JP2022061652A - In-facility system, electric mobilette, and device for detecting intrusion prevention area - Google Patents

Abstract

To provide an in-facility system adapted to prevent an electric mobilette from entering into an intrusion prevention area.SOLUTION: An in-facility system comprises a plurality of electric mobilettes M and a retroreflective member provided on a ceiling surface of a facility in order to define an intrusion prevention area within the facility. Each electric mobilette M comprises a mobilette body that has heels and a drive device to drive the wheels, a sensor for detecting an intrusion prevention area that is provided on the mobilette body and has a light-emitting unit to emit light upward and a light-emitting unit to receive reflection light based on light coming from the light-receiving unit, and a control device that controls the drive device. The control device performs intrusion determination processing to determine an intrusion state that the light from the light-emitting unit intrudes into an intrusion prevention area when the light-receiving unit receives reflection light reflected by the retroreflective member. The control device, if intrusion determination processing is done, performs at least one of warning using an output device provided on the electric mobilette and a change of a traveling state of the electric mobilette under control of the drive device.SELECTED DRAWING: Figure 1

Description

The present invention relates to an in-facility system, electric mobility and intrusion prevention area detection device.

As a system in such a facility, a plurality of electric mobility is used, the user moves one of the plurality of electric mobility by manual operation in the facility, and the user ends the use of the electric mobility. Then, it is known that the electric mobility moves to a standby place by automatic operation. See, for example, Patent Document 1.

In addition, a service using single-seater mobility capable of automatic driving is known. See, for example, Patent Documents 2-6.

JP-A-2019-144167 Japanese Patent Application Laid-Open No. 2003-024390 Japanese Unexamined Patent Publication No. 2018-160270 Japanese Unexamined Patent Publication No. 2018-169787 Japanese Unexamined Patent Publication No. 2016-027456 Japanese Unexamined Patent Publication No. 11-231935

The above-mentioned electric mobility can travel toward a destination by automatic driving in the facility. In order to perform the automatic operation, the electric mobility has the map data in the facility, and the electric mobility has a self-position estimation function. Self-position estimation may be performed using GPS. Further, a sensor such as an odometer, a stereo camera, or LiDAR may be used for self-position estimation.

Although a certain degree of accurate self-position can be estimated using these, it is quite difficult to guarantee that the estimated position is accurate with an accuracy of 1 m or less. In particular, in an area where many people exist around the electric mobility, the accuracy of self-position estimation tends to decrease. In order to improve the accuracy of the estimated position, it is possible to arrange antennas at intervals of several meters in the facility and output different signals from each antenna, but such a configuration is costly and impractical.

On the other hand, there are areas in the facility where the intrusion of electric mobility is not desirable. In order to ensure the safety of passengers of electric mobility, for example, it may be preferable that the entrance area of the down stairs is an intrusion prevention area. Although it is possible to prevent the intrusion of electric mobility into the intrusion prevention area by using self-position estimation and map data in the facility, it is not easy to improve the accuracy as described above. Therefore, a technique that can be easily applied to facilities and can surely prevent the intrusion of electric mobility into the intrusion prevention area is desired.

The first aspect of the present invention is electric mobility, which is a mobility main body having a wheel, a drive device for driving the wheel, a sensor provided in the mobility main body, and an upper portion provided in the mobility main body. An intrusion prevention area detection sensor having a light emitting unit that emits light toward the light emitting unit, a light receiving unit that receives reflected light based on the light from the light emitting unit, and a control device that controls the driving device. The control device determines that the light from the light emitting unit is intruded into the intrusion prevention area when the light receiving unit receives the reflected light reflected by the retroreflecting member. When the intrusion determination process is performed, the control device performs at least one of a warning using the output device provided in the electric mobility and a change in the traveling state of the electric mobility by controlling the drive device. conduct.

A second aspect of the present invention is a system in a facility comprising said electric mobility and a retroreflective member provided on the ceiling surface of the facility to define an intrusion prevention area in the facility. .. Preferably, the system comprises a management computer that receives the vehicle body information of the plurality of electric mobility and a display device that displays the received vehicle body information in association with the plurality of electric mobility. With respect to the plurality of electric mobility, the display device receives information indicating that the electric mobility is in the intruding state or that the traveling state of the electric mobility is changed due to the intruding state. Based on the information, it is displayed which of the plurality of electric mobility is in the intrusion state, or which of the plurality of electric mobility is changing the traveling state.

A third aspect of the present invention is an intrusion prevention area detection device attached to an electric mobility that moves in a facility by automatic operation, and is provided on the device main body attached to the upper surface of the electric mobility and the device main body. A light emitting unit that emits light upward, a light receiving unit that is provided in the device body and receives reflected light based on the light from the light emitting unit, and a light receiving unit that is provided in the device body and receives the light receiving unit. A signal output unit that outputs a signal corresponding to the amount of light received toward the electric mobility is provided, and the light emitting unit is vertically oriented while the device main body is attached to the upper surface of the electric mobility. The light is emitted in an inclined direction inclined by 2 °.

It is a perspective view of the electric mobility of the system which concerns on one Embodiment of this invention. It is a partially disassembled sectional view of the electric mobility of this embodiment. It is a bottom view of the state where the seat unit, the cover part, etc. of the electric mobility of this embodiment are removed. It is a schematic diagram of the system in the passenger terminal T of this embodiment. It is a perspective view of a part of the passenger terminal T of this embodiment. It is a block diagram of the control unit of the electric mobility of this embodiment. It is a block diagram of the management computer used in this embodiment. It is a table which shows an example of the management data of this embodiment. It is a perspective view of the electric mobility of the 1st modification of this embodiment. It is a figure for demonstrating operation of the intrusion prevention area detection sensor of the electric mobility of this embodiment. It is a figure for demonstrating operation of the intrusion prevention area detection sensor of the electric mobility of this embodiment. This is an example of map data used for the electric mobility of the present embodiment. It is a side view of the modification of the electric mobility of this embodiment.

A system in an airport (facility) according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 4, the system includes a plurality of electric mobility Ms arranged in a passenger terminal T of an airport, and a management computer 100 for managing the plurality of electric mobility Ms. The management computer 100 does not have to be located in the airport.

First, the electric mobility M of the present embodiment will be briefly described. In the system, it is also possible to use an electric mobility different from the electric mobility M of the present embodiment. For example, another electric mobility in which one person sits and rides, an electric mobility in which one person stands and rides, an electric mobility in which a plurality of people ride, an electric mobility in which luggage is placed, and the like can be used as the electric mobility M. Alternatively, it is also possible to use an automatic driving bed on which one person sleeps as an electric mobility M.

As shown in FIGS. 1 to 3, the electric mobility M includes a mobility main body 30 having a pair of front wheels (wheels) 10 and a pair of rear wheels (wheels) 20. Further, the mobility main body 30 has a seat unit S. Wheels may be provided in addition to the front wheels 10 and the rear wheels 20, and the number of the front wheels 10 and the rear wheels 20 may be other than the above. Further, one of the front wheel 10 and the rear wheel 20 may be omitted. The electric mobility M of the present embodiment is a kind of electric wheelchair in which one user sits on the seat unit S and rides on it.
The mobility main body 30 has a motor (driving device) MT for driving at least one of a pair of front wheels 10 and a pair of rear wheels 20.

In the description of the present embodiment, the vehicle front-rear direction of the electric mobility M and the mobility main body 30 shown in FIG. 3 may be referred to as a front-rear direction in the following description, and the vehicle of the electric mobility M and the mobility main body 30 shown in FIG. The width direction may be referred to as a width direction or a left-right direction in the following description.

