WO2021166317A1 - 電動モビリティおよび施設内におけるシステム - Google Patents

電動モビリティおよび施設内におけるシステム Download PDF

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Publication number
WO2021166317A1
WO2021166317A1 PCT/JP2020/038167 JP2020038167W WO2021166317A1 WO 2021166317 A1 WO2021166317 A1 WO 2021166317A1 JP 2020038167 W JP2020038167 W JP 2020038167W WO 2021166317 A1 WO2021166317 A1 WO 2021166317A1
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WO
WIPO (PCT)
Prior art keywords
electric mobility
user
control device
state
mobility
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/038167
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English (en)
French (fr)
Japanese (ja)
Inventor
武井　祐介
星矢 清水
圭佑 河原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Whill Inc
Original Assignee
Whill Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Whill Inc filed Critical Whill Inc
Priority to JP2022501619A priority Critical patent/JP7588878B2/ja
Priority to CN202080031313.7A priority patent/CN113826053B/zh
Publication of WO2021166317A1 publication Critical patent/WO2021166317A1/ja
Priority to US17/540,746 priority patent/US12343291B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
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    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1094—Tables, working plates or trays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
    • B62K17/00—Cycles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/726—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention for automatic deactivation, e.g. deactivation of actuators or motors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to electric mobility and a system in a facility.
  • Patent Document 1 As a system in such a facility, a plurality of electric mobility is used, the user moves one of the plurality of electric mobility by manual operation in the facility, and the user ends the use of the electric mobility. Then, it is known that the electric mobility moves to a standby place by automatic operation. See, for example, Patent Document 1.
  • Patent Document 1 Although there is a concept of service disclosed in Patent Document 1, there are various ages, physical conditions, languages, common sense, etc. of users who use electric mobility. Therefore, it is difficult to actually provide such a service in a stable manner. For example, in a situation where a sharing service for small electric mobility such as a single-seater is provided, the physique, baggage, etc. of users differ greatly from each other. Further, in such a sharing service, the electric mobility is often operated after receiving a relatively short explanation.
  • a part of the user's body, clothes, luggage, etc. may invade the detection range of the electric mobility sensor, which may affect the sensing of the sensor.
  • This phenomenon affects the accuracy of obstacle recognition using a sensor, and also affects the accuracy of automatic stop and automatic driving.
  • a part of the body such as the knee of the user may inevitably invade the detection range of the sensor.
  • the user's waist is bent and the user's legs are long, the user's knees may protrude forward from the front end of the single-seater small electric mobility.
  • the user's clothing may inevitably enter the detection range of the sensor.
  • the detection cancellation range is set in the detection range in front of the user in the detection range of the sensor, and the range in the front-back direction of the detection cancellation range is set according to the height of the user, etc. It is preferable that the value can be changed. However, in this case, depending on the shape of the user's clothing, the lower end of the clothing may be more likely to be caught in the front wheel of the electric mobility.
  • the first aspect of the present invention is electric mobility in which a user sits and rides, the mobility main body having wheels, a drive device for driving the wheels, a seat on which the user sits, and the mobility.
  • the mobility main body includes a sensor provided in the main body, and the mobility main body has a control device for controlling the drive device using the detection data of the sensor for at least one of automatic operation and automatic stop, and the control device. Is the range in which a part of the user's body, a part of clothes, or a part of belongings may exist in the range in front of the user who is seated in the seat in the detection data of the sensor.
  • the detection cancel range can be set, and the electric mobility is an avoidance target of the lower range of the detection cancel range from below the footrest surface of the user or from the front end of the footrest portion of the user.
  • the control device further includes a lower sensor for detecting the above, and when the lower sensor detects the avoidance target in the lower range, the control device controls the drive device for the avoidance operation.
  • the second aspect of the present invention is the electric mobility on which the user rides, which includes a wheel, a mobility main body having a driving device for driving the wheel, and a sensor provided on the mobility main body.
  • the mobility body has a control device that controls the drive device using the detection data of the sensor for at least one of automatic operation and automatic stop, and the control device is based on the detection data of the sensor.
  • the electric mobility is running, it is placed on a part of the user's body, a holding item held by the user, an object worn by the user, or a luggage storage portion of the electric mobility.
  • the control device uses the notification device provided in the electric mobility when it is determined that the baggage is in the intrusion state within the detection range of the sensor. At least one of the notification process and the process of changing the traveling state of the electric mobility by controlling the drive device is performed.
  • a third aspect of the present invention is a system in a facility, which includes the electric mobility, a management computer for receiving the vehicle body information of the electric mobility, and a display device for displaying the received vehicle body information.
  • the management computer receives information indicating that the electric mobility is in the intruding state or that the traveling state of the electric mobility is changed due to the intruding state, and displays the information. Based on the information, the device indicates that the electric mobility is in the intruding state or that the traveling state has been changed.
  • the system includes a plurality of electric mobility Ms arranged in the passenger terminal T of the airport and a management computer 100 that manages the plurality of electric mobility Ms.
  • the management computer 100 does not have to be located in the airport.
  • the electric mobility M of the present embodiment will be briefly described. In the system, it is also possible to use electric mobility different from the electric mobility M of the present embodiment.
  • the electric mobility M includes a mobility main body 30 having a pair of front wheels (wheels) 10 and a pair of rear wheels (wheels) 20. Further, the mobility main body 30 includes a seat unit (seat) S. Wheels may be provided in addition to the front wheels 10 and the rear wheels 20, and the number of front wheels 10 and rear wheels 20 may be other than the above. Further, one of the front wheel 10 and the rear wheel 20 may be omitted.
  • the electric mobility M of the present embodiment is a kind of electric wheelchair in which one user U sits on the seat unit S and rides on it.
  • the mobility main body 30 has a motor (driving device) MT for driving at least one of a pair of front wheels 10 and a pair of rear wheels 20.
  • the vehicle front-rear direction shown in FIGS. 3 and 4 may be referred to as the front-rear direction in the following description, and the vehicle width direction shown in FIGS. 3 and 4 may be referred to as the width direction or the vehicle width direction in the following description.
  • the vehicle front-rear direction and the front-rear direction of the electric mobility M and the mobility main body 30 are the same, and the vehicle width direction and the width direction of the electric mobility M and the mobility main body 30 are the same.
  • a pair of rear wheels 20 are each connected to a motor MT, and each motor MT drives a corresponding rear wheel 20.
  • the driving force of each motor MT may be transmitted to the corresponding front wheels 10 by power transmission means.
  • the power transmission member is a belt, a gear, or the like.
  • Each front wheel 10 includes a hub 14 attached to an axle 11 and a plurality of roller support shafts (not shown) supported by the hub 14, and the plurality of rollers 13 are rotatably supported by the roller support shafts.
  • the hub 14 may be attached to the axle 11 by using a bearing or the like, or the hub 14 may be attached to the axle 11 by using a cushioning member, an intermediate member or the like.
  • each roller 13 rotates about the axis of the corresponding roller support shaft. That is, the outer peripheral surface of each front wheel 10 is formed by a plurality of rollers 13, and each front wheel 10 is an omnidirectional wheel that moves in all directions with respect to the traveling surface. Note that in FIGS. 3 and 4, the groove of each roller 13 is not shown.
  • each rear wheel 20 is provided on an axle (not shown), a hub 21 attached to the axle, and an outer peripheral side of the hub 21, and the outer peripheral surface is formed by using a material having rubber-like elasticity. Although it has a member 22, omnidirectional wheels may be used as in the front wheel 10. In this case, the front wheel 10 is not an omnidirectional wheel but a normal wheel.
