1_act_x and Vw1_act_y, it is also possible to use the translational speed target values (DVw1_cmd_x and DVw1_cmd_y respectively integrated values) determined in the previous control processing cycle of the control device 21.

  Further, as the target values Vb_cmd_x and Vb_cmd_y of the translational movement speed of the entire center of gravity in the expressions (1a) and (1b), for example, an estimated value of the movement amount of the occupant's center of gravity (the relative movement amount with respect to the occupant riding section 5). The value determined according to this, the command value set by the occupant according to the operation of the user terminal or the like, or the combined value thereof can be used.

  In addition, as the target values θb_cmd_x and θb_cmd_y of the tilt angle, values of tilt angles that can ensure the balance state of the entire center of gravity while the translational movement speeds Vb_act_x and Vb_act_y of the entire center of gravity are set to the target values can be used.

  In this case, the target values θb_cmd_x and θb_cmd_y of the inclination angle are the passenger riding parts 5 (in the state where the overall center of gravity is directly above (or almost immediately above) the ground contact part of the first moving action part 3 when the vehicle 1 travels straight ahead. Or the inclination angle of the base body 2), and when the vehicle 1 turns, the moment generated in the vehicle 1 due to the centrifugal force acting on the entire center of gravity and the moment generated in the vehicle 1 due to the gravity acting on the entire center of gravity are balanced. Is the inclination angle of the occupant riding part 5 (or the base 2).

  Note that the target values θb_cmd_x and θb_cmd_y of the tilt angles can be temporarily set to values shifted from the tilt angle values that can ensure the balance state of the entire center of gravity.

  Further, in the boarding operation mode, the control device 21 determines a target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second movement operation unit 4 of the vehicle 1 by the following equation (3), for example, and this target value: The movement of the second moving operation unit 4 is controlled by controlling the actuator 17 so as to realize the above.

Vw2_cmd_y = Vw1_cmd_y−L · ωcmd_z (3)

  Here, Vw1_cmd_y on the right side of the equation (3) is a translational movement speed (target) obtained by integrating the target value DVw1_cmd_y of the translational acceleration in the Y-axis direction of the first moving motion unit 3 calculated by the equation (1b). Value), ωcmd_z is the target value of the angular velocity in the direction around the Z axis (yaw direction) of the vehicle 1, and L is between the grounding portion of the first moving motion unit 3 and the grounding portion of the second moving motion unit 4. Is the default distance.

  From the above equation (3), the target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second movement operation unit 4 is determined by the speed difference from the translational movement speed of the first movement operation unit 3 in the Y-axis direction. 1 is determined so as to realize the target value ωcmd_z of the angular velocity in the yaw direction.

  In this case, as the target value ωcmd_z of the angular velocity, for example, a value determined according to an estimated value of the movement amount of the center of gravity of the occupant in the Y-axis direction, or a target value of the translational movement speed of the entire center of gravity in the Y-axis direction Alternatively, the value determined according to the detected value, the value determined according to the target value or detected value of the translational movement speed of the first moving motion unit 3 in the Y-axis direction, or the occupant operating the portable terminal The command value etc. set according to etc. can be used.

  The target value ωcmd_z of the angular velocity is such that the turning center of the vehicle 1 exists in the grounding portion of the first movement operation unit 3 or the grounding unit and the second movement operation unit of the first movement operation unit 3. It is preferable to set so as to exist between the four grounding portions. Then, as the target value or detected value of the translational movement speed in the X-axis direction of the first movement operation unit 3 is smaller, the angular velocity is set such that the turning center of the vehicle 1 approaches the grounding part of the first movement operation unit 3. It is preferable to set a target value ωcmd_z.

  Supplementally, when ωcmd_z = 0, the target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second movement operation unit 4 calculated by the equation (3) is the Y-axis of the first movement operation unit 3. This coincides with the target value Vw1_cmd_y of the translational movement speed in the direction. Therefore, when ωcmd_z = 0, that is, when the vehicle 1 travels straight, the second movement operation unit 4 is controlled to move at the same translational movement speed as that of the first movement operation unit 3.

  In the boarding operation mode, the movement control of the first movement operation unit 3 and the second movement operation unit 4 is performed as described above.

  On the other hand, in the non-boarding operation mode, the control device 21 controls the movement of the first movement operation unit 3 and the second movement operation unit 4 in accordance with, for example, an operation command given from the overall management device 30 described later. . More specifically, the vehicle 1 translates or turns at a required moving speed according to an operation command given from the overall management device 30, or the occupant riding part 5 and the base body 2 perform a required tilting operation. The movement of the first movement operation unit 3 and the second movement operation unit 4 is controlled.

  In this case, in the non-boarding operation mode, the control device 21 uses the same expression as the expressions (1a), (1b), (2a), and (2b) to calculate the target value of the translational acceleration of the first moving operation unit 3. DVw1_cmd_x and DVw1_cmd_y are determined, and the actuators 8a and 8b are controlled so as to realize a translational movement speed (target value) obtained by integrating these target values.

  Further, the control device 21 determines a target value Vw2_cmd_y of the translational movement speed in the Y-axis direction of the second moving operation unit 4 by the same expression as the expression (3), and realizes this target value. The actuator 17 is controlled.

  However, the total center of gravity of the vehicle 1 in the non-boarding operation mode is the total center of gravity of the vehicle 1 alone. In the non-boarding operation mode, the gains Kvb_x, Kth_y, Kw_y, Kvb_y, Kth_x, Kw_x used in the calculations of the above formulas (1a), (1b), (2a), (2b) The set value of h is a set value for the non-boarding operation mode, and is generally different from the value in the boarding operation mode.

  Further, the translational velocity target values Vb_cmd_x and Vb_cmd_y of the overall center of gravity used in the calculations of the equations (1a) and (1b), the tilt angle target values θb_cmd_x and θb_cmd_y, and the calculation of the equation (3). The target value ωcmd_z of the angular velocity in the yaw direction to be used is determined according to the operation command given from the overall management device 30.

  Note that the target values θb_cmd_x and θb_cmd_y of the tilt angle ensure the balance state of the entire center of gravity in the non-boarding operation mode when the vehicle 1 is in a steady movement (translational movement or turning) or at a stationary stop. Set to the value to get.

  In the non-boarding operation mode, the movement control of the first movement operation unit 3 and the second movement operation unit 4 is performed as described above.

  Supplementally, as a technique for more detailed operation control of the vehicle 1 in the boarding operation mode or the like, for example, the technique proposed by the applicant of the present application in Patent Document 1 or the like may be employed. However, the method of operation control of the vehicle 1 in the boarding operation mode and the non-boarding operation mode is not limited to the above method, and may be another method. The operation control method of the vehicle 1 may be any method as long as the vehicle 1 can be moved so that the balance state of the overall center of gravity of the vehicle 1 can be secured.

  Next, the operation method of the vehicle 1 in this embodiment is demonstrated concretely.

  In this embodiment, the vehicle 1 demonstrated above is utilized as the vehicle 1 which a user can utilize as a moving means in various event venues or available areas, such as a public facility, for example.

  In this case, a plurality of vehicles 1 are provided in the available area. The overall management device 30 manages the allocation of the vehicles 1 that are not being used (hereinafter referred to as the available vehicles 1).

  The overall management apparatus 30 is configured by one or more electronic circuit units including a CPU or the like, one or more computers, or a combination thereof. The overall management device 30 can appropriately communicate with the control device 21 of each vehicle 1 or the user terminal of the user.

  The overall management apparatus 30 appropriately determines an arrangement area of each available vehicle 1 in the available area, and gives an operation command to each available vehicle 1 so as to move each available vehicle 1 to the arrangement area. .

  In this case, the overall management apparatus 30 acquires, for example, a captured image of a monitoring camera (not shown) installed in an available area or the camera 24 mounted on each vehicle 1 and based on the captured image. The density of people (number of people per unit area) in each area of the available area is appropriately detected. Then, the overall management device 30 determines the arrangement of the available vehicles 1 in the available area according to the detected density (observed value).

  Specifically, as shown in FIG. 3, the overall management device 30 places more available vehicles 1 in an area where the density is relatively higher than an area where the density is relatively low. The placement area of each available vehicle 1 is determined so as to be placed.

  In addition, for example, it is also possible to predict a temporal change in the degree of crowding of people in each area of the available area based on statistical data collected in advance and determine the arrangement area of each available vehicle 1 based on the prediction. Is possible. For example, when it is predicted that the density of people in a specific area will be high in a certain time zone, the number of vehicles 1 that can be used in the specific area in that time zone or a time zone in the vicinity thereof The arrangement area of each available vehicle 1 may be determined so as to be larger than other areas.

  The overall management device 30 transmits to the control device 21 of each available vehicle 1 an operation command instructing movement to the arrangement area determined as described above. At this time, the control device 21 of each available vehicle 1 performs the first movement operation by the control process in the non-boarding operation mode so as to move the available vehicle 1 to the arrangement area specified by the received operation command. The movement control of the unit 3 and the second movement operation unit 4 is performed.

  In this case, the movement path of each available vehicle 1, the target value of the movement speed of the entire center of gravity of the available vehicle 1 on the movement path, and the target of the angular velocity in the yaw direction of the available vehicle 1 on the movement path. The value is, for example, based on a captured image of a monitoring camera installed in an available area or a captured image of the camera 24 of each available vehicle 1 or the like of the overall management device 30 or the control device 21 of each available vehicle 1. It is determined by processing or by cooperative processing of the overall management device 30 and the control device 21 of each available vehicle 1.

