JP6985930B2 - How to operate an autonomous mobile - Google Patents

Description

The present invention relates to an operation method of an autonomous mobile body.

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

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

In this case, for example, when the vehicle is stopped or when the vehicle is constantly traveling straight at a constant speed, the balance state is such that the entire center of gravity is located directly above or substantially directly above the ground contact portion of the vehicle. On the other hand, the balance state when the vehicle is turning is such that the moment generated in the vehicle due to the centrifugal force, which is the inertial force, and the moment generated in the vehicle due to gravity cancel each other out, so that the entire center of gravity is from directly above the ground contact portion of the vehicle to the turning center. It will be in a state of being displaced to the side.

The autonomous mobile body is not limited to the above-mentioned vehicle, but an electric wheelchair, an electric cart, and the like have been conventionally known.

Japanese Unexamined Patent Publication No. 2014-198500 Japanese Unexamined Patent Publication No. 2014-198503

An autonomous mobile body such as the vehicle can be used as a simple means of transportation in, for example, various event venues, public facilities, and the like. In this case, it is desired to increase the chances that a person existing in the vicinity of the vehicle can easily use the vehicle without requiring a prior vehicle allocation procedure or the like.

The present invention has been made in view of this background, and enhances the opportunity for a person existing in the vicinity of the autonomous mobile body to easily use the autonomous mobile body without requiring prior vehicle allocation procedures or the like. The purpose is to provide a method that enables.

In the operation method of the autonomous mobile body of the present invention, in order to achieve the above object, is there a candidate for a user of the autonomous mobile body among the people existing in the vicinity of the autonomous mobile body in the available state? The first step to determine whether or not
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
The operation for the first case includes an operation of moving the available autonomous mobile body to a boarding position around the user candidate.
When there is another person lined up next to the user candidate, the boarding position is such that the user candidate exists between the user candidate and the other person in the vicinity of the user candidate. It is characterized in that it is a position determined in (1st invention).
The operation method of the autonomous mobile body of the present invention is the first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing in the vicinity of the autonomous mobile body in the available state. ,
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
The operation for the first case includes an operation of moving the available autonomous mobile body to a boarding position around the user candidate.
In the first case, the operation of moving the available autonomous mobile body to the boarding position around the user candidate is performed by the line of sight of the user candidate or the front of the face or the front of the body. It is characterized in that the operation is executed on the condition that it is directed to the autonomous moving body in the available state.
The operation method of the autonomous mobile body of the present invention is the first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing in the vicinity of the autonomous mobile body in the available state. ,
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
The second case is further provided with a fourth step of notifying the surroundings of the autonomous mobile body in the available state that the autonomous mobile body is in the available state.
The operation method of the autonomous mobile body of the present invention is the first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing in the vicinity of the autonomous mobile body in the available state. ,
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
In the first case, the fifth step of determining whether or not the existing position of the user candidate is a suitable place for boarding the autonomous mobile body in the available state, and the fifth step of the fifth step. If the determination result is negative, the available autonomous mobile is operated or operated so as to guide the user candidate to a position suitable for boarding the available autonomous mobile. It is further provided with a sixth step of notifying the candidate of the user so as to guide the candidate of the user to a position suitable for boarding the autonomous moving body in the available state.

Here, the "combination pattern" refers to a combination of at least two or more movements selected from a plurality of movements that the autonomous mobile body can perform. Therefore, in the present invention, a combination pattern having the same component operation has a difference in timing for executing each operation (for example, whether a plurality of operations are performed simultaneously or in a predetermined order), and the time length of each operation is long or short. It is treated as the same combination pattern regardless of the difference.

According to the present invention, in the first step, there are cases where it is determined that the user candidate exists (first case) and cases where it is determined that the user candidate does not exist (second case). In the second step, the autonomous moving body can be made to perform the operation of the combination pattern suitable for the case.

Therefore, when it is determined that the user candidate exists (first case), the user may be referred to as an autonomous mobile body in an available state (hereinafter referred to as an available mobile body) with respect to the candidate. It is possible to make an action that positively appeals to use (a).

In addition, when it is determined that the candidate for the user exists (second case), any person existing in the vicinity of the available mobile body is interested in or favored the autonomous mobile body. It is possible to perform an operation that enhances.

As a result, it becomes possible to increase the motivation of a person existing around the available mobile body to use the available mobile body. Then, in this case, a person who intends to use the available mobile body can immediately use the available mobile body.

Therefore, according to the first invention, it is possible to increase the chance that a person existing in the vicinity of the available mobile body can easily use the available mobile body without requiring a prior vehicle allocation procedure or the like. Become.

In the first invention, a sensor (for example, a camera or the like) for recognizing the appearance or operation of each person existing in the vicinity of the autonomous mobile body in the available state or its surroundings is provided. Therefore, in the first step, it is preferable to search for a candidate for the user based on the output of the sensor (second invention).

According to this, by searching for a candidate for the user based on the output of the sensor, the available mobile body such as a person who has a high demand or need for using the available mobile body can be used. It is possible to search for a person suitable for the above as a candidate for the user.

Further, in the first invention, in the first step, information indicating the moving distance or moving speed of each person existing in the vicinity of the autonomous moving body is acquired, and based on the information, the candidate of the user is selected. It is preferred that the search be performed (third invention).

Here, the moving distance or moving speed of a person has a correlation with the degree of fatigue, the state of health, and the like of the person. Therefore, according to the third invention, it is possible to search for a person suitable for using the available mobile body as a candidate for the user in a manner considering the degree of fatigue or health condition of the person. ..

Further, in the first invention, in the first step, the degree of fatigue of each person existing in the vicinity of the autonomous moving body or the degree of burden of movement of each person is determined based on the output of the sensor, and the fatigue is determined. It is preferable to search for the candidate of the user based on the degree or the degree of burden (fourth invention).

According to this, it becomes possible to search for a person having a higher degree of fatigue or burden as a candidate for the user. As a result, it becomes possible to search for a person who has a high degree of demand or need to use the available mobile body as a candidate for the user.

The degree of fatigue or the degree of burden can be determined, for example, based on the output of the sensor in the second invention, or the information indicating the moving distance or the moving speed in the third aspect.

In the first to fourth inventions, the operation for the first case may include, for example, an operation of moving the available autonomous mobile body to a target position on the front side of the user candidate (the operation). Fifth invention).

According to this, since the user candidate can visually recognize the available mobile body that has moved to the target position on the front side (front side) of the user candidate, the existence of the available mobile body can be detected by the user. You can definitely appeal to the candidates. As a result, it becomes possible to increase the interest or motivation of the user candidate to use the available mobile body.

In the fifth aspect of the invention, the operation for the first case is, for example, to move the available autonomous mobile body from the rear side of the user candidate to the target position through the side of the candidate. It may include an operation of causing the autonomous moving body to change direction so that the front portion of the autonomous moving body in the available state faces the candidate of the user after the movement (sixth invention).

According to this, the available mobile body performs an operation similar to that of a person who overtakes a user candidate from the rear side and then turns to the user candidate. Therefore, it is possible to enhance the familiarity of the user candidate with respect to the available mobile object. As a result, it becomes possible to further increase the interest or motivation of the user candidate for using the available mobile body.

In the sixth invention, the operation for the first case may further include, for example, an operation of tilting the autonomous moving body after the direction of the autonomous moving body in the available state is changed (7th invention).

According to this, by tilting motion after turning the available mobile body, a motion similar to a human motion such as bowing to a user candidate or bending the neck can be performed. It is possible to let the body do it. Therefore, it is possible to increase the user's liking for the available mobile body. As a result, it becomes possible to further increase the interest or motivation of the user candidate for using the available mobile body.

In the fifth to seventh inventions, it is preferable that the target position is a position on the diagonally forward side of the user candidate (eighth invention).

According to this, since the available mobile body moves from the rear side of the user to a target position that does not hinder the movement of the user on the front side of the user candidate, the user with respect to the available mobile body. It is possible to suitably increase the favorable impression of the candidate. As a result, it becomes possible to further increase the interest or motivation of the user candidate for using the available mobile body.

In the fifth to eighth inventions, it is preferable that the target position is a position within the central visual field region of the user candidate (9th invention).

According to this, the candidate of the user can easily recognize the available mobile body that has reached the target position.

In the first to ninth inventions, it is preferable that the operation for the first case includes an operation of moving the autonomous mobile body in the available state to a boarding position around the candidate of the user (the operation for the first case). 10th invention).

In addition, the "boarding position" is, more specifically, a position where the candidate for the user can board the autonomous moving body at that position, and is said to be around the candidate for the user. It means the position close to the candidate.

According to the tenth invention, the candidate of the user can quickly board the available mobile body that has moved to the boarding position without moving so much by himself / herself.

When the tenth invention is combined with the fifth to ninth inventions, it is preferable that the operation in the tenth invention is executed by the available mobile body after the operation in the fifth to ninth inventions is executed.

In the tenth invention, for example, any one of the front, back, and side surfaces of the user candidate can be adopted as the boarding position (11th invention).

In the tenth invention or the eleventh invention, it is preferable that the boarding position is a position in which the empty space is relatively wider than the other positions around the user candidate (12th invention). invention).

Here, the empty space means that the candidate for the user can perform the boarding operation without causing an obstructive factor such as interference with another object during the boarding operation on the available mobile body. It means a possible space.