  • the axle of the rear wheel 20 may be the same as the spindle of the motor MT.
  • the structure of the mobility main body 30 can be changed as appropriate.
  • the mobility main body 30 of the present embodiment has a base portion 32 extending along the ground and a seat support portion 33 extending upward from the rear end side or the central portion of the base portion 32.
  • a seat unit S is attached to the upper end side of the seat support portion 33.
  • the base portion 32 of the present embodiment has a plastic cover portion 32b that covers at least a part of the metal base frame 32a shown in FIG.
  • the cover portion 32b is used as a portion on which the foot of the user U sitting on the seat unit S is placed, a portion on which luggage is placed, and the like.
  • the seat unit S has a backrest portion 40 and a seat surface portion 50.
  • the backrest portion 40 extends upward from the rear end of the seat surface portion 50.
  • the cushion 51 of the seat surface portion 50 is removable, and when the cushion 51 is removed, the upper surface of the seat support portion 33 and / or the lower structure 52 of the seat surface portion 50 is exposed.
  • a battery accommodating portion 34 extending in the vertical direction is formed in the seat support portion 33, and a battery BA having a longitudinal length in the vertical direction is accommodated in the battery accommodating portion 34.
  • a seating sensor 53 is provided at the upper end of the seat support portion 33 as a part of the lower structure 52 of the seat surface portion 50.
  • the seating sensor 53 of the present embodiment has a flexible member 54 supported at the upper end of the seat support portion 33, and a detection device 55 arranged below the flexible member 54.
  • the detection device 55 is a switch, a pressure sensor, or the like. In this embodiment, the detection device 55 is a switch.
  • the detection device 55 may be a deflection sensor attached to the flexible member 54. As described above, the detection device 55 may be any device that can detect the bending of the flexible member 54.
  • the seating sensor 53 may be a detection device 55 provided below, on the lower surface, in the middle, or the like of the cushion 51. In this case, it is not necessary to provide the flexible member 54. Further, as the seating sensor 53, a known sensor of another aspect for detecting that the user U is on the cushion 50 may be used.
  • the control device 80 recognizes that the user U is on the seat surface portion 51.
  • the seat unit S has a right control arm 43 and a left control arm 43.
  • An armrest 43a is fixed to the upper surface of each control arm 43.
  • the user U drives both arms on the armrests 43a of the pair of control arms 43.
  • the user U puts both hands on the upper ends of the pair of control arms 43.
  • both the control arm 43 and the armrest 43a are provided, but only the control arm 43 or the armrest 43a may be provided.
  • the user U can place at least one of the arm and the hand on the control arm 43, or at least one of the arm and the hand on the armrest 43a.
  • a controller 44 having an operation unit (joystick) 44a is provided at the upper end of the control arm 43 or the armrest 43a on the right side. In the state where no force is applied, the operation unit 44a is arranged in the neutral position by the urging member (not shown) arranged in the controller 44.
  • the controller 44 may be separated from the mobility main body 30.
  • the controller 44 may be, for example, a user's tablet computer, a controller similar to a game controller, or the like.
  • the operation unit 44a is not provided, and the user inputs the traveling direction, traveling speed, etc. of the electric mobility M by using the touch screen function of the screen of the tablet computer.
  • the controller 44 is separated from the mobility main body 30, it is also possible for another person instead of the user U to operate the running of the electric mobility M on which the user U is riding.
  • a signal corresponding to the displacement direction and displacement amount of the operation unit 44a is transmitted from the controller 44 to the control unit 60 described later, and the control unit 60 controls each motor MT according to the received signal.
  • a setting unit (input device) 45 for making various settings related to electric mobility is provided. Examples of various settings include maximum speed setting, operation mode setting, and electric mobility lock setting.
  • the setting unit 45 is provided with a plurality of operation buttons, a display unit, and the like.
  • the electric mobility M includes a display device 200 projecting upward from the upper end surface of the left control arm 43.
  • the display device 200 is supported by the left control arm 43 by a support member 210 extending upward from the upper end surface of the left control arm 43. In FIG. 4, the display device 200 is not shown.
  • Information is transmitted to the display device 200 from the control device 80 described later by wire or wirelessly, and the display device 200 displays the received information.
  • the information includes, for example, information on the traveling speed of the electric mobility M, information on the state of the battery BA, information on the position of an obstacle detected by a sensor such as a stereo camera (first sensor) 90, and information on the traveling of the obstacle. Includes information on the judgment result of whether or not it becomes an obstacle, map information, information on the traveling route, and the like.
  • the display device 200 is provided with input means such as a touch screen function, and the information input to the display device 200 is transmitted to the control device 80.
  • the display device 200 may include a control device having a processor, a storage device, and the like, and the control device may bear a part or all of the functions of the control device 80. Further, the display device 200 may be detachably attached to the support member 210.
  • the control unit 60 includes a motor driver 70 for driving each motor MT and a control device 80.
  • the motor driver 70 is connected to the battery BA. Further, the motor driver 70 is also connected to each motor MT, and the motor driver 70 supplies driving power to each motor MT.
  • the control device 80 includes a processor 81 such as a CPU, a storage device 82 having a non-volatile memory, a ROM, a RAM, and the like, and a transmission / reception unit 83 that transmits / receives information by wireless communication and wired communication.
  • the storage device 82 stores a travel control program 82a for controlling the electric mobility M.
  • the processor 81 operates based on the travel control program 82a, and transmits a drive signal for driving each motor MT to the motor driver 70 based on the signals from the controller 44 and the setting unit 45.
  • a stereo camera (sensor) 90 which is a three-dimensional camera, is attached to the upper end side of the right control arm 43 and the upper end side of the left control arm 43, respectively.
  • the stereo camera 90 may be provided on the front end side of the armrest 43a.
  • each stereo camera 90 includes a pair of lens units 91 and a camera body 92 that supports the pair of lens units 91.
  • the cover is removed to show the internal structure of the stereo camera 90, and the seat unit S and the like are also schematically drawn.
  • a pair of image sensors 93 (FIG. 6) are provided inside the camera body 92, and the pair of image sensors 93 correspond to a pair of lens units 91, respectively.
  • Each image sensor 93 is a well-known sensor such as a CMOS sensor.
  • Each image sensor 93 is connected to the control device 80.
  • the detection range (first intrusion detection range) DA1 of each stereo camera 90 is the front of the electric mobility and the outside of the front wheels 10 in the width direction (FIG. 4).
  • the mobility main body 30 has a luggage storage portion 42 which is a luggage rack, and the luggage storage portion 42 is provided at the rear end of the mobility main body 30 or on the back side of the seat unit S.
  • the luggage storage portion 42 is supported by the rear end portion of the mobility main body 30 and the back surface of the seat unit S, as shown in FIGS. 1 and 2.
  • the luggage loading portion 42 has a pair of frames 46 extending in the vertical direction along the backrest portion 40. The pair of frames 46 also support the backrest portion 40. This structure is useful for making electric mobility compact in the front-rear direction.
  • the luggage loading portion 42 has a pair of lower surface frames 47 extending rearward of the vehicle from the lower end of the frame 46, and a back frame 48 connecting the pair of lower surface frames 47 to each other and extending upward from the pair of lower surface frames 47. Further, the luggage loading portion 42 has a lower surface plate 47a supported by a pair of lower surface frames 47, and a back surface plate 48a extending from the rear end of the lower surface plate 47a to the vicinity of the upper end of the back surface frame 48. ..
  • the luggage loading portion 42 itself is small, but a suit for carry-on. A slightly large luggage such as a case can be stably placed on the luggage storage portion 42.