  The arrangement of the available vehicle 1 in the available area is performed as described above. Thus, the process which arrange | positions the available vehicle 1 in an available area corresponds to the process of the A step in this invention.

  Next, allocation of the vehicle 1 when the user desires to use the vehicle 1 will be described.

  In the present embodiment, the general management device 30 is registered in advance with information (hereinafter referred to as user information) about a user who can use the vehicle 1 in the available area or the user terminal.

  This user information includes identification information used by the control device 21 of the vehicle 1 for identifying the user, in addition to information such as the user's name or email address. As the identification information, for example, a captured image of the user, exercise pattern information such as walking of the user, voice information of the user, an identification code that can be transmitted from the user terminal of the user, and the like can be used.

  When the user registered in the overall management apparatus 30 intends to use the vehicle 1 in the available area, the vehicle 1 is allocated to the user as shown in the flowchart of FIG.

  Referring to FIG. 4, a user who intends to use the vehicle 1 (hereinafter referred to as a user who wants to use the vehicle 1) activates an application installed in advance in his / her user terminal, thereby managing the user terminal in an integrated manner. The user terminal communicates with the device 30 and uses the user terminal at the start of use of the vehicle 1, such as position information (information indicating the use start location of the vehicle 1), information indicating the use start time, and the like. This is transmitted from the machine to the overall management apparatus 30 (STEP 1).

  The use start location is a peripheral area of the location where the user wishes to use at the desired start time of use (specifically, an area within a predetermined distance from the location where the user wishes to use at the desired start time of use).

  The overall management apparatus 30 that has received the use request information has one vehicle to be dispatched to the use requester from among the plurality of available vehicles 1 at a time immediately before the use start desired time indicated by the use request information. 1 (hereinafter referred to as “use target vehicle 1”), an operation command indicating that the control device 21 of the use target vehicle 1 should move toward the use start location, together with identification information of the user who wants to use it. Transmit (STEP 2).

  In this case, among the available vehicles 1 in the available area, for example, the vehicle is located at the closest position from the location where the user wishes to use (location at the desired start time of use) indicated by the location information included in the usage request information. The available vehicle 1 or the available vehicle 1 existing within a predetermined distance from the location where the user wishes to use is selected as the use target vehicle 1.

  Alternatively, for example, the travel time required to move each available vehicle 1 from the departure point (current position) to the arrival target point set as the use start place is estimated, and the estimated value of the travel time is the shortest (or It is also possible to select the available vehicle 1 that is almost the shortest) or the available vehicle 1 whose estimated time required for the movement is equal to or less than a predetermined time as the use target vehicle 1.

  In this case, the required travel time is, for example, environmental information (obstruction of an obstacle) recognized from a captured image of a monitoring camera installed in an available area or a captured image of the camera 24 of each vehicle 1 in the available area. It can be estimated using presence information).

  The control device 21 of the usage target vehicle 1 that has received the operation command and the identification information brings the usage target vehicle 1 closer to the instructed usage start location (and thus closer to the user who wants to use it). The movement of the first movement operation unit 3 and the second movement operation unit 4 of the use target vehicle 1 is controlled by the control process in the non-boarding operation mode (STEP 3).

  In this case, the movement route of the usage target vehicle 1, the target value of the movement speed of the entire center of gravity of the usage target vehicle 1 on the movement route, and the target value of the angular velocity in the yaw direction of the usage target vehicle 1 on the movement route. For example, the overall management device 30 or each available use is based on, for example, a captured image of a surveillance camera installed in an available area or a captured image of the camera 24 of each vehicle 1 in the available area. It is determined by the processing of the control device 21 of the vehicle 1 or by the cooperative processing of the overall management device 30 and the control device 21 of each available vehicle 1.

  The movement plan includes, for example, an obstacle (a person, another vehicle 1, an installed object, etc.) recognized from a captured image or the like from the departure point to the arrival target point set as the use start location. It is determined by a known route generation method so that it can be moved while avoiding contact.

  In this case, it is preferable that the movement plan is determined so that the time required for movement from the departure point of the use target vehicle 1 to the arrival target point can be made the shortest (or almost the shortest). For example, a plurality of candidates for a movement plan may be provisionally generated, and among those candidates, a candidate that requires the shortest time required for movement of the use target vehicle 1 may be determined as a movement plan.

  In addition, the movement plan of the usage target vehicle 1 can be updated as appropriate during the movement of the usage target vehicle 1.

  Further, in STEP 3, the control device 21 of the usage target vehicle 1 executes a process of identifying a user who wants to use the surroundings of the usage target vehicle 1 in parallel with the movement control of the usage target vehicle 1. In this specifying process, the control device 21 of the usage target vehicle 1 includes, for example, a captured image of the camera 24 of the usage target vehicle 1 and a captured image of the user who wants to use as identification information given from the overall management device 30. Based on the movement pattern information, the user who wants to use the identification information and the position of the user are identified from the periphery of the vehicle 1 to be used.

  In this case, during the period until the user who wants to use is specified, the camera 24 of the target vehicle 1 captures a wide range of the surroundings of the target vehicle 1 so that the target vehicle 1 can be used at any time when the target vehicle 1 moves. 1 may be turned in the yaw direction. The turning operation may be a turning operation (direction changing operation) in a state where the position of the grounding portion of the first moving operation unit 3 of the use target vehicle 1 is maintained substantially constant, or the first moving operation unit 3 and the first moving operation unit 3. Any one of the turning operations while moving the two moving operation units 4 may be used.

  If the control device 21 of the use target vehicle 1 has a voice recognition function, for example, the presence of the user who desires to use is specified by specifying the direction of sound generation that matches the voice information as identification information of the user who wants to use. It is also possible to specify the direction. In addition, when the identification information transmitted from the user terminal of the user who wishes to use is included in the identification information of the user who wishes to use, the presence of the user who wishes to use is specified by specifying the transmission direction of the identification code, for example. It is also possible to specify the direction.

  Supplementally, among the processes of STEP 3 above, the process of moving the use target vehicle 1 corresponds to the process of the first step in the present invention, and the process of specifying the user who wants to use corresponds to the second step of the present invention. .

  During the execution of STEP 3, information such as the current position of the use target vehicle 1 and the estimated arrival time at the use start location is obtained from the control device 21 or the overall management device 30 of the use target vehicle 1. The information may be transmitted to the user terminal so that a person who wants to use the information can check the information at his / her own user terminal.

  The control device 21 of the use target vehicle 1 determines whether or not the user who wants to use can be specified while executing the process of STEP 3 (STEP 4).

  And the control apparatus 21 of the utilization object vehicle 1 can perform predetermined | prescribed 1st operation | movement (details are mentioned later) in the utilization object vehicle 1, when a use candidate can be specified (when the judgment result of STEP4 becomes affirmative). ) To control the movement of the first movement operation unit 3 and the second movement operation unit 4 of the use target vehicle 1 (STEP 5).

  In addition, after a 1st operation | movement is performed, a use applicant boardes the utilization object vehicle 1, and utilization of this utilization object vehicle 1 is started.

  In addition, if the user who is desired to use cannot be identified even if the use target vehicle 1 is moved to the vicinity of the use start location (a position within a predetermined distance from the use start location), or when the use target vehicle 1 starts moving. If the user who wishes to use cannot be identified after a lapse of time, the determination result in STEP 4 is negative.

  In this case, the control device 21 of the usage target vehicle 1 causes the usage target vehicle 1 to perform the first second operation (details will be described later) different from the first operation. The movement of the movement operation unit 3 and the second movement operation unit 4 is controlled (STEP 6).

  And in parallel with the 2nd operation | movement of the utilization object vehicle 1, or after execution of a 2nd operation | movement, the process which specifies a utilization applicant is performed by STEP7 similarly to the case of STEP3. Further, it is determined whether or not a user who wishes to use the service can be specified (STEP 8).

  If the determination result in STEP 8 is negative (if the user who wants to use cannot be specified), the second operation of the use target vehicle 1 is performed again or continued in STEP 6.

  Further, when the determination result in STEP 8 is affirmative (when a user who wishes to use the vehicle can be specified), the first operation of the vehicle 1 to be used is performed in STEP 5.

  As described above, the process related to the allocation of the use target vehicle 1 to the user who wants to use is performed. The processing in STEPs 5 and 6 corresponds to the third step in the present invention. Further, the case where the determination result of STEP 4 or 8 is positive corresponds to the first case in the present invention, and the case where the determination result of STEP 4 or 8 is negative corresponds to the second case in the present invention. To do. The first operation and the second operation correspond to the operation for the first case and the operation for the second case in the present invention, respectively.

  In the present embodiment, the first operation and the second operation are operations in which combination patterns of operations of the use target vehicle 1 are different from each other.

  Here, the “combination pattern” refers to a combination of at least two operations selected from a plurality of operations that the vehicle 1 can execute. Therefore, a combination pattern having the same operation as a constituent element is caused by a difference in timing for executing each operation (for example, whether a plurality of operations are performed simultaneously or in a predetermined order), a difference in time of each operation, etc. Regardless, they are treated as the same combination pattern.

  In this case, each of the first operation and the second operation can be realized as an operation in which a plurality of basic operations of the vehicle 1 are combined.