According to the twelfth invention, the candidate of the user can easily board the available mobile body that has moved to the boarding position.

In the tenth to twelfth inventions, when there is another person lined up next to the user candidate, the boarding position is set between the user's candidate and the other person. It is preferable that the position is determined so that the candidate for the user exists (13th invention).

According to this, the candidate of the user can quickly board the available mobile body without interfering with other people who are lined up next to each other.

In the tenth to thirteenth inventions, in the first case, the operation of moving the available autonomous mobile body to the boarding position around the user candidate is the line of sight of the user candidate. Alternatively, it is preferable that the operation is performed on the condition that the front surface of the face or the front surface of the body is directed to the autonomous moving body in the available state (14th invention).

According to this, the available mobile body is moved to the boarding position in a state in which the user candidate is aware of or is likely to be aware of the existence of the available mobile body. Therefore, it is possible to prevent the candidate of the user from feeling uncomfortable with the approach of the available moving object to himself / herself.

In the first to fourteenth inventions, the operation for the first case is a state in which the autonomous mobile body in the available state is oriented in a predetermined direction with respect to the candidate of the user. It is preferable to include an operation of stopping around the user candidate (15th invention).

According to this, since the available mobile body stops around the user candidate with its direction oriented in a predetermined direction with respect to the user candidate, the user candidate is used. It becomes easier to recognize that you are ready to board a possible mobile object.

When the fifteenth invention is combined with the tenth to fourteenth inventions, the available mobile body is used in a state where the direction of the available mobile body with respect to the user candidate is directed to a predetermined direction. The position to stop around the candidate is preferably the boarding position.

In the fifteenth invention, it is preferable that the predetermined orientation is the predetermined orientation for boarding the candidate of the user (16th invention).

According to this, the candidate of the user can board the available mobile body in a state where the available mobile body is oriented in a direction in which it is easy to board.

In the first to sixteenth inventions, in the first case, there may be further provided a third step of notifying the autonomous mobile body in the available state to attract the attention of the candidate of the user (first step). 17 invention).

According to this, it is possible to further enhance the effect of making the user candidate recognize the available moving object.

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

In the first to seventeenth inventions, the operation for the second case is, for example, one of the operation of maintaining the autonomous moving body in the available state in the stopped state and the tilting and turning of the autonomous moving body, or one of them. It may include one of the actions of repeating both actions (18th invention).

According to this, when it is determined that the candidate for the user does not exist and the operation to be executed by the available mobile body is the operation to maintain the available mobile body in the stopped state, the available mobile body can be used. It is possible to suppress the energy consumption of the mobile body.

Further, when the operation to be executed by the available moving body is an operation of repeating one or both of the tilting and turning of the available moving body, the available moving body is a simple moving operation. Different operations will be repeated. As a result, it becomes possible to appeal the existence of the available mobile body to any person existing around the available mobile body. As a result, it becomes possible to increase the possibility that the person who exists around the available mobile has an interest or motivation to use the available mobile.

In the first to eighteenth inventions, in the second case, the fourth step of notifying the surroundings of the autonomous mobile body in the available state that the autonomous mobile body is in the available state is further added. It may be provided (19th invention).

According to this, the effect of appealing the existence of the available mobile body to any person existing around the available mobile body can be further enhanced.

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

In the first to nineteenth inventions, in the first case, it is determined whether or not the existing position of the user candidate is a place suitable for boarding the autonomous mobile body in the available state. When the determination result of the 5th step and the 5th step is negative, the available state is guided so as to guide the user candidate to a position suitable for boarding the autonomous mobile body in the available state. The sixth step of informing the candidate of the user so as to operate the autonomous mobile body of the above-mentioned or to guide the candidate of the user to a position suitable for boarding the autonomous moving body in the available state. Further provision is preferred (20th invention).

According to this, the candidate of the user can board the available mobile body at a position suitable for boarding the available mobile body. As a result, the candidate of the user can easily board the available mobile body.

The first to twentieth inventions further include an A step of arranging a plurality of available autonomous mobile bodies in the available area of the autonomous mobile body, and in the A step, the available area. Of these, it is preferable that the autonomous mobiles are arranged so that there are more autonomous mobiles in the available state in the area where the observed value or the predicted value of the density of people is higher than the area where the observed value or the predicted value is low (No. 1). 21 invention).

According to this, more available mobiles are placed in the area where the observed or predicted value of the density of people is relatively high, so that the mobiles that can be used by more people in the area are placed. It will be possible to have an interest or motivation to use the body, and more people will be able to actually use the available mobiles.

In the first to twentieth inventions, when the A step of arranging a plurality of available autonomous mobile bodies in the available area of the autonomous mobile body is further provided, each person existing in the available area In the area where the number of people who are estimated to have a high degree of fatigue or the degree of burden is larger than the area where the degree of fatigue is estimated to be high or low, or the degree of burden of movement of each person is estimated. It is also possible to adopt an embodiment in which the autonomous mobile body is arranged so that there are more available autonomous mobile bodies (22nd invention).

According to this, in an area where a large number of people have a relatively high degree of fatigue or a burden of movement, more available mobiles are arranged, so that each degree of fatigue or the burden of movement is relative. Higher people can increase their chances of using available mobiles.

In the first to 22nd inventions, after the user candidate leaves the available autonomous mobile body, the user candidate is a region of a predetermined range around the available autonomous mobile body. It is preferable to further include a third step B in which the movement of the autonomous mobile body in the available state is started after the deviation from the above is detected (23rd invention).

Alternatively, after the candidate of the user leaves the autonomous mobile body in the available state and it is detected that the candidate of the user has performed a predetermined operation, the autonomous mobile body in the available state is used. It is preferable to further include a B-step for initiating the movement (24th invention).

Alternatively, after the candidate of the user leaves the autonomous mobile body in the available state and it is detected that the candidate of the user has started the movement, the movement of the autonomous mobile body in the available state is performed. It is preferable to further include a second step to be started (25th invention).

According to these inventions, the movement of the autonomous mobile body can be started after the user candidate can be regarded as having finished using the autonomous mobile body. The 23rd to 24th inventions can be combined with each other.

A side view of an inverted pendulum type vehicle as an autonomous mobile body according to an 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 an embodiment. The figure which shows the example of the arrangement state of the available inverted pendulum type vehicle, and the integrated management device about the allocation of the inverted pendulum type vehicle. The flowchart which shows the processing of the control device of the inverted pendulum type vehicle and the operation of the inverted pendulum type vehicle in 1st Embodiment. The figure for demonstrating the operation of the inverted pendulum type vehicle in STEP 3 of FIG. The flowchart which shows the processing of the control device of the inverted pendulum type vehicle in 2nd Embodiment, and the operation of the inverted pendulum type vehicle. The figure which shows the example of the arrangement state of the inverted pendulum type vehicle which can be used in 3rd Embodiment, and the integrated management device about the allocation of the inverted pendulum type vehicle. 8A and 8B are diagrams for explaining the operation of the inverted pendulum type vehicle according to the fourth embodiment of the present invention. The figure for demonstrating the operation of the inverted pendulum type vehicle in 5th Embodiment of this invention. The figure which illustrates the electric cart as another example of the autonomous moving body of this invention.

[First Embodiment]
The first embodiment of the present invention will be described with reference to FIGS. 1 to 4. First, the configuration of the autonomous mobile body in the present embodiment will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the autonomous mobile body of the present embodiment is, for example, an inverted pendulum type vehicle 1. The inverted pendulum type vehicle 1 (hereinafter, may be simply referred to as a vehicle 1) uses the base 2, the first moving operation unit 3 and the second moving operation unit 4 that can move on the road surface, and the vehicle 1. It is provided with a crew boarding section 5 on which a person is boarding.

The first moving motion unit 3 is the main moving motion section of the vehicle 1 and is configured to be able to move in all directions (arbitrary directions) on the road surface. As an example, the first moving operation unit 3 is arranged at equal intervals in the circumferential direction (circumferential direction) of the annular core body 6 (hereinafter referred to as the annular core body 6) and the annular core body 6. A plurality of annular rollers 7 extrapolated to the annular core 6 in this manner are provided. Note that in FIG. 1, only a part of the rollers 7 is typically shown.

Each roller 7 is rotatable around the axis of the annular core 6 integrally with the annular core 6, and is the central axis (annular) of the cross section of the annular core 6 at the arrangement position of each roller 7. It is rotatable around the axis in the tangential direction of the circumference centered on the axis of the core body 6.

The first moving operation unit 3 having such a structure rotates the annular core 6 around its axis in a state where the roller 7 below the roller 7 is in contact with the floor surface, the ground, or the like of the moving environment of the vehicle 1. It is possible to move in all directions on the road surface by driving one or both of driving and rotating each roller 7 around its axis.

In the following description, as shown in FIG. 1, the axial direction of the annular core 6 in a state where the first moving operation unit 3 is in contact with the road surface so that the axial center of the annular core 6 is horizontal (FIG. In 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. Further, the X-axis direction, the Y-axis direction, and the Z-axis direction are the front-rear direction, the left-right direction, and the up-down direction (height direction) of the vehicle 1, respectively. Then, the positive directions of the X-axis, the Y-axis, and the Z-axis are the front direction, the left direction, and the 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 substrate 2 is provided so as to cover a portion other than the lower portion of the first moving operation portion 3 grounded to the road surface. Then, the annular core body 6 of the first moving operation unit 3 is axially supported on the base 2 so as to be able to rotate relative to the base 2 around the axis thereof.