  • a second sensor LiDAR (Light Detection and Ringing or Laser Imaging Detection,) is located below the seat support portion 33 or the rear end portion of the seat unit S or the luggage loading portion 42 in the mobility main body 30. andRanging) 95 is installed.
  • the LiDAR95 scans the laser beam over the detection range (second intrusion detection range) DA2 of FIG. 4, and the LiDAR95 detects the laser beam that hits the object and bounces off.
  • the control device 80 uses the detection result (detection data), the control device 80 detects an obstacle in the detection range DA2 which is outside and behind the electric mobility in the width direction. Obstacles are, for example, people, animals, plants, people's clothing, people's belongings.
  • Obstacles are, for example, walls, relatively large objects, steps and the like.
  • the LiDAR 95 may detect obstacles such as steps, holes, grooves, etc. where the rear wheels 20 may fall or fit. Further, the obstacle is detected by each stereo camera 90 over the detection range DA1 of FIG.
  • another stereo camera for detecting obstacles behind and to the side of the electric mobility M may be provided, and other sensors such as a known radar and a millimeter wave sensor capable of detecting obstacles may be provided. May be good. Further, in order to detect obstacles outside and in front of the front wheels 10 of the electric mobility in the width direction, other sensors such as LiDAR, radar, and millimeter wave sensor may be provided instead of the stereo camera 90.
  • the control device 80 operates based on the avoidance control program 82b and the automatic operation program 82c stored in the storage device 82.
  • the control device 80 processes the parallax image (detection data) of the stereo camera (first sensor) 90 to create a distance image (detection data). Then, the control device 80 detects the obstacle in the distance image.
  • the control device 80 may convert the data (detection data) obtained by the stereo camera 90 and the LiDAR95 within the detection ranges DA1 and DA2 into a two-dimensional plan view image to recognize obstacles, and may use the data to recognize obstacles. Obstacles may be recognized by treating them as data in a three-dimensional space. The control device 80 may recognize obstacles detected within the detection ranges DA1 and DA2 by other methods.
  • the control device 80 Based on the automatic operation program 82c stored in the storage device 82, the control device 80 performs known self-position estimation using the detection results of the GPS receiver, odometer, stereo camera 90, LiDAR95, etc. provided in the electric mobility M. conduct. Further, the control device 80 uses the detected obstacle, the map data stored in the storage device 82, and the result of self-position estimation based on the automatic operation program 82c, for example, from the departure point to the destination. Route setting and automatic driving can be performed.
  • the user U specifies a destination (destination) using the input device 201 (FIG. 6) provided in the display device 200, and the control device 80 is from the starting point, which is the current self-position, to the destination.
  • Route setting and automatic driving may be, for example, a touch screen function of the display device 200 or a button provided on the display device 200.
  • an input device such as a button provided on the controller 44, the setting unit 45, or the like may be used.
  • the control device 80 is based on the avoidance control program 82b stored in the storage device 82, and when the obstacle is detected in a predetermined range in the detection ranges DA1 and DA2, for example, each motor MT is given a control command for avoidance operation. And / or activate the notification device.
  • avoidance operations include a decrease or stop of the rotation speed of each motor MT to avoid the avoidance target (automatic stop function), control of each motor MT to limit the movement of the electric mobility M to the avoidance target side, and the like. be.
  • the object to be avoided exists at a distance closer than a predetermined distance (1 m, several tens of cm, etc.) to the sensor, the electric mobility M, etc., and is likely to be an obstacle to the running of the electric mobility M. It is an obstacle.
  • the system is applicable to various passenger terminals T.
  • the system will be described with reference to the schematic diagram of the passenger terminal T shown in FIG.
  • the electric mobility M is used in the space after the security inspection of the passenger terminal T, but the electric mobility M may be used in other spaces of the passenger terminal T.
  • the passenger terminal T is provided with a management station (rental station) 2 which is a management place near the exit of the security screening area 1, and a plurality of electric mobility Ms are arranged in the management station 2.
  • the management station 2 has a reception 3, and a computer 4 is installed in the reception 3.
  • the computer 4 is a known computer such as a laptop computer or a tablet computer.
  • the computer 4 is connected to the management computer 100 via a communication network, a communication line, or the like.
  • the management computer 100 transmits / receives information to / from the processor 101 having a CPU, RAM, etc., the storage device 102 having the non-volatile memory, ROM, etc., and the display device 103 by wireless communication and wired communication. It has a transmission / reception unit 104 for performing the above.
  • the storage device 102 stores management data 102a for managing a plurality of electric mobility Ms.
  • the management data 102a is data for displaying the management table on the display device 5 of the computer 4 or the display device 103 of the management computer 100.
  • the management data 102a is data for displaying the management table shown in FIG. 9 on the display devices 5 and 103 in one example.
  • the management table shown in FIG. 9 is an embodiment including a timetable. Identification information (identifier) of a plurality of electric mobility Ms is described in each of a plurality of rows of the management table, and each row includes vehicle body information related to the corresponding electric mobility M, usage schedule (usage information) by the user, and user. The usage status (usage information), flight information written on the user's boarding pass, etc. are displayed. It can be said that the flight information includes information on the destination of the user, time information on the desired arrival time at the destination, and the like.
  • the electric mobility M of No. 1 is used by the user A from 8:00. This is displayed in the management table of FIG. 9 as an example of the usage status.
  • the electric mobility M of No. 3 has been used by the user C and is in the process of returning to the management station 2 by automatic operation. In this case, as an example of the usage status, it is displayed in the management table of FIG. 9 that the electric mobility M of No. 3 has been used.
  • the charging state of the battery BA, the running state of the electric mobility M, the detection state of the seating sensor 53 mounted on the electric mobility M, and the luggage loading are provided as vehicle body information in an area other than the timetable in the management table.
  • the detection status of the luggage on the storage portion 42 and the like are displayed.
  • the running state it is displayed that the vehicle is being driven by manual driving, that the vehicle is stopped by manual driving, that the vehicle is being driven by automatic driving, that the vehicle is stopped by automatic driving, and the like.
  • the driving state is manual driving or automatic driving.
  • the management table may display information on the destination of the user, time information on the desired arrival time at the destination, and the like as flight information.
  • An example of a destination is a gate number
  • a desired arrival time is a boarding start time or the like.
  • a utilization sensor (visual sensor) 49 is attached to the upper end of the luggage loading portion 42 so that the loading surface of the luggage loading portion 42 is at least in the field of view.
  • a utilization sensor 49 a two-dimensional camera, a three-dimensional camera, a three-dimensional distance sensor, LiDAR, or the like can be used.
  • the baggage presence / absence determination program 82d is stored in the control device 80.
  • the control device 80 operates based on the luggage presence / absence determination program 82d, and determines the presence / absence of detection of the luggage on the luggage storage unit 42 by using the image data obtained by the utilization sensor 49.
  • the control device 80 determines whether or not the load is detected on the load loading unit 42 based on the detection results of the object detection sensor, the load sensor, the radar sensor, and the like. Then, the detection status of the cargo is displayed on the management table of FIG.
  • the management table of FIG. 9 shows that a part of the body of the user U, such as the knee, is in the detection range DA1 of the stereo camera 90. .. Further, in the management table of FIG. 9, it is displayed that a part of the luggage B placed in the luggage storage portion 42 is in the intrusion state within the detection range DA2 of LiDAR95 as shown in FIG. NS.
  • the system configured as described above is operated as described below.
  • the preparation step (step S1), the allocation step (step S2), the education step (step S3), the traveling step (step S4), the automatic return step (step S5), and the post-processing are roughly divided. It has a step (step S6). Depending on the situation and requirements, there may be an operation in which steps S1 to S6 are partially not performed.