  Examples of the basic operation include the tilting operation of the vehicle 1 (the operation of tilting the base body 2 and the occupant riding portion 5), and the translational movement operation of the vehicle 1 (the first moving operation unit 3 and the second moving operation unit 4). (Translation movement in the same direction), turning operation of the vehicle 1 (operation in which the directions of the first movement operation unit 3 and the second movement operation unit 4 change in the yaw direction), and movement stop operation of the vehicle 1 (first operation) An operation in which the spatial positions of the first moving operation unit 3 and the second moving operation unit 4 are kept constant or substantially constant).

  The tilting operation of the vehicle 1 is an operation that can be realized by the movement of the first moving operation unit 3 and the second moving operation unit 4. Therefore, the tilting operation of the vehicle 1 is a combined operation with the translational movement operation or the turning operation of the vehicle 1.

  Further, the turning operation of the vehicle 1 is an operation of turning the vehicle 1 (changing direction) while keeping the position of the ground contact portion of the first moving operation unit 3 constant or substantially constant (hereinafter referred to as a rotation turning operation). And an operation of turning the vehicle 1 while moving the first moving operation unit 3 on a path having a curvature (hereinafter referred to as a revolving turning operation).

  Each of the tilting operation, the translational movement operation, and the turning operation of the vehicle 1 includes, for example, an operation direction of the operation (tilting direction, translational movement direction, turning direction (clockwise direction or counterclockwise direction)), an operation speed ( According to the classification of tilting speed, translational movement speed, turning speed (angular speed in the yaw direction)), movement amount (tilting amount, translational movement amount, turning angle (rotation angle in the yaw direction)), or duration of the movement It can be classified into a plurality of basic operations.

  The revolution turning operation may be further classified into a plurality of basic operations depending on, for example, the position of the turning center (relative position with respect to the user who wants to use it) or the turning radius (or the curvature of the moving route). Is possible.

  The movement stop operation of the vehicle 1 is the duration or the position or direction of the first movement operation unit 3 and the second movement operation unit 4 at the time of movement stop (relative position or direction with respect to the user who wants to use the vehicle 1). )) Can be further classified into a plurality of basic operations.

  The first operation and the second operation can be set in various patterns as operations combining a plurality of basic operations that can be classified as described above.

  In the present embodiment, when the control device 21 of the use target vehicle 1 can identify the user who wants to use, the first action to be executed by the use target vehicle 1 is, for example, that the user who wants to use is welcomed. It is set so that it can be felt or the user can use the vehicle 1 to be used.

  As the first operation, for example, the following operation can be adopted. That is, in the first operation, the use target vehicle 1 first moves in translation so that the use target vehicle 1 is approached to the user who wants to use the vehicle from the user who wants to use the vehicle 1 to a position at a predetermined distance from the user who wants to use. After one or both of the movement operation and the turning operation (revolution turning operation) are performed, the movement is stopped (the movement stop operation is performed).

  In addition, you may perform said moving operation | movement of the utilization object vehicle 1 in the initial stage of a 1st operation | movement at the time of the movement of the utilization object vehicle 1 in said STEP3. In this case, it is not necessary to perform the moving operation of the use target vehicle 1 at the initial stage of the first operation.

  Furthermore, when the use target vehicle 1 performs the rotation turning operation after the movement is stopped, the front of the use target vehicle 1 (the positive direction of the X axis) is directed to the use applicant. Thereby, the state in which a use candidate and the use object vehicle 1 face each other is implement | achieved.

  In addition, even when the use target vehicle 1 is moved so that the front of the use target vehicle 1 (the positive direction of the X axis) is directed toward the use requester while the use target vehicle 1 is approaching the use requester. Good. In this case, the turning operation after the movement of the target vehicle 1 is not necessary.

  Next, the use target vehicle 1 temporarily tilts the base body 2 and the occupant riding portion 5 to the forward tilt side by a predetermined tilt angle, and further, the original tilt position (a position where the balance state of the entire center of gravity of the vehicle 1 can be secured). ) Is performed a predetermined number of times (one or more times). Such tilting motion is similar to a bowing motion of a person. For this reason, this tilting operation allows the user who wants to use the user to feel as if a welcome greeting is received from the vehicle 1 to be used.

  Next, the use target vehicle 1 performs a turning operation (spinning turning operation or revolving turning operation) so that the front (the positive direction of the X axis) is directed forward or obliquely forward of the user who wants to use the vehicle. In this case, in order to adjust the relative position of the usage target vehicle 1 with respect to the user who wants to use, a translational movement operation may be executed together with the turning operation of the usage target vehicle 1.

  With this operation, the user who wants to use can feel as if the target vehicle 1 is actively waiting for the user who wants to use the vehicle.

  The above series of operations is an example of the first operation. If the usage request information transmitted from the user terminal of the user who wishes to use to the overall management apparatus 30 includes, for example, information indicating the destination of the user who wants to use, the last of the first operations. In this turning operation, the front of the use target vehicle 1 may be directed to the destination of the user who wants to use.

  Further, in order to increase the user's preference for the usage target vehicle 1, the first operation temporarily moves the passenger boarding unit 5 and the base body 2 of the usage target vehicle 1 on the front side of the usage target vehicle 1. Motion (in the roll direction) alternately, or movement of the vehicle 1 to be used in a predetermined trajectory pattern such as a circular trajectory or an 8-shaped trajectory, or small animals such as dogs and cats An operation having playability such as an operation similar to the above operation may be included.

  In addition, when the user who wants to use can be identified, in addition to causing the use target vehicle 1 to execute the first action, before the execution of the first action, during execution, or after execution, for example, the use target vehicle One notification lamp 28 may be caused to emit light in a predetermined color, so that notification for allowing a user who wants to use the vehicle to recognize the arrival of the vehicle 1 to be used may be visually performed. This notification corresponds to the notification in the fourth step in the present invention. The light emission color in this case is preferably a color that makes it easy to feel that the user who wants to use is welcomed, or a color that looks like the vehicle 1 to be used is happy (for example, yellow).

  Further, just before the operation of the use target vehicle 1 is finished, the light emission color of the notification lamp 28 may be changed in a specific color or pattern to notify the surroundings that the use target vehicle 1 is “stopped”. .

  In addition, when the user who wants to use can be specified, the user may be notified of the arrival of the use target vehicle 1 in a mode different from the light emission of the notification lamp 28. For example, the notification may be visually performed by a display device or a projector provided in the use target vehicle 1, or may be performed aurally by voice or music from a speaker provided in the use target vehicle 1. Is possible. In addition, the notification can be performed via, for example, a user terminal of a user who wants to use the information.

  Next, when the control device 21 of the usage target vehicle 1 cannot identify the user who wants to use, the second operation to be executed by the usage target vehicle 1 is different in combination pattern from the first operation in the present embodiment. At the same time, for example, it is set so that a user who is present around the use target vehicle 1 can feel as if the use target vehicle 1 is searching for a use requester.

  For example, the following operation can be adopted as the second operation. That is, in the second operation, after the use target vehicle 1 stops moving, the use target vehicle 1 continuously performs the rotational turning operation at predetermined rotation angles alternately in the clockwise direction and the counterclockwise direction in the yaw direction. Repeat intermittently or intermittently.

  Such an operation is an example of the second operation. Such a second action is an action similar to a person's jogging action. For this reason, when the user who wants to use is near the vehicle 1 to be used, the user who wants to use recognizes that the vehicle 1 to be used is looking for himself by the second operation of the vehicle 1 to be used. can do. As a result, the user who wishes to use can actively approach the use target vehicle 1 that he / she intends to use. As a result, the control device 21 of the use target vehicle 1 can finally identify the user who wants to use it.

  When the user who wishes to use recognizes the vehicle 1 to be used, by operating the user terminal of the user who wants to use, the control device 21 of the vehicle 1 to be used is notified that he / she is a user who wants to use. You may make it transmit the information signal for making it recognize to the control apparatus 21 of the utilization object vehicle 1 from this user terminal.

  Further, the second operation may be an operation having a pattern different from the above. For example, as for 2nd operation | movement, the utilization object vehicle 1 is worried about the operation | movement which tilts the passenger | crew boarding part 5 and the base | substrate 2 of the utilization object vehicle 1 by a predetermined angle alternately left and right (in a roll direction). It may be a visible action. Alternatively, the second operation may be an operation that makes the use target vehicle 1 appear to roam, such as an operation of moving the use target vehicle 1 in a relatively small area along a random track.

  In addition, in the case where the user who wants to use cannot be specified, in addition to causing the vehicle 1 to be used to execute the second operation, before the execution of the second operation, during the execution, or after the execution, for example, The notification lamp 28 of the vehicle 1 may emit light in a predetermined color different from the case where the user who wants to use can be specified, thereby performing notification indicating that the user who wants to use is searched. Such notification corresponds to notification in the fifth step of the present invention. As the luminescent color in this case, it is preferable to adopt a color (for example, red) that can be easily recognized by the user who wants to use the vehicle 1 as a problem.

  In addition, when a user who wants to use cannot be specified, a notification indicating that the user who wants to use is searched for may be performed in a mode different from the light emission of the notification lamp 28. For example, the notification may be visually performed by a display device or a projector provided in the use target vehicle 1, or may be performed aurally by voice or music from a speaker provided in the use target vehicle 1. Is possible. In addition, the notification can be performed via, for example, a user terminal of a user who wants to use the information.