Therefore, in the grounded state of the first moving operation unit 3, the substrate 2 can tilt in the Y-axis direction (pitch direction) with the axial center of the annular core body 6 of the first moving operation unit 3 as a fulcrum. be. Further, the substrate 2 can be tilted in the X-axis direction (roll direction) together with the first moving operation unit 3 with the ground contact portion (lower part) of the first moving operation unit 3 as a fulcrum.

Inside the substrate 2, a first actuator device 8 that generates a driving force for moving the first moving operation unit 3 is mounted. 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 composed of, for example, an electric motor, a hydraulic actuator, or the like.

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

The occupant boarding section 5 is assembled to the substrate 2. In the present embodiment, the occupant boarding unit 5 is composed of a seat on which the user of the vehicle 1 sits, and is fixed to the upper end portion of the substrate 2 so as to be able to tilt integrally with the substrate 2. Then, the user of the vehicle 1 can be seated on the occupant boarding section 5 in a posture in which the front-rear direction is the X-axis direction and the left-right direction is the Y-axis direction.

The substrate 2 is further assembled with a footrest portion 9 on which the user seated on the occupant boarding portion 5 rests his / her feet. The footrest portion 9 is projected from each of the lower portions of the left and right side portions of the substrate 2.

The second moving motion unit 4 is an auxiliary moving motion unit for smoothly turning or turning the vehicle 1, so that the vehicle can move in all directions (arbitrary direction) on the road surface. It is configured in. In the present embodiment, the second moving operation unit 4 is configured by, for example, an omni wheel. The omni wheel as the second moving operation unit 4 has a pair of annular cores (not shown) having a coaxial core and each annular core, and the rotation axis is rotatable toward the circumferential direction of the annular core. It has a known structure including a plurality of barrel-shaped rollers 13 extrapolated to the wheel.

In this case, the second moving operation unit 4 is arranged behind the first moving operation unit 3 with the axial center of the pair of annular core bodies facing the X-axis direction (front-back direction), and is arranged via the roller 13. Grounded on the road surface.

The roller 13 on one side of the pair of annular cores and the roller 13 on the other side are arranged so as to be out of phase in the circumferential direction of the annular core, and when the pair of annular cores are rotated, the rollers 13 are arranged so as to be out of phase with each other. , One of the roller 13 on one side of the pair of annular cores and the roller 13 on the other side is in contact with the road surface.

The second moving operation unit 4 having such a configuration is connected to the substrate 2 or the first moving operation unit 3. More specifically, the second moving motion unit 4 includes a housing 14 that covers an upper portion of the omni wheel (a pair of annular cores and the entire plurality of rollers 13). Then, a pair of annular cores of the omni wheel are pivotally supported on the housing 14 so as to be able to rotate around the axis thereof.

Further, the base 2 so that the arm 15 extending from the housing 14 to the base 2 side can swing around the axis of the annular core 6 of the first moving operation unit 3 within a predetermined angle range. It is axially supported by, or is axially supported by the axial center portion of the annular core body 6.

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

Further, the second moving operation unit 4 can be tilted in the X-axis direction (roll direction) together with the first moving operation unit 3 and the substrate 2.

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

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

An actuator 17 for driving the second moving operation unit 4 is attached to the housing 14 of the second moving operation unit 4. In the present embodiment, the actuator 17 is connected 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 may be composed of, 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. There is. 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 subordinately 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 this 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 the above, and various structures are adopted. Can be. For example, as the structure of the first mobile operation unit 3 and its drive system, the structure proposed by the applicant of the present application in PCT International Publication WO / 2008/132778 or PCT International Publication WO / 2008/132779 is used. It may be adopted. Further, the first moving operation unit 3 and the second moving operation unit 4 may have the same structure as each other.

Although not shown in FIG. 1, the vehicle 1 of the present embodiment includes a CPU, RAM, ROM, an interface circuit, and the like as components for operation control of the vehicle 1 as shown in FIG. A control device 21 composed of an electronic circuit unit, various sensors for observing the operating state or the outside world state of the vehicle 1, a general management device 30 described later, another vehicle 1, or a user of the vehicle 1 possesses it. A communication device 27 for performing wireless communication between a mobile terminal (smartphone, feature phone, tablet terminal, etc., hereinafter referred to as a user terminal) and a control device 21, which are not shown, and a notification lamp for performing various notifications. 28 and is installed
There is.

The sensors include, for example, an inclination sensor 22 for measuring the inclination angle of the occupant boarding unit 5 with respect to the vertical direction (= the inclination angle of the base 2), and the angular velocity of the vehicle 1 in the yaw direction (direction around the Z axis). Yaw rate sensor 23 for the purpose, camera 24 as an outside world recognition sensor for recognizing objects (people, moving objects, installed objects, etc.) existing in the surrounding environment of the vehicle 1, detecting whether or not the user is on the vehicle 1. The boarding detection sensor 25 for detecting the self-position of the vehicle 1 and the position sensor 26 for detecting the self-position of the vehicle 1 are included. The outputs (detection data) of these sensors are input to the control device 21.

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

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

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

The notification lamp 28 is composed of a light emitting element such as a light emitting diode so that light of a plurality of emission colors (for example, blue, yellow, red) can be output, and the output light can be visually recognized from the outside of the vehicle 1. Is attached to the substrate 2.

The control device 21 controls the operation of the actuators 8a, 8b, 17 (and by extension, the first moving operation unit 3 and the second moving operation) as a function realized by the mounted hardware configuration or program (software configuration). It is configured to have a function of controlling the movement of the unit 4) 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 regarding the operation control of the actuators 8a, 8b, 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 board the vehicle 1. It is roughly divided into a process and a control process of an operation mode (hereinafter referred to as a boarding operation mode) in a state where a user is on board the vehicle 1.

The outline of the control process in these operation modes will be described below.

In the boarding operation mode, the control device 21 issues an operation command of the vehicle 1 by, for example, moving the weight (moving the center of gravity) of the occupant (the user seated on the occupant boarding unit 5) or operating the user terminal of the occupant. Accordingly, the movement of the first moving operation unit 3 and the second moving operation unit 4 is controlled.

In this case, the movement of the first moving operation unit 3 and the second moving operation unit 4 is controlled so that the vehicle 1 moves or turns at a required moving speed while ensuring the balanced state of the entire center of gravity of the vehicle 1. To. The overall center of gravity of the vehicle 1 in the boarding operation mode means, more specifically, the overall center of gravity of the vehicle 1 and the occupants combined. The balanced state of the total center of gravity is the moment (horizontal) generated in the vehicle by the gravity acting on the total center of gravity, the inertial force (centrifugal force, etc.) acting on the total center of gravity, and the road surface reaction force received by the vehicle 1 from the road surface. It means a state in which the dynamic balance is achieved so that the moment in the axial direction) becomes zero or almost zero.

The specific control process of the control device 21 in the boarding mode is performed as follows, for example. That is, the control device 21 has a predetermined control processing cycle, for example, by the following equations (1a) and (1b), the target values DVw1_cmd_x and the Y-axis direction of the translational acceleration of the first moving operation unit 3 in the X-axis direction. 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) formed 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 the equation (1a) is the target value of the translational movement speed of the entire center of gravity of the vehicle 1 in the X-axis direction, and Vb_act_x is the actual translational movement speed of the entire center of gravity of the vehicle 1 in the X-axis direction, θb_cmd_y. Is the target value of the inclination angle of the occupant boarding part 5 (or the base 2) in the Y-axis direction (pitch direction), and θb_act_y is the actual Y-axis direction (pitch direction) of the occupant boarding part 5 (or the base 2). The tilt angle and ωb_act_y are the temporal change rates (tilt angular velocities) of the actual tilt angle in the Y-axis direction (pitch direction) of the occupant boarding portion 5 (or the 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 the 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 the actual translational movement speed of the entire center of gravity of the vehicle 1 in the Y-axis direction, and θb_cmd_x is. , The target value of the inclination angle of the occupant boarding part 5 (or the base 2) in the X-axis direction (roll direction), θb_act_x is the actual X-axis direction (roll direction) of the occupant boarding part 5 (or the base 2). The tilt angle and ωb_act_x are the temporal change rates (tilt angular velocities) of the actual tilt angle in the X-axis direction (roll direction) of the occupant boarding section 5 (or the base 2), and Kvb_y, Kth_x and Kw_x are predetermined values, respectively. Gain (feedback gain).

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

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, the estimated values calculated by the following equations (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 translational movement speed of the first moving movement unit 3 in the X-axis direction, Vw1_act_y is the actual translational movement speed of the first moving movement unit 3 in the Y-axis direction, and h is the height of the entire center of gravity (h). (Set value). As the values of Vw1_act_x and Vw1_act_y, the measured values by an appropriate sensor can be used. Alternatively, as a pseudo estimation value of Vw1_act_x and Vw1_act_y, the target value of the translational speed determined in the previous control processing cycle of the control device 21 (integral value of each of DVw1_cmd_x and DVw1_cmd_y) can be used.

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 equations (1a) and (1b), for example, the estimated value of the movement amount of the center of gravity of the occupant (the movement amount relative to the occupant boarding unit 5) is used. It is possible to use the value determined accordingly, the command value set by the occupant according to the operation of the user terminal, or a composite value thereof.