  • step S1 the person who provides the service prepares the electric mobility M and the like.
  • step S2 the person who provides the service or the management computer 100 receives a request and information from the user U who wants to use the electric mobility M to use the electric mobility M.
  • Step S2 may be before step S1 or at the same time as step S1.
  • the user U may notify the person who provides the service by using a communication means such as a telephone in advance of the request (use reservation) including the date and time when the electric mobility M is used.
  • the person who provides the service accepts the information, the information is input to the computer 4 and / or the management computer 100 by using the input device 4a (FIG. 8) of the computer 4.
  • Examples of the information include the information written on the boarding pass, the name of the user U, the telephone number of the user U, and the like.
  • flight information including at least one of the flight number, boarding gate, and boarding time printed on the boarding pass of User U is accepted.
  • information on the body of the user U, information on the gender of the user U, information written in the passport of the user U, and the like may be accepted, but it is preferable that the amount of information received from the user U is small.
  • step S2 the person who provides the service or the management computer 100 assigns one of the plurality of electric mobility Ms to the user U based on the date and time of use, the information, and the like. At this time, the management computer 100 associates the information with the assigned electric mobility M.
  • step S3 the person who provides the service teaches what can and cannot be done by using the electric mobility M, manners, prohibited matters, etc., and confirms whether or not the user U agrees.
  • step S3 when the person who provides the service performs a predetermined operation on the display device 200, the setting unit 45, the computer 4, etc., the educational page is displayed on the display device 200.
  • a program for displaying an educational page is stored in a storage device 82 of the control device 80, and the control device 80 causes the display device 200 to display the educational page.
  • the control device 80 or the display device 200 may receive an educational page from a computer such as the management computer 100, and the received educational page may be displayed on the display device 200.
  • the educational page may be displayed on the display device 5 of the computer 4 or the display device of another computer arranged at the reception 3.
  • the detection range DA1 of the stereo camera 90 includes a part of the body such as the knee of the user U, the holding items held by the user U, the items worn by the user U, and the like. Includes a description of the bugs that occur when intruded.
  • the defect relates to, for example, the effect on the detection of obstacles in the detection range DA1.
  • the items to be held are handbags, canes, etc.
  • What the user U wears includes, for example, clothing such as skirts, cloaks, hats, mufflers, helmets, and accessories.
  • the educational page includes an explanation that when an intrusion state occurs in the detection range DA1, the display device 200, the voice generator 300, the light emitting unit 400, and the like notify the intrusion state.
  • the educational page includes an explanation about a problem that occurs when a string or the like that is a part of the luggage B of the luggage storage portion 42 enters the detection range DA2 of the LiDAR95.
  • the defect relates to, for example, the effect on the detection of obstacles in the detection range DA2.
  • Luggage B includes a bag, a coat, a muffler, a paper bag, a plastic bag, a cardboard box, a suitcase, and the like.
  • the educational page includes an explanation that when an intrusion state occurs in the detection range DA2, the display device 200, the voice generator 300, the light emitting unit 400, and the like notify the intrusion state.
  • the control device 80 is based on the input to the input device provided in the mobility main body 30 of the electric mobility M. In the stopped state, the stop state determination process for determining whether or not the intrusion state is performed is performed. In the present embodiment, an instruction for causing the user U or the person who provides the service to make the input is displayed on the educational page. The control device 80 performs the stop state determination process based on the intrusion state determination program 82e stored in the storage device 82. In one example, the input device is the input device 201 in the display device 200.
  • the control device 80 when the user U or the person who provides the service makes the input, the control device 80 performs the stop state determination process. Then, the control device 80 displays that the display device 200 is in the intruded state if it is in the intruded state, and indicates that the display device 200 is not in the intruded state if it is not in the intruded state.
  • the display is one aspect of the notification. Instead of the display on the display device 200, a voice generator 300 such as a speaker provided in the mobility main body 30 may be used to indicate that the device is in the intruding state and that the device is not in the intruding state.
  • the voice generator 300 outputs a voice or sound indicating that it is in an intruding state, and also outputs a voice or sound indicating that it is not in an intruding state. Since it is shown that the user is in the intruded state and is not in the intruded state, the user U can recognize the range in which the intruded state is formed.
  • the intrusion detection range AR1 for detecting the intrusion state is set in the detection range DA1.
  • the intrusion detection range AR1 is a range in front of the user U, and is a range of a distance L in the front-rear direction from the end of the detection range DA1 on the user side. In one example, the distance L is 50 cm or less, more preferably 30 cm or less.
  • the intrusion detection range is similarly set in the detection range DA2.
  • the control device 80 may perform the stop state determination process in a state where there is no input to the input device for performing the stop state determination process.
  • the control device 80 performs the above notification.
  • the same notification is performed when a part of the baggage B intrudes into the intrusion detection range in the detection range DA2.
  • the luggage storage unit 42 is arranged on the back side of the seat unit S, and it is difficult for the user U sitting in the seat unit S to visually recognize the state of the luggage on the luggage storage unit 42.
  • the notification of the intrusion of the luggage B into the intrusion detection range in the detection range DA2 may cause damage to the luggage B, problems in running the electric mobility M due to the luggage B coming out of the luggage storage portion 42, and the like. It is advantageous to prevent.
  • the educational page may include instructions for moving the user U's knees outward in the width direction. For example, such an instruction is given using the display device 200 or the voice generator 300. As a result, the user U can grasp the range in which the intrusion state occurs before using the electric mobility M.
  • the teaching item IL may be arranged at the management station (rental station) 2.
  • the various teachings described above are described.
  • the detection ranges DA1 and DA2 of the electric mobility M are shown.
  • the teaching item IL in one example, consists of paper, a plastic sheet or board. The person who provides the service can perform the above-mentioned teaching while showing the teaching item IL to the user U.
  • the notification device of the electric mobility M notifies the user U, and the user U is efficient in a limited time regarding the existence of the detection ranges DA1 and DA2. Can be understood.
  • the change candidate ranges AR2 and AR3 are set in the control device 80.
  • the person who provides the service operates the input device 201 provided in the electric mobility M
  • the currently set intrusion detection range AR1 and the change candidate ranges AR2 and AR3 are displayed on the display device 200.
  • the intrusion detection range in the detection range DA2 is also displayed in the same manner as the intrusion detection range AR1. Further, with respect to the intrusion detection range within the detection range DA2, the same processing as the intrusion detection range AR1 is subsequently performed.
  • the intrusion detection range AR1 and the change candidate ranges AR2 and AR3 may be displayed on the display device 200 as a part of the educational page. Further, the intrusion detection range AR1 and the change candidate ranges AR2 and AR3 may be displayed on the display device 200 based on the input to the computer (predetermined computer) of the person who provides the service. From the display, the user U and the person who provides the service can easily recognize the positions of the user U's knees, feet, clothes, etc. with respect to the intrusion detection range AR1 and the change candidate ranges AR2 and AR3.
  • the display device 200 displays the intrusion detection range AR1 and the change candidate ranges AR2 and AR3 together with the figure of the electric mobility M aircraft. More preferably, the display device 200 also displays the detection result of the user U's knees, feet, clothes, etc. by the stereo camera 90.
  • the change candidate ranges AR2 and AR3 may not be displayed on the display device 200, and only the intrusion detection range AR1 may be displayed. Even in this case, the user U and the person who provides the service can easily recognize the positions of the user U's knees, feet, clothes, etc. with respect to the intrusion detection range AR1.