  In the present embodiment, as described above, dispatch to a user who wants to use is performed. In this case, when the control device 21 of the usage target vehicle 1 can identify the user who wants to use, the usage target vehicle 1 executes the first operation, so that the usage target vehicle 1 dispatches the usage target vehicle 1 to itself. It can be easily recognized that the use of the target vehicle 1 can be started comfortably.

  Further, in addition to the first operation of the usage target vehicle 1, the usage target vehicle 1 is dispatched when notification is made to recognize the arrival of the usage target vehicle 1 by light emission of the notification lamp 28 or the like. It is possible to further enhance the effect of making the user wishing to recognize this.

  In addition, when the control device 21 of the use target vehicle 1 cannot identify the user who wants to use, the use target vehicle 1 executes the second operation having a different temporal change pattern from the first operation. The person can easily recognize that the use target vehicle 1 is searching for himself / herself. Eventually, the user who wishes to use recognizes the presence of the use target vehicle 1 that can be used by the user, and takes action such as approaching the use target vehicle 1 so that the control device 21 of the use target vehicle 1 can recognize itself. Can be taken appropriately.

  Furthermore, in addition to the second operation of the use target vehicle 1, when the notification that the user wants to be used is searched for by the light emission of the notification lamp 28 or the like, the use target vehicle 1 is searching for the use applicant. It is possible to further enhance the effect of making the user who wishes to recognize the effect.

  Further, as described above, since the available vehicles 1 are arranged at various locations in the available area according to the crowded degree of people, even if there are relatively many users who wish to use in a certain arrangement area, the use request is desired. The use target vehicle 1 can be dispatched to the person promptly.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. In this embodiment, when the user who wants to use can be identified, it is confirmed whether or not the user who wants to use recognizes the vehicle to be used 1 before executing the first operation by the vehicle to be used 1. When it is estimated that the user is not recognizing the use target vehicle 1, the operation of the use target vehicle 1 and the notification for alerting the use candidate to the use target vehicle 1 are performed.

  Specifically, referring to the flowchart of FIG. 5, the control device 21 of the use target vehicle 1 has a positive determination result of STEP 4 or 8 (when a user who wants to use can be specified), Based on the captured image of the camera 24 of the usage target vehicle 1, processing for determining whether or not the user's line of sight is directed toward the usage target vehicle 1 is executed in STEP 9. This STEP 9 corresponds to the sixth step in the present invention.

  In addition, in the determination process of STEP 9, in addition to the image captured by the camera 24 of the use target vehicle 1, the image captured by the surveillance camera installed in the available area or the image captured by the camera 24 of the other vehicle 1 may be used. .

  If the determination result in STEP 9 is negative, there is a possibility that the user wishing to use does not recognize the presence of the vehicle 1 to be used. Therefore, when the determination result of STEP 9 is negative, the control device 21 of the use target vehicle 1 executes a predetermined alert activation operation for calling the user who wants to use the use target vehicle 1 in STEP 10. At the same time, a predetermined alerting notice for the alerting is given to the user who wishes to use it. This STEP 10 corresponds to the seventh step in the present invention.

  In this case, for example, the following operation can be adopted as the alerting activation work. That is, when the user who wants to use is stopped, for example, the use target vehicle 1 is controlled so that the use target vehicle 1 performs a turning operation (automatic turning operation or intersection turning operation) around the use applicant. The If the user wishing to use is moving, the user wants to use the target vehicle 1 with the Y-axis direction of the target vehicle 1 facing the user's moving direction on the side of the user wishing to use. The vehicle 1 to be used is controlled so as to run concurrently with the applicant.

  Moreover, as alerting alerting | reporting, visual alerting | reporting, such as blinking the said alerting lamp 28 of the utilization object vehicle 1, can be employ | adopted, for example.

  After executing the control process of STEP 10 as described above, the control device 21 of the use target vehicle 1 executes the process from STEP 9 again. If the determination result in STEP 9 is affirmative, the control device 21 of the usage target vehicle 1 causes the usage target vehicle 1 to execute the first operation in STEP 5.

  The present embodiment is the same as the first embodiment except for the matters described above. In the present embodiment, as described above, when it is estimated that the user who wishes to use does not recognize the use target vehicle 1, by performing the alert activation work of the use target vehicle 1 and the alert notification, The user who wishes to use can easily recognize the presence of the target vehicle 1. And since the said 1st operation | movement is performed after performing alerting with respect to a use candidate, the user's preference or closeness with respect to the utilization object vehicle 1 can be raised further.

  In STEP 10, one of the alerting activation work and the alerting notification of the use target vehicle 1 may be omitted. In addition, the alert activation work may be an operation different from the above as long as it can alert the user who wants to use the vehicle 1 to be used. Moreover, as alerting alerting | reporting, not only visual alerting | reporting but you may employ | adopt auditory alerting | reporting with an audio | voice or music. Furthermore, it is also possible to perform alerting notification via the user terminal of the user who wants to use it.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG. In the present embodiment, after identifying a user who wants to use the vehicle, if it is determined that the user who wants to use the vehicle is not a correct user who wants to use the vehicle, the required operation and notification are performed on the vehicle 1 to be used.

  Specifically, referring to the flowchart of FIG. 6, the control device 21 of the usage target vehicle 1 causes the usage target vehicle 1 to execute the first operation in STEP 5 (or in parallel with the first operation). ), The process of determining whether or not the specified user is correct is executed in STEP11.

  In this determination process, for example, the control device 21 obtains a captured image of the specified user who wants to use the camera 24 of the target vehicle 1 or a monitoring camera in the available area, and based on the captured image. Thus, it is determined whether or not the specified use applicant is a use applicant that matches the original identification information.

  In this case, the information other than the captured image, for example, the voice information of the specified use applicant, the identification code transmitted from the user terminal of the specified use applicant, or the specified use applicant's The determination process of STEP 11 may be executed based on the form of action on the use target vehicle 1 or the like.

  And when the judgment result of STEP11 is negative, the control apparatus 21 of the utilization object vehicle 1 performs the operation | movement to the effect that the identification of a user who wished for use was incorrect in STEP12. While making the use object vehicle 1 execute, it notifies the user that the use requester is erroneously specified. This STEP 12 corresponds to the eighth step in the present invention.

  As an action to the effect that the specification of the user who wants to use is wrong, an action that makes the use target vehicle 1 seem to apologize to the person specified by mistake, for example, a forward tilting operation of the use target vehicle 1 is adopted. Can do. In addition, as notification that the specification of the user who wishes to use is erroneous, for example, visual notification such as causing the notification lamp 28 of the use target vehicle 1 to emit light in a predetermined color (for example, blue) expressing sadness is adopted. obtain.

  The control device 21 of the usage target vehicle 1 executes the processing from STEP 7 after executing the control processing of STEP 12 as described above. That is, the process of specifying the user who wants to use is executed again.

  This embodiment is the same as the first embodiment except for the matters described above. According to this embodiment, when the user who wants to use the user is mistakenly specified, the user who has mistakenly specified the user feels uncomfortable, or the person who has mistakenly specified the user can use the vehicle 1 to be used. Can be prevented.

  In STEP 12, one of the operation and notification of the use target vehicle 1 may be omitted. In addition, the operation indicating that the user who has requested use is erroneous may be an operation different from the above. In addition, the notification that the user has been incorrectly specified is not limited to visual notification, but may be audio notification such as voice or music.

  Moreover, before making the utilization object vehicle 1 perform 1st operation | movement by STEP5, you may perform the process of STEP9, 10 similarly to the said 2nd Embodiment. Further, in this case, if the determination result in STEP 9 is affirmative, it is determined whether or not the specified user is correct. If the determination result is negative, the same processing as in STEP 12 is executed. May be.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIG. In this embodiment, when a user who wants to use can be specified, the specific accuracy (the degree of likelihood) is determined. When the accuracy is determined to be relatively low, the use target vehicle 1 is The user identification is performed again while slowly approaching the identified user.

  Specifically, with reference to the flowchart of FIG. 7, the control device 21 of the use target vehicle 1 has a positive determination result of STEP 4 or 8 (when a user who wants to use can be specified), A process of determining whether or not the accuracy of the specific result of the user who wishes to use is sufficiently high is executed in STEP13.

  Here, for example, when there are a relatively large number of other people around the specified user who wishes to use the user (around a predetermined distance from the user who wants to use the user), a person who is different from the user who wants to use the user is mistakenly used. The possibility of being identified as an applicant is likely to increase. Therefore, in STEP13, the control device 21 of the use target vehicle 1 determines the accuracy in a plurality of stages according to the number of others around the specified user who wants to use, and the accuracy is equal to or greater than a predetermined threshold value. It is judged whether it is high. In this case, the accuracy is determined to be lower as the number of others around the specified user who wants to use is larger.

  The accuracy is determined by factors other than the number of others around the user who wishes to use the user (factors that may affect the specification of the user who wants to use it), for example, the attitude of the user who wants to use the camera 24 taken by the vehicle 1 to be used. It is also possible to determine in consideration of the arrangement state of objects around the user who wants to use, brightness around the user who wants to use, and the like.

  If the determination result in STEP 13 is affirmative, it can be considered that the specific accuracy of the user wishing to use is sufficiently high. In this case, in STEP 5, the first operation of the use target vehicle 1 is performed as in the first embodiment.

  Moreover, when the determination result of STEP13 is negative, there is a possibility that the specified use applicant is wrong.