In this embodiment, as shown in FIG. 3, each pair of rear wheels 20 is connected to a motor MT, and each motor MT drives a corresponding rear wheel 20. The driving force of each motor MT may be transmitted to the corresponding front wheel 10 by a power transmission member. The power transmission member is a belt, a gear, or the like.

As shown in FIG. 3, each front wheel 10 includes a hub 14 attached to an axle 11 and a plurality of roller support shafts (not shown) supported by the hub 14, and each of the plurality of rollers 13 is a roller support. It is rotatably supported by the shaft. The hub 14 may be attached to the axle 11 by using a bearing or the like, or the hub 14 may be attached to the axle 11 by using a cushioning member, an intermediate member or the like.

Each roller 13 rotates around the axis of the corresponding roller support shaft. That is, the outer peripheral surface of each front wheel 10 is formed by a plurality of rollers 13, and each front wheel 10 is an omnidirectional wheel that moves in all directions with respect to the traveling surface. In FIG. 3, the groove of each roller 13 is not shown.
In the present embodiment, each rear wheel 20 is provided on an axle (not shown), a hub 21 attached to the axle, and an outer peripheral side of the hub 21, and the outer peripheral surface is formed by using a material having rubber-like elasticity. Although it has a member 22, omnidirectional wheels may be used as in the front wheel 10. In this case, the front wheel 10 is not an omnidirectional wheel but a normal wheel. The axle of the rear wheel 20 may be the same as the spindle of the motor MT.

The structure of the mobility main body 30 can be changed as appropriate. The mobility body 30 of the present embodiment has a base portion 32 extending along the ground and a seat support portion 33 extending upward from the rear end side or the central portion of the base portion 32. A seat unit S is attached to the upper end side of the seat support portion 33.
As shown in FIG. 2, the base portion 32 of the present embodiment has a plastic cover portion 32b that at least partially covers the metal base frame 32a.

In the present embodiment, the seat unit S has a backrest portion 40 and a seat surface portion 50. The backrest portion 40 extends upward from the rear end of the seat surface portion 50. The cushion 51 of the seat surface portion 50 is removable, and when the cushion 51 is removed, the upper surface of the seat support portion 33 and / or the lower structure 52 of the seat surface portion 50 is exposed.
A battery accommodating portion 34 extending in the vertical direction is formed in the seat support portion 33, and the battery BA is accommodated in the battery accommodating portion 34.

As shown in FIG. 2, a seating sensor 53 is provided at the upper end of the seat support portion 33 as a part of the lower structure 52 of the seat surface portion 50. The seating sensor 53 of the present embodiment has a flexible member 54 supported by the upper end portion of the seat support portion 33, and a detection device 55 arranged below the flexible member 54. The detection device 55 is a switch, a pressure sensor, or the like. In this embodiment, the detection device 55 is a switch. The detection device 55 may be a deflection sensor attached to the flexible member 54. As described above, the detection device 55 may be any device that can detect the bending of the flexible member 54. The seating sensor 53 may be a detection device 55 provided below, on the lower surface, in the middle, etc. of the cushion 51. In this case, it is not necessary to provide the flexible member 54. Further, as the seating sensor 53, a known sensor of another aspect for detecting that the user has got on the cushion 51 may be used. For example, a camera that captures an image of the seat unit S can be used as the seating sensor 53.

In the present embodiment, when the user rides on the cushion 51, a part of the flexible member 54, for example, the center side is elastically deformed downward to push the detection device 55, and the detection device 55 is pushed to determine the predetermined value. The signal (current) or the like is transmitted from the detection device 55 to the control device 80 described later. That is, the control device 80 recognizes that the user is on the seat surface portion 50.

The seat unit S has a right control arm 43 and a left control arm 43.
An armrest 43a is fixed to the upper surface of each control arm 43. In the present embodiment, both the control arm 43 and the armrest 43a are provided, but only the control arm 43 or the armrest 43a may be provided. In this case, the user can place at least one of the arm and hand on the control arm 43, or at least one of the arm and hand on the armrest 43a.

A controller (operation unit) 44 having a joystick 44a is provided at the upper end of the right control arm 43. When no force is applied, the joystick 44a is placed in a neutral position by an urging member (not shown) placed in the controller 44.

The controller 44 may be separated from the mobility main body 30. In this case, the controller 44 may be, for example, a user's tablet computer, a controller similar to a game controller, or the like. In the case of a tablet computer, the joystick 44a is not provided, and the user inputs the traveling direction, traveling speed, etc. of the electric mobility M by using the touch screen function of the screen of the tablet computer. When the controller 44 is separated from the mobility main body 30, it is also possible for another person, not the user, to operate the running of the electric mobility M on which the user is riding.

The controller 44 inputs a forward operation for moving the electric mobility M forward and a reverse operation for moving the electric mobility M backward. For example, a signal corresponding to the displacement direction and the displacement amount of the joystick 44a is transmitted from the controller 44 to the control unit 60 described later, and the control unit 60 controls each motor MT according to the received signal.

At the upper end of the control arm 43 on the left side, a setting unit 45 for making various settings related to the electric mobility M is provided. Examples of various settings include maximum speed setting, operation mode setting, and electric mobility lock setting. The setting unit 45 is provided with a plurality of operation buttons, a display unit, and the like.
As shown in FIG. 1, the electric mobility M includes a mobility display device 200 projecting upward from the upper end surface of the left control arm 43. The mobility display device 200 is supported by the left control arm 43 by a support member 210 extending upward from the upper end surface of the left control arm 43.

Information is transmitted to the mobility display device 200 from the control device 80 described later by wire or wirelessly, and the mobility display device 200 displays the received information. The information includes, for example, information on the traveling speed of the electric mobility M, information on the state of the battery BA, information on the position of an obstacle detected by a sensor such as a stereo camera (sensor) 90, and the obstacle being an obstacle to traveling. Includes information on the result of judgment as to whether or not it is possible, map information, information on the driving route, and the like. Further, the mobility display device 200 is provided with input means such as a touch screen function, and the information input to the mobility display device 200 is transmitted to the control device 80.

The mobility display device 200 may include a control device having a processor, a storage device, and the like, and the control device may take part or all of the functions of the control device 80. Further, the mobility display device 200 may be detachably attached to the support member 210.

As shown in FIG. 6, the control unit 60 includes a motor driver 70 for driving each motor MT and a control device 80.
The motor driver 70 is connected to the battery BA. Further, the motor driver 70 is also connected to each motor MT, and the motor driver 70 supplies drive power to each motor MT.

As shown in FIG. 6, the control device 80 includes a processor 81 such as a CPU, a storage device 82 having a non-volatile memory, ROM, RAM, and the like, and a transmission / reception unit 83 that transmits / receives information by wireless communication and wired communication. Has. The storage device 82 stores a travel control program 82a for controlling the electric mobility M. The processor 81 operates based on the travel control program 82a, and transmits a drive signal for driving each motor MT to the motor driver 70 based on the signals from the controller 44 and the setting unit 45.

As shown in FIG. 1, a stereo camera (sensor) 90, which is a three-dimensional camera, is attached to the upper end side of the right control arm 43 and the upper end side of the left control arm 43, respectively. Each stereo camera 90 includes a pair of lens units 91 and a camera body that supports the pair of lens units 91.

A pair of image pickup elements 93 (FIG. 6) are provided inside each stereo camera 90, and the pair of image pickup elements 93 correspond to a pair of lens units 91, respectively. Each image sensor 93 is a well-known sensor such as a CMOS sensor or a CCD sensor. Each image sensor 93 is connected to the control device 80. As an example, the detection range of each stereo camera 90 is the front of the electric mobility and the outside of the front wheel 10 in the width direction.