  • the control device 80 Changes the intrusion detection range AR1 to the selected one of the change candidate ranges AR2 and AR3. This configuration is useful for facilitating the setting according to the body shape, clothes, condition, etc. of the user U, and is also useful for improving the comfort of the user U.
  • the control device 80 may change the intrusion detection range AR1 based on the input to the input device 201 of the display device 200 or the computer (predetermined computer) of the person who provides the service. For example, when the forward movement amount of the intrusion detection range AR1 is input to the input device 201, at least the end of the intrusion detection range AR1 closer to the user U moves forward based on the movement amount. This configuration is useful for improving the comfort of the user U.
  • step S4 in the present embodiment, the user U drives the electric mobility M by operating the operation unit 44a of the controller 44.
  • the electric mobility M may start automatic operation based on the operation of the input device 201 by the user U.
  • the control device 80 controls the motor MT so as to go to the destination input to the input device 201, whereby the electric mobility M automatically travels toward the destination.
  • step S4 in the control device 80, a part of the body of the user U, the items held by the user U, the clothes of the user U, or the luggage B placed in the luggage storage portion 42 are within the detection range DA1 and Intrusion processing in the detection range DA2 is performed to determine that the intrusion state is invading the detection range. Further, the control device 80 performs at least one of the notification process and the traveling state change process when it is determined that the vehicle is in the intrusion state.
  • the control device 80 starts an intrusion determination process that determines that an intrusion state is determined when an object intrudes in the intrusion detection range (step S4-1).
  • the object invading the intrusion detection range in the detection range DA1 is considered to be a part of the body of the user U, the holding item of the user U, or the clothes of the user U, and the detection range DA2.
  • the object that invades the intrusion detection range inside is considered to be the luggage B placed in the luggage storage portion 42.
  • step S4-1 when the object is in the intrusion detection range for a predetermined time or longer, it is determined that the object is in the intrusion state.
  • the predetermined time is, for example, several seconds or more. A few seconds are 2 seconds, 5 seconds, and so on. As a result, the intrusion response process in step S4-2 below is not performed frequently to an unnecessary degree.
  • step S4-1 it may be determined that the object is in the intrusion state immediately after entering the intrusion detection range.
  • step S4-2 When it is determined in step S4-1 that the device is in an intrusion state, the control device 80 performs an intrusion response process (step S4-2).
  • Intrusion response processing includes notification processing in which notification is performed using a notification device provided in the electric mobility M, and processing in which the traveling state of the electric mobility M is changed by controlling the motor MT.
  • step S4-2 both the notification process and the traveling state change process are performed.
  • Examples of notification are a predetermined display on the display device 200, a predetermined sound or voice output using the voice generator 300, a predetermined light emission using the light emitting unit 400 provided in the mobility main body 30, and the like.
  • the light emitting unit 400 is provided at the front end of the control arm 43. More specifically, the light emitting unit 400 is provided at the front end and the upper end side of the control arm 43.
  • the control device 80 causes the light emitting unit 400 to emit light in a first color such as blue, green, or white when the electric mobility M is performing normal driving in which the avoidance operation is not performed, and the electric mobility M performs the avoidance operation. When it is done, it emits light in a second color such as yellow or red.
  • the control device 80 causes the light emitting unit 400 to emit light in a third color different from that during the normal running and the avoidance operation. For example, the control device 80 causes the light emitting unit 400 to emit light in purple.
  • the control device 80 may cause the light emitting unit 400 to emit light in a light emitting mode different from that in the normal traveling state and the avoidance operation. For example, the control device 80 may blink the light emitting unit 400 for the notification.
  • the control device 80 makes the display shown in FIGS. 12, 13, etc. on the display device 200.
  • FIG. 12 is displayed when it is determined that the intrusion detection range within the detection range DA1 is the intrusion state (first intrusion state), and
  • FIG. 13 is the intrusion state (first intrusion state) within the detection range DA2. It is displayed when it is determined that the intrusion state of 2).
  • FIG. 12 functions as the first notification
  • FIG. 13 functions as the second notification, but it is also possible to change the sound or voice of the first notification and the second notification.
  • a button 202 requesting the operation of the user U may be displayed on the display device 200 at the time of notifying that the intrusion state is in progress.
  • the control device 80 determines that the user U has recognized the intrusion state by operating the button 202.
  • Examples of changing the traveling state include stopping the electric mobility M, putting the electric mobility M in the decelerated traveling state, putting the electric mobility M in the decelerated traveling state for a predetermined time, and then stopping the electric mobility M.
  • the control device 80 puts the electric mobility M in a decelerated traveling state by setting the maximum traveling speed of the electric mobility M to 4 km / h or less.
  • the maximum traveling speed is more preferably 3.5 km / h or less, and further preferably 2 km / h or less.
  • the control device 80 to put the electric mobility M in the decelerated running state by reducing the rotation speed of the motor MT with respect to the operation amount of the operation unit 44a of the controller 44 by a predetermined ratio. In these cases, the electric mobility M does not move at high speed even if the operation unit 44a is operated greatly. This configuration is advantageous for ensuring the safety around the electric mobility M and the user U.
  • control device 80 changes the traveling state after performing the notification in step S4-2. That is, the control device 80 changes the traveling state several seconds after the notification is given. As a result, the user U can have a preparation time before stopping or decelerating the electric mobility M. In another example, in step S4-2, one of the notification process and the traveling state change process is performed.
  • Step S4-2 can be executed according to the following various processing examples.
  • the control device 80 when the electric mobility M is traveling by the operation of the operation unit 44a, if it is determined in step S4-1 that the electric mobility M is in the intruding state, the control device 80 notifies the notification in step S4-2. However, the running of the electric mobility M based on the operation of the operation unit 44a is maintained. In this case, the user U can eliminate the intrusion state into the detection ranges DA1 and DA2 while the electric mobility M is traveling. This process is useful for improving the ride quality of the user U.
  • step S4-1 when the electric mobility M is traveling by the operation of the operation unit 44a, if it is determined in step S4-1 that the electric mobility M is in the intruding state, the control device 80 notifies the notification in step S4-2. At the same time, the traveling of the electric mobility M based on the operation of the operation unit 44a is decelerated and maintained. Also in this case, the user U can eliminate the intrusion state into the detection ranges DA1 and DA2 while the electric mobility M is decelerating and traveling. This process is useful for improving the ride quality of the user U, and is also useful for ensuring the safety around the electric mobility M and the user U.
  • step S4-1 when the electric mobility M is traveling by automatic operation as described above, if it is determined in step S4-1 that the electric mobility M is in the intruding state, the control device 80 determines in step S4-2. Although the notification is performed, the running of the electric mobility M based on the operation of the operation unit 44a is maintained. In this case, the user U can spend more time and attention to eliminate the intrusion state than in the manual operation. Therefore, this process is advantageous for improving the ride quality of the user U in automatic driving.
  • step S4-1 when the electric mobility M is traveling by automatic operation as described above, if it is determined in step S4-1 that the electric mobility M is in the intruding state, the control device 80 determines in step S4-2 that the electric mobility M is in the intruding state. While notifying, the traveling of the electric mobility M based on the operation of the operation unit 44a is decelerated and maintained. In this case as well, the user U can spend more time and attention for eliminating the intrusion state than in the case of manual operation. This process is advantageous for improving the riding comfort of the user U in automatic driving, and is also advantageous for ensuring the safety around the electric mobility M and the user U.
  • the notification in step S4-2 can be changed depending on whether the detection range DA1 is in the intrusion state or the detection range DA2 is in the intrusion state.