  In this case, the control device 21 of the use target vehicle 1 temporarily stops the use target vehicle 1 and then specifies the specified use applicant at a slower speed (slowly) than the initial movement plan. (STEP 14) and in parallel with this, a process of determining whether or not the specified use applicant is correct is executed (STEP 15). Note that the processing in STEPs 13 to 15 corresponds to the ninth step in the present invention.

  The determination process in STEP 15 can be performed in the same manner as the determination process in STEP 11 in the third embodiment.

  If the determination result in STEP 15 is affirmative, in STEP 5, the first operation of the use target vehicle 1 is performed in the same manner as in the first embodiment. Therefore, when the accuracy of the identification result of the user who wants to use is low, the first operation of the use target vehicle 1 is executed on the condition that the determination result of STEP 15 is positive.

  In addition, when the determination result in STEP 15 is negative, the control device 21 of the use target vehicle 1 executes the processing from STEP 7. That is, the process of specifying the user who wants to use is executed again.

  The present embodiment is the same as the first embodiment except for the matters described above. According to this embodiment, the specific reliability of the user who desires use before the first operation of the inverted pendulum type vehicle 1 can be enhanced.

  In addition, before making the utilization object vehicle 1 perform 1st operation | movement by STEP5, you may perform the process of said STEP9, 10 similarly to the said 2nd Embodiment.

[Fifth Embodiment]
Next, a fifth embodiment of the present invention will be described with reference to FIG. In the present embodiment, after identifying the user who wants to use, it is determined whether or not the location where the user wants to use is a position suitable for boarding the vehicle 1 to be used. Guides the user who wants to use to a position suitable for the boarding.

  Specifically, referring to the flowchart of FIG. 8, the control device 21 of the usage target vehicle 1 causes the usage target vehicle 1 to execute the first operation in STEP 5 (or during the execution of the first operation). In step 16, a process for determining whether or not the current location of the user who wants to use is a position suitable for boarding the use target vehicle 1 is executed. This STEP 16 corresponds to the tenth step in the present invention.

  In this determination process, for example, based on the captured image of the camera 24 of the vehicle 1 to be used or the captured image of the monitoring camera installed in the available area, sufficient information suitable for the boarding is provided around the user who wants to use the vehicle. It is determined whether or not there is a vacant space. If the vacant space is present, it is determined that the current location of the user wishing to use is a position suitable for boarding the vehicle 1 to be used.

  In addition, when there are a relatively large number of others or other vehicles 1 around the applicant, or there are various installations or exhibits around the applicant, there is sufficient space around the applicant. When there is no space, it is determined that the current location of the user who wants to use is not a position suitable for boarding the vehicle 1 to be used.

  In the determination process of STEP 16, information other than the captured image, for example, map data stored in advance in the overall management device 30 or the like, or communication with each user's user terminal in the available area is obtained. The position information of each user or the position information of each vehicle 1 in the available area may be used.

  If the determination result in STEP 16 is affirmative, the process of the flowchart in FIG. 8 ends.

  On the other hand, when the determination result of STEP 16 is negative, the control device 21 of the usage target vehicle 1 next uses the usage target vehicle 1 from around the user who wants to use it based on the captured image or the like in STEP 17. A position suitable for boarding (hereinafter referred to as an appropriate boarding position) is determined. In this case, for example, an appropriate boarding position is determined in a flat area where the surrounding empty space is relatively wide.

  Furthermore, in STEP18, the control apparatus 21 performs the guidance process which guides a user who wants to use to an appropriate boarding position. In this guidance process, for example, the control device 21 moves the usage target vehicle 1 so that the usage target vehicle 1 follows the usage target vehicle 1 while blinking the notification lamp 28 of the usage target vehicle 1. , Guide the user who wants to use to the proper boarding position. The processing in STEP 18 corresponds to the eleventh step in the present invention together with the processing in STEP 17.

  It should be noted that the appropriate boarding position is visually presented to the user who wants to use the display or projector provided in the vehicle 1 to be used, or the user who wishes to use is audibly set to the boarding appropriate position using voice guidance. You may induce.

  The present embodiment is the same as the first embodiment except for the matters described above. According to this embodiment, a user who wants to use can start using the target vehicle 1 at a place where the target target vehicle 1 can be easily boarded. For this reason, the use applicant can use the use target vehicle 1 more comfortably.

  In addition, the process of STEPs 9 and 10 described in the second embodiment is executed and the user's line of sight is directed toward the use target vehicle 1 before guiding the use applicant to the proper boarding position in STEP18. Thus, the processing of STEP 18 may be executed.

  Moreover, before making the utilization object vehicle 1 perform 1st operation | movement by STEP5, you may perform the process of STEP16-18. Then, when the location where the user wishes to use is not suitable for boarding, the user 1 may be caused to execute the first action in STEP 5 after guiding the user who wants to use to the proper boarding location. .

  Moreover, in the said 2nd-4th embodiment, before making the utilization object vehicle 1 perform 1st operation | movement, you may perform the process of STEP16-18.

[Sixth Embodiment]
Next, a sixth embodiment of the present invention will be described with reference to FIG. In the present embodiment, in STEP 3, the use target vehicle 1 is moved to the central visual field region of the user who wants to use.

  In this case, in this embodiment, the overall management apparatus 30 specifies the moving direction of the user who wants to use by sequentially acquiring the position information of the user who wants to use by communicating with the user terminal of the user who wants to use. .

  Alternatively, the overall management apparatus 30 can recognize a user who desires use, for example, from a monitoring camera installed in an available area of the vehicle 1 or a captured image of the camera 24 of each vehicle 1 arranged in the available area. In this case, the movement direction of the user who wants to use is estimated based on the captured image.

  Then, the overall management apparatus 30 estimates the central visual field of the user who wants to use the mobile phone at the use start time or a time in the vicinity thereof based on the movement direction estimated by the user, and uses the target object in the central visual field. The destination target point of the vehicle 1 is set.

  In this case, for example, as shown by a point P1 in FIG. 9, the destination target point has a predetermined distance from the user who desires to use within the central visual field of the user who wants to use at or near the use start time. It is set at a position on the line of sight line of the user who wishes to use at a position that deviates from the following area (so-called personal area). Here, the personal area is an area (a circular area centered on a person) in which a person is likely to feel discomfort when another object or the like approaches within the area. For example, an area of 70 cm or less can be adopted as the personal area.

  Note that the destination target point may not be a position on the center line of sight of the user who wants to use it. For example, in the area excluding the personal area from the central visual field area of the user who wants to use, the position where the distance from the current position of the use target vehicle 1 (the position when the destination target point is set) is the shortest (for example, FIG. 9 The position of the point P2), or the position where the estimated value of the required travel time of the use target vehicle 1 from the current position of the use target vehicle 1 to the destination target point can be set as the destination target point.

  Supplementally, in a situation where the user's orientation is not estimated, such as a situation where the user who wants to use has not moved and a captured image of the user who wishes to use cannot be obtained, for example, the use start time or a time in the vicinity thereof Any position that is estimated to be suitable for boarding the use target vehicle 1 in the vicinity of the position of the user who wishes to use can be set as the destination target point.

  In the present embodiment, the use target vehicle 1 is moved toward the target arrival point set as described above in STEP 3.

  This embodiment is the same as any one of the first to fifth embodiments except for the matters described above. In the present embodiment, since the use target vehicle 1 is moved to the destination target point set as described above, it becomes easier for the user who wants to use to visually recognize the arrival of the use target vehicle 1.

[Seventh Embodiment]
Next, a seventh embodiment of the present invention will be described. In this embodiment, a person other than the user who wants to use, before starting the use of the use target vehicle 1 to which the user who wants to use is dispatched, such as in the middle of moving the use target vehicle 1 to the use start place, When an attempt is made to use the target vehicle 1, a process for rejecting it is executed.

  For example, the control device 21 of the use target vehicle 1 executes the control process as shown in the flowchart of FIG. Specifically, the control device 21 of the usage target vehicle 1 sequentially determines whether or not a person other than the user who wants to use the usage target vehicle 1 is going to use the usage target vehicle 1 in STEP 21.

  In this case, for example, the captured image of the surveillance camera installed in the available area, the captured image of the camera 24 of the usage target vehicle 1, the captured image of the other vehicle 1 around the usage target vehicle 1, or the usage target vehicle The determination process of STEP 21 is performed based on detection of an external force with respect to one sheet 5 or the substrate 2 or the like.

  When the determination result in STEP 21 is affirmative, the control device 21 of the usage target vehicle 1 causes the usage target vehicle 1 to execute an operation of rejecting the usage target vehicle 1 in STEP 22. The notification indicating the rejection is performed. This STEP 22 corresponds to the twelfth step in the present invention.

  As an operation to reject the use of the use target vehicle 1, for example, an operation of moving the use target vehicle 1 so as to keep the use target vehicle 1 away from a person who intends to use the use target vehicle 1 is adopted. obtain.

  Alternatively, for example, an operation of repeatedly tilting the use target vehicle 1 left and right by a predetermined angle (tilting in the roll direction) and an operation of alternately repeating a clockwise and counterclockwise rotation turning operation by a predetermined angle. The operation of rejecting the use of the use target vehicle 1 can be adopted.

  Further, for example, as shown in FIG. 11, the occupant riding part 5 (seat) stands up from a normal posture state in which the occupant riding part 5 is in a substantially horizontal posture (a posture state in which a person can normally ride on the occupant riding part 5). Each vehicle 1 may be configured such that it can be swung by an electric motor or the like in a posture state in which a person cannot board the occupant riding section 5. In this case, in STEP 22, the operation of raising the passenger boarding unit 5 of the usage target vehicle 1 may be executed as the operation of rejecting the usage target vehicle 1.