As shown in FIG. 1, the mobility main body 30 has a luggage loading portion 42 which is a luggage rack, and the luggage loading portion 42 is provided at the rear end of the mobility main body 30 or on the back side of the seat unit S. In this embodiment, the luggage carrier 42 is supported by the rear end of the mobility body 30 and the back of the seat unit S, as shown in FIGS. 1 and 2. The luggage storage portion 42 has a pair of frames 46 extending in the vertical direction along the backrest portion 40.

As shown in FIG. 2, a sensor LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) is located below the seat support portion 33 or the rear end portion of the seat unit S or the luggage loading portion 42 in the mobility main body 30. ) 95 is attached. In the present embodiment, the LiDAR95 scans the laser beam over a predetermined detection range behind the vehicle of the electric mobility M, and the LiDAR95 detects the laser beam that hits an object and bounces off. Using the detection result (detection data), the control device 80 (FIG. 6) detects obstacles in the predetermined detection range outside and behind the electric mobility in the width direction. Obstacles are, for example, humans, animals and plants. Obstacles are, for example, walls, relatively large objects, steps and the like. In another example, the LiDAR 95 may detect obstacles such as steps, holes, grooves, etc. where the rear wheel 20 may fall or fit.

In addition, another stereo camera for detecting obstacles behind and beside the electric mobility M may be provided, and other sensors such as a known radar and a millimeter wave sensor capable of detecting obstacles may be provided. May be good. Further, in order to detect obstacles on the outer side and the front side of the front wheel 10 of the electric mobility in the width direction, other sensors such as a LiDAR, a radar, and a millimeter wave sensor may be provided instead of the stereo camera 90.

The control device 80 operates based on the avoidance control program 82b and the automatic operation program 82c stored in the storage device 82. The control device 80 processes the parallax image of the stereo camera 90 to create a distance image (detection data). Then, the control device 80 detects the obstacle in the distance image.

The control device 80 may convert the data (detection data) obtained by the stereo camera 90 and the LiDAR 95 into a two-dimensional plan view image to recognize obstacles, and may use the data as data in a three-dimensional space. You may handle it and recognize obstacles. The control device 80 may recognize an obstacle detected within the detection range by another method.

The control device 80 performs known self-position estimation using the detection results of the GPS receiver, odometer, stereo camera 90, LiDAR95, etc. provided in the electric mobility M based on the automatic operation program 82c stored in the storage device 82. conduct. Further, the control device 80 uses the detected obstacle, the map data stored in the storage device 82, and the result of self-position estimation based on the automatic operation program 82c, for example, from the departure point to the destination. Route setting and automatic driving can be performed.

In one example, the user specifies a destination using the input device 201 (FIG. 6) provided in the mobility display device 200, and the control device 80 sets a route from the departure point where the current self-position is located to the destination. And perform automatic operation. The input device 201 may be, for example, a touch screen function of the mobility display device 200, or a button provided on the mobility display device 200. Instead of the input device 201, an input device such as a button provided on the controller 44, the setting unit 45, or the like may be used.

The control device 80 controls each motor MT by a control command for avoidance operation when the obstacle is detected in a predetermined range in the detection range, for example, based on the avoidance control program 82b stored in the storage device 82. , And / or activate the notification device. Examples of avoidance operations include a decrease or stop of the rotation speed of each motor MT to avoid the avoidance target (automatic stop function), control of each motor MT to limit the movement of the electric mobility M to the avoidance target side, and the like. be. The avoidance target is a target that is likely to be an obstacle to the running of the electric mobility M.

As shown in FIG. 4, as an example, the passenger terminal T is provided with a management station (rental station) 2 which is a management place near the exit of the security screening area 1, and the management station 2 has a plurality of electric mobility Ms. Is placed. Further, the management station 2 has a reception 3, and a computer 4 is installed in the reception 3. The computer 4 is a known computer such as a laptop computer and a tablet computer. The computer 4 is connected to the management computer 100 via a communication network, a communication line, or the like.

As shown in FIG. 7, the management computer 100 transmits / receives information to / from a processor 101 having a CPU, a storage device 102 having a non-volatile memory, a ROM, and the like, and a display device 103 by wireless communication and wired communication. It has a unit 104. The storage device 102 stores management data 102a for managing a plurality of electric mobility Ms. The management data 102a is data for displaying the management table on the display device 5 of the computer 4 or the display device 103 of the management computer 100.

The management data 102a is data for displaying the management table shown in FIG. 8 on the display devices 5 and 103, for example. The management table shown in FIG. 8 is an embodiment including a time table. Identification information (identifier) of a plurality of electric mobility Ms is described in each of a plurality of rows of the management table, and each row includes vehicle body information regarding the corresponding electric mobility M, a schedule of use by the user (usage information), and the user. The usage status (usage information), flight information written on the user's boarding pass, etc. are displayed. It can be said that the flight information includes information on the destination of the user, time information on the desired arrival time at the destination, and the like.

In FIG. 8, the electric mobility M of No. 1 is used by the user A from 8:00. This is displayed in the management table of FIG. 8 as an example of the usage status. In FIG. 9, the electric mobility M of No. 3 has been used by the user C and is in the process of returning to the management station 2 by automatic operation. In this case, as an example of the usage status, it is displayed in the management table of FIG. 8 that the electric mobility M of No. 3 has been used.

Further, as shown in FIG. 8, the charging state of the battery BA, the running state of the electric mobility M, the detection state of the seating sensor 53 mounted on the electric mobility M, and the like are displayed as vehicle body information in an area other than the timetable in the management table. Will be done. As the running state, it is displayed that the vehicle is being driven by manual driving, that the vehicle is stopped by manual driving, that the vehicle is being driven by automatic driving, that the vehicle is stopped by automatic driving, and the like. As another example, it is displayed that the driving state is manual driving or automatic driving. Although not shown in FIG. 8, the management table may display information on the destination of the user, time information on the desired arrival time at the destination, and the like as flight information. An example of a destination is a gate number, and a desired arrival time is a boarding start time or the like.

As shown in FIGS. 1 and 2, an intrusion prevention area detection sensor 500 is provided at the upper end of the control arm 43 of the mobility main body 30. The intrusion prevention area detection sensor 500 has a light emitting unit 510 that emits light L upward, and a light receiving unit 520 that receives reflected light based on the light L from the light emitting unit 510. In the present embodiment, as shown in FIG. 1, the light emitting unit 510 and the light receiving unit 520 are arranged in the vehicle width direction. The light L is visible light, ultraviolet light, infrared light and the like. It is also possible to use the light emitting unit 510 as an LED having strong directivity.

In order to improve the detection accuracy of the retroreflective member 530, it is preferable that the emission angle (Emitting Angle) of the light L is within ± 5 ° with respect to the optical axis, and more preferably within ± 2 °. .. The light L is preferably laser light. In this embodiment, the light emitting unit 510 is a laser diode or the like. Further, it is conceivable that the light L is a single wavelength laser which is advantageous for noise reduction at the time of detecting a reflected wave. In this embodiment, a VCSEL Laser (vertical cavity surface emitting laser) having low power consumption is used for the light emitting unit 510 in consideration of mounting on an electric mobility driven by an internal battery. This configuration is extremely advantageous in the electric mobility M used in a facility where the amount of charge, the charging time, and the like are problems.