  • the notification for each sensor By changing the notification for each sensor, the user U can easily grasp the situation. This process is advantageous for realizing a quick response of the user U according to the display in step S4-2.
  • a notification indicating that the control device 80 is not in the intrusion state may be performed.
  • the control device 80 uses a display device 200, a sound generator 300, a light emitting unit 400, and the like to indicate that it is not in an intruding state.
  • the notification the user U can sequentially or periodically know that the detection ranges DA1 and DA2 are not blocked.
  • the control device 80 may notify the degree of intrusion.
  • the control device 80 uses the display device 200, the voice generator 300, the light emitting unit 400, and the like to notify the intrusion amount.
  • the amount of intrusion may be expressed numerically using units such as cm and inches. The notification enables the user U to take more appropriate measures to release the intrusion state.
  • the method for eliminating the intrusion state may be notified.
  • the control device 80 uses the display device 200, the voice generator 300, and the like to encourage the knee to move inward in the width direction.
  • step S4-1 when the object occupies a range equal to or larger than the threshold value of the intrusion detection range, it may be determined that the object is in the intrusion state. For example, when the object occupies a range of 20% or more of the intrusion detection range, it is determined to be in the intrusion state. In this case, unnecessary notifications and changes in the running state are eliminated in a state where the degree of intrusion is low, which leads to an improvement in the riding comfort of the electric mobility M.
  • step S4-1 when the detected object does not move according to the traveling of the electric mobility M, the object is a part of the body of the user U, the holding product of the user U, and the user U.
  • the control device 80 may recognize that it is an object worn or a luggage B placed on the luggage storage unit 42.
  • Objects around the electric mobility M detected in the detection ranges DA1 and DA2 move according to the traveling of the electric mobility M.
  • a part of the body of the user U, the items held by the user U, the items worn by the user U, or the luggage B placed on the luggage storage portion 42 are the electric mobility M. It does not move within the detection range DA1 and DA2 according to the running.
  • This configuration is advantageous for reducing unnecessary notifications and changes in the traveling state, and is also advantageous for accurately recognizing an object blocking the detection ranges DA1 and DA2.
  • control device 80 may estimate an object invading the intrusion detection range in step S4-1 and display characters, figures, etc. for indicating the estimated object in step S4-2.
  • images of the knees of various users U are stored in the storage device 82, and it can be determined that the object invading the intrusion detection range by the control device 80 is the knee based on the images.
  • the image can be various images such as still images, moving images, and a set of feature points. Further, the judgment based on the image and the collection and recognition of the image may be performed by using a known learning function, a known semantic segmentation technique, or the like.
  • a part of the body of the user U, a held item, an object to be worn, or the luggage B of the luggage storage portion 42 is detected by the stereo camera 90 or the LiDAR95 in the detection range DA1.
  • Information on whether or not the intrusion state is in DA2 is displayed.
  • the information displayed in the management table is extremely useful for the person who provides the service to determine the necessity of assistance of the user U.
  • the management table of FIG. 9 information on whether or not the intrusion state is present is displayed together with the detection result of the seating sensor 53.
  • This configuration is useful in determining the state of the user U or the electric mobility M when it is displayed as an intrusion state.
  • the detection result of the seating sensor 53 is NO at the time of automatic return in step 5, and it is determined in the detection range DA1 that the service is in the intruding state, it can be determined that the person who provides the service is not normal. ..
  • the detection result of the seating sensor 53 becomes NO, and when the box or bag has entered the detection range DA1, the above state is satisfied. Become. If there is an abnormality in the lens of the stereo camera 90 or the like, the above state may occur.
  • the management table of FIG. 9 information on whether or not the user is in the intrusion state is displayed together with the detection result of the usage sensor 49.
  • This configuration is useful for determining the state of the user U or the electric mobility M when it is displayed as an intrusion state.
  • the user U does not place the luggage B on the luggage storage portion 42, but the user sensor 49 detects when a part of the clothes such as the muffler of the user U is within the detection range DA2 of the LiDAR95.
  • the result is NO, and it is determined that the intrusion state is in the detection range DA2. If this condition continues, the muffler may get caught in the rear wheel 20.
  • the person who provides the service can detect such an abnormality at an early stage. If there is an abnormality in the usage sensor 49 or LiDAR95, the above state may occur.
  • the management table of FIG. 9 also has information on the traveling state of the electric mobility M or the usage information.
  • the information is advantageous for the person who provides the service to detect an abnormality at an early stage.
  • the information on whether or not the electric mobility M is in the intrusion state instead of the information on whether or not the traveling state of the electric mobility M has been changed may be displayed. The information is also extremely useful for the person who provides the service for early detection of anomalies.
  • the electric mobility M when the electric mobility M is traveling by the operation of the operation unit 44a, the electric mobility M is in the deceleration traveling state, and the traveling state may be the manual traveling. From the information, it can be seen that the speed of the electric mobility M is reduced due to the intrusion into the detection ranges DA1 and DA2. Based on the driving state information, the person who provides the service can know whether the electric mobility M is in a manual driving state or in an automatic driving state. The information is useful in setting priorities for directing an assistant to the electric mobility M.
  • the management table also has information on the elapsed time since the intrusion state.
  • the information is extremely useful for the person who provides the service for early detection of anomalies.
  • the management table has information on the elapsed time since the running state was changed. This information is also extremely useful for early detection of abnormalities. If a long time has passed since the intrusion state or the change of the running state, the person who provides the service can send an assistant to assist the user U of the electric mobility M.
  • the management table contains at least one of the destination information of the user U and the time information regarding the desired arrival time.
  • the information is useful for the provider of the service to make an accurate decision to direct an assistant. For example, when the desired arrival time of the user U is approaching, and the intrusion state occurs multiple times, or when the intrusion state occurs for a long time, it is necessary to send an assistant. Can be said to be high.
  • step S5 which is an automatic return step
  • the management computer 100 or the control device 80 determines whether or not to start the return operation of the electric mobility M in which the user U has left in the automatic operation mode.
  • the person who provides the service determines whether or not the electric mobility M may start the return operation in the operation mode while looking at the display devices 103, 5 and the like of the management computer 100, and makes the determination in the management computer 100. You may enter in.
  • step S6 which is a post-processing step, the person who provides the service moves a plurality of electric mobility Ms in the management station 2 to a storage space such as a warehouse.
  • the user U is a person who provides the service via the display device 200 or the like by operating the display device 200 or the setting unit 45 while riding on the electric mobility M. Can have conversations, chats, etc.
  • This configuration contributes to the sense of security of the user U, the prevention of erroneous use of the electric mobility M by the user U, and the like.
  • the person who provides the service can inform the user U who has a problem such as repeated notification in step S4-2 of the solution method.
  • the utilization sensor 49 not only detects an object on the cargo loading portion 42, but also detects an object on another luggage loading portion of the electric mobility M and an object on the seat unit S. May be good.
  • the visual sensor which is the utilization sensor 49
  • the luggage loading portion 42 and the seat unit S are included in the detection range of the visual sensor.
  • the luggage placed on the seat unit S by the user U is also imaged by the visual sensor and stored in the memory.
  • the utilization sensor 49 also functions as a seating sensor 53.
  • the service using the electric mobility M may be provided in a facility other than the passenger terminal T.
  • the service may be provided in a facility such as a hospital or a train station.
  • the service may be provided at an outdoor facility such as an amusement park, an outdoor museum, a university, or a concept town.
  • a plurality of waiting places may be provided.
  • the waiting place may be provided at a position corresponding to each gate.