  Note that the normal posture state in which the occupant riding part 5 (seat) is in a substantially horizontal posture corresponds to the boarding permission state in the present invention, and the posture state in which the occupant riding part 5 (seat) is upright is in the present invention. Corresponds to the boarding impossible state.

  As the notification indicating that the use of the use target vehicle 1 is rejected, for example, visual notification such as causing the notification lamp 28 of the use target vehicle 1 to emit light in a predetermined color (for example, red) may be employed.

  The present embodiment is the same as any one of the first to sixth embodiments except for the matters described above. According to this embodiment, it can prevent effectively that the utilization object vehicle 1 will be utilized accidentally by persons other than a utilization wisher.

  In STEP22, one of the operation and notification of the use target vehicle 1 may be omitted. Moreover, the operation | movement which refuses utilization of the utilization object vehicle 1 may be an operation | movement different from the above. In addition, the notification that the use of the use target vehicle 1 is rejected is not limited to the visual notification, and an auditory notification using voice or music may be employed.

  Moreover, the boarding impossible state of the passenger boarding unit 5 may be different from the above. For example, when the occupant riding part 5 is configured so that the protrusions can be projected and retracted on the upper surface of the occupant riding part 5, when the determination result in STEP 21 is affirmative, the protrusions are inserted into the occupant riding part. 5 may be projected.

  Supplementally, if the occupant boarding section 5 is configured as shown in FIG. 11 (more generally, the occupant boarding section 5 is configured to be able to operate in a boarding disabled state), at least the user who wants to use is specified. Until the occupant boarding part 5 of the use target vehicle 1 is maintained in an incapable boarding state until the user is specified, the occupant boarding part 5 of the use target vehicle 1 is in a normal state (boarding permitted state) You may make it operate.

  In such a case, the processing of FIG. 10 may be omitted in a situation where the occupant riding section 5 is operated in a state in which the occupant riding section 5 cannot be boarded.

[Eighth Embodiment]
Next, an eighth embodiment of the present invention will be described with reference to FIG. In the seventh embodiment, with respect to the vehicle 1 shown in FIG. 11, when a person other than the user who wishes to use tries to use the vehicle 1 to be used, the occupant boarding portion 5 stands up as described above (impossible to board) The mode of operating in the state) has been described.

  On the other hand, in the present embodiment, in the process of dispatching the use target vehicle 1 to the user who wants to use the control device 21 of the use target vehicle 1, at least until the use requester is specified, The occupant riding part 5 is maintained in a standing posture state (boarding impossible state) as shown by a two-dot chain line in FIG.

  And the control apparatus 21 of the utilization object vehicle 1 operates the passenger | crew riding part 5 of the utilization object vehicle 1 in the normal state (boarding permission state) shown by the continuous line of FIG.

  The occupant boarding unit 5 may be operated in the normal state (boarding permission state) at any timing before, during, and after the first operation.

  The present embodiment is the same as any one of the first to seventh embodiments except for the matters described above. According to this embodiment, since the passenger boarding part 5 of the use target vehicle 1 is maintained in the standing state (non-boarding state) at least until the user who wants to use is specified, the use target vehicle 1 is An arbitrary person around the use target vehicle 1 can be made to recognize that the vehicle 1 cannot be used.

  For this reason, even if the process described in the seventh embodiment is not performed, before the user who wants to use starts using the target vehicle 1, a person other than the user who wants to use uses the target vehicle 1. Can be prevented.

  As in the case of the seventh embodiment, the boarding disabled state of the occupant riding section 5 may be different from the mode shown in FIG.

[Ninth Embodiment]
Next, a ninth embodiment of the present invention will be described with reference to FIG. The aspect which arrange | positions the usable vehicle 1 in each place in an available area is not restricted to the aspect demonstrated in the said 1st Embodiment. In the present embodiment, for example, the degree of fatigue or the degree of movement burden of each person in the available area is estimated, and the available vehicles 1 are arranged in a manner that takes into account the degree of fatigue or the degree of burden.

  Specifically, the overall management device 30 sequentially acquires each person's position information by communicating with each person's user terminal in the available area, and based on the time series of the position information, for example. Thus, one or both of the moving distance and moving speed of each person is grasped.

  Then, the overall management device 30 determines the degree of fatigue of each person or the degree of burden of movement based on the distance or speed of movement of each person. For example, it is determined that the degree of fatigue of a person whose movement distance exceeds a predetermined value is high, and the degree of fatigue of a person whose movement distance is a predetermined value or less is low. Alternatively, a person whose movement speed is faster than a predetermined value determines that the degree of movement is low, and a person whose movement speed is lower than the predetermined value determines that the degree of movement is high.

  Note that, for example, both the travel distance and the travel speed may be comprehensively reflected to determine the degree of fatigue or travel burden of each person.

  It is also possible to determine the degree of fatigue or the degree of movement of each person based on the images captured by the monitoring camera in the available area or the camera 24 of each vehicle 1. For example, the degree of fatigue of the person may be determined from the image of the person's face in the captured image. Or, from the image of the baggage possessed by the person shown in the captured image, the pattern of the person's walking, the pattern of the person's sitting, the pattern of the movement of the arm of the person carrying the luggage, etc. The degree of movement burden may be determined.

  The overall management device 30 determines the distribution of the persons who are determined to have a high degree of fatigue foot or movement burden after determining the level of fatigue foot or movement burden of each person in the available area as described above. Accordingly, the arrangement of the available vehicles 1 is determined.

  Specifically, as shown in FIG. 12, the overall management device 30 has a degree of fatigue or a burden of movement that is less than an area where the number of persons determined to have a high degree of fatigue or a burden of movement is relatively small. The arrangement area of each usable vehicle 1 is determined so that more usable vehicles 1 are arranged in an area where the number of persons determined to be high is relatively large.

  Then, the overall management device 30 transmits an operation command instructing movement to the arrangement area determined as described above to the control device 21 of each available vehicle 1. At this time, as in the case described with respect to the first embodiment, each available vehicle 1 moves to the designated arrangement area.

  The present embodiment is the same as any one of the first to eighth embodiments except for the matters described above. According to the present embodiment, when the fatigue level of the user who wants to use or the burden of movement is high, the number of vehicles 1 that can be used in the vicinity of the user who wants to use increases. The vehicle 1 can be dispatched.

[Tenth embodiment]
Next, a tenth embodiment of the present invention will be described with reference to FIGS. 13A and 13B. In the present embodiment, the first operation when the user who wants to use can be specified is the operation described below as the last operation immediately before the user who wants to board the vehicle 1 to be used (hereinafter referred to as the operation immediately before boarding). including.

  This operation immediately before boarding is executed following the operation in STEP 5 in the first embodiment, the second embodiment, or the fourth embodiment, for example. Or operation just before boarding is performed when the judgment result of STEP11 in a 3rd embodiment is affirmative, for example. Alternatively, the operation immediately before boarding is executed when the determination result of STEP 16 in the fifth embodiment is affirmative, or after guiding the user who wants to use to the boarding appropriate position in STEP 18.

  The control device 21 of the usage target vehicle 1 causes the usage target vehicle 1 to execute an operation immediately before boarding as follows according to a program installed in advance or according to a command given from the overall management device 30.

  That is, the control device 21 is used at a position in the vicinity of the user who wants to use it, such as a position near the boundary of the personal area of the user who wants to use, a position a predetermined distance from the user who wants to use it. The boarding position for causing the applicant to board the use target vehicle 1 is determined.

  In this case, the boarding position is selected from, for example, a plurality of candidate positions around the user who desires to use the boarding position. For example, as shown in FIG. 13A, the front position PF, the left side position PL, the right side position PR, and the back position PB of the user who wants to use are set as the candidate positions for boarding, and these candidate positions PF, PL, PR, PB The boarding position is selected.

  In this selection process, as shown in FIG. 13A, for example, among the candidate positions PF, PL, PR, and PB, surrounding empty spaces (empty spaces in an area within a certain distance from each candidate position) are other candidate positions. A candidate position that is relatively wider (candidate position PL in FIG. 13A) is selected as the boarding position.

  In this case, the size of the empty space around each candidate position is, for example, the area of a portion in the area within a certain distance from the candidate position where there is no obstacle that hinders the boarding action on the use target vehicle 1. (Estimated that the larger the area, the larger the free space). This evaluation is performed using, for example, a captured image of the camera 24 of the usage target vehicle 1, the monitoring camera around the usage target vehicle 1, or the camera 24 of the other vehicle 1.

  Further, in the present embodiment, for example, as shown in FIG. 13B, when there are others lined up next to the use applicant, a plurality of candidate positions PF, PL, PR, PB around the use applicant are displayed. Among them, the candidate position that is in the position (the position on the opposite side of the other person across the user who wants to use it) or the candidate candidate closest to that position is preferential. Selected as boarding position.

  For example, as shown in FIG. 13B, when there is another person on the left side of the user who wants to use, each of the candidate position PF on the front side, the candidate position PR on the right side, and the candidate position PB on the back side of the use candidate. If the surrounding empty spaces are approximately the same, the right candidate position PR is selected as the boarding position.

  It should be noted that the empty space around the candidate position on the opposite side of the other person (right candidate position PR in FIG. 13B) is the other candidate position (candidate on the front side in FIG. If the space is smaller than the empty space around the position PF or the candidate position PB) on the back side, it is desirable to select the other candidate position as the boarding position.