As shown in FIG. 10, the light emitting unit 510 emits light L in the upward direction within 15 ° with respect to the vertical direction V. If it exceeds 15 °, for example, the reflected light from the reflecting surface having an inclination of 20 ° in ceiling lighting may become noise. If it exceeds 15 °, the retroreflective member 530 is often detected by the electric mobility M in a state where the electric mobility M is considerably far from the intrusion prevention area PA, while the electric mobility M advances while changing direction. If so, it may occur that the retroreflective member 530 arranged directly above cannot be detected. Further, if the temperature is 15 ° or more, the accuracy of detecting the reflected light from the retroreflective member, which will be described later, may be significantly reduced. In the present embodiment, the light emitting unit 510 emits light L in an inclined direction inclined by 2 ° or more in front of the mobility main body 30 with respect to the vertical direction V. In the present embodiment, the light emitting unit 510 emits light L in an inclined direction inclined by 3 ° in front of the mobility main body 30 with respect to the vertical direction V. That is, the optical axis of the light emitting unit 510 is tilted 3 ° in front of the mobility main body 30 with respect to the vertical direction V. Preferably, the optical axis of the light receiving unit 520 is also tilted in the same manner as the optical axis of the light emitting unit 510. This makes it possible to detect the intrusion prevention area PA early when the electric mobility M advances in the target direction by manual operation or automatic operation.

As shown in FIGS. 4 and 5, a retroreflective member 530 is provided on the ceiling surface of the passenger terminal T, which is a facility. As an example of the retroreflective member 530, a retroreflective tape can be used. The retroreflective tape is attached to the ceiling surface of the passenger terminal T. A film-shaped or seal-shaped retroreflective member 530, particularly a flexible tape-shaped retroreflective member 530, can be easily installed on the ceiling of the facility.

For example, the retroreflective member 530 satisfies the standard value of JIS Z 9117: 2011. When a sample according to JIS Z 9117 8.1 is made using the retroreflection member 530 and the retroreflection coefficient R'(cd / lux / m ² ), which is the standard value, is measured according to JIS Z 9117 8.1, JIS Meets the standard values of Z 9117: 2011. Even if the retroreflective coefficient R'of the retroreflective member 530 deviates from the standard value of JIS Z 9117: 2011, the following effects may be obtained.

As shown in FIGS. 4 and 5, a retroreflective member 530 is provided on the ceiling surface of the entrance area of the downstairs ST in order to define the intrusion prevention area PA in the entrance area of the downstairs ST of the passenger terminal T. .. In the present embodiment, the area directly below the retroreflective member 530 and between the stairs is the intrusion prevention area PA. Intrusion prevention area PA is shown by diagonal lines in FIG. In the present embodiment, the entrance area of the down stairs ST also includes the entrance area of the down escalator. Similarly, intrusion prevention areas may be provided in the entrance area of the ascending stairs, the entrance area of the ascending escalator, and the exit area of the ascending and descending escalator.

In this case, the retroreflective tape, which is the retroreflective member 530, is continuously and continuously attached along the edge of the intrusion prevention area PA. Further, the retroreflective tape is long in the direction along the edge of the intrusion prevention area PA, and has a width dimension of 8 cm or more, more preferably 10 cm or more, which is a dimension in a direction orthogonal to the longitudinal direction thereof. In the present embodiment, the intrusion prevention area PA coincides with the entrance area of the down stairs ST. It is possible to use a plurality of retroreflective tapes having a width of several cm to form a retroreflective member 530 having a width of 8 cm or more.

As shown in FIG. 4, in order to define an intrusion prevention area PA having a width of several cm to several tens of cm along the window glass W of the passenger terminal T, the distance from the window glass W on the ceiling surface is several cm to several tens of cm. A retroreflective member 530, which is a retroreflective tape, is provided at a position. The retroreflective member 530 exists along the window glass W, and in one example, the intrusion prevention area PA is an area directly under the retroreflective member 530 and between the window glass W.

As shown in FIG. 4, a retroreflective member 530 extending in a direction orthogonal to the longitudinal direction of the moving walkway MW is provided to define the intrusion prevention area PA in the entrance area and the exit area of the moving walkway MW of the passenger terminal T. It is installed on the ceiling surface.
As shown in FIG. 4, in order to define an intrusion prevention area PA having a width of several cm to several tens of cm along the automatic door AD of the passenger terminal T, the distance from the automatic door AD on the ceiling surface is several cm to several tens of cm. A retroreflective member 530, which is a retroreflective tape, is provided at a position.

As the retroreflective member 530, a known retroreflective tape such as a bead type retroreflective tape or a prism type retroreflective tape can be used. Further, as the retroreflective member 530, a known retroreflective plate made of plastic or another known retroreflective material can be used.

As shown in FIG. 6, the intrusion determination program 82d is stored in the storage device 82 of the control device 80. Based on the intrusion determination program 82d, the control device 80 determines whether or not the light L from the light emitting unit 510 has received the reflected light reflected by the retroreflective member 530 by the light receiving unit 520. Further, when the control device 80 determines that the light receiving unit 520 has received the reflected light based on the intrusion determination program 82d, the control device 80 performs an intrusion determination process for determining that the electric mobility M has invaded the intrusion prevention area PA. conduct.

The light receiving unit 520 has a function of detecting the amount of the reflected light. For example, the light receiving unit 520 has a sensor capable of detecting the amount of incident light such as a photodiode, and the control device 80 detects the amount of reflected light received by the light receiving unit 520 based on the intrusion determination program 82d. The amount of light is the illuminance or the like. The control device 80 determines whether or not the light receiving unit 520 has received a light amount equal to or higher than the reference value. The determination is made based on whether or not the output current, output voltage, or the like of a sensor such as a photodiode of the light receiving unit 520 is equal to or higher than the reference current value. A communication line for transmitting the output current, output voltage, etc. of the light receiving unit 520 is connected to the control device 80. The reference value is, for example, the light L from the light emitting unit 510 of the electric mobility M arranged under each retroreflective member 530 with respect to the plurality of retroreflective members 530 provided on the ceiling surface in the passenger terminal T. The light is received by the light receiving unit 520, and is set based on the output values such as the output current and output voltage of the photodiode of the light receiving unit 520 at that time.

In one example, the light emitting unit 510 emits light L in a predetermined wavelength band in the form of a pulse wave, and the photodiode of the light receiving unit 520 receives the reflected light. As shown in FIG. 10, since the optical axis of the light L of the light emitting unit 510 is tilted 3 ° in front of the mobility main body 30 with respect to the vertical direction V, when the light L hits the retroreflective member 530 on the ceiling surface, , The amount of light in the predetermined wavelength band incident on the predetermined range of the light receiving unit 520 increases. FIG. 11 describes a case where a metal plate having a mirror surface is temporarily attached to the ceiling surface, and light L is emitted toward the mirror surface. In this case, since the optical axis of the light L is tilted 3 ° in front of the mobility main body 30 with respect to the vertical direction V, the reflected light is directed to the front of the vehicle by specular reflection, and the light receiving portion 520 is irradiated with strong reflected light. Not done. Since the reflective surface of the illumination on the ceiling surface is not a retroreflective member, it is the same as the metal plate. This configuration is useful for accurately detecting the retroreflective member 530 on the ceiling surface. The same applies when the optical axis of the light L is tilted by 2 ° or more in front of the mobility main body 30 with respect to the vertical direction V. The inclination of the light L with respect to the vertical direction V is preferably 15 ° or less.

Further, since the electric mobility M mainly moves forward especially during automatic operation, if the light L from the light emitting unit 510 is tilted forward of the mobility main body 30 with respect to the vertical direction V, the electric mobility M enters the intrusion prevention area PA. There is a tendency for the retroreflection member 530 to be reliably detected before.

In the present embodiment, the intrusion prevention area detection sensor 500 is a distance sensor such as a TOF (TIME OF FIGHT) sensor. It is also possible to use a known distance sensor other than the TOF sensor. Based on the intrusion determination program 82d, the control device 80 detects the distance to the retroreflective member 530 when the light receiving unit 520 receives a light amount equal to or higher than the reference value, and the detection distance is, for example, 1.5 m (second distance). Judge whether or not it is the above. When the distance is equal to or greater than the second distance, the control device 80 determines that the electric mobility M has invaded the intrusion prevention area PA.