Further, as the target values θb_cmd_x and θb_cmd_y of the tilt angle, the values of the tilt angle that can secure the balanced state of the total center of gravity can be used in the state where the translational movement speeds Vb_act_x and Vb_act_y of the total center of gravity are set to the target values.

In this case, the target values θb_cmd_x and θb_cmd_y of the inclination angle are the occupant boarding unit 5 (or almost directly above) the ground contact portion of the first moving operation unit 3 when the vehicle 1 is traveling straight ahead. Or the tilt angle of the substrate 2), which is a state in which 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 when the vehicle 1 is turning. It is an inclination angle of the occupant boarding part 5 (or the base 2) in.

The target values of the tilt angle θb_cmd_x and θb_cmd_y can be temporarily set to values deviated from the value of the tilt angle that can secure the balanced state of the entire center of gravity.

Further, in the boarding operation mode, the control device 21 determines, for example, the 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), and this target value. By controlling the actuator 17, the movement of the second moving operation unit 4 is controlled 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 operation unit 3 calculated by the equation (1b). Value), ωcmd_z is the target value of the angular velocity of the vehicle 1 in the Z-axis direction (yaw direction), and L is between the ground contact portion of the first moving motion unit 3 and the ground contact portion of the second moving motion unit 4. Is the default distance.

According to the above equation (3), the target value Vw2_cmd_y of the translational movement speed of the second movement movement unit 4 in the Y-axis direction is the vehicle due to the speed difference from the translational movement speed of the first movement movement unit 3 in the Y-axis direction. It is determined to realize the target value ωcmd_z of the angular velocity in the yaw direction of 1.

In this case, the target value ωcmd_z of the angular velocity is, for example, a value determined according to an estimated value of the movement amount of the occupant's center of gravity 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, a value determined according to the detected value, or a value determined according to the target value or the detected value of the translational movement speed of the first moving operation unit 3 in the Y-axis direction, or the occupant operating the portable terminal. It is possible to use the command value or the like set according to the above.

The target value ωcmd_z of the angular velocity is such that the turning center of the vehicle 1 exists in the ground contact portion of the first moving motion unit 3, or the ground contact portion and the second moving motion section of the first moving motion section 3 are present. It is preferable to set it so that it exists between the grounding portion of 4 and the grounding portion. The smaller the target value or the detected value of the translational movement speed in the X-axis direction of the first movement movement unit 3, the closer the turning center of the vehicle 1 is to the ground contact portion of the first movement movement unit 3, the angular velocity. It is preferable to set the target value ωcmd_z of.

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 movement unit 4 calculated by the equation (3) is the Y-axis of the first movement movement unit 3. It matches 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 moving operation unit 4 is controlled to move at the same translational movement speed as the first moving operation unit 3.

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

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

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

Further, the control device 21 determines the 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 formula as the above formula (3), and realizes this target value. It controls the actuator 17.

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. Further, in the non-boarding operation mode, the set values of the gains Kvb_x, Kth_y, Kw_y, Kvb_y, Kth_x, Kw_x used in the calculation of the above equations (1a), (1b), (2a), and (2b), and the height of the overall center of gravity. 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.

In addition, the target values Vb_cmd_x and Vb_cmd_y for the translational movement speed of the entire center of gravity used in the calculations of the above equations (1a) and (1b), the target values θb_cmd_x and θb_cmd_y for the tilt angle, and the calculation of the above 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 control control device 30.

The target values θb_cmd_x and θb_cmd_y for the tilt angle ensure a balanced state of the entire center of gravity in the non-boarding operation mode when the vehicle 1 is constantly moving (translational movement or turning) or when the vehicle is stopped constantly. Set to the value you 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 more detailed operation control method for the vehicle 1 in the boarding operation mode or the like, for example, the method proposed by the applicant of the present application in the above-mentioned Patent Document 1 or the like can be adopted. However, the method of controlling the operation 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 method of motion control of the vehicle 1 may be any method as long as the vehicle 1 can be moved so as to secure the balanced state of the entire center of gravity of the vehicle 1.

Next, the operation method of the vehicle 1 in the present embodiment will be specifically described.

In the present embodiment, the vehicle 1 described above is utilized as a vehicle 1 that can be used by a user as a means of transportation in an available area such as various event venues or public facilities.

In this case, the available area is provided with a plurality of vehicles 1. Then, the allocation of each vehicle 1 (hereinafter referred to as "usable vehicle 1") in an unused state is managed by the integrated management device 30. The usable vehicle 1 corresponds to the inverted pendulum type vehicle in the usable state in the present invention.

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

The integrated management device 30 appropriately determines the placement 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 placement area. ..

In this case, the integrated management device 30 acquires, for example, a captured image of a surveillance camera (not shown) installed in advance in the available area or a camera 24 mounted on each vehicle 1, and based on the captured image. , The degree of crowding of people (number of people per unit area) in various places in the available area is detected as appropriate. Then, the integrated 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 integrated management device 30 puts more usable vehicles 1 in the area where the density of people is relatively high than in the area where the density of people 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 the change over time in the degree of crowding of people in various places in the available area based on statistical data collected in advance, and determine the placement area of each available vehicle 1 based on the prediction. It 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 available vehicles 1 arranged in the specific area in the time zone or a time zone in the vicinity thereof. The placement area of each available vehicle 1 may be determined so as to be larger than the other areas.

The general management device 30 transmits an operation command instructing the control device 21 of each available vehicle 1 to move 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 designated 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 route, and the target of the angular velocity of the available vehicle 1 on the movement route in the yaw direction. The value is determined by, for example, the integrated management device 30 or the control device 21 of each available vehicle 1 based on the captured image of the surveillance camera installed in the available area or the captured image of the camera 24 of each available vehicle 1. It is determined by the processing or by the cooperative processing of the control device 30 and the control device 21 of each available vehicle 1.

The arrangement of the available vehicles 1 in the available area is performed as described above. The process of arranging the available vehicle 1 in the available area in this way corresponds to the process of the first step A in the present invention.

Next, the operation (operation in the arrangement area) of the available vehicle 1 arranged in the required arrangement area in the available area as described above will be described.

In the present embodiment, the control device 21 of each available vehicle 1 arranged in the required arrangement area is a sequence program according to an operation command given from the control device 30 or pre-mounted on the control device 21. In response to this, a process of searching for a candidate for a user of the available vehicle 1 is executed in the arrangement area, and the available vehicle 1 is made to perform a predetermined operation according to the search result.

Specifically, as shown in the flowchart of FIG. 4, the processing of the control device 21 of each available vehicle 1 and the operation of each available vehicle 1 are performed.

With reference to FIG. 4, the control device 21 of each available vehicle 1 arranged in the arrangement area selects a candidate for the user of the available vehicle 1 from among the people existing in the vicinity of the available vehicle 1. The search process is executed (STEP1), and it is determined whether or not the user candidate exists (STEP2).

The process of STEP 1 can be executed, for example, as follows. That is, the control device 21 of the available vehicle 1 acquires the captured image of the camera 24 of the available vehicle 1 or the captured image of the surveillance camera installed in the arrangement area of the available vehicle 1.

Then, the control device 21 searches for a person who meets the predetermined condition from the captured image, and determines the person who meets the predetermined condition as a candidate for the user of the available vehicle 1. For example, the control device 21 extracts a person who can be considered to have a high degree of demand or necessity for using the available vehicle 1 from the captured image, and determines that person as a candidate for the user.

In this case, more specifically, the control device 21 determines the degree of fatigue of the person from, for example, an image of the face of the person in the captured image, and can determine that the degree of fatigue is high. Is determined as a candidate for the user.

Alternatively, the control device 21 may be, for example, an image of the luggage carried by the person in the captured image, a pattern of the person walking, a pattern of the person sitting, or a method of moving the arm of the person carrying the luggage. From the pattern and the like, the degree of burden of movement of the person is judged, and the person who can be judged to have a high degree of burden is determined as a candidate for the user.

Thereby, from the periphery of the available vehicle 1, a person who can be regarded as having a high degree of demand or necessity for using the available vehicle 1 can be appropriately determined as a candidate for the user.

In addition to the above method, for example, the following method may be used as a method for determining the degree of fatigue of a person existing in the vicinity of the available vehicle 1 or the degree of burden of movement.

In this method, the integrated management device 30 sequentially acquires the position information of each person by communicating with the user terminal of each person in the available area, and based on the time series of the position information. , Grasp one or both of each person's distance and speed.

Then, the integrated management device 30 (or the control device 21 of the available vehicle 1) has a high or low degree of fatigue or movement burden of each person based on the movement distance or movement speed of each person in the vicinity of the available vehicle 1. To judge. For example, it is determined that the degree of fatigue of a person whose travel distance exceeds a predetermined value is high, and that the degree of fatigue of a person whose travel distance is equal to or less than a predetermined value is low. Alternatively, a person whose movement speed is faster than the predetermined value determines that the burden of movement is low, and a person whose movement speed is slower than the predetermined value determines that the burden of movement is high.

For example, both the moving distance and the moving speed may be comprehensively reflected to determine the degree of fatigue or the degree of burden of movement of each person.