  After selecting the boarding position as described above, the control device 21 of the usage target vehicle 1 moves the usage target vehicle 1 to the selected boarding position as illustrated by the dashed line arrow in FIG. 13A or 13B. And stop at the boarding position. In this case, at the boarding position, the control device 21 operates the usage target vehicle 1 so that the direction of the usage target vehicle 1 faces a predetermined direction with respect to the user who wants to use the vehicle.

  The predetermined direction is a direction (a boarding direction) in which a user who wants to use can easily board the usage target vehicle 1 stopped at the boarding position. In the present embodiment, for example, the usage target vehicle 1 is stopped at the boarding position with the front of the usage target vehicle 1 facing the user who wants to use the vehicle.

  By doing in this way, the user who wants to use can quickly board the vehicle to be used 1 without needing to move to the side or back of the vehicle to be used 1 stopped at the boarding position. is there. For example, the user who wants to use the vehicle turns the back so as to face the vehicle 1 to be used, and places the passenger boarding part 5 (seat) of the vehicle 1 to be used behind his / her inseam. By moving, the vehicle 1 can be easily boarded.

  In the present embodiment, as described above, the operation of moving the target vehicle 1 to the selected boarding position and stopping the front of the target vehicle 1 in front of the user who wants to use the boarding position is the boarding position. It is the last action.

  By causing the use target vehicle 1 to execute such a straight boarding operation, the use target vehicle 1 has a wide space, and boarding the use target vehicle 1 at a boarding position where there is no other person. Stop in a state where it is suitable for boarding. For this reason, after that, the user who wishes to use can easily and quickly board the vehicle 1 to be used.

  The present embodiment may be the same as any one of the first to ninth embodiments except for the matters described above.

  In the present embodiment, when the target vehicle 1 is moved to the selected boarding position, it is necessary that the user's line of sight or the front of the face or the front of the body is directed to the target vehicle 1. As a condition, the movement of the use target vehicle 1 to the boarding position may be started. In this case, for example, the camera 24 of the available vehicle 1 or the vicinity of the available vehicle 1 can be determined as to whether or not the user's line of sight or the front of the face or the front of the body is directed to the use target vehicle 1. This is performed using the image captured by the surveillance camera.

  As described above, by starting the movement of the use target vehicle 1 to the boarding position on the condition that the user's line of sight or the front of the face or the front of the body is directed to the use target vehicle 1, The use target vehicle 1 is moved to the boarding position in a state where the user who wants to use recognizes the use target vehicle 1 or is likely to recognize it. For this reason, the utilization object vehicle 1 can be made to approach a utilization applicant, without giving discomfort to a utilization applicant.

[Eleventh embodiment]
Next, an eleventh embodiment of the present invention will be described with reference to FIG. In the present embodiment, after the user who wants to use boardes the use target vehicle 1 (after using the use target vehicle 1), the use target vehicle 1 is operated as described below.

  In other words, in the present embodiment, the control device 21 of the usage target vehicle 1 after the usage applicant finishes using the usage target vehicle 1 and gets off the usage target vehicle 1 (arrow Y1 in FIG. 14). The user who wants to use the vehicle moves away from the vehicle 1 to be used (arrow Y2 in FIG. 14), and the vehicle 1 to be used has deviated from an area within a predetermined distance from the user who wants to use (for example, a personal area). Is detected, the movement of the use target vehicle 1 (arrow Y3 in FIG. 14) is started.

  Here, the detection of the movement of the user who wants to use and the detection of the distance between the user who wants to use and the target vehicle 1 are, for example, the camera 24 of the target vehicle 1 or the monitoring camera around the target vehicle 1. Alternatively, it is performed using a captured image of the camera 24 of the other vehicle 1.

  Further, the movement of the usage target vehicle 1 is performed based on a command such as a target point given from the overall management device 30 to the control device 21 of the usage target vehicle 1, for example.

  The present embodiment may be the same as any one of the first to tenth embodiments except for the matters described above.

  In the present embodiment, as described above, the use-target vehicle 1 is certainly used by the use-requester by moving the use-target vehicle 1 after the use-requester gets off (leaves) the use-target vehicle 1. The use target vehicle 1 can be moved after a situation that can be regarded as being completed.

  In addition, for example, it is detected that the user who wants to use moves away from the use target vehicle 1 and that the use target vehicle 1 deviates from an area within a predetermined distance from the user who wants to use. The movement of the use target vehicle 1 may be started when any one of the conditions is established.

  Further, for example, a user who wants to use the vehicle after getting off is monitored by a camera 24 of the target vehicle 1, a monitoring camera around the target vehicle 1, or a captured image of the camera 24 of the other vehicle 1. The movement of the use target vehicle 1 may be started when it is detected that the operation (for example, the operation of waving a hand with respect to the use target vehicle 1) is performed.

[Other Embodiments]
Several other embodiments are illustrated below. In each of the embodiments described above, the inverted pendulum type vehicle 1 having the configuration shown in FIG. 1 or 11 has been described as an example of the autonomous mobile body of the present invention. However, the autonomous mobile body to which the present invention is applied is The mobile body may have other configurations. For example, an inverted pendulum type vehicle as an example of an autonomous mobile body may be a vehicle that does not include the second movement operation unit 4. Alternatively, the inverted pendulum type vehicle may be, for example, a vehicle configured to be able to board in a posture in which a person stands.

  Alternatively, in an inverted pendulum type vehicle, for example, the moving operation unit that can move in all directions on the road surface and the base body on which the moving operation part is assembled do not tilt, and the passenger boarding part can tilt with respect to the base body. It may be a vehicle having an attached configuration.

  Alternatively, the inverted pendulum type vehicle has a baggage loading unit in addition to the passenger boarding unit or instead of the passenger boarding unit, and the user's baggage is loaded on the baggage loading unit. You may be comprised so that it can move according to the instruction | indication given from a terminal, or following a user's movement.

  Furthermore, the autonomous mobile body of the present invention is not limited to an inverted pendulum type vehicle, and may be a single-seater electric cart 50 as exemplified in FIG. 15 or an electric wheelchair having a known structure. There may be. When the autonomous mobile body is an electric cart 50 as illustrated in FIG. 15, the seat 50 a (occupant riding portion) of the electric cart 50 can rotate around an axis in the vertical direction. The seat 50a can be seated from the side of the cart 50. For this reason, it is desirable that the direction of boarding of the electric cart 50 at the boarding position described in the tenth embodiment is such that the side surface of the electric cart 50 faces the user who wants to use it.

  When the autonomous mobile body is an electric wheelchair, the front direction of the wheelchair is suitable for the user who wants to use the wheelchair in the boarding position described in the tenth embodiment. It is desirable that the orientation be such.

  Further, the first operation and the second operation having different combination patterns are not limited to the operation in the above-described form, and may be any type in which the types of basic operations to be combined are different. Therefore, for example, if the basic operations that constitute each operation are the same, the operations that differ only in the order in which the basic operations are executed and the operations that differ only in the number of times the basic operations are executed are the same. Is treated as a combination pattern.

  Specifically, for example, the first operation is defined as a combination of an operation of approaching the user by translation and turning in front of the user (a position that can be recognized) and an operation of tilting. The two operations can be defined as a combination of a clockwise turning operation in the clockwise direction and a counterclockwise rotation operation in the counterclockwise direction.

  At this time, when an operation that combines an approaching approach and a tilting action is performed in front of the user who wishes to use, the approaching may be performed even if the number of tilting is one or two times. Regardless of the order of execution of the action and the tilting action, the types of basic actions to be combined are the same, and both are treated as the first action.

  In addition, when an operation that combines the rotation in the clockwise direction and the rotation in the counterclockwise direction is performed, even if the rotation in either direction is performed first, Alternatively, regardless of whether one set or two sets of reciprocating rotations in two directions are performed, the types of basic operations to be combined are the same, so both are treated as the second operation.

  Moreover, in the said embodiment, although the some useable vehicle 1 (autonomous mobile body) was arrange | positioned as mentioned above in the available area, the arrangement | positioning form of the available vehicle 1 (autonomous mobile body) in an available area is as follows. Other forms may be possible. For example, the available vehicles 1 (autonomous mobile bodies) may be arranged so that a plurality of available vehicles 1 (autonomous mobile bodies) are distributed uniformly or almost uniformly in the available area. Further, for example, a plurality of available vehicles 1 (autonomous mobile bodies) may be arranged in a predetermined parking area in the available area until a request from a user who wants to use is received.

  Further, at least a part of the above-described various arithmetic processes executed by the control device 21 of the vehicle 1 (autonomous mobile body) may be executed by the overall management device 30. On the contrary, at least a part of the above-described various arithmetic processes executed by the overall management device 30 may be executed by the control device 21 of one or more vehicles 1 (autonomous mobile bodies). Furthermore, at least a part of the above-described various arithmetic processes respectively executed by the control device 21 and the overall management device 30 of the vehicle 1 (autonomous mobile body) controls one or more vehicles 1 (autonomous mobile bodies). It may be executed by a cooperative process in which the device 21 and the overall management device 30 cooperate.

  DESCRIPTION OF SYMBOLS 1 ... Inverted pendulum type vehicle (autonomous mobile body), 50 ... Electric cart (autonomous mobile body).