Preferably, the control device 80 determines that the light receiving unit 520 has received the light amount equal to or more than the reference value when the light amount detected by the light receiving unit 520 exceeds the reference value and is equal to or more than the reference value. This configuration is useful for accurately distinguishing that the light receiving unit 520 has received the reflected light from the retroreflective member 530. The predetermined time is, for example, 50 milliseconds. If the sampling period of the control device 80 or the like is 10 milliseconds or less, the amount of light detected by the light receiving unit 520 is continuously received 5 times or more. It may be determined whether or not the average value of the five or more detection results is equal to or more than the reference value.

Here, as described above, the width dimension of the retroreflective member 530 is preferably 10 cm or more. Therefore, when the electric mobility M passes under the retroreflective member 530 at a speed of 5 km / h, it takes 70 milliseconds or more. As described above, setting the width dimension of the retroreflective member 530 is useful for surely preventing the electric mobility M from entering the intrusion prevention area PA. The electric mobility M may move at a speed of 4 km / h by automatic driving or manual driving. In this case, if the width dimension of the retroreflective member 530 is 8 cm or more, the intrusion of the electric mobility M into the intrusion prevention area PA can be reliably prevented.

When it is determined that the electric mobility M in the automatic operation state or the manual operation state is in the intrusion prevention area PA, the control device 80 uses the motor MT based on the intrusion prevention program 82e stored in the storage device 82. The electric mobility M is stopped by controlling the operation, or is stopped after the deceleration state is set. The deceleration state is a state in which the maximum speed of the electric mobility M is set to a low speed of, for example, 1 km / h or less. The stop of the electric mobility M and the stop after deceleration are changes in the traveling state of the electric mobility M. As a change of the traveling state, the control device 80 may reverse the electric mobility M at a low speed. Other traveling state changes may be made to prevent the intrusion of the electric mobility M into the intrusion prevention area PA. For example, it is conceivable to change from the automatic operation state to the manual operation state, or to change from the manual operation state to the automatic operation state.

Further, when it is determined that the electric mobility M in the automatic operation state has invaded the intrusion prevention area PA, it is conceivable to perform the above-mentioned route setting again without switching the operation state to manual operation. In this case, for example, the self-position estimation described above may be performed again with reference to the detection information of the intrusion prevention area PA, or the route setting to the destination may be performed again using the detection information of the intrusion prevention area PA as obstacle information. Can be considered.

In one example, when the control device 80 determines that the electric mobility M in the automatic operation state or the manual operation state is in the intrusion prevention area PA, the control device 80 determines that the intrusion prevention area PA is in the intrusion prevention state, and the control device 80 is based on the intrusion prevention program 82e. Is moved backward by a predetermined distance and then stopped. In one example, the predetermined distance is an appropriate distance of 5 m or less, and the predetermined distance is, for example, 50 cm or more.

For example, it is displayed in the management table of FIG. 8 that it is in the intrusion state as described above, that it has stopped backward as described above, or that it has stopped after being determined to be in the intrusion state as described above. Will be done. Based on the information, the person who provides the service and the management computer 100 determine whether or not the assistance of the user is necessary.

In a preferred embodiment, the map data has information on each intrusion prevention area PA, as shown in FIG. Further, in the map data, as shown in FIG. 12, the geo-fence GF is set at a position separated by a separation distance from a part or all of the intrusion prevention area PA determined by the retroreflective member 530 on the ceiling surface. In FIG. 12, the geo-fence GF is set in the intrusion prevention area PA excluding the intrusion prevention area PA of the window glass W and the automatic door AD.

The separation distance is, for example, 1.5 m or more, preferably 3 m or more. For example, regarding the geo-fence GF set in the entrance and exit areas of the stairs ST, the entrance and exit areas of the moving walkway MW, the entrance and exit areas of the escalator, and the steps where there is a concern that the electric mobility M may fall or derail. The separation distance is preferably 2.5 m or more, preferably 5 m or more. Theoretically, the retroreflective member 530 provided on the ceiling surface having a height of 6 m or less is not determined to be in the intrusion state at a position 1.5 m away from the intrusion prevention area PA.

For example, at the time of automatic operation, the control device 80 sets a route and controls each motor MT so that the distance between the estimated self-position of the electric mobility M and the intrusion prevention area PA is not smaller than the separation distance. Further, during manual operation, the control device 80 controls each motor MT so that the distance between the self-position on the estimated map data of the electric mobility M and the intrusion prevention area PA is not smaller than the separation distance. conduct. For example, when the estimated self-position of the electric mobility M is within the separation distance on the map data during manual operation, the running state of the electric mobility M is changed, for example, deceleration, and the vehicle is approaching the intrusion prevention area PA. Inform the passengers of the matter. That is, the electric mobility M cannot exceed the geo-fence GF on the map data.

Instead of setting in the map data to prevent the electric mobility M from approaching the intrusion prevention area PA, the above-mentioned setting for preventing the electric mobility M from approaching the intrusion prevention area PA is the avoidance control program 82b or the automatic driving program of the electric mobility M. It may be set to 82c. For example, the control device 80 stops or decelerates when the self-position of the electric mobility M is arranged on the map data at a position closer than the separation distance to the intrusion prevention area PA based on the avoidance control program 82b. conduct.

Therefore, the electric mobility M basically does not invade the intrusion prevention area PA. However, it is difficult to guarantee that the self-position estimation of the electric mobility is complete, and even if there is the separation distance, the electric mobility M approaches the intrusion prevention area PA, and it is determined that the electric mobility is in the intrusion state as described above. In some cases. In this configuration, when it is displayed in the management table of FIG. 8 that the electric mobility M has entered the intrusion state, it can be determined that the person who provides the service or the management computer 100 needs the assistance of the user.

Further, the control device 80 causes the mobility display device (output device) 200 to display a warning based on the intrusion prevention program 82e. The warning is a warning to notify the user (passenger) that the electric mobility M has invaded the intrusion prevention area PA, and the user (passenger) that the electric mobility M needs to be evacuated from the intrusion prevention area PA. It is a warning etc. to inform.
Further, the control device 80 outputs the warning by voice from the speaker of the mobility display device (output device) 200 and the voice generator (output device) 300 (FIG. 6) provided in the mobility main body 30. Either the warning may be displayed or the warning may be output by voice. The warning may be a beep, a repeating short voice, or the like.

Further, a warning may be given by using the light emitting unit (output device) 400 provided in the mobility main body 30. The warning is a predetermined light emission or the like. In the present embodiment, as shown in FIG. 1, the light emitting unit 400 is provided around the stereo camera 90 at the front end of the control arm 43. More specifically, the light emitting unit 400 is provided on the front end and the upper end side of the control arm 43. When only the armrest 43a is provided without the control arm 43, the light emitting unit 400 is provided at the front end of the armrest 43a.

The control device 80 causes the light emitting unit 400 to emit light in the first aspect such as blue, green, and white when the electric mobility M is performing normal traveling in which the avoidance operation is not performed, and the electric mobility M performs the avoidance operation. When it is done, it emits light in the second mode such as yellow, red, and blinking. At the time of the notification, the control device 80 causes the light emitting unit 400 to emit light in a third mode different from that during the normal traveling and the avoidance operation. For example, the control device 80 causes the light emitting unit 400 to emit light in purple. The control device 80 may cause the light emitting unit 400 to emit light in other light emitting modes different from those in the normal traveling time and the avoidance operation. For example, the control device 80 may blink the light emitting unit 400 in the warning pattern.