Supplementally, the method for determining a user candidate is not limited to the above method. For example, a user candidate may be determined based on the line of sight of a person in the captured image. For example, a person who can be considered to be watching the available vehicle 1 may be determined as a candidate for the user. Alternatively, for example, a person who is beckoning to the available vehicle 1 may be determined as a candidate for the user. Alternatively, for example, a user candidate is directly determined (without estimating the degree of fatigue or the degree of burden) from the information of one or both of the moving distance and the moving speed of each person around the available vehicle 1. May be good.

The process of STEP 1 is executed as described above. In parallel with the processing of STEP 1, the usable vehicle 1 is placed in the arranged area so that the camera 24 of the available vehicle 1 can acquire an image captured in a wide range of the arranged area of the available vehicle 1. It may be moved or swiveled as appropriate.

When the determination result of STEP 2 is affirmative (when the user candidate can be searched by the search process of STEP 1), the control device 21 of the available vehicle 1 is set to the available vehicle 1. The movement of the first moving operation unit 3 and the second moving operation unit 4 of the available vehicle 1 is controlled so that a predetermined first operation (details will be described later) is performed (STEP 3).

Further, for example, if the user candidate cannot be searched even if the search process of STEP 1 is executed for a predetermined time, the determination result of STEP 2 becomes negative. In this case, the control device 21 of the available vehicle 1 makes the available vehicle 1 perform a predetermined second operation (details will be described later) different from the first operation. The movement of the moving operation unit 3 and the second moving operation unit 4 is controlled (STEP 4).

As described above, the processing of the control device 21 of each available vehicle 1 and the operation of the available vehicle 1 are performed in the arrangement area. The processing and operation shown in the flowchart of FIG. 4 can be repeated, for example, periodically. Supplementally, the processing of STEPs 1 and 2 corresponds to the processing of the first step in the present invention, and the processing of STEPs 3 and 4 corresponds to the processing of the second step in the present invention. Further, the case where the determination result of STEP2 is positive corresponds to the first case in the present invention, and the case where the determination result of STEP2 is negative corresponds to the second case in the present invention. 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 the combination patterns of the operations of the available vehicle 1 are different from each other.

Here, the "combination pattern" refers to a combination of at least two or more movements selected from a plurality of movements that the vehicle 1 can perform. Therefore, a combination pattern having the same component operation may be due to differences in the timing of executing each operation (for example, whether multiple operations are performed simultaneously or in a predetermined order), differences in the time length of each operation, and the like. 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.

As the basic operation, for example, a tilting operation of the vehicle 1 (an operation in which the base 2 and the occupant boarding unit 5 are tilted) and a translational movement operation of the vehicle 1 (a first moving operation unit 3 and a second moving operation unit 4) are performed. The operation of translating in the same direction), the turning operation of the vehicle 1 (the operation of changing the directions of the first moving operation unit 3 and the second moving operation unit 4 in the yaw direction), and the movement stopping operation of the vehicle 1 (the first operation). The operation in which the spatial positions of the moving operation unit 3 of 1 and the second moving operation unit 4 are kept constant or substantially constant) can be mentioned.

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

Further, the turning operation of the vehicle 1 is an operation of turning (turning) the vehicle 1 while keeping the position of the ground contact portion of the first moving operation unit 3 constant or almost constant (hereinafter referred to as a rotation rotation operation). It includes 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 revolution turning operation).

Then, each of the tilting motion, the translational motion motion, and the turning motion of the vehicle 1 is, for example, the operating direction (tilting direction, the translational movement direction, the turning direction (clockwise direction or the counterclockwise direction)), and the operating speed ( Depending on the tilting speed, translational movement speed, turning speed (angular velocity in the yaw direction), movement amount (tilting amount, translational movement amount, turning angle (rotation angle in the yaw direction)), or the duration of the movement. It can be classified into multiple basic operations.

The above-mentioned revolution turning motion is further classified into a plurality of basic motions according to, for example, the position of the turning center (position relative to the user candidate) or the turning radius (or the curvature of the movement path). Is also possible.

Further, the movement stop operation of the vehicle 1 is the duration thereof, or the position or orientation of the first movement operation unit 3 and the second movement operation unit 4 at the time of movement stop (position relative to the user candidate or). It is possible to further classify into a plurality of basic operations according to the classification of orientation).

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

In the present embodiment, when the control device 21 of the available vehicle 1 can search for a user candidate, the first operation to be executed by the available vehicle 1 is, for example, used by the user candidate. It is set so that the possible vehicle 1 can have a favorable impression or a feeling of familiarity, and the interest or motivation of the user candidate for using the available vehicle 1 can be increased.

As the first operation, for example, the following operation can be adopted. That is, in the first operation, the available vehicle 1 first translates from the rear side of the user candidate through the side of the candidate and reaches the target position on the front side (front side) of the candidate. One or both of the moving motion and the turning motion (revolution turning motion) are performed. In other words, the available vehicle 1 overtakes the candidate of the user from the rear side of the candidate and moves so as to reach the target position on the front side of the user.

In this case, as the target position, for example, a position on the diagonally front side of the user candidate may be adopted. More specifically, the target position is, for example, as shown by point P1 in FIG. 5, a region within the central visual field region of the candidate of the user, in which the distance from the candidate of the user is equal to or less than a predetermined value (. At a position deviating from the so-called personal area), the position is set diagonally forward of the user candidate.

In this case, the central visual field region of the user candidate is estimated from, for example, a captured image of the user candidate. Further, the personal area is an area (a circular area centered on a person) in which a person tends to feel uncomfortable when another object or the like approaches the area, and generally, the distance from the person is large. For example, an area of 70 cm or less can be adopted as a personal area.

As a result, the available vehicle 1 is moved to the front side of the user candidate so as not to hinder the movement of the user candidate, and the existence of the available vehicle 1 is noticed by the user candidate. Can be done.

In the example shown in FIG. 5, the target position (point P1) is set on the right side of the user candidate, but the target position may be set on the left side of the user candidate. The target position may be set to, for example, the side on which the available vehicle 1 can be reached in a shorter time among the right side and the left side of the user candidate. Alternatively, the right side or the left side of the user candidate is selected according to, for example, the degree of congestion around the user candidate or the existence of obstacles. May be good.

Further, for example, it is possible to increase the distance from the user candidate to the target position to some extent and set the target position on the center line of the central visual field region of the user candidate.

Next, the available vehicle 1 makes a turning motion (turning direction) so that the front side (positive direction of the X-axis) is directed to the user candidate. The turning motion may be either a rotation turning motion or a revolution turning motion. This turning motion is similar to the motion in which a person turns around. By this operation, it is possible to enhance the familiarity or likability of the user candidate with respect to the available vehicle 1.

In order to further enhance the similarity with the motion of turning around, when the available vehicle 1 is located in front of the right side of the user candidate, the available vehicle 1 is viewed in the counterclockwise direction (viewed from above). It is preferable to turn it counterclockwise). Further, when the available vehicle 1 is located on the left front side of the user candidate, it is preferable to turn the available vehicle 1 in the clockwise direction (clockwise when viewed from above).

Next, the available vehicle 1 temporarily tilts the occupant boarding portion 5 and the base 2 to the right or left side by a predetermined angle in the roll direction, and further secures the original tilted position (balanced state of the entire center of gravity of the vehicle 1). The tilting operation of returning to the possible position) is executed a predetermined number of times (once or multiple times).

This tilting motion is similar to the motion of a person tilting his / her head (the motion of bending his / her neck) asking a user candidate whether to use the available vehicle 1. By this operation, it is possible to further enhance the familiarity or favorability of the user candidate with respect to the available vehicle 1. As a result, the interest or motivation of the user candidate for using the available vehicle 1 can be increased.

Instead of tilting the available vehicle 1 to the right or left side, or in addition to the tilting operation, the substrate 2 and the occupant boarding portion 5 of the available vehicle 1 are temporarily tilted forward by a predetermined tilt angle. The tilting operation of tilting to the original tilting position and then returning to the original tilting position may be executed a predetermined number of times (once or a plurality of times). In this way, the motion of tilting the usable vehicle 1 to the forward tilting side is an motion similar to the bowing motion of a person. Therefore, the tilting motion also causes the user's candidate's liking or familiarity with the usable vehicle 1. Can be enhanced.

The above series of operations is an example of the first operation. When the candidate of the user decides to use the available vehicle 1 after the execution of the first operation, for example, the user terminal of the candidate of the user and the control device 21 of the available vehicle 1 are used. Information to the effect that the available vehicle 1 is used is given to the control device 21 of the available vehicle 1 by performing the communication of. After that, the user candidate can actually use the available vehicle 1 as a means of transportation.

It should be noted that the information to the effect that the available vehicle 1 is used may be given to the control device 21 of the available vehicle 1 from the user terminal of the candidate user via the integrated management device 30. .. Alternatively, the information to the effect that the available vehicle 1 is used is transmitted to the control device 21 by voice, for example, by a user candidate, or by, for example, an operation of a switch provided in the available vehicle 1. It is also possible to transmit information to the control device 21.

Supplementally, when a user candidate can be searched, in addition to causing the available vehicle 1 to execute the first operation, it can be used, for example, before, during, or after the execution of the first operation. The notification lamp 28 of the vehicle 1 may be made to emit light in a predetermined color (for example, yellow) to visually notify the user's candidate to the available vehicle 1. Such notification corresponds to the notification in the third step in the present invention.

Further, the emission color of the notification lamp 28 may be changed by a specific color or pattern just before the end of the operation of the available vehicle 1 to notify the surroundings that the available vehicle 1 "stops". ..

Note that the notification that calls the attention of the user candidate 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 or a projector provided in the available vehicle 1, or may be audibly performed by voice or music from a speaker provided in the available vehicle 1. It is possible. It is also possible to perform the notification via, for example, a user terminal that is a candidate for the user.

Next, when the control device 21 of the available vehicle 1 cannot search for a user candidate in the search process of STEP 1, the second operation to be executed by the available vehicle 1 is, for example, the following. Such an operation can be adopted.

That is, in the second operation, the available vehicle 1 maintains, for example, a stopped state (movement stopped state). As a result, the power consumption of the battery (not shown) mounted on the available vehicle 1 can be suppressed as much as possible.

Alternatively, the available vehicle 1 continuously or, for example, after stopping the movement, continuously or counterclockwise rotates in a predetermined rotation angle in the clockwise direction and the counterclockwise direction in the yaw direction. Repeat intermittently.

Such a second movement is a movement similar to a movement in which a person roams. Therefore, among the people existing around the available vehicle 1, there is a high possibility that a person who is interested in the available vehicle 1 will appear. As a result, when the process of searching for the user candidate is restarted, the possibility that the user candidate is found increases.

The control device 21 of the available vehicle 1 is installed in the camera 24 of the available vehicle 1 (or in the arrangement area of the available vehicle 1) while performing the rotation turning operation of the available vehicle 1 as described above. It is also possible to monitor the number of people, behavior patterns, etc. existing around the available vehicle 1 from the captured image of the surveillance camera). Then, for example, when a predetermined change such as the number of people or the behavior pattern occurs, the process of searching for a user candidate may be restarted by using it as a trigger.

Alternatively, from the above captured image, for example, when the direction of the line of sight of each person existing around the available vehicle 1 is monitored and the number of people who are looking at the available vehicle 1 becomes a predetermined number or more. , The process of searching for a user candidate may be restarted using it as a trigger.

In the second operation, in order to increase the interest, likability, or familiarity of the person existing in the available vehicle 1 with respect to the available vehicle 1, an operation other than the above-mentioned rotation turning operation is performed on the available vehicle 1. You may let it. For example, the available vehicle 1 may be made to perform a revolution turning operation instead of the rotation turning operation. Alternatively, for example, the substrate 2 of the available vehicle 1 and the occupant boarding unit 5 may be repeatedly tilted to the left and right in the roll direction. Alternatively, the available vehicle 1 has a playful motion such as a motion of moving in a predetermined trajectory pattern such as a figure eight trajectory or a motion similar to the motion of a small animal such as a dog or a cat as a second motion. You may let it run.

Further, when the user candidate cannot be searched, in addition to causing the available vehicle 1 to execute the second operation, it can be used, for example, before, during, or after the execution of the second operation. By causing the notification lamp 28 of the vehicle 1 to emit light in a predetermined color (for example, blue), a notification that the available vehicle 1 is in a usable state is notified to a person existing around the available vehicle 1. You may do it. Such notification corresponds to the notification in the fourth step in the present invention.

Note that the notification that the available vehicle 1 is in a usable state 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 or a projector provided in the available vehicle 1, or may be audibly performed by voice or music from a speaker provided in the available vehicle 1. It is possible. It is also possible to perform the notification via the user terminal of each person existing in the vicinity of the available vehicle 1.

In the present embodiment, as described above, the operation of the available vehicle 1 in the arrangement area is performed. As a result, the user who has a high demand or need to use the available vehicle 1 can easily and easily use the available vehicle 1 without the need for prior procedures for receiving the dispatch of the available vehicle 1. It can be used comfortably (comfortably).

Further, as described above, since the available vehicle 1 is arranged in various places in the available area according to the degree of crowding of people, in an area where the degree of crowding of people is relatively high, a large number of user candidates are searched for. It is possible to increase the possibility of obtaining the vehicle and, by extension, increase the possibility that more users will use the available vehicle 1.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. In the present embodiment, when the user candidate can be searched, it is determined whether or not the existing position of the user candidate is a position suitable for boarding the available vehicle 1 after the execution of the first operation. However, if the position is not suitable for the boarding, the candidate of the user is guided to the position suitable for the boarding.

Specifically, referring to the flowchart of FIG. 6, the control device 21 of the usable vehicle 1 causes the available vehicle 1 to perform the first operation in the STEP 3, and then the current existence position of the user candidate. However, STEP 5 executes a process of determining whether or not the position is suitable for boarding the available vehicle 1. This STEP 5 corresponds to the fifth step in the present invention.

In this determination process, for example, based on the image captured by the camera 24 of the available vehicle 1 or the image captured by the surveillance camera installed in the available area, the area around the candidate of the user is sufficiently suitable for boarding. It is determined whether or not there is a vacant space, and if the vacant space exists, it is determined that the current position of the user candidate is a position suitable for boarding the available vehicle 1.

Further, when a relatively large number of other persons or other vehicles 1 exist in the vicinity of the user candidate, or when various installations or exhibits exist in the vicinity thereof, the vicinity of the user candidate is sufficient. If there is no empty space, it is determined that the current position of the user candidate is not suitable for boarding the available vehicle 1.

In the determination process of STEP 5, information other than the captured image, for example, map data stored in advance in the general management device 30 or the like, or communication with the user terminal of each user in the available area is obtained. The position information of each user, the position information of each vehicle 1 in the available area, or the like may be used.

If the determination result of STEP 5 is affirmative, the processing of the flowchart of FIG. 6 ends.

On the other hand, if the determination result of STEP 5 is negative, the control device 21 of the available vehicle 1 then, in STEP 6, the available vehicle from the vicinity of the user candidate based on the above-mentioned captured image or the like. A position suitable for boarding in 1 (hereinafter referred to as an appropriate boarding position) is determined. In this case, for example, the appropriate boarding position is determined in a flat place where the surrounding empty space is relatively wide.

Further, in STEP 7, the control device 21 executes a guidance process for guiding the candidate of the user to the appropriate boarding position. In this guidance process, the control device 21 moves the available vehicle 1 so as to make the available vehicle 1 follow the candidate of the user while blinking the notification lamp 28 of the available vehicle 1, for example. Then, the candidate of the user is guided to the proper boarding position. This STEP7 process, together with the STEP6 process, corresponds to the sixth step in the present invention.

In addition, the appropriate boarding position can be visually presented to the user candidate by the display or projector provided in the available vehicle 1, or the user candidate can be audibly selected for boarding by using voice guidance. You may guide to the position.

The present embodiment is the same as the first embodiment except for the matters described above. According to the present embodiment, the user candidate can start using the available vehicle 1 at a place where it is easy to board the available vehicle 1. Therefore, the candidate of the user can use the available vehicle 1 more comfortably.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG. 7. The mode in which the available vehicle 1 is arranged in various places in the available area is not limited to the mode described in the first embodiment. In the present embodiment, for example, the degree of fatigue or the degree of burden of movement of each person in the available area is estimated, and the usable vehicle 1 is arranged in an manner in consideration of the degree of fatigue or the degree of burden.

Specifically, the integrated management device 30 determines, for example, the degree of fatigue or the degree of burden of movement of each person in the available area by the same method as the method described in the first embodiment.

Then, the general management device 30 determines the arrangement of the usable vehicle 1 according to the distribution of the people who are judged to have a high degree of fatigue or a high degree of burden of movement.

Specifically, as shown in FIG. 7, the general management device 30 has a degree of fatigue or a degree of burden of movement as compared with an area where the number of people judged to have a high degree of fatigue or a high degree of burden of movement is relatively small. The placement area of each available vehicle 1 is determined so that a larger number of available vehicles 1 are placed in an area where the number of people judged to be high is relatively large.

Then, the integrated management device 30 transmits an operation command instructing the control device 21 of each available vehicle 1 to move to the arrangement area determined as described above. 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 the first embodiment or the second embodiment except for the matters described above. According to this embodiment, it becomes easy to find a user candidate from the periphery of each available vehicle 1 in an area where there are many people with a high degree of fatigue or a high degree of burden of movement. Therefore, it is possible to increase the chances of having the available vehicle 1 used.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIGS. 8A and 8B. In the present embodiment, the first operation when the user candidate can be searched is the operation described below as the last operation immediately before the user candidate boarded the available vehicle 1 (hereinafter, the operation immediately before boarding). ) Is included.

This operation immediately before boarding is executed, for example, following the operation in STEP 3 in the first embodiment. Alternatively, the operation immediately before boarding is executed, for example, when the determination result of STEP 5 in the second embodiment is positive, or after guiding the user candidate to the appropriate boarding position in STEP 7.

The control device 21 of the available vehicle 1 causes the available vehicle 1 to execute the operation immediately before boarding as follows by a program implemented in advance or in response to a command given from the general management device 30.

That is, the control device 21 is assigned to the candidate at a position close to the candidate (for example, near the boundary of the personal area of the candidate of the user and a predetermined distance from the candidate) in the vicinity of the candidate of the user. Determine the boarding position for boarding the available vehicle 1.

In this case, the boarding position is selected from, for example, a plurality of candidate positions around the user candidate. For example, as shown in FIG. 8A, the front position PF, the left side position PL, the right side position PR, and the back position PB of the user candidate are set as candidate positions for the boarding position, and these candidate positions PF, PL, PR, The boarding position is selected from the PB.

In this selection process, as shown in FIG. 8A, for example, among the candidate positions PF, PL, PR, and PB, the surrounding empty space (the empty space in the area within a certain distance from each candidate position) is the other candidate position. The candidate position (candidate position PL in FIG. 8A), which is relatively wider than the above, 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 the area within a certain distance from the candidate position where there is no obstacle that hinders the act of boarding the available vehicle 1. It is evaluated based on (the larger the area, the larger the empty space is evaluated). This evaluation is performed using, for example, the camera 24 of the available vehicle 1, the surveillance camera around the available vehicle 1, or the captured image of the camera 24 of the other vehicle 1.

Further, in the present embodiment, for example, as shown in FIG. 8B, when there is another person lined up next to the user candidate, a plurality of candidate positions PF, PL, PR, around the user candidate, In the PB, the candidate position is at the position where the user candidate exists between the user and the other person (the position on the opposite side of the user candidate from the other person), or the candidate position closest to the position. Is preferentially selected as the boarding position.

For example, as shown in FIG. 8B, when there is another person on the left side of the user candidate, the candidate position PF on the front side of the user candidate, the candidate position PR on the right side, and the candidate position PB on the back side. When the empty spaces around each are about the same as each other, the candidate position PR on the right side is selected as the boarding position.

In addition, the empty space around the candidate position on the opposite side to the other (candidate position PR on the right side in FIG. 8B) is another candidate position excluding the candidate position near the existence position of the other (candidate on the front side in FIG. 13B). If it is smaller than a certain amount or more 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 available vehicle 1 moves the available vehicle 1 to the selected boarding position as illustrated by the arrow of the alternate long and short dash line in FIG. 8A or FIG. 8B. And stop at the boarding position. In this case, the control device 21 operates the available vehicle 1 so that the orientation of the available vehicle 1 faces a predetermined direction with respect to the candidate of the user at the boarding position.

The predetermined orientation is an orientation (direction for boarding) in which a user candidate can easily board the available vehicle 1 stopped at the boarding position smoothly. In the present embodiment, for example, the available vehicle 1 is stopped at the boarding position with the front front of the available vehicle 1 facing the user candidate.

By doing so, the user candidate can quickly board the available vehicle 1 without having to move to the side or the rear of the available vehicle 1 stopped at the boarding position. Is. For example, the user candidate turns his back toward the available vehicle 1 and then arranges the occupant boarding section 5 (seat) of the available vehicle 1 behind himself in his inseam. By moving to, you can easily board the available vehicle 1.

In the present embodiment, as described above, the operation of moving the available vehicle 1 to the selected boarding position and stopping the usable vehicle 1 in a state of facing the user candidate in front of the available vehicle 1 at the boarding position is described above. It is an operation just before boarding.

By causing the available vehicle 1 to perform such a boarding straight line operation, the available vehicle 1 can board the available vehicle 1 at a boarding position where there is a large empty space and no other person exists. Stop in a state facing the easy-to-use boarding direction. Therefore, after that, the candidate of the user can easily and promptly board the available vehicle 1.

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

In the present embodiment, when the available vehicle 1 is moved to the selected boarding position, the line of sight of the user candidate or the front of the face or the front of the body is directed to the available vehicle 1. As a necessary condition, the movement of the available vehicle 1 to the boarding position may be started. In this case, the determination of whether or not the line of sight of the user candidate or the front of the face or the front of the body is directed toward the available vehicle 1 is determined, for example, by the camera 24 of the available vehicle 1 or the available vehicle 1. This is performed using a peripheral surveillance camera or an image captured by the camera 24 of another vehicle 1.

As described above, by starting the movement of the available vehicle 1 to the boarding position, provided that the line of sight of the user candidate or the front of the face or the front of the body is directed to the available vehicle 1. The movement of the available vehicle 1 to the boarding position is performed in a state where the user candidate recognizes or is likely to recognize the available vehicle 1. Therefore, the available vehicle 1 can be brought closer to the user candidate without giving a sense of discomfort to the user candidate.

[Fifth Embodiment]
Next, a fifth embodiment of the present invention will be described with reference to FIG. In the present embodiment, after the user candidate has boarded the available vehicle 1 (after using the available vehicle 1), the available vehicle 1 is operated as described below.

That is, in the present embodiment, the control device 21 of the available vehicle 1 is after the candidate of the user finishes using the available vehicle 1 and gets off from the available vehicle 1 (arrow Y1 in FIG. 9). Later, the user candidate moves away from the available vehicle 1 (arrow Y2 in FIG. 9), and the available vehicle 1 moves from an area within a predetermined distance from the user candidate (for example, a personal area). When it is detected that the vehicle deviates, the movement of the available vehicle 1 (arrow Y3 in FIG. 9) is started.

Here, the detection of the movement of the candidate of the user and the detection of the distance between the candidate and the available vehicle 1 are performed, for example, by the camera 24 of the available vehicle 1 or the surveillance camera around the available vehicle 1. Alternatively, it is performed using the captured image of the camera 24 of the other vehicle 1.

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

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

In the present embodiment, as described above, by moving the available vehicle 1 after the user candidate gets off (leaves) from the available vehicle 1, the available vehicle 1 can be used by the user candidate. The available vehicle 1 can be moved after the situation can be considered to be finished.

It should be noted that, for example, it is detected that the user candidate moves away from the available vehicle 1 and that the available vehicle 1 deviates from the area within a predetermined distance from the user candidate. The movement of the available vehicle 1 may be started when any of the conditions of being used is satisfied.

Further, for example, the candidate of the user after getting off is monitored by the camera 24 of the available vehicle 1, the surveillance camera around the available vehicle 1, or the captured image of the camera 24 of the other vehicle 1, and the candidate of the user. May start moving the available vehicle 1 when it is detected that the camera has performed a predetermined operation (for example, an operation such as waving a hand with respect to the available vehicle 1).

[Other embodiments]
Some other embodiments are illustrated below. In each of the above-described embodiments, as an example of the autonomous mobile body of the present invention, the inverted pendulum type vehicle 1 having the configuration shown in FIG. 1 has been described as an example. It may be a moving body of the configuration. For example, the inverted pendulum type vehicle as an example of the autonomous moving body may be a vehicle not provided with the second moving motion unit 4. Alternatively, the inverted pendulum type vehicle may be, for example, a vehicle configured so that a person can board in an upright posture.

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

Alternatively, the inverted pendulum type vehicle has a luggage loading section in addition to the occupant boarding section or instead of the occupant boarding section, and the user's user is loaded with the user's luggage on the baggage loading section. It may be configured to be able to move according to an instruction given from the terminal or following the movement of the user.

Further, the autonomous mobile body of the present invention is not limited to the inverted pendulum type vehicle, and may be, for example, a single-seater electric cart 50 as illustrated in FIG. 10, or an electric wheelchair having a known structure. There may be. When the autonomous moving body is an electric cart 50 as illustrated in FIG. 10, the seat 50a (passenger boarding portion) of the electric cart 50 is rotatable around an axial center in the vertical direction, and is electrically operated in the rotated state. The seat 50a can be seated from the side of the cart 50. Therefore, it is desirable that the side surface of the electric cart 50 faces the person who wants to use the electric cart 50 as the orientation for boarding the electric cart 50 at the boarding position described in the fourth embodiment.

Further, when the autonomous moving body is an electric wheelchair, the front front of the wheelchair faces the user as the direction for boarding the wheelchair at the boarding position described in the fourth embodiment. It is desirable that the orientation is as follows.

Further, the first operation and the second operation in which the combination patterns are different from each other are not limited to the operations of the above-mentioned form, and may be different as long as the types of the basic operations to be combined are different. Therefore, for example, if the basic operations constituting each operation are the same, the operations in which only the order in which the basic operations are executed are different from each other and the operations in which only the number of times the basic operations are executed are different from each other are the same. It is treated as a combination pattern of.

Specifically, for example, the first motion is defined as an motion that combines an motion of approaching the user candidate by translational movement and turning in front of the user candidate (recognizable position) and an motion of tilting. The second operation can be defined as an operation in which a rotation rotation operation in the clockwise direction and a rotation rotation operation in the counterclockwise direction are combined.

At this time, when an operation that combines an approaching motion and a tilting motion in front of the user candidate is performed, the number of tilting times may be one or two, or the approaching motion may be performed. Regardless of the order of execution of the motion to be performed and the motion to be tilted, the types of the basic motions to be combined are the same, so that both are treated as the first motion.

Further, when the rotation rotation operation in the clockwise direction and the rotation rotation operation in the counterclockwise direction are combined, the rotation rotation operation in any direction is performed first, regardless of which direction the rotation rotation operation is performed first. Alternatively, even if one set or two sets of reciprocating rotations in two directions are performed, the types of the basic operations to be combined are the same, and both are treated as the second operation.

Further, in the above embodiment, a plurality of available vehicles 1 (autonomous mobile bodies) are arranged in the available area as described above, but the arrangement form of the available vehicles 1 (autonomous mobile bodies) in the available area is , Other forms may be used. For example, the available vehicle 1 (autonomous mobile body) may be arranged so as to uniformly or substantially uniformly distribute a plurality of available vehicle 1 (autonomous mobile body) in the available area.

Further, at least a part of the above-mentioned various arithmetic processes executed by the control device 21 of the vehicle 1 (autonomous mobile body) may be executed by the integrated management device 30. On the contrary, at least a part of the above-mentioned various arithmetic processes executed by the integrated management device 30 may be executed by the control device 21 of one or more vehicles 1 (autonomous mobile body). Further, at least a part of the above-mentioned various arithmetic processes executed by the control device 21 and the integrated management device 30 of the vehicle 1 (autonomous mobile body) is the control of one or more vehicle 1 (autonomous mobile body). It may be executed by the collaborative processing in which the apparatus 21 and the general management apparatus 30 cooperate with each other.

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

Claims (28)

The first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing around the autonomous mobile body in the available state, and
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
The operation for the first case includes an operation of moving the available autonomous mobile body to a boarding position around the user candidate.
When there is another person lined up next to the user candidate, the boarding position is such that the user candidate exists between the user candidate and the other person in the vicinity of the user candidate. An operation method of an autonomous mobile body characterized by being in a position determined in. The first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing around the autonomous mobile body in the available state, and
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
The operation for the first case includes an operation of moving the available autonomous mobile body to a boarding position around the user candidate.
In the first case, the operation of moving the available autonomous mobile body to the boarding position around the user candidate is performed by the line of sight of the user candidate or the front of the face or the front of the body. An operation method of an autonomous mobile body, which is an operation executed on the condition that it is directed to the autonomous mobile body in an available state. The first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing around the autonomous mobile body in the available state, and
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
In the second case, the autonomous mobile body in the available state is further provided with a fourth step of notifying the surroundings that the autonomous mobile body is in the available state. Operation method. The first step of determining whether or not there is a candidate for a user of the autonomous mobile body among the people existing around the autonomous mobile body in the available state, and
In the first case where it is determined that the user candidate exists and in the second case where it is determined that the user candidate does not exist, the operation of the combination pattern different from each other in the autonomous mobile body in the available state. It is provided with a second step in which an operation for a first case and an operation for a second case are performed respectively.
In the first case, the fifth step of determining whether or not the existing position of the user candidate is a suitable place for boarding the autonomous mobile body in the available state, and the fifth step of the fifth step. If the determination result is negative, the available autonomous mobile is operated or operated so as to guide the user candidate to a position suitable for boarding the available autonomous mobile. Autonomous movement further comprising a sixth step of notifying the user candidate so as to guide the user candidate to a position suitable for boarding the available autonomous mobile body. How to operate the body. In the operation method of the autonomous mobile body according to any one of claims 1 to 4,
The autonomous mobile body in the available state or its surroundings is provided with a sensor for recognizing the appearance or operation of each person existing in the vicinity of the autonomous mobile body, and in the first step, the sensor of the sensor is provided. An operation method of an autonomous mobile body, characterized in that a search for a user candidate is executed based on an output. In the operation method of the autonomous mobile body according to any one of claims 1 to 4,
In the first step, it is executed to acquire information indicating the movement distance or movement speed of each person existing in the vicinity of the autonomous mobile body, and to search for a candidate of the user based on the information. An operation method of an autonomous mobile body characterized by. In the operation method of the autonomous mobile body according to any one of claims 1 to 4,
In the first step, the degree of fatigue of each person existing around the autonomous moving body or the degree of burden of movement of each person is determined, and the candidate of the user is searched for based on the degree of fatigue or the degree of burden. An operation method of an autonomous mobile body, characterized in that what is done is performed. In the operation method of the autonomous mobile body according to any one of claims 1 to 7,
The operation for the first case includes an operation of moving the available autonomous mobile body to a target position on the front side of the user candidate, which is an operation method of the autonomous mobile body. The operation method of the autonomous mobile body according to claim 8 is as follows.
The operation for the first case is an operation of moving the autonomous mobile body in the available state from the rear side of the candidate of the user to the target position through the side of the candidate, and after the movement. A method of operating an autonomous mobile body, wherein the front portion of the autonomous mobile body in an available state includes an operation of turning the autonomous mobile body so as to face the candidate of the user. The operation method of the autonomous mobile body according to claim 9 is as follows.
The operation for the first case is a method of operating an autonomous mobile body, which further includes an operation of tilting the autonomous mobile body after changing the direction of the autonomous mobile body in the available state. In the operation method of the autonomous mobile body according to any one of claims 8 to 10.
The operation method of an autonomous mobile body, wherein the target position is a position on the diagonally forward side of the candidate of the user. In the operation method of the autonomous mobile body according to any one of claims 8 to 11.
A method of operating an autonomous mobile body, wherein the target position is a position within the central visual field region of the candidate of the user. In the operation method of the autonomous mobile body according to any one of claims 3 to 12,
The operation for the first case is an operation method of the autonomous moving body, which comprises moving the autonomous moving body in an available state to a boarding position around the candidate of the user. In the operation method of the autonomous mobile body according to any one of claims 1, 2, and 13.
A method of operating an autonomous mobile body, wherein the boarding position is any of the front, back, and side positions of the user candidate. In the operation method of the autonomous mobile body according to any one of claims 1, 2, 13 and 14.
A method of operating an autonomous mobile body, wherein the boarding position is a position in which an empty space is relatively wider than other positions around the user candidate. In the operation method of the autonomous mobile body according to any one of claims 2, 13 to 15,
When there is another person lined up next to the user candidate, the boarding position is such that the user candidate exists between the user candidate and the other person in the vicinity of the user candidate. An operation method of an autonomous mobile body characterized by being in a position determined in. In the operation method of the autonomous mobile body according to any one of claims 1, 13 to 16.
In the first case, the operation of moving the available autonomous mobile body to the boarding position around the user candidate is performed by the line of sight of the user candidate or the front of the face or the front of the body. An operation method of an autonomous mobile body, which is an operation executed on the condition that it is directed to the autonomous mobile body in an available state. In the operation method of the autonomous mobile body according to any one of claims 1 to 17,
The operation for the first case is to stop the autonomous mobile body in the available state around the user candidate in a state where the direction of the autonomous mobile body with respect to the user candidate is directed to a predetermined direction. An operation method of an autonomous mobile body, which is characterized by including an operation to make the operator move. In the operation method of the autonomous mobile body according to claim 18,
A method of operating an autonomous mobile body, wherein the predetermined orientation is a predetermined orientation for boarding a candidate of the user. In the operation method of the autonomous mobile body according to any one of claims 1 to 19,
The method for operating an autonomous mobile body, which further comprises, in the first case, a third step of notifying the autonomous mobile body in an available state to attract the attention of the user candidate. In the operation method of the autonomous mobile body according to any one of claims 1 to 20,
The operation for the second case is an operation of maintaining the autonomous moving body in the available state in a stopped state and an operation of repeating one or both of the tilting and turning of the autonomous moving body. An operation method of an autonomous mobile body characterized by including any operation. In the operation method of the autonomous mobile body according to any one of claims 1, 2, 4 to 21,
In the second case, the autonomous mobile body in the available state is further provided with a fourth step of notifying the surroundings that the autonomous mobile body is in the available state. Operation method. In the operation method of the autonomous mobile body according to any one of claims 1 to 3, 5 to 22
In the first case, the fifth step of determining whether or not the existing position of the user candidate is a suitable place for boarding the autonomous mobile body in the available state, and the fifth step of the fifth step. If the determination result is negative, the available autonomous mobile is operated or operated so as to guide the user candidate to a position suitable for boarding the available autonomous mobile. Autonomous movement further comprising a sixth step of notifying the user candidate so as to guide the user candidate to a position suitable for boarding the available autonomous mobile body. How to operate the body. In the operation method of the autonomous mobile body according to any one of claims 1 to 23,
A first step of arranging a plurality of available autonomous mobiles in the available area of the autonomous mobile is further provided, and in the A step, observation of the degree of crowding of people in the available area is provided. An operation method of an autonomous mobile body, characterized in that the autonomous mobile body is arranged so that more autonomous mobile bodies in an available state exist in an area where the value or the predicted value is higher than the area where the value or the predicted value is low. In the operation method of the autonomous mobile body according to any one of claims 1 to 23,
A first step A of arranging a plurality of available autonomous mobiles in the available area of the autonomous mobile is further provided, and the degree of fatigue of each person existing in the available area is high or low, or the movement of each person. The number of people who are estimated to have a high degree of fatigue or a high degree of burden is more in the area where the number of people who are estimated to have a high degree of fatigue or the degree of burden is larger than in the area where the degree of burden is estimated. An operation method of an autonomous mobile body, characterized in that the autonomous mobile body is arranged so that a body exists. In the operation method of the autonomous mobile body according to any one of claims 1 to 25,
After the user candidate leaves the available autonomous mobile, it is detected that the user candidate deviates from a predetermined range of area around the available autonomous mobile. , A method of operating an autonomous mobile body, further comprising a B-step of initiating the movement of the autonomous mobile body in the available state. In the operation method of the autonomous mobile body according to any one of claims 1 to 25,
After the candidate of the user leaves the autonomous mobile body in the available state and it is detected that the candidate of the user has performed a predetermined operation, the movement of the autonomous mobile body in the available state is performed. An operation method of an autonomous mobile body, which further comprises a second step to be started. In the operation method of the autonomous mobile body according to any one of claims 1 to 25,
After the user candidate leaves the available autonomous mobile body, it is detected that the user candidate has started the movement, and then the movement of the available autonomous mobile body is started. An operation method of an autonomous mobile body, which further comprises a second step.

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