  • the stereo camera 90 is provided as a sensor at the front end of the control arm 43 or the armrest 43a, and the LiDAR 95 is provided as a sensor at the rear end of the seat unit S or below the luggage loading portion 42.
  • a known three-dimensional LiDAR 500 may be placed above the seat unit S.
  • the three-dimensional LiDAR 500 is fixed to, for example, the upper end of a pole 501 provided on the mobility body 30.
  • the control device 80 can also determine the intrusion state in the same manner as described above for the detection range DA of the three-dimensional LiDAR500. That is, the notification and the creation of the management data are performed in the same manner as described above, and the same applies to the examples of FIGS. 15 to 18. It is considered that the head of the user U, the hat and the hood worn by the user U, the holding items of the user U, and the like often invade the detection range of the three-dimensional LiDAR500.
  • the electric mobility M of the present embodiment one user U sits on the seat unit S and rides on it.
  • a boarding base is provided at the rear end of the mobility body 30, and the user is placed on the boarding base. It is conceivable that a user different from U may stand and ride.
  • the luggage loading portion 42 becomes smaller in the front-rear direction of the vehicle, and the LiDAR 95 is attached to the lower surface of the boarding base or the like.
  • a user who rides on a riding base can also operate the operation unit 44a or the display device 200 for manual driving or automatic driving of the electric mobility M.
  • control device 80 can execute the same intrusion state determination as described above for the detection ranges DA1 and DA2 of the sensors 90 and 95. Is. Further, the control device 80 can execute the same notification and change of the operating state as described above, and the effect obtained by this can be the same as described above.
  • the rear side sensor 630 is also provided on the back surface of the seat unit S.
  • Each sensor 610, 620, 630 can be a two-dimensional camera, a three-dimensional camera, a three-dimensional distance sensor, or the like.
  • the control device 80 can also determine the intrusion state in the same manner as described above for the detection ranges of the sensors 610, 620, and 630.
  • sensors 710 may be provided on each side surface of the pair of control arms 43, and a pair of sensors 720 in the width direction may be provided at the front end portion of the mobility main body 30.
  • the sensors 710 and 720 can be a three-dimensional camera, a three-dimensional distance sensor, a three-dimensional LiDAR, or the like.
  • the control device 80 can also determine the intrusion state in the same manner as described above for the detection ranges of the sensors 710 and 720. As shown by the alternate long and short dash line in FIG. 16, a pair of sensors 720 may be provided above the pair of front wheels. Even in this case, the control device 80 can execute the same determination of the intrusion state as described above for the detection range of each sensor 720.
  • the control device of the electric mobility M1 determines the intrusion state as described above and notifies the same as described above. And the change of operating condition may be performed.
  • the electric mobility M1 of FIG. 17 is for one user to ride, and has a riding base 810 on which the user stands, a pair of wheels 820 supporting the riding base 810, and a user extending upward from the riding base 810. Has a grip portion 830 to be gripped by.
  • the electric mobility M1 of FIG. 17 is a motor for driving each of the pair of wheels 820, and is a motor similar to the motor MT of the above embodiment and a control device for driving the motors.
  • a control device similar to that of the control device 80 of the embodiment is provided.
  • the mobility body of the electric mobility M1 includes a riding base 810, wheels 820, a grip portion 830, a motor, and a control device.
  • the control device controls each motor so that the electric mobility M1 travels in the direction in which the boarding base 810 is tilted. That is, the electric mobility M1 is operated by one user while riding. Further, the control device reduces the rotation speed of the motor (avoidance operation) or stops (automatic stop) in order to avoid the avoidance target based on the detection result of the sensor 800.
  • the sensor 800 can be a three-dimensional camera, a three-dimensional distance sensor, LiDAR, or the like.
  • the boarding base 810, the grip portion 830, and the like are provided with a sound generator 300 and a notification device which is a display device similar to the sound generator 300 and the display device 200 of the above embodiment. The same notification is given.
  • the electric mobility M2 of FIG. 18 is basically for one user U, and has a bed portion 910 on which the user U rides, a plurality of legs 920 extending downward from the bed portion 910, and a plurality of legs. It has wheels 930 provided at the lower ends of the portions 920, respectively.
  • the electric mobility M2 of FIG. 18 has a controller 940 for operation similar to that of the motor MT of the above embodiment. Further, the electric mobility M2 of FIG.
  • the mobility body of the electric mobility M2 includes a bed portion 910, legs portions 920, wheels 930, a controller 940, a motor, and a control device.
  • the electric mobility M2 is sometimes referred to as a bed with an automatic transfer function.
  • the control device controls each motor so that the electric mobility M2 travels in the operation direction of the operation unit 940a. .. That is, the electric mobility M2 can be operated by one user U while riding.
  • the operation unit 940a may be operated by another operator instead of the user U on the bed unit 910. In this case, the electric mobility M2 is moved by the operation of another operator.
  • the control device has the above-mentioned automatic operation program 82c, the control device causes the electric mobility M2 to automatically drive to the destination where the user U or another operator inputs using an input device such as the controller 940.
  • each motor is controlled. Further, the control device reduces the rotation speed of the motor (avoidance operation) or stops (automatic stop) in order to avoid the avoidance target based on the detection result of the sensor 900.
  • the sensor 900 can be a three-dimensional camera, a three-dimensional distance sensor, LiDAR, or the like.
  • the bed portion 910, the leg portion 920, and the like are provided with a sound generator 300 and a notification device which is a display device similar to the sound generator 300 and the display device 200 of the above embodiment. The same notification is given.
  • the difference range between the original intrusion detection range AR1 and the change candidate range AR3 in FIG. 19 becomes the detection cancel range CA. ..
  • the difference range is indicated by diagonal lines, and the difference range is also a detection cancel range CA.
  • the detection cancellation range CA is within the detection range DA1 of the stereo camera 90 and is a range in which a part of the body, a part of clothes, or a part of belongings of the user U can exist, but the intrusion state is described. It is a range that is not judged to be.
  • the end of the change candidate range AR3 on the user U side (the end behind the vehicle) is arranged in front of the case of FIG.
  • the change candidate range AR3 as the intrusion detection range, a part of the user U's body, a part of clothes, or one of the belongings in the range in front of the user U seated in the seat unit S.
  • the detection cancellation range CA in which the unit can exist becomes wider.
  • the detection cancel range CA is set as the non-detection range in the image after the detection data obtained by the stereo camera 90 is converted into the two-dimensional plan view image.
  • the detection cancel range CA is set as the non-detection range in the data in the three-dimensional space which is the detection data. It is also possible to set the detection cancel range CA by setting the control device 80 not to recognize a part of the detection range DA1 of the sensor 90.
  • the detection cancellation range CA can also be set by other known methods.
  • the detection cancellation range CA can be set in the range in front of the user U. Also in FIG. 20, the detection cancellation range CA is the range indicated by the diagonal line. For the detection range DA2 of LiDAR95, the detection cancellation range CA can be set in the same manner as in the case of the detection range DA1.
  • the detection cancel range CA set as shown in FIGS. 10, 19, 20, 20 and the like can be adjusted in the front-rear direction of the mobility main body 30 as described above.
  • the detection cancellation range CA is adjusted in the front-rear direction of the mobility main body 30.
  • the body shape, height, clothes, etc. of the user U are various. When the waist of the user U is bent and the legs of the user U are long, the knee of the user U may protrude forward from the front end of the electric mobility M. In addition, the clothes of the user U may inevitably invade the detection range DA1 of the stereo camera 90.
  • making the detection cancellation range CA adjustable is extremely useful for stably providing the sharing service of the electric mobility M.
  • the range in front of the user U is, for example, a range such as a width of 20 cm in which the center line CL in the width direction of the mobility main body 30 or the seat unit S coincides with the center line, as shown in FIGS. 19 and 20. Is.
  • the detection cancellation range CA is set in the range in front of the user U. The entire range of the detection cancellation range CA does not have to be included in the range in front of the user U, even if a part of the detection cancellation range CA is located outside the width direction of the range in front of the user U. good.
  • the lower sensor 96 is attached to the lower surface of the electric mobility M as shown in FIG. As shown in FIG. 6, the lower sensor 96 is connected to the control device 80.
  • the lower sensor 96 is a two-dimensional LiDAR, but a three-dimensional LiDAR, a radar, a millimeter wave sensor, or the like can also be used.
  • the lower sensor 96 is arranged below the foot-mounting surface 32c on which the foot of the user U sitting on the seat unit S is placed on the cover portion 32b.
  • the lower sensor 96 scans the laser beam over the detection range DA3 shown in FIGS. 19 and 20, and the lower sensor 96 detects the laser beam that hits the object and bounces off. That is, the lower sensor 96 exists at a distance closer than a predetermined distance (1 m, several tens of cm, etc.) to the lower sensor 96 in the lower range LA (FIG. 21) of the detection cancel range CA. Detect the avoidance target.
  • the lower range LA is a range lower than the footrest surface 32c.
  • the lower range LA may be a range lower than the highest position of the footrest surface 32c.
  • the lower sensor 96 When the lower sensor 96 is a three-dimensional LiDAR, a stereo camera, or the like, the lower sensor 96 detects the avoidance target in the range below the footrest surface 32c and in the range above the footrest surface 32c. In some cases, the avoidance target is detected. Further, the lower sensor 96 may detect the avoidance target outside the width direction of the front range shown in FIGS. 19 and 20.
  • the detection cancel range CA is set in front of the user U and the lower side.
  • the sensor 96 detects the avoidance target from below the footrest surface 32c. That is, the lower sensor 96 detects the avoidance target in the lower range LA.
  • the detection cancel range CA exists in front of the electric mobility M or the footrest surface 32c as shown in FIGS. 19 and 20, the lower sensor 96 causes the lower to lower range LA of the footrest surface 32c. The avoidance target is detected in.
  • the control device 80 controls each motor MT to cause the electric mobility M to perform the avoidance operation.
  • avoidance operations include a decrease or stop of the rotation speed of each motor MT to avoid the avoidance target (automatic stop function), control of each motor MT to limit the movement of the electric mobility M to the avoidance target side, and the like. be. Therefore, when clothes such as skirts unintentionally try to enter the lower side of the electric mobility M, it is possible to prevent clothes such as skirts from being caught in the front wheels 10 and the like, and to reduce damage to clothes due to entanglement. Become.
  • the seated user U manually moves the electric mobility M to place the user U seated in the electric mobility M in front of the table, a box under the table, Even if the luggage, the legs of the table, etc. are not recognized by the user U, they are detected as avoidance targets by the lower sensor 96. Therefore, even when the detection cancel range CA is set in front of the user U, it is possible to prevent the electric mobility M or the user U from unintentionally making strong contact with an object under the desk.
  • the detection cancel range CA even if a pole or the like extending in the vertical direction is arranged in the detection cancel range CA by turning the electric mobility M in a state where the detection cancel range CA is set in front of the user U, the lower part is lowered.
  • the pole is detected by the side sensor 96 as the avoidance target. This prevents the electric mobility M or the user U from unintentionally making strong contact with the pole.
  • the lower sensor 95 can be arranged at, for example, the front end portion of the footrest portion 32d of the electric mobility M. Even in this case, the lower sensor 96 detects the avoidance target in the range below the footrest surface 32c as the lower range LA from below the footrest surface 32c and from the front end of the footrest portion 32d. Will be done.
  • the lower range LA may be the detection cancel range CA, which is a range having a height of 20 cm or less with respect to the ground contact surface of the front wheel 10. Even when the avoidance target is detected by the lower sensor 90 with respect to the lower range LA, the same action and effect as described above can be obtained.
  • the footrest surface 32c may be formed by a member such as a single or a plurality of shafts extending in the vehicle width direction or the like.
  • the portion on the surface of the member such as the shaft on which the bottom surface of the foot of the user U is placed is the foot mounting surface 32c.
  • the control device 80 controls each motor MT for avoidance operation using the detection data of the lower sensor 96. Further, when the seating sensor 53 is NO, the control device 80 eliminates the detection cancel range CA, or arranges the detection cancel range CA behind the front end of the electric mobility M or the front end of the footrest portion. At this time, for example, the control device 80 controls each motor MT for the avoidance operation by using the detection data of the avoidance target by the stereo camera 90 in preference to the detection data of the lower sensor 96. As a result, the collision risk of the electric mobility M when the seating sensor 53 is NO can be reduced. Twice
  • the management table of FIG. 9 for each electric mobility M, whether or not the avoidance target is detected by the lower sensor 96, or whether or not the avoidance operation for avoiding the avoidance target is performed. It may be further displayed. Based on the position information of the electric mobility M displayed in the management table and the information that the avoidance target has been detected or the avoidance operation has been performed, it can be determined whether or not an abnormality has occurred. In many cases.
  • the time during which the avoidance target is detected by the lower sensor 96 may be displayed on the management table. The time information makes it possible to appropriately determine whether or not an abnormality has occurred.
  • a detection cancel range CA without providing an intrusion detection range for determining the intrusion of a part of the body of the user seated in the seat unit S. That is, the detection cancel range CA is directly provided in the detection ranges DA1 and DA2. Even in this case, if the detection cancel range CA is set in the range in front of the user U and the lower sensor 96 detects the avoidance target in the lower range LA, the same effect as described above is obtained. Play.
  • Management station (rental station) 3 Reception 4 Computer 5 Display device 10 Front wheel 20 Rear wheel 30 Mobility body 42 Luggage loading unit 44 Controller 44a Operation unit 45 Setting unit (input device) 49 Usage sensor (visual sensor) 53 Seating sensor 60 Control unit 80 Control device 81 Processor 82 Storage device 82b Avoidance control program 82c Automatic operation program 82d Luggage presence / absence judgment program 82e Intrusion state judgment program 90 Stereo camera (first sensor) 95 LiDAR (second sensor) 96 Lower sensor 100 Management computer 102 Storage device 102a Management data 200 Display device 201 Input device 300 Voice generator 400 Light emitting unit 500 Three-dimensional LiDAR 610 Front end sensor 620 Rear end sensor 630 Rear sensor 710, 720, 800, 900 Sensor M, M1, M2 Electric mobility S Seat unit T Passenger terminal CA Detection cancellation range LA Lower range

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JPWO2023276399A1 (https=) * 2021-07-02 2023-01-05
WO2023276399A1 (ja) * 2021-07-02 2023-01-05 Ｗｈｉｌｌ株式会社 電動モビリティ
JP7744045B2 (ja) 2021-07-02 2025-09-25 Ｗｈｉｌｌ株式会社 電動モビリティ
WO2025094895A1 (ja) * 2023-10-30 2025-05-08 Ｗｈｉｌｌ株式会社 電動モビリティ
JP2025074630A (ja) * 2023-10-30 2025-05-14 Ｗｈｉｌｌ株式会社 電動モビリティ
JP7749241B2 (ja) 2023-10-30 2025-10-06 Ｗｈｉｌｌ株式会社 電動モビリティ
JP2025141529A (ja) * 2024-03-15 2025-09-29 本田技研工業株式会社 車両構造
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