Further, either one of the change in the traveling state of the electric mobility M and the above warning may be performed. When the user (passenger) becomes dangerous due to the intrusion of the electric mobility M into the intrusion prevention area PA, the traveling state of the electric mobility M is preferably changed.
While it is determined that the control device 80 is in the intrusion state, the control device 80 continues either one of the change of the traveling state of the electric mobility M and the warning.

On the other hand, the control device 80 determines whether or not the distance detected by the intrusion prevention area detection sensor 500, which is a distance sensor, is, for example, 0.5 m (first distance) or less based on the intrusion determination program 82d. When the detection distance is 0.5 m or less, a part of the occupant's body, a part of the occupant's clothes, a part of the occupant's belongings, etc. are placed above the intrusion prevention area detection sensor 500 as obstacles. It is often done.

When it is determined that the distance is equal to or less than the first distance, the control device 80 changes the traveling state of the electric mobility M by controlling the motor MT based on the intrusion prevention program 82e. For example, the control device 80 stops the electric mobility M or stops after deceleration. It is preferable to stop the electric mobility M or stop after deceleration in order to ensure the safety of the occupant.
The control device 80 decelerates the electric mobility M instead of changing the traveling state. The deceleration is to reduce the maximum speed of the electric mobility M to a low speed of, for example, 1 km / h or less. Passenger stress is less when the deceleration is performed. Preferably, when the control device 80 detects a distance equal to or less than the first distance, the control device 80 slows down and maintains the traveling of the electric mobility based on the operation with respect to the controller (operation unit) 44. This configuration is useful for reducing stress on passengers and those around them.

Further, the control device 80 causes the mobility display device (output device) 200 to display an improvement request based on the intrusion prevention program 82e. The improvement request is to notify the user (passenger) that an obstacle such as a occupant's hand exists above the intrusion prevention area detection sensor 500, and to move the obstacle above the intrusion prevention area detection sensor 500. The required display, etc.
Further, the control device 80 outputs the improvement request by voice from the speaker of the mobility display device (output device) 200. Specific beeps, repeated short voices, etc. also function as voices for improvement requests.
Further, either one of the change of the traveling state of the electric mobility M and the voice output may be performed.

In the present embodiment, when it is determined that the light L from the light emitting unit 510 has received the reflected light reflected by the retroreflective member 530 on the ceiling surface by the light receiving unit 520, the control device 80 is invaded by the electric mobility M. The intrusion determination process for determining that the intrusion state has entered the prevention area PA is performed. Further, when the intrusion determination process is performed, the control device 80 performs the warning and the change of the traveling state of the electric mobility M by using the output device provided in the electric mobility M.
Since the electric mobility M has a self-position estimation function and also has the map data, a geo-fence GF or the like is set in the map data to prevent the electric mobility M from entering the intrusion prevention area PA. It is also possible to prevent it.

However, it is difficult to make the self-position estimation of the electric mobility M always function accurately due to the crowd. For example, in a space where many people exist, such as the passenger terminal T, the information for self-position estimation obtained by the sensors 90 and 95 provided in the electric mobility M, which is lower than many people, is that the person is an obstacle. It becomes less. Therefore, it is difficult to accurately function the self-position estimation of the electric mobility M in the facility. In addition, the self-position estimation of the electric mobility M may not be accurate depending on other situations and conditions.

During manual operation, the occupant may be distracted, the occupant's field of view may be narrow, or the like, and the electric mobility M may proceed toward the intrusion prevention area PA.
In the present embodiment, the retroreflective member 530 is provided on the ceiling surface, and its presence is detected by the light emitting unit 510 and the light receiving unit 520 provided in the electric mobility M, so that the electric mobility M is crowded. Intrusion prevention area The intrusion into the PA can be reliably prevented.

Further, in the present embodiment, in order to define the intrusion prevention area PA along the window glass W, the window glass W is placed at a position on the ceiling surface at a predetermined distance such as several cm to several tens of cm from the window glass W. A retroreflective member 530 is provided along the line. The window glass W in a facility such as the passenger terminal T often exists from the vicinity of the floor surface, and often exists even in the vicinity of the ceiling. The window glass W is transparent, and it may be difficult for the sensors 90 and 95 of the electric mobility M to detect the window glass W as an obstacle. In particular, the window glass W may not be detected at all by the sensors 90 and 95 depending on the angle of lighting and sunlight. Although the window glass W has been described in the above embodiment, the retroreflective member 530 can be provided in the transparent partition used in a store or the like as in the case of the window glass W.
In the present embodiment, it is possible to prevent the electric mobility M from unintentionally colliding with the window glass W or the transparent partition without requiring a drastic change of the facility.

Further, in the present embodiment, in order to define the intrusion prevention area PA along the automatic door AD, the automatic door AD is set at a position on the ceiling surface at a predetermined distance such as several cm to several tens of cm from the automatic door AD. A retroreflective member 530 is provided along the line. The automatic door AD in a facility such as a passenger terminal T may be made of a transparent material such as glass, exists from the vicinity of the floor surface, and exists up to a height of 2 m or more. Therefore, it may be difficult for the sensors 90 and 95 of the electric mobility M to detect the automatic door AD as an obstacle. In particular, depending on the angle of lighting and sunlight, the sensors 90 and 95 may not detect the automatic door AD at all.
In the present embodiment, it is possible to prevent the electric mobility M from unintentionally colliding with the automatic door AD without requiring a significant change in the facility.

Further, regarding the entrance area and the exit area of the moving walkway MW, it is possible to prevent the electric mobility M from unintentionally invading these areas without significantly changing the facilities.

Further, in the present embodiment, the light emitting unit 510 and the light receiving unit 520 are attached to the upper end portion of the control arm 43 and are arranged in the vehicle width direction. When only the armrest 43a is provided without the control arm 43, the light emitting portion 510 and the light receiving portion 520 are attached to the upper end portion of the armrest 43a and are arranged in the vehicle width direction. That is, the light emitting unit 510 and the light receiving unit 520 are arranged at substantially the same height position and are arranged in the vehicle width direction. Therefore, the observation angle, which is the angle between the light L emitted from the light emitting unit 510 to the retroreflective member 530 and the reflected light from the retroreflective member 530 toward the light receiving unit 520, becomes small (FIG. 10). The distance from the intrusion prevention area detection sensor 500 to the ceiling surface is often 2 m or more, and therefore the observation angle becomes extremely small. Since the observation angle is small, the light receiving unit 520 receives more reflected light derived from the light L. This configuration is useful for accurate detection of the retroreflective member 530.

In order to accurately detect the retroreflective member 530, when the difference in height position between the light emitting unit 510 and the light receiving unit 520 is small, for example, when it is 20 cm or less, the light emitting unit 510 and the light receiving unit 520 are in the front-rear direction of the vehicle. The distance is preferably 5 cm or less, and more preferably 3 cm or less. Even if the distance is 5 cm or more, the retroreflective member 530 can be accurately detected due to the characteristics of the retroreflective member 530, the difference in height position between the light emitting unit 510 and the light receiving unit 520, and the like. In some cases, the distance is not limited to 5 cm or less.

In one example, the control device 80 performs a forward operation on the controller (operation unit) 44 after the electric mobility M is stopped or stopped after deceleration in the state of being determined to be in the intrusion state. Disable and enable reverse operation. In this configuration, the passenger can move the electric mobility M away from the intrusion prevention area PA by moving the electric mobility M backward using the controller (operation unit) 44. The configuration can reduce the stress of the occupant and those around him while avoiding the danger of allowing forward movement.

In another example, in the state where the intrusion state is determined, the control device 80 indicates a method for eliminating the intrusion state by the mobility display device 200 which is an output device. The method may be output by voice. This configuration is useful for safely keeping the occupant away from the intrusion prevention area PA, and is also useful for reducing the stress of the occupant and those around him.

In this embodiment, the intrusion prevention area detection sensor 500 is provided at the upper end of the right control arm 43. Alternatively, as shown in FIG. 9, an intrusion prevention area detection sensor 500 may be provided at the upper end of the left control arm 43. In this case, as shown in FIG. 9, when at least a part of the intrusion prevention area detection sensor 500 is arranged in front of the vehicle of the mobility display device 200 provided at the upper end of the control arm 43 and its support member 210, the vehicle gets on board. It is difficult for a part of the person's body or the like to be placed above the intrusion prevention area detection sensor 500. Even when only the armrest 43a is provided without the control arm 43, when at least a part of the intrusion prevention area detection sensor 500 is arranged in front of the vehicle of the mobility display device 200 and its support member 210, the occupant's body It is difficult to place a part of the above of the intrusion prevention area detection sensor 500.
It is also possible to attach the intrusion prevention area detection sensor 500 to, for example, the frame 46 of the luggage loading portion 42. In this case as well, it is difficult for a part of the passenger's body or the like to be placed above the intrusion prevention area detection sensor 500.

Further, in the present embodiment, in the management table of FIG. 8, the intrusion state is displayed for each electric mobility M. The information displayed in the management table is extremely useful for the person who provides the service and the management computer 100 to determine the necessity of assistance of the user.

Further, in the present embodiment, in the management table of FIG. 8, information on whether or not the vehicle is in the intrusion state is displayed together with the detection result of the seating sensor 53. This configuration is useful for determining the state of the user or the electric mobility M when it is displayed as an intrusion state. In one example, when the user A is in use at the current time of FIG. 8, it is determined that the user A is in the intrusion state, and the detection result of the seating sensor 53 becomes NO, the person who provides the service or the management computer 100 is normally. It can be judged that there is no such thing. For example, after the electric mobility M is intruded and stopped, the user A may leave the electric mobility M behind.

Further, in the present embodiment, in the management table of FIG. 8, information on whether or not the vehicle is in the intrusion state is displayed together with the traveling state of the electric mobility M. The running state indicates whether the driving is automatic driving or manual driving. For example, in the case of an approaching state during automatic driving, the occupant feels a great deal of stress because the occupant does not have the cause of the invading state. The configuration is extremely useful for the person who provides the service and the management computer 100 to determine the necessity of assistance of the user.

Further, as shown in FIG. 8, the management table also has information on the elapsed time from the intrusion state. The management table may have information on the number of times the intrusion state has occurred. The display mode regarding the corresponding electric mobility M in the management table may change depending on the elapsed time from the intrusion state and the number of times the intrusion state has occurred. for example. The color of the row indicating the corresponding electric mobility M may change. The information is extremely useful for the person who provides the service or the management computer 100 for early detection of anomalies. For example, when the electric mobility M in the intrusion state is in the manual operation state, the passenger knows that the passenger may have intentionally entered the intrusion prevention area PA and how to exit the intrusion prevention area PA. There is a possibility that there is no such thing.

It is preferable that the management table contains at least one of the user's destination information and the time information regarding the desired arrival time. The information is useful for the person who provides the service or the management computer 100 to make an accurate decision to direct the assistant. For example, if the user's desired arrival time is approaching and the intrusion state has occurred multiple times, or if the intrusion state has occurred for a long time, it is necessary to send an assistant. It can be said that it is expensive.

Further, the management computer 100 receives the position information of each electric mobility M, and as shown in FIG. 8, the management table has the position information of each electric mobility M. In one example, the position information estimated by self-position estimation is transmitted from each electric mobility M to the management computer 100. The configuration clarifies the instructions for directing the assistant.
Further, the configuration is useful for determining whether or not the person who provides the service or the management computer 100 directs the assistant. For example, if there is an area with a high degree of risk due to being in an intrusion state and the management table indicates that the area is in an intrusion state, it is judged that it is highly necessary to send an assistant. When the management computer 100 determines, the management computer 100 has data in which the risk index is associated with each of a plurality of areas in the facility.

Further, the management table may have attribute information of each user of the electric mobility M. The attribute information is information about the age of each user, information about the physical condition of each user, and the like. In one example, the attribute information is input at the time of inputting the usage schedule (usage information) by the user, at the time of inputting the usage status (usage information) by the user, and is received by the management computer 100. The configuration is useful for determining whether or not the person who provides the service or the management computer 100 directs an assistant.

Further, the system in this facility may include a terminal device 600 carried by a staff member working in the facility. The terminal device 600 is a tablet computer, an audio output device, or the like. The audio output device is a headphone, a headset, or the like. The terminal device 600 receives the transmission information transmitted from the management computer 100, and performs at least one of display and audio output based on the received transmission information.
The transmission information indicates, for example, the position information of the electric mobility M in the intruding state. In another example, the transmission information is information in the management table. In this case, the management table is displayed on the terminal device 600.

In one example, as shown in FIG. 8, staff information is part of the information in the management table. As shown in FIG. 8, the staff information includes the position information of each staff, the work allocation status of each staff, and the like. The person who provides the service or the management computer 100 can determine the staff to be assisted by referring to the staff information.

For example, the management computer 100 transmits the position information of the electric mobility M in the intruding state to the staff WA to be assisted. As a result, the position of the electric mobility M in the intruding state is displayed on the terminal device 600 of the staff WA, and the staff WA heads toward the position.

The service using the electric mobility M may be provided in a facility other than the passenger terminal T. For example, the service may be provided in a facility such as a hospital or a train station. In addition, the service may be provided at an outdoor facility such as an amusement park, an outdoor museum, a university, or a concept town.

Further, the electric mobility M may be an electric mobility M'for work as shown in FIG. 13 in which a predetermined work is performed while moving by automatic operation in the facility. Predetermined work can be cleaning within the facility, security within the facility, guidance within the facility, and various other tasks within the facility.
The electric mobility M'has the same configuration as the above-mentioned electric mobility M, but as shown in FIG. 13, the mobility main body 30'is not a structure on which a occupant rides unlike the mobility main body 30. Further, in this modification, the electric mobility M'is not provided with the stereo camera 90, and the LiDAR 95 detects surrounding obstacles.
The control device 80 of the electric mobility M'moves by automatic operation, for example, along a predetermined work route based on the automatic operation program 82c and the map data.

In the electric mobility M'of FIG. 13, the intrusion prevention area detection sensor 500 is an intrusion prevention area detection device mounted on the upper surface of the mobility main body 30'. As shown by the alternate long and short dash line in FIG. 13, the intrusion prevention area detection sensor 500 may be attached to the upper surface of the protrusion of the mobility main body 30'.
The intrusion prevention area detection sensor 500 has a device main body 540 attached to the upper surface of the electric mobility M'with double-sided tape or the like. The device main body 540 may be attached to the upper surface of the mobility main body 30'by a fastening member such as a bolt, or may be attached to the upper surface of the mobility main body 30'using another known structure. The device body 540 is made of, for example, plastic, has a chip shape of several cm square or a coin shape of several cm in diameter, and has a thickness of 2 cm or less, but is not limited thereto.

The mobility main body 30'is provided with the above-mentioned light emitting unit 510 and light receiving unit 520. As shown in FIG. 13, the light emitting unit 510 emits light L in an inclined direction inclined by 2 ° or more with respect to the vertical direction V in a state where the device main body 540 is attached to the upper surface of the mobility main body 30'. More preferably, the light emitting unit 510 emits light L in an inclined direction inclined by 2 ° or more in the traveling direction of the electric mobility M'with respect to the vertical direction V. The traveling direction is the forward direction when the electric mobility M moves forward, and the reverse direction when the electric mobility M moves backward.

The device main body 540 is provided with a signal output unit 550 that outputs a signal corresponding to the amount of light received by the light receiving unit 520 toward the electric mobility M'. In FIG. 13, the signal output unit 550 is a terminal that outputs the voltage or current that is the output of the light receiving unit 520 as the signal as it is, and the terminal is connected to the control device 80 of the electric mobility M'. The circuit outputs a signal indicating that the light receiving unit 520 has received the reflected light from the retroreflective member 530 when the signal output unit 550 has a circuit and the output of the light receiving unit 520 exceeds a predetermined value. May be good. The signal indicating that the light receiving unit 520 has received the reflected light from the retroreflective member 530 is a signal corresponding to the amount of light received by the light receiving unit 520.

Alternatively, the signal output unit 550 has a memory in which a processor and a program are stored, and the processor indicates that the light receiving unit 520 receives the reflected light from the retroreflective member 530 based on the output from the light receiving unit 520. A signal may be output.
Further, the signal output unit 550 may wirelessly transmit the signal to the control device 80 of the electric mobility M'.

When the control device 80 of the electric mobility M'receives a signal indicating that the light receiving unit 520 has received the reflected light from the retroreflective member 530, the control device 80 of the electric mobility M'as described above controls the motor MT as described above. Output warnings. That is, the control device 80 stops the electric mobility M', for example, and outputs a warning by voice from the voice generator 300.
Alternatively, the control device 80 of the electric mobility M'determines that the light receiving unit 520 has received the reflected light from the retroreflective member 530 based on the signal corresponding to the amount of light received by the light receiving unit 520, and is described above. It controls the motor MT of the electric mobility M', outputs the warning as described above, and the like.

The effect obtained by the above configuration is the same as when the intrusion prevention area detection sensor 500 is provided in the electric mobility M.
Further, the signal output from the signal output unit 550 is a signal corresponding to the amount of light received by the light receiving unit 520. Therefore, even if the intrusion prevention area detection sensor 500 is retrofitted on the upper surface of the electric mobility M', it is recognized that the light receiving unit 520 receives the reflected light from the retroreflective member 530 in the control device 80 of the electric mobility M'. Is often easy to set up. Further, it is often easy to control the motor MT of the electric mobility M'as described above and set the warning output as described above based on the recognition.

10 Front wheels (wheels)
20 Rear wheels (wheels)
30 Mobility body 42 Luggage loading unit 44 Controller (operation unit)
44a Joystick 45 Setting unit 53 Seating sensor 60 Control unit 80 Control device 81 Processor 82 Storage device 82b Avoidance control program 82c Automatic operation program 82d Entry judgment program 82e Intrusion prevention program 90 Stereo camera (sensor)
95 LiDAR (sensor)
100 Management computer 102 Storage device 102a Management data 200 Mobility display device 201 Input device 300 Voice generator 400 Light emitting unit 500 Intrusion prevention area detection sensor 510 Light emitting unit 520 Light receiving unit 530 Retroreflective member 540 Device main unit 550 Signal output unit M, M 'Electric Mobility S Seat Unit T Passenger Terminal

Claims (11)

It is a system in the facility
With multiple electric mobility
A retroreflective member provided on the ceiling surface of the facility to define an intrusion prevention area in the facility is provided.
Each of the above electric mobility
A mobility body having wheels and a drive device for driving the wheels,
An intrusion prevention area detection sensor provided on the mobility main body and having a light emitting unit that emits light upward and a light receiving unit that receives reflected light based on the light from the light emitting unit.
A control device for controlling the drive device is provided.
The control device determines that the intrusion state is determined to have entered the intrusion prevention area when the light receiving unit receives the reflected light reflected by the retroreflective member. Do the processing,
When the intrusion determination process is performed, the control device performs at least one of a warning using an output device provided in the electric mobility and a change in the traveling state of the electric mobility by controlling the drive device in the facility. System in. A management computer that receives vehicle body information of the plurality of electric mobility, and
A display device for displaying the received vehicle body information in association with the plurality of electric mobility is provided.
The management computer receives information indicating that the plurality of electric mobility is in the intrusion state or that the traveling state of the electric mobility is changed by the intrusion state.
Based on the information, the display device indicates which of the plurality of electric mobility is in the intrusion state, or which of the plurality of electric mobility is changing the traveling state. The system in the facility according to item 1. Map data of the facility is stored in the control device of each of the electric mobility.
The map data has information on the intrusion prevention area and has information on the intrusion prevention area.
The facility according to claim 1 or 2, wherein the control device of each of the electric mobility controls the drive device so that the electric mobility and the intrusion prevention area do not come closer than a predetermined separation distance on the map data. The system within. A management computer that receives the position information of each of the plurality of electric mobility, and
Equipped with a terminal device carried by the staff working in the facility,
The terminal device receives transmission information transmitted from the management computer and indicates at least the position information of the electric mobility in the intruding state among the plurality of electric mobility, and is based on the received transmission information. The in-facility system according to any one of claims 1 to 3, which performs at least one of display and audio output. The system in a facility according to any one of claims 1 to 4, which is long in the direction along the edge of the intrusion prevention area and has a width dimension of the retroreflective member of 8 cm or more. It ’s electric mobility,
A mobility body having wheels and a drive device for driving the wheels,
The sensor provided on the mobility body and
An intrusion prevention area detection sensor provided on the mobility main body and having a light emitting unit that emits light upward and a light receiving unit that receives reflected light based on the light from the light emitting unit.
A control device for controlling the drive device is provided.
The control device performs an intrusion determination process for determining that the light from the light emitting unit has entered the intrusion prevention area when the light receiving unit receives the reflected light reflected by the retroreflective member. Do,
When the intrusion determination process is performed, the control device performs at least one of a warning using an output device provided in the electric mobility and a change in the traveling state of the electric mobility by controlling the drive device. .. The electric mobility according to any one of claims 6, wherein the light emitting unit emits the light in an inclined direction inclined by 2 ° or more toward the front of the mobility main body with respect to the vertical direction. The electric mobility according to claim 6 or 7, wherein the light has an emission angle of 5 ° or less with respect to an optical axis, and the light emitting unit emits the light in a direction of 15 ° or less with respect to a vertical direction. The electric mobility according to any one of claims 6 to 8, wherein the distance between the light emitting unit and the light receiving unit in the vehicle front-rear direction of the mobility main body is 5 cm or less. The intrusion prevention area detection sensor is a distance sensor.
When the distance sensor detects a distance equal to or less than the first distance, the control device makes an improvement request using the output device, or changes the traveling state under the control of the drive device, or the electric mobility. Decelerate and
The control device determines that the amount of the reflected light reflected by the retroreflective member of the light from the light emitting unit is equal to or more than a reference value, and is larger than the first distance by the distance sensor. The electric mobility according to any one of claims 6 to 9, wherein when a distance equal to or longer than a long second distance is detected, the intrusion determination process is performed. It is an intrusion prevention area detection device attached to electric mobility that moves in the facility by automatic driving.
The main body of the device mounted on the upper surface of the electric mobility and
A light emitting unit provided in the main body of the device and emitting light upward,
A light receiving unit provided on the main body of the device and receiving reflected light based on the light from the light emitting unit, and a light receiving unit.
A signal output unit provided in the main body of the device and outputting a signal corresponding to the amount of light received by the light receiving unit toward the electric mobility is provided.
An intrusion prevention area detection device in which the light emitting portion emits the light in an inclined direction inclined by 2 ° with respect to the vertical direction while the main body of the device is attached to the upper surface of the electric mobility.

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