Claims (29)

A first step of moving the autonomous mobile body so as to bring the autonomous mobile body to be used closer to the user who wants to use based on the location information of the user who wishes to use the autonomous mobile body;
Based on the identification information of the user who wants to use, a second step of identifying the user who wants to use from the periphery of the autonomous mobile object to be used;
The first case where the user who wants to use can be identified and the second case where the candidate who can not be identified is a first combination operation which is different from each other in the autonomous mobile body to be used. An operation method for an autonomous mobile body, comprising: a third step for performing a case operation and a second case operation, respectively. In the operation method of the autonomous mobile body according to claim 1,
The operation for the first case includes at least one operation of tilting and turning of the autonomous mobile body in a state where the autonomous mobile body to be used is moved to the front side of the user who wants to use. The operation method of autonomous mobile. In the operation method of the autonomous mobile body according to claim 2,
The operation for the first case includes an operation of tilting the autonomous mobile body toward the user who wants to use in a state where the autonomous mobile body to be used is moved to the front side of the user who wants to use. A feature of autonomous mobile operation. In the operation method of the autonomous mobile body according to any one of claims 1 to 3,
The operation for the first case includes an operation of moving the autonomous mobile body to be used to a boarding position around the user who wants to use the autonomous mobile body. In the operation method of the autonomous mobile body according to claim 4,
The autonomous mobile body operating method, wherein the boarding position is any one of a front surface, a back surface, and a side surface of the user who desires to use the vehicle. In the operation method of the autonomous mobile body according to claim 4 or 5,
The autonomous mobile body operating method, wherein the boarding position is a position having a relatively large empty space in the periphery of the user who desires to use the vehicle, compared to other positions in the periphery. In the operation method of the autonomous mobile body according to any one of claims 4 to 6,
The boarding position in the case where there is another person lined up next to the user who wants to use is determined so that the user who wants to use exists with the other person around the user who wants to use. A method for operating an autonomous mobile body characterized by being located. In the operation method of the autonomous mobile body according to any one of claims 4 to 7,
In the first case, the operation of moving the autonomous mobile body to be used to a boarding position around the user who wants to use is based on whether the user's line of sight or the front of the face or the front of the body is the object to be used An operation method for an autonomous mobile body, characterized in that the operation is executed on the condition that the mobile station is directed to the autonomous mobile body. In the operation method of the autonomous mobile body according to any one of claims 1 to 8,
The operation for the first case is an operation for stopping the autonomous mobile body to be used around the user who wants to use the mobile phone in a state in which the orientation of the autonomous mobile body with respect to the user who wants to use is directed to a predetermined direction. An operation method of an autonomous mobile body characterized by including. In the operation method of the autonomous mobile body according to claim 9,
The method for operating an autonomous mobile body, wherein the predetermined direction is a predetermined direction for boarding the user who wants to use the vehicle. In the operation method of the autonomous mobile body according to any one of claims 1 to 10,
In the first case, the autonomous mobile object operating method further comprising a fourth step of notifying the use applicant of the arrival of the autonomous mobile object to be used. In the operation method of the autonomous mobile body according to any one of claims 1 to 11,
The operation for the second case is an operation method for an autonomous mobile body, wherein the operation for repeating the predetermined operation of the autonomous mobile body to be used is repeated. In the operation method of the autonomous mobile body according to claim 12,
The operation for the second case is an operation method of the autonomous mobile body, wherein the autonomous mobile body to be used is an operation of alternately turning in a clockwise direction and a counterclockwise direction. In the operation method of the autonomous mobile body according to any one of claims 1 to 13,
In the second case, the autonomous mobile body operating method further comprising a fifth step of notifying that the autonomous mobile body to be used is searching for the user who wants to use. In the operation method of the autonomous mobile body according to any one of claims 1 to 14,
Before execution of the operation for the first case, a sixth step for determining whether or not the user's line of sight is directed to the autonomous mobile body to be used, and a determination result of the sixth step If the user is negative, the autonomous mobile body is caused to execute an action to call the user's attention to the use-target autonomous mobile body, or a notification to call the user-requesting user's attention is issued. The method for operating an autonomous mobile body, further comprising 7 steps. In the operation method of the autonomous mobile body according to any one of claims 1 to 15,
After the use requester is specified in the second step, when it is determined that the specified use requester is not a correct use requester, an operation indicating that the use requester is specified incorrectly is performed. An operation method for an autonomous mobile body, further comprising an eighth step of causing the autonomous mobile body to be used to execute or notifying that the specification of the desired user is erroneous. In the operation method of the autonomous mobile body according to any one of claims 1 to 16,
In the first case, it is determined whether the accuracy of the identification result of the user who desires to use in the second step is high, and when the accuracy is low, the autonomous mobile body to be used is determined to be higher than the high case. The method further includes a ninth step of determining whether or not the specified use applicant is a correct use applicant while approaching the use applicant slowly, and the determination result of the ninth step is affirmative As an operation method for an autonomous mobile body, the operation for the first case of the autonomous mobile body to be used is executed. In the operation method of the autonomous mobile body according to any one of claims 1 to 17,
In the first case, the tenth step of determining whether or not the location where the user wishes to use is a place suitable for boarding the autonomous mobile object to be used, and the determination result of the tenth step Is negative, operate the autonomous mobile body of the usage target so as to guide the usage candidate to a position suitable for boarding the autonomous mobile body of the usage target, or And an eleventh step of notifying the user who wants to use the vehicle to be guided to a position suitable for boarding the autonomous mobile body to be used. In the operation method of the autonomous mobile body according to any one of claims 1 to 18,
In the first step, an autonomous pendulum of the autonomous mobile object is characterized in that the inverted pendulum type moving vehicle to be used is moved to the destination target point with the point in the central visual field area of the user who wants to use as the destination target point. Operation method. In the operation method of the autonomous mobile body according to claim 19,
In the first step, the destination target point is set so as to minimize the time required for the autonomous mobile body to move from the departure point to the destination target point. The operation method of autonomous mobile. In the operation method of the autonomous mobile body according to any one of claims 1 to 20,
It is presumed that a person other than the user who wants to use the mobile object specified in the second step is going to use the mobile object before the user starts using the target mobile object. The autonomous mobile body is operated so as to refuse the use of the autonomous mobile body by a person other than the user who desires use, or the use of the autonomous mobile body by a person other than the user who wishes to use is rejected. A method for operating an autonomous mobile body, further comprising a twelfth step of informing the effect. In the operation method of the autonomous mobile body according to claim 21,
The boarding part of the autonomous mobile body is configured to be able to selectively operate between a boarding permission state in which a person can be boarded normally and a boarding impossible state in which it is impossible to board normally.
In the twelfth step, the autonomous mobile body operating method is characterized in that the boarding part of the autonomous mobile body to be used is operated in the boarding disabled state. In the operation method of the autonomous mobile body according to any one of claims 1 to 21,
The boarding part of the autonomous mobile body is configured to be able to selectively operate between a boarding permission state in which a person can be boarded normally and a boarding impossible state in which it is impossible to board normally.
At least until the user who wants to use is specified in the second step, the boarding part of the autonomous mobile body to be used is kept in the boarding disabled state, and after the user who wants to use is specified, A method for operating an autonomous mobile body, wherein the boarding part of the autonomous mobile body is operated in a boarding permitted state. In the operation method of the autonomous mobile body according to any one of claims 1 to 23,
In the available area of the autonomous mobile body, further comprising an A step of arranging a plurality of available autonomous mobile bodies, the autonomous mobile body to be used that is brought closer to the user who wants to use in the first step, Of the plurality of available autonomous mobile bodies, the shortest to the autonomous mobile body closest to the user who wants to use, the autonomous mobile body existing within a predetermined distance from the user who wants to use, or the peripheral position of the user who wants to use it A method for operating an autonomous mobile body, characterized by being an autonomous mobile body that can be moved in time, or an autonomous mobile body that can be moved to a peripheral position of the user who wishes to use within a predetermined time or less. In the operation method of the autonomous mobile body according to claim 24,
In the step A, among the available areas, the autonomous mobile body is arranged such that more available autonomous mobile bodies exist in an area higher than an area where the observed value or predicted value of the density of people is low. A method for operating an autonomous mobile body, characterized in that the system is arranged. In the operation method of the autonomous mobile body according to claim 24,
In the step A, the degree of fatigue of each person existing in the available area or the degree of burden of movement of each person is estimated, and the degree of fatigue or the degree of burden is high in the available area. The autonomous mobile body operating method is characterized in that the autonomous mobile body is arranged so that more available autonomous mobile bodies exist in an area where the number of estimated persons is larger than an area where there are few . In the operation method of the autonomous mobile body according to any one of claims 1 to 26,
The use target is detected after it is detected that the use candidate has deviated from the area of the predetermined range around the use-target autonomous mobile body after the use-requester has left the use-target autonomous mobile body. A method for operating an autonomous mobile body, further comprising a B-step for starting movement of the autonomous mobile body. In the operation method of the autonomous mobile body according to any one of claims 1 to 26,
After detecting that the user wishing to use has performed a predetermined operation after leaving the autonomous mobile body to be used, the B-th of starting the movement of the autonomous mobile body to be used is detected. A method for operating an autonomous mobile body, further comprising a step. In the operation method of the autonomous mobile body according to any one of claims 1 to 26,
After detecting that the user wishing to use has moved from the autonomous mobile object to be used and then detecting that the user wishing to use has started to move, a step B is started to start the movement of the autonomous mobile object to be used. A method for operating an autonomous mobile body, further comprising: