WO2023085136A1 - 自動運転車両の運行システム - Google Patents
自動運転車両の運行システム Download PDFInfo
- Publication number
- WO2023085136A1 WO2023085136A1 PCT/JP2022/040566 JP2022040566W WO2023085136A1 WO 2023085136 A1 WO2023085136 A1 WO 2023085136A1 JP 2022040566 W JP2022040566 W JP 2022040566W WO 2023085136 A1 WO2023085136 A1 WO 2023085136A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- elevator
- unit
- control unit
- vehicle
- information
- Prior art date
Links
- 238000003860 storage Methods 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims description 65
- 238000007726 management method Methods 0.000 claims description 54
- 238000004458 analytical method Methods 0.000 claims description 46
- 238000001514 detection method Methods 0.000 claims description 38
- 230000032258 transport Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000004659 sterilization and disinfection Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 16
- 238000004891 communication Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 238000013459 approach Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 239000003550 marker Substances 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 208000016354 hearing loss disease Diseases 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 206010011878 Deafness Diseases 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000010370 hearing loss Effects 0.000 description 1
- 231100000888 hearing loss Toxicity 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
-
- 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
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/46—Adaptations of switches or switchgear
- B66B1/468—Call registering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/14—Applications of loading and unloading equipment
- B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
- B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/002—Indicators
-
- 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
-
- 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
- G05D1/60—Intended control result
- G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
-
- 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
- G05D1/60—Intended control result
- G05D1/69—Coordinated control of the position or course of two or more vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4653—Call registering systems wherein the call is registered using portable devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/70—Specific applications of the controlled vehicles for displaying or announcing information
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/60—Open buildings, e.g. offices, hospitals, shopping areas or universities
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/30—Radio signals
- G05D2111/32—Radio signals transmitted via communication networks, e.g. cellular networks or wireless local area networks [WLAN]
Definitions
- the present invention relates to an operation system for an autonomous vehicle that refers to map data and causes the autonomous vehicle to travel along a previously set route to a destination.
- Patent Document 1 in an autonomous vehicle that travels along a set route, a pair of left and right display units provided on the front of the main body and an autonomous vehicle Equipped with a surveillance camera that captures the front, side, and rear, and by displaying a predetermined eye shape image on the display unit based on the state of the autonomous vehicle and/or the image captured by the surveillance camera, the situation of the obstacle can be visualized.
- An autonomous driving vehicle, a delivery system, and a program are disclosed in which eye shape images are changed according to the conditions to make the vehicle friendly to stores, delivery destinations, and surrounding people on the way. This autonomous vehicle is expected to be able to communicate with surrounding pedestrians and the like while driving, and to run smoothly.
- map data including these internal passages and elevators are prepared, and the self-driving vehicle refers to this map data to access the building.
- an autonomous vehicle operation system that allows the use of internal passageways and elevators. At that time, in order to notify pedestrians in the internal passages and elevator users of the presence and running state of the autonomous vehicle, it has already been put into practical use to similarly output audio from the audio output unit of the autonomous vehicle. ing.
- an automatic driving vehicle in which a marker is attached to a road surface, a wall surface, or the like, and the vehicle moves along the marker (Patent Document 2).
- the number of passengers in the elevator car is set. I have to skip the ride.
- the people already in the elevator car know that they will be boarding the autonomous vehicle at the time of boarding or in advance, they will be able to secure space by packing each other, and the autonomous vehicle will be able to Since it is possible to board the vehicle, it is possible to shorten the time for smooth boarding of the automatically driving vehicle and getting on and off of the automatically driving vehicle.
- people already in the elevator car if they know in advance the floor to get off of the automated vehicle, they will take into consideration their own floor to get off and move around in the elevator car. Easy entry and exit from the driving vehicle would also be possible.
- the present invention provides an operation system for an autonomous vehicle that can reliably notify the use of an elevator by an autonomous vehicle with a simple configuration, and allows users in the elevator and waiting in the elevator hall to recognize it in advance. intended to provide
- the present invention provides an operation server for an autonomous vehicle having a storage unit in which three-dimensional map data relating to buildings including roads, surrounding environments, and elevators is registered, and an autonomous vehicle connected to the operation server via a wireless network. and, based on the map data received from the operation server, the automated driving vehicle operates automatically along a predetermined driving route from the current location to the destination, wherein the automated driving vehicle is equipped with a driving unit, a driving unit, a control unit, a detection unit consisting of an imaging unit, an attitude detection sensor, and a position sensor, and a transmission/reception unit connected to a wireless network, and the control unit of the automatic driving vehicle is equipped with a detection unit Based on the detection signal, the current position and the surrounding environment are recognized, map data of the area related to movement from the current position to the destination is received from the operation server, and a travel route from the current position to the destination is created.
- the control unit configured to drive the traveling part by controlling the driving part based on the traveling route;
- the control unit provides elevator usage information including the boarding floor and alighting floor of the elevator, and the call and alighting of the elevator car at the boarding floor.
- Elevator control information including floor designation is created, the building's elevators are connected to the operation server via a wireless network, and the elevation of the elevator car is controlled based on the elevator usage information and elevator control information from the self-driving vehicle.
- the control unit of the automated driving vehicle transmits elevator usage information and elevator control information to the elevator control unit via a wireless network, and the elevator control unit operates the elevator car based on the elevator usage information It is characterized by outputting an announcement regarding the use of the elevator of the automatically driven vehicle by voice from a voice output unit provided therein.
- the autonomous vehicle includes an audio output unit, and the control unit outputs an announcement for notifying the travel of the autonomous vehicle from the audio output unit of the autonomous vehicle according to movement along the travel route.
- an announcement regarding the use of the elevator is output as voice from the voice output unit of the automatically driven vehicle.
- the operation server preferably remotely monitors and/or remotely controls the operation of the autonomous vehicle based on the mutual positions of the autonomous vehicles or between the autonomous vehicles and the surrounding environment, etc., based on the current positions and travel routes of the autonomous vehicles.
- the elevator controller is controlled by the operation server.
- the building preferably includes a management server that controls the entire building, and the management server is controlled by the operation server to control the elevator control unit based on the elevator usage information and the elevator control information.
- the elevator control unit controls the automatic driving vehicle boarding from the boarding floor to the alighting floor from the voice output unit provided in the elevator car from before getting on the elevator of the automatically driving vehicle to getting off the elevator based on the elevator usage information.
- An announcement to that effect is output by voice.
- the elevator control unit preferably includes an audio output unit in each elevator hall of each floor of the elevator, and the automatic driving vehicle is output from the audio output unit of the elevator hall provided in the boarding floor or the deboarding floor based on the elevator usage information.
- An announcement regarding the use of the elevator for boarding is output by voice.
- the elevator car includes a display, and the elevator control unit displays images related to elevator usage of the self-driving vehicle based on the elevator usage information.
- An elevator analysis sensor is installed in the elevator car, and the occupant information of the elevator car acquired by the elevator analysis sensor is sent to the control unit of the autonomous vehicle via the elevator control unit and operation server, and elevator usage information and Elevator control information may be created.
- the elevator analysis sensor includes a camera or lidar that can measure the length, a computer that processes the image signal acquired by the camera or lidar, and a storage device, and collects occupant information about the passengers in the elevator car based on the image signal. can be configured to be output to the elevator control unit and the operation server.
- the operation server preferably has an analysis unit that analyzes elevator usage statistical information sent from the elevator control unit, and prepares a travel route for the autonomous vehicle based on home probability information obtained by analyzing the elevator usage statistical information. and a travel route creation unit.
- the elevator car is provided with an elevator analysis sensor, and the analysis unit creates a travel route for the autonomous vehicle based on the elevator usage statistical information sent from the elevator control unit and/or the passenger information output from the elevator analysis sensor.
- the operation server preferably includes a control unit that controls a plurality of automatically-operated vehicles, a cooperation unit that communicates and connects the plurality of automatically-operated vehicles and a plurality of elevators, an analysis unit, and a driving unit that manages the travel of the plurality of automatically-operated vehicles.
- automated driving vehicles In addition to passenger vehicles that transport users such as the elderly, injured and sick, and physically handicapped, automated driving vehicles are various work vehicles that perform cleaning, disinfection, monitoring, etc. It may be a delivery vehicle that delivers various items such as parcels, and can be applied regardless of the application as long as it has a size that allows an elevator ride.
- FIG. 1 is a block diagram showing the configuration of a first embodiment of an operation system for an automatically driving vehicle according to the present invention
- FIG. FIG. 2 shows an external configuration of an example of the automatic driving vehicle of FIG. 1, where (A) is a front perspective view and (B) is a rear perspective view.
- 3 is a block diagram showing the internal configuration of the automatic driving vehicle of FIG. 2
- FIG. FIG. 2 is a schematic diagram showing the configuration of an elevator hall
- FIG. 2 is a flow chart showing a procedure of automatic driving in the operation system of the automatic driving vehicle of FIG. 1
- FIG. FIG. 2 is a flow chart showing the operation of the automatically driven vehicle of FIG. 1 when using an elevator;
- FIG. 2 is a block diagram showing the configuration of an operation system for an automatically driven vehicle according to a second embodiment
- FIG. 11 is a block diagram showing the configuration of an operating system for an automatically driven vehicle according to a third embodiment
- FIG. It is a figure which shows an example of the display screen of an operation server in the case of performing the data analysis of an automatic driving vehicle.
- FIG. 4 is a diagram showing an example of monitoring in a remote monitoring unit and/or a remote control unit;
- the self-driving vehicle is described as a one-box type self-delivery vehicle that transports ordered food and drink and purchased goods, but the shape and structure of the vehicle may vary as long as it can enter and exit buildings and elevators. , but not limited to these vehicles.
- the self-driving vehicle in addition to goods delivery vehicles, it can be an automatic passenger vehicle that transports users such as the elderly, sick and disabled, or for various automatic tasks such as cleaning, disinfection, and monitoring. It can also be applied to vehicles.
- FIG. 1 shows the overall configuration of a first embodiment of an operation system for an automatic driving vehicle (hereinafter referred to as an operation system) according to the present invention.
- the operation system 10 includes an automatic driving vehicle 20, a server 30, a building 40, and a wireless network 50.
- the wireless network 50 is a wireless network of any configuration, and may be a dedicated line network, a public line network, or a wireless LAN such as Wi-Fi.
- the self-driving vehicle 20 can be composed of a main body 21 formed in a substantially cubic shape in appearance, and wheels 22 as running parts suspended from the main body 21.
- the main body portion 21 of the automatic driving vehicle 20 includes a display portion 23, a surveillance camera 24, a speaker 25 as a first audio output portion, a luggage storage portion 26, a light 27, a direction indicator 28, As the lights 27, front lights 27a and 27b are arranged in front of the automatic driving vehicle 20, and backlights 27c and 27d are arranged behind them.
- an automatically operated vehicle for delivering various goods such as food and drink and merchandise having a luggage storage section 26 is shown, but the automatically operated vehicle 20 is a vehicle for various tasks such as cleaning, disinfection, and monitoring.
- the automatic driving vehicle 20 has various functions such as polisher, cleaner, disinfectant sprayer, and alarm.
- the automatic driving vehicle 20 is a cart type equipped with a seat for one person, it can be used as an automatic passenger vehicle to transport users such as the elderly, the sick and disabled, and the physically handicapped.
- the automatic driving vehicle 20 will be described as a product delivery vehicle that travels along a travel route that includes a sidewalk, a corridor inside the building 40, an elevator (to be described later), and the like.
- the direction indicators 28 are arranged in the shape of ears on the upper left and right sides of the front side of the automatic driving vehicle 20 as a position where people around the automatic driving vehicle 20 can see the direction to turn from the front, side and back. It consists of a lamp or the like with a diode (LED).
- the display unit 23 as a first image output unit is provided on the front side of the main body 21 and displays an eye shape image, which will be described later.
- the display unit 23 includes a display 63 to be described later and a pair of left and right openings 23 a and 23 b provided on the front side of the main body 21 .
- the display 63 is preferably a liquid crystal or light emitting diode display, and more preferably a full color light emitting diode display in which high luminance light emitting diodes are arranged at high density.
- a speaker 25 is provided below the display unit 23 .
- the surveillance camera 24 is a camera that acquires images around the automatically driven vehicle 20, that is, a camera that shoots and monitors the road conditions, pedestrians, etc. in front of, to the sides of, and behind the automatically driven vehicle 20.
- the monitoring camera 24 includes a pair of left and right front monitoring cameras 24a and 24b provided on the front side of the main body 21 and a pair of left and right side monitoring cameras 24c and 24d provided on the side of the main body 21.
- There is A monocular camera, a wide-area camera, a stereo camera, or the like can be used as the monitoring camera 24 .
- the monitoring camera 24 may include a pair of left and right rear monitoring cameras 24e and 24f behind the main body 21, as shown in FIG.
- a storage section 26 is provided on the rear side of the main body section 21 to load packages to be delivered.
- FIG. 3 shows the configuration of the control system of the automated driving vehicle 20.
- the automated driving vehicle 20 includes a CPU 61 as a control unit 29, and the CPU 61 includes a speaker 25 as a first audio output unit, a battery 62, a display 63, a storage unit 64, a drive unit 65, and a detection unit. 66 and are connected.
- the detection unit 66 includes a monitoring camera 24 as an imaging unit, an attitude detection sensor 66a such as an IMU that is a sensor for controlling the running state of the autonomous vehicle 20, a monitoring sensor 66b, a distance sensor 66c, and a position sensor.
- the CPU 61 and the storage unit 64 control each unit of the device mounted on the automatic driving vehicle 20 .
- the CPU 61 can be composed of a microprocessor, a microcontroller, or the like.
- the storage unit 64 is composed of a non-volatile memory such as a DRAM, hard disk drive (HDD), flash memory, or the like.
- a well-known method may be used for the connection between the CPU 61 and each part of the apparatus, for example, CAN (Controller Area Network) may be used.
- a program that causes the automatic driving vehicle 20 to function is recorded and stored in a computer-readable storage medium that includes the CPU 61 that executes the program, the storage unit 64, and the like.
- a CD-ROM, a DVD-ROM, a USB memory, or the like can be used as the storage medium.
- the program may be downloaded from the server 30 via the wireless network 50 to the storage unit 64 of the computer.
- the battery 62 is the power source of the autonomous vehicle 20 .
- the battery 62 is connected to the CPU 61 and the remaining amount of the battery 62 and other information are monitored by the CPU 61 .
- the display 63 is a device that constitutes the display unit 23.
- a predetermined eye shape image is displayed on the display unit 23 based on the state of the automatic driving vehicle 20 and/or the image captured by the monitoring camera 24 .
- the state of the automatic driving vehicle 20 includes each traveling operation state such as going straight, turning left, turning right, and stopping on the traveling road, image information of the automatic driving vehicle 20 by the monitoring camera 24 and detection information of the detection unit 66, indicates
- the information detected by the detection unit 66 is information from the attitude detection sensor 66a, the monitoring sensor 66b, the distance sensor 66c, the position sensor 66d, the bumper sensor 66e, and the like.
- the image information from the monitoring camera 24 and the detection information from the detection unit 66 regarding the state of the automatic driving vehicle 20 are transmitted to the server 30 described later by the state transmission/reception unit 66f as necessary.
- a light emission command from the CPU 61 based on the detection signal from the monitoring camera 24 causes the display 63 to display an image according to a predetermined eye shape pattern.
- a predetermined output linked with the display of the image from the speaker 25 may be performed.
- the light 27 and the direction indicator 28 are displayed according to the running state and the stop state of the automatically driven vehicle 20 .
- the light 27 and direction indicator 28 are displayed by a light-emitting driver (not shown) upon receiving a light-emitting command from the CPU 61 .
- the drive unit 65 is composed of a motor 65a and a driver 65b that drives and controls the motor 65a, and the motor 65a drives the wheels 22 described above.
- the driver L65b1 and the driver R65b2 respectively control the motors 65a1 and 65a2 according to control signals from the CPU 61 to drive the left rear wheel 22c and the right rear wheel 22d.
- the speaker 25 is installed on the front surface of the main body 21 of the automatic driving vehicle 20 as described above, and outputs a predetermined sound.
- the attitude detection sensor 66a is, for example, an inertial measurement unit, and in this embodiment, measures the angular velocity and angular acceleration of the automatic driving vehicle 20 about the roll axis, pitch axis, and yaw axis. It is an inertial measurement device that The monitoring sensor 66b detects pedestrians, bicycles, motorbikes, cars, and obstacles around the autonomous vehicle 20, particularly in front, and measures the distance to people and obstacles, that is, measures the distance to people and obstacles. It is a sensor used for dimensional and three-dimensional image recognition, shape and color recognition, and tracking of the travel route of the autonomous vehicle 20 .
- the monitoring sensor 66b When the monitoring sensor 66b detects a person or an obstacle, it acquires positional information about the positional coordinates, the eye level of the person, and the like. The display 63 may be controlled based on this positional information.
- the monitoring sensor 66b can be configured by a module, lidar, or the like that acquires position information using a monocular camera or a stereo camera.
- the module can be composed of a CPU or GPU (image processing processor) that processes image data acquired from a monocular camera or a stereo camera to obtain position information, a storage device, and the like.
- a module using a monocular camera can recognize shapes, colors and patterns of people and obstacles, and can measure approximate distances.
- a module using a stereo camera is used for ranging, three-dimensional recognition of people, vehicles, obstacles, etc., and for identifying shapes and colors.
- Lidar Laser Imaging Detection and Ranging
- the lidar may be a two-dimensional lidar or a three-dimensional lidar.
- the three-dimensional lidar can detect a laser image in front of the automatic driving vehicle 20, measure the distance to the detected object, measure the shape of the detected object, and the like.
- an object in front of the automatic driving vehicle 20 and its distance are detected, and data on the distance between the laser image in front and the detected object is sent to the CPU 61 as a detection signal.
- the monitoring sensor 66b may be arranged in the front upper part of the automatically driven vehicle 20.
- the monitoring sensor 66b can detect a pedestrian, a bicycle, a motorbike, a car, etc. in front of the automatic driving vehicle 20 by image detection and distance measurement from a long distance.
- the distance sensor 66c is a sensor that measures the distance between the automatic driving vehicle 20 and an obstacle or the like. By emitting and detecting the reflected wave, the distance to the obstacle is measured.
- a position sensor 66 d captures the current position of the self-driving vehicle 20 .
- a GNSS receiving unit is used.
- the position sensor 66d and the attitude detection sensor 66a can be arbitrarily selected to use separate devices or to use a device in which the GNSS reception function, the gyro sensor function, and the acceleration sensor function are integrated into one package.
- the bumper sensor 66e can detect contact with surrounding pedestrians, bicycles, motorcycles, etc., and can stop the automatic driving of the automatic driving vehicle 20 or bring it to an emergency stop.
- the status transmitting/receiving unit 66f is composed of a communication module such as a third generation (referred to as 3G), a fourth generation (referred to as 4G) and a fifth generation (referred to as 5G), or a wireless LAN capable of public communication. .
- the operation server 30 remotely controls the operation of the automatically driven vehicle 20 based on the current position of the automatically driven vehicle 20 and the mutual position between the automatically driven vehicle 20 or between the automatically driven vehicle 20 and the surrounding environment from the travel route 61c. It can be monitored and/or remotely operated and the elevator control 44 may be controlled by this service server.
- the autonomous vehicle 20 is remotely monitored and/or remotely controlled by the operation server 30, and when the autonomous vehicle 20 approaches the elevator 41 of the building 40, the operation server 30 controls the elevator of the building 40. By controlling the part 44 , the autonomous vehicle 20 can smoothly use the elevator 41 of the building 40 .
- the CPU 61 can drive and control the drive unit 65 to automatically travel along the travel route.
- the map data 31 for creating the travel route is registered in the operation server 30, and the CPU 61 transmits the current position information 61a of the automatic driving vehicle 20 and the input destination information 61b to the operation server 30, and the operation server Based on the map data 31 sent from 30, the travel route 61c can be created.
- the CPU 61 creates elevator usage information 61 d and elevator control information 61 e and transmits them to the operation server 30 via the wireless network 50 .
- Elevator use information 61d is information including boarding floor and alighting floor regarding elevator 41 of building 40
- elevator control information 61e is information including designation of elevator car 43 call and alighting floor after boarding.
- the CPU 61 transmits the current position and running state at that time to the operation server 30 via the wireless network 50 . Thereby, the operation server 30 recognizes the current position and driving state of the automatic driving vehicle 20 and manages the operation.
- the automatic driving vehicle 20 is an electric vehicle that uses the battery 62 as a power source and runs by driving the wheels 22 with the motors 65 a of the drive unit 65 .
- the automatic driving vehicle 20 displays a predetermined eye shape image on the display unit 23 based on the driving state and the image captured by the monitoring camera 24 and/or the monitoring sensor 66b.
- the automatic driving vehicle 20 is provided with a speaker 25 as a first audio output unit on the front surface of the main body 21, and a predetermined sound based on the driving state of the automatic driving vehicle 20 and/or the image captured by the surveillance camera 24 is output to the speaker 25.
- the operation server 30 is installed at an appropriate location, and reads and writes the map data 31 from and to the storage unit 32 for registering the map data 31 necessary for creating the travel route of the automatic driving vehicle 20, and performs automatic operation. It is composed of a control unit 33 for operating the vehicle 20 and a remote monitoring unit and/or a remote control unit (not shown).
- the map data 31 is a three-dimensional data including data on roads and surrounding environment necessary for the travel of the autonomous vehicle 20, such as road boundaries, traffic signal positions, etc., regarding areas in which the autonomous vehicle 20 can travel. It holds data about the route of each floor around the building and inside the building.
- the map data 31 is registered as a database in the storage unit 32, and the map data 31 including the vicinity of the position information can be read based on the position information. Furthermore, in the case of a building 40 with an elevator 41 , the map data 31 includes location information of the elevator 41 that can be used for movement to other floors within the building 40 .
- the control unit 33 of the operation server 30 stores the map data 31 of the area corresponding to the travel route 61c from the current position to the destination based on the current position information 61a and the destination information 61b sent from the automatic driving vehicle 20. 32 and transmitted to the autonomous vehicle 20 via the wireless network 50 . Furthermore, the control unit 33 of the operation server 30 transmits the elevator usage information 61 d sent from the automatically driven vehicle 20 to the management server 45 of the building 40 via the wireless network 50 .
- the building 40 consists of multiple floors and is equipped with an elevator 41 to enable easy movement between floors.
- the elevator 41 is vertically movably supported in a movement path 42 vertically penetrating the building 40, and an elevator car 43 that moves vertically by a drive unit (not shown), and the elevator car 43 is vertically driven and controlled. and an elevator control unit 44 .
- the elevator control unit 44 is connected via a gateway 45a to a management server 45 that manages the entire building 40, and the management server 45 is further connected to an operation server via a wireless network 50 from a gateway 45b. 30.
- the automatic operation vehicle 20 the operation server 30, and the management server 45 are interconnected with the building 40 and the elevator 41, and the elevator 41 in the building 40 and the security gate (not shown) are connected to each other. and the like can be controlled via the wireless network 50 by the control unit 33 of the operation server 30 .
- a speaker 43a as a second audio output unit is arranged in the elevator car 43, and a speaker 41a as a third audio output unit is arranged in each elevator hall on each floor of the building 40.
- a display 43b may be arranged as a second video output unit.
- a camera 43c for monitoring the boarding state in the elevator car 43 may be arranged above or on the ceiling inside the elevator car 43. As shown in FIG.
- the video signal acquired by the camera 43c is sent from the elevator control unit 44 to the management server 45 via the gateway 45a to the management server 45, and further from the management server 45 to the gateway 45b and the wireless network 50. It is sent to the operation server 30 via.
- the elevator 41 is a so-called robot management platform that allows equipment such as the elevator 41 to operate in cooperation with the robot so that the unmanned automatic driving robot can easily move for delivery, security, and cleaning. It can also be applied to an elevator installed in a building or the like that employs As a result, the elevator control unit 44, based on the current position 61a of the automatically driven vehicle 20 sent from the automatically driven vehicle 20 via the wireless network 50 via the operation server 30 and the management server 45, determines whether the automatically driven vehicle 20 is The elevator 41 can be used by transmitting an elevator calling operation signal when approaching an elevator hall and transmitting an input signal of a destination floor when getting into an elevator car 43. - ⁇
- the control unit 61 of the automatically driving vehicle 20 outputs the elevator usage information 61d and the elevator control information 61e is transmitted to elevator control 44 of building 40 via wireless network 50 .
- the second audio output unit 43 a in the elevator car 43 outputs an announcement regarding the use of the elevator 41 by the automatically driven vehicle 20 .
- the video regarding the use of the elevator 41 of the automatically driven vehicle 20 is displayed. may be output.
- the person riding in the elevator car 43 can hear the announcement provided in the elevator car 43.
- the use of the elevator 41 of the automatically driven vehicle 20 can be reliably recognized.
- the elevator of the automatically driving vehicle 20 41 use can be reliably recognized.
- FIG. 4 is a schematic diagram showing the configuration of the elevator hall 46.
- the elevator hall 46 there are an elevator door 46a, a display section 46b indicating the movement of the elevator, a push button 46c indicating up and down of the desired destination, a speaker (third audio output section) 41a, and a third video output section.
- a display 46e is provided.
- the video output and audio output of the speaker 41a and the display 46e are controlled by the operation server 30 and/or the elevator control unit 44 based on the elevator usage information 61d. Audio output by the speaker 41a can be performed in the same manner as in the flowchart shown in FIG. 6, which will be described later.
- the display 46e displays images related to getting in and out of the automatically driven vehicle 20.
- FIG. This image can be a still image of the automatically driven vehicle 20, an animated image, or the automatically driven vehicle 20 captured by a camera installed in the elevator car 43, or the like.
- the installation location of the speaker 41 a and the display 46 e is not limited to the elevator hall 46 , and may be in the vicinity of the elevator hall 46 such as a location near the elevator hall 46 other than the elevator car 43 .
- the elevator control unit 44 or the management server 45 integrates the number of users inside the elevator car 43 from the video signal acquired by the camera 43c.
- Various image recognition methods can be used for accumulating the number of users.
- the ratio of the number of users to the passenger capacity of the elevator car 43, that is, the boarding rate may be calculated.
- the occupant information 43 e of the elevator car 43 including the number of users, boarding rate, etc. acquired by the elevator control unit 44 or management server 45 may be sent to the control unit 33 of the operation server 30 .
- a stereo camera capable of length measurement, a TOF camera (Time of Flight Camera), LiDAR, or the like may be used as the camera 43c.
- an integrated sensor that integrates the number of users in the elevator car 43 and the luggage of the users from the video signal acquired by the camera 43c may be used. As described above, this sensor acquires analytical data on the number of users in the elevator car 43 and the occupancy rate based on the images of the camera 43c, TOF camera, LiDAR, etc., and/or information such as distance. We call it the Elevator Analysis Sensor.
- the elevator analysis sensor may be configured as a sensor modularized by, for example, an image sensor that serves as a stereo camera or an image sensor for TOF, a computer, a storage device, a communication board, and the like. Elevator analytics sensors are installed in the ceiling within the elevator car 43 . Passenger information 43e, which is analysis data such as the number of people in the elevator and the number of automatically driven vehicles 20 from the elevator analysis sensor, is sent to the control unit of the operation server 30 via the elevator control unit 44 or the management server 45 and the wireless network 50. 33.
- the occupant information 43e obtained by the elevator analysis sensor is analysis data regarding the number of users in the elevator car 43 and the number of automatically driven vehicles 20, and does not include video data, so there is no leakage of privacy.
- the occupant information 43e is sent from the control unit 33 to the CPU 61 of the automatically driven vehicle 20 via the wireless network 50.
- the CPU 61 refers to the occupant information 43e and creates usage information 61d and elevator control information 61e so as to use an available elevator. , to the operation server 30 via the wireless network 50 .
- the automatically-operated vehicle 20 determines the space in which the automatically-operated vehicle can board. ) can be moved to the elevator 41 and boarded.
- the automated driving vehicle 20 refers to the occupant information 43e in advance, detects an elevator full of users and an elevator full of users and other automated driving vehicles, and easily selects an empty elevator. be able to.
- step A2 the CPU 61 of the automatically driven vehicle 20 detects the current position of the automatically driven vehicle 20 based on the detection signal from the position sensor 66d, and acquires the current position information 61a.
- the CPU 61 transmits the current position information 61a and the destination information 61b to the operation server 30 via the wireless network 50 in step A3.
- step A4 the control unit 33 of the operation server 30 determines the travel route from the current position according to the current position information 61a to the destination according to the destination information 61b based on the current position information 61a and the destination information 61b.
- the CPU 61 creates a travel route 61c from the current position to the destination from the current position information 61a, the destination information 61b, and the map data 31, and transmits the travel route 61c to the operation server 30 via the wireless network 50. Send.
- the CPU 61 drives and controls the drive unit 65 based on the travel route 61c to automatically drive the automatically driven vehicle 20 along the travel route 61c.
- the CPU 61 of the automatic driving vehicle 20 appropriately outputs sound from the speaker 25 to notify the surroundings of the existence and driving of the automatic driving vehicle 20 .
- the CPU 61 detects pedestrians, bicycles, motorbikes, etc.
- the CPU 61 changes the travel route 61c to avoid these objects, and controls the drive unit 65 to stop or make an emergency stop in step A9. .
- the operation server 30 monitors the automatic driving of the automatically driving vehicle 20 based on the traveling route 61c received from the automatically driving vehicle 20 before the start of automatic driving and the current position information 61a sequentially sent from the automatically driving vehicle 20. , and when the automatically driven vehicle 20 largely deviates from the travel route 61c, the automatically driven vehicle 20 may be stopped or emergency stopped.
- the CPU 61 drives and controls the driving unit 65 at step A11 to stop the automatic driving, and the automatic driving ends.
- the CPU 61 After creating the travel route 61c in step A6 described above, the CPU 61 creates elevator use information 61d and elevator control information 61e in step B1, and creates the elevator use information 61d and elevator control information 61e in step B2. It transmits to the operation server 30 via the wireless network 50 .
- step B3 when the automatically driven vehicle 20 approaches the vicinity of the elevator hall of the boarding floor of the elevator 41 of the building 40, in step B4, the operation server 30 detects the current position information 61a from the automatically driven vehicle 20 and automatically drives the vehicle.
- the elevator approach of the vehicle 20 is detected, and the elevator use information 61d and the elevator control information 61e are transmitted from the management server 45 to the elevator control unit 44 via the wireless network 50 in step B5.
- the elevator control unit 44 calls the elevator 41 at the boarding floor in step B6 based on the elevator control information 61e out of the elevator use information 61d and the elevator control information 61e.
- the speaker 43a in the elevator car 43 as a second voice output unit outputs "Automatically driven vehicle will board from floor ⁇ to floor ⁇ . Please cooperate with boarding. ' is output as a voice, and an announcement guidance is given to the person riding in the elevator car 43 to the effect that the automatically driven vehicle 20 will be boarded.
- the display 43b in the elevator car 43 outputs the audio and video in step B7. , "An automated vehicle will board from the ⁇ floor to the ⁇ floor. Please cooperate with boarding.”
- step B8 the elevator control unit 44 uses the speaker 41a provided in the elevator hall of the boarding floor as a third voice output unit to output "Automatically driven vehicle will board from floor ⁇ to floor ⁇ . Thank you for your cooperation in boarding.”, and guides the person near the elevator hall of the boarding floor to the effect of boarding the automatic driving vehicle 20.
- the display 46e of the elevator hall 46 based on the elevator usage information 61d outputs the above audio and the same Text may be displayed as an image.
- the elevator control unit 44 When the elevator car 43 reaches the boarding floor and the door is opened in step B9, the elevator control unit 44 outputs the message "We are on floor XX. Thank you for your cooperation in boarding.” is output by voice, and guidance is given to the person riding in the elevator car 43 to board the automatically-operated vehicle 20 .
- the second video output unit 43b is provided in the elevator car 43, in step B10', based on the elevator usage information 61d, the display 43b in the elevator car 43 outputs the audio in step B10 as well as video. may be displayed.
- step B11 the elevator control unit 44 outputs a voice saying "Automatically driven vehicle will be boarding from now on. Please cooperate with boarding.” By outputting the information, a person in the vicinity of the elevator hall of the boarding floor is guided to board the automatically driven vehicle 20. - ⁇ If the elevator hall 46 is equipped with the third video output unit 46e, the display 46e in the elevator hall 46 outputs the above audio and the same text as a video based on the elevator usage information 61d in step B11'. may be displayed.
- the elevator control unit 44 controls the exit in the elevator car 43 based on the elevator control information 61e in step B13.
- the speaker 43a in the elevator car 43 says, "The automatically-operated vehicle has boarded on the ⁇ floor. This automatically-operated vehicle will get off at the ⁇ floor.” Thank you for your cooperation.”, and guides the person riding in the elevator car 43 to the effect that the automatic driving vehicle 20 is getting off. If the elevator car 43 is provided with the second video output unit 43b, then in step B14', a similar text is displayed on the display 43b in the elevator car 43 based on the elevator usage information 61d.
- step B15 when the elevator car 43 starts ascending and descending from the boarding floor, in step B16, the elevator control unit 44 determines, based on the elevator usage information 61d, the elevator hall of the floor where the automatic driving vehicle 20 gets off.
- the speaker 41a outputs a voice saying "The automatically driven vehicle is about to get off. Please cooperate with getting off the vehicle.”
- the display 46e of the elevator hall 46 similarly outputs the audio and video based on the elevator usage information 61d in step B16'. do.
- step B17 when the elevator car 43 arrives at the floor to get off and the door is opened, in step B18, the elevator control unit 44 outputs the message "Floor ⁇ . Thank you for your cooperation in getting off the car.” If the elevator car 43 is equipped with the second video output unit 43b, the display 43b in the elevator car 43 similarly displays the audio output in step B12 and video in step B18'.
- step B19 the elevator control unit 44 outputs the message "Automatically driven vehicle is about to get off. Please help us to get off.” A person near the elevator hall of the getting-off floor is informed that the automatic driving vehicle 20 is getting off by outputting voice. If the elevator hall 46 is equipped with the third video output unit 46e, the display 46e in the elevator hall 46 displays the above audio output and the same video in step B18'. As a result, the automatically driven vehicle 20 gets off the elevator car 43 in step B20. In this way, the use of the elevator 41 provided in the building 40 for the automatic driving vehicle 20 is completed.
- the autonomous vehicle 20 when using the elevator 41, the autonomous vehicle 20 does not output audio from the speaker 25, but the speaker 43a as the second audio output unit and the speaker 41a as the third audio output unit , voice guidance regarding the use of elevators by the automatic driving vehicle 20 may be provided as appropriate. Furthermore, based on the elevator usage information 61d, the elevator control unit 44 outputs from the second audio output unit 43a from the second voice output unit 43a to the elevator usage information 61d from the boarding floor to the alighting floor. An announcement to that effect may be output by voice.
- the elevator control unit 44 is provided with a third audio output unit 41a in each elevator hall of each floor of the elevator 41, and the elevator control unit 44 is provided at the boarding floor or the alighting floor based on the elevator usage information 61d.
- the third audio output unit 41a may output the announcement regarding the use of the elevator by the automatically driven vehicle 20 as audio.
- a person in the elevator hall to use the elevator 41 listens to the announcement regarding the use of the elevator of the automatic driving vehicle 20 from the third audio output unit 41a, so that the person can board the automatic driving vehicle 20. At times, it is possible to perform actions such as yielding to each other for the sake of the automatic driving vehicle 20 or avoiding the automatic driving vehicle 20 when the automatic driving vehicle 20 gets off.
- FIG. 7 is a block diagram showing the configuration of a second embodiment of an operating system for an automatic driving vehicle according to the present invention.
- the operation system 10A for the automatically driven vehicle shown in FIG. 7 differs from the operation system 10 for the automatically driven vehicle shown in FIG.
- the elevator usage statistical information 61f is sent from the elevator control unit 44 to the server or operation server 30A via the gateway 45a and the management server 45.
- the elevator control unit 44 acquires information on movement by elevator from each floor of a residential building to the first floor, if the number of times is analyzed for each floor, the number of times the elevator was used up to the first floor in the morning is calculated for each floor. Since the number of houses on each floor is known in advance, the degree of residence of the residents, that is, the probability of being at home can be obtained statistically.
- the at-home probability information 61g analyzed by the analysis unit 34 is sent to the travel route creation unit 35 for the automatic driving vehicle 20 of the operation server 30A.
- the travel route creation unit 35 automatically operates the vehicle so as to deliver in order from the delivery destination with the highest probability of being at home in order to efficiently deliver the automatically driven vehicle 20.
- the travel route data 61h for travel of the vehicle 20 is created and sent from the operation server 30A to the automatic driving vehicle 20 via the wireless network 50.
- FIG. According to the operation system 10A of the automatic driving vehicle of the present invention, it is possible to remarkably reduce man-hours and costs for redelivery due to absence by delivering at times and days of the week when the probability of being at home is high.
- the elevator analysis sensor may be installed on the ceiling inside the car 43 of the elevator 41 .
- the occupant information 43e obtained by the elevator analysis sensor is analysis data related to the number of occupants in the elevator car 43 and the number of the automatically driven vehicles 20, and by using it together with detection of movement by the elevator, the occupant information 43e can be obtained more reliably. There is no leakage of privacy because the video data of the user is not included.
- the analysis unit 34 may analyze the above-described elevator usage statistical information 61f in addition to the passenger information 43e obtained by the elevator analysis sensor.
- the analysis unit 34 can create a travel route for the autonomous vehicle 20 based on the elevator usage statistical information sent from the elevator control unit 44 and/or the occupant information 43e from the elevator analysis sensor.
- the building 40 has one elevator 41 , but even in a building 40 having multiple elevators 41 , the elevator 41 can be used by the autonomous vehicle 20 . can. In this case, which elevator 41 the automatic driving vehicle 20 uses may be specified by voice output.
- FIG. 8 is a block diagram showing the configuration of a third embodiment of an operating system for an automatic driving vehicle according to the present invention.
- the operation system 10B for the automatically driven vehicle shown in FIG. 8 is different from the operation system 10A for the automatically driven vehicle shown in FIG. The point is that it is configured as an operation system for an automatically driven vehicle that can use a plurality of elevators 41B.
- Each of the plurality of automatically driven vehicles 20B (20a to 20i to 20n) is connected to a server 30B via a network 50 in the same manner as the operation system 10A for automatically driven vehicles shown in FIG.
- a plurality of buildings 41B (41a-41i-41n) have a plurality of elevators 42B (42a-42i-42m). Each building may be configured with not only one elevator, but multiple elevators.
- a security gate may be provided in addition to the elevator 42B on the travel route of the plurality of self-driving vehicles 20B in each building.
- Each elevator 42i is connected to the server 30B via an elevator control unit 44B, a gateway 45a, a management server 45B, a gateway 45b, and a network 50B.
- the operation server 30B constitutes a so-called robot management platform, and reads and writes the map data 31 from and to the storage unit 32B for registering the map data 31B and the like necessary for creating the travel route of the automatic driving vehicle 20B.
- a control unit 33B that manages the operation of the automatically-operated vehicle 20B
- an analysis unit 34B that analyzes the travel of the automatically-operated vehicle 20B and the use of elevators
- a travel management unit 35B that manages the travel of the automatically-operated vehicle 20B
- the above and a remote monitoring unit and/or remote control unit 36 and a cooperation unit 37 a remote monitoring unit and/or remote control unit 36 and a cooperation unit 37 .
- the map data 31B includes data related to the roads and the surrounding environment necessary for the travel of the autonomous vehicles 20B, for example, information such as road boundaries, traffic signal positions, etc. It is three-dimensional data including rooms on each floor of a plurality of buildings 41B, corridors serving as passages, elevators, and security gates.
- the operation server 30B includes a CPU, a storage unit having a non-volatile memory with an SSD using an HDD or flash memory, a DRAM that is a volatile memory, an input device such as a keyboard as necessary, and a monitoring camera from the automatic driving vehicle. It consists of a computer, a server, etc. equipped with an output device such as a display for displaying images and the like.
- the operation server 30B may be a cloud server.
- the operation server program is stored in the storage unit 32B, and the operation server program is developed in the CPU and executed, so that the analysis unit 34B, the travel management unit 36, and the remote monitoring unit and/or functionally includes a remote control unit 38 and a cooperation unit 37 .
- the cooperation unit 37 has a function of communicating and connecting the plurality of automatically driven vehicles 20B, the plurality of elevators 42B arranged in each building, and security gates and the like as necessary.
- the cooperation unit 37 is compatible with various communication protocols so as to be compatible with communication methods peculiar to manufacturing companies of a plurality of automatic driving vehicles 20B. Communication methods include MQTT (MQ Telemetry Transport, which is a protocol used for communication between devices), PLC (Programmable Logic Controller), OPC UA (open source industrial interface by OPCFoundation), and the like. Data corresponding to these communication methods used by the cooperation unit 37 are stored as the connection database 32a of the storage unit 32B.
- the linking unit 37 further connects a plurality of elevators 42B arranged in each building with security gates and the like by means of an API (Application Program Interface) stored in the connection database 32a.
- API Application Program Interface
- the control unit 33B of the operation server 30B controls the cooperation unit 27 according to the communication method possessed by each automatic driving vehicle 20B.
- ID the identification number
- the type of each automatically driven vehicle 20B, the company to which it belongs, etc. are recognized.
- tasks such as work and work time are managed by the travel management unit 36, which will be described later.
- the analysis unit 34B has a function of analyzing data acquired from a plurality of automatically driving vehicles 20B in addition to data acquired from facilities such as elevators in the same manner as the operation system 10A of the automatically driving vehicle, and the operation system 10B of the automatically driving vehicle. and a function of simulating various usage situations and usage of Data for analysis used by the analysis unit 34B is stored in the analysis database 32b of the storage unit 32B. Based on the data acquired from multiple automated driving vehicles 20B and multiple facilities such as elevators, efficiency improvement and problems can be visualized.
- FIG. 9 shows an example of the display screen 70 when data analysis of the automatically driving vehicle 20 is performed.
- the operation status and basic indicators of the automated driving vehicle for transporting the goods in the warehouse are monitored and aggregated and analyzed to promote work improvement.
- the data to be analyzed are the mode usage rate in the upper left, the operating time in the upper middle, the remaining battery level in the upper right, the total distance in the lower left, the number of errors in the lower middle, and the marker detection in the lower right.
- the mode usage rate indicates in percentage whether the automatic driving vehicle 20 is running in any mode such as neutral, parking, or drive.
- the horizontal axes of the other graphs are date and time, and relate to daily operation.
- the operating time is a graph showing the ratio of driving modes on days when the automatic driving vehicle 20 was in operation.
- the remaining battery level indicates the remaining battery level of the automatic driving vehicle 20 on a daily basis.
- the total distance indicates the distance traveled by the automatically driven vehicle 20 on a daily basis.
- the number of errors indicates the number of times warnings, errors, and obstacle detections are encountered in the operation of the autonomous vehicle 20 on a daily basis.
- the figure shows an example in which no obstacle was detected.
- the markers are attached, for example, to the floor or wall surface of a building to indicate the direction of the automatic driving vehicle 20 .
- the detection of markers indicates the frequency of types of markers for direction indication with respect to the operation of the automatic driving vehicle 20 on a daily basis.
- Types of markers include straight ahead, left turn, right turn, stop, U-turn, and the like (see Patent Document 2).
- the analysis unit 34B displays graphs, specifies periods, and displays data in a comma-separated text file in order to monitor basic indicators of an autonomous vehicle.
- a certain CSV (Comma Separated Value) file download function is implemented.
- the analysis unit 34B By using the analysis unit 34B, the usage status and basic indicators of equipment such as elevators and security doors that cooperate with the automatic driving vehicle and the automatic driving vehicle are monitored, and aggregated and analyzed. It is possible to improve the usage of equipment such as In addition, it is possible to correspond to each automatic driving vehicle 20i manufactured by a different manufacturer. As a result, it is possible to set the flow of people and physical distribution in the buildings where multiple automatic driving vehicles 20B travel, the roads around the buildings, etc., and perform a physical simulation of the appropriate operating area and number of automatic driving vehicles. Such simulations make it possible to create a digital replica of the flow of people and goods in a city (called a digital twin) and a virtual space configured in a computer (called a metaverse).
- a digital twin a digital replica of the flow of people and goods in a city
- a metaverse a virtual space configured in a computer
- the travel management unit 36 has a travel route creation function of the automatically operated vehicle 20 for the plurality of automatically operated vehicles 20B in the same manner as the operation system 10A of the automatically operated vehicle, and manages the plurality of automatically operated vehicles 20B. function, a task management function related to task assignment and operation schedule creation for a plurality of automated driving vehicles 20B, and a function of interlocking setting with facilities such as elevators and/or security doors.
- the travel route creation function of the travel management unit 36 sets travel routes, priority areas, travel prohibited areas, and the like for the plurality of automatically driven vehicles 20B.
- the management function of the travel management unit 36 can be managed by a group for each manufacturing company when the manufacturing companies of the plurality of automatically driven vehicles 20B are different.
- Data relating to travel management used by the travel management unit 36 is stored in the travel management database 32c of the storage unit 32B.
- a plurality of automatically driven vehicles 20B can be collectively managed by the travel management unit 36 .
- the remote monitoring unit and/or the remote operation unit 38 remotely monitor and/or remotely operate the multiple automatic operation vehicles 20B.
- the control unit 33B registers multiple automatically driven vehicles 20B to be monitored in the travel management unit 36.
- a remote monitoring unit and/or a remote control unit 38 regularly monitors the states of the registered automatic driving vehicles 20B.
- the image information obtained by the monitoring camera 24 of each automatically driven vehicle 20 and the detection information obtained by the detection unit 66 are transmitted to the remote monitoring unit and/or the remote control unit 38 by the state transmission/reception unit 66f as necessary.
- the current position information 61a from each automatically driven vehicle 20i is sent from the control unit 33B to the remote monitoring unit and/or the remote control unit 38 via the network.
- Data relating to remote monitoring and/or remote control used by the remote monitoring section and/or remote control section 38 is stored in the remote monitoring and/or remote control database 32d of the storage section 32B.
- the current position information 61a of each automatically driven vehicle 20a By displaying the current position information 61a of each automatically driven vehicle 20a on the map, the current position information 61a of a plurality of automatically driven vehicles 20B is displayed.
- the current position information 61a may be displayed on the display of the operation server 30B.
- the current position information 61a may be updated continuously or at predetermined time intervals and displayed on the display. As a result, the current position information 61a of the multiple automatically driven vehicles 20B is displayed on the map in real time.
- FIG. 10 shows an example of monitoring in the remote monitoring unit and/or remote control unit 38.
- FIG. 10 shows a building model data screen 70 (Building Information modeling, BIM data) in which an automated driving vehicle 20C for delivery and an automated driving vehicle 20D for monitoring are located on the floor 71 of the building where the elevator 41B is installed.
- 3 shows a three-dimensional monitoring screen (monitoring screen).
- the positions of the automatic driving vehicle 20C for delivery and the automatic driving vehicle 20D for monitoring are indicated on the model data by the current position information 61a.
- the registered information of the elevator, the detailed information about the manufacturing company, and the detailed information of the automatic driving vehicle 20C for delivery and the automatic driving vehicle 20D for monitoring are displayed.
- a plan view of each floor of the building 40 may be displayed on a CAD (Computer Aided Design) screen together with the model data screen 70 or in a separate window.
- CAD Computer Aided Design
- each automatically driven vehicle 20 may be displayed on the display. Further, as the operating status of each automatically driven vehicle 20, if an automatically operated vehicle for delivery is explained as an example, the operating status of "delivering", “delivered”, and “waiting” may be displayed. As a result of monitoring by the administrator of the operation server 30, if an abnormality or other abnormality is found in the video of the surveillance camera from each automatic driving vehicle 20, the administrator remotely operates from the remote monitoring unit and / or the remote control unit 38 Then, each automatically driven vehicle 20 may be stopped, or an announcement such as "Emergency stop” may be made from the first voice output unit 25 of each automatically driven vehicle 20 to the surroundings.
- an abnormality or other abnormality is found in the video of the surveillance camera from each automatic driving vehicle 20
- the administrator remotely operates from the remote monitoring unit and / or the remote control unit 38
- each automatically driven vehicle 20 may be stopped, or an announcement such as "Emergency stop” may be made from the first voice output unit 25 of each automatically driven vehicle 20 to the surroundings.
- the administrator remotely operates the remote monitoring unit and / or the remote control unit 38 to operate each automatic driving vehicle 20 You can stop. After that, the administrator may contact the person in charge of maintenance of each autonomous vehicle 20 or other predetermined person in charge.
- the operation server 30B controls the elevator control unit 44B of the building 40i, so that each automatically driving vehicle 20i moves the elevator 41i of the building 40i. It can be used smoothly.
- the travel management unit 36 can create a travel route 61c' based on the map data 31B, similarly to the operation server 30. At this time, if the travel route 61c' includes a plurality of elevators 41B of the building 40, the travel management unit 36 inquires of the elevator control unit 44B about the usage status of the plurality of elevators 41B.
- the travel management unit 36 which has received the usage status of the elevator 41B from the elevator control unit 44B, creates a travel route 61c' specifying an available elevator, and transmits it to each automatic driving vehicle 20i via the network 50B.
- the CPU 61 of each automatically driven vehicle 20i creates elevator usage information 61d' and elevator control information 61e' and transmits them to the operation server 30B via the wireless network 50B.
- Elevator use information 61d' is information including boarding floors and alighting floors for elevators 41i of each building 40i
- elevator control information 61e' is information including designation of a call to elevator car 43B and alighting floor after boarding.
- the elevator usage information 61d' may include image information obtained by the camera 43c, for example, on the ceiling of the elevator car 43.
- the elevator usage information 61j sent from the elevator control unit 44B may be sent to the analysis unit 34B.
- the analysis unit 34B can analyze the elevator usage information 61j and send empty elevators to the running management unit 36 in real time.
- the travel management unit 36 always keeps each automatic driving vehicle 20 free even when a plurality of elevators 41B, such as six or eight, are installed on the same floor of the building.
- a travel route 61c' including the optimum elevator 41B can be created.
- each automatically driven vehicle 20i The travel route 61c ', the elevator usage information 61d' and the elevator control information 61e' of each automatically driven vehicle 20i are also transmitted from the travel management unit 36 to the remote monitoring unit and/or the remote control unit 38, and each automatically driven vehicle 20 Positional information and elevator usage information 61d' are displayed on the monitoring screen described with reference to FIG.
- the elevator management of the travel management unit 36 it is possible to reduce the psychological burden on the passengers of riding with the automatic driving vehicle 20 by selecting an elevator with no passengers or the least number of passengers. .
- the interior of the elevator car 43 is sensed by a sensor, for example a camera 43c or an elevator analysis sensor using a camera or LiDAR. Even if the elevator car 43 has a space for the automatic driving vehicle 20, the passenger's feeling of crampedness can be alleviated by selecting an elevator 20 with a larger space.
- a large elevator car 43 may allow the automatically driven vehicle 20 to enter from the center to the left and right.
- another self-driving vehicle 20 may be mounted if there is an empty space.
- the travel management unit 36 cooperates with the elevator control unit 44B to control one or two specific elevators during elevator rush hours such as the time to go to work in the morning, the time for lunch, and the time to go home in the evening. You can set it for yourself. Also, during a time period in which the elevators 41B are not used much, it is possible to increase the number of elevators dedicated to the plurality of automatically operated vehicles 20B to increase the operating rate of the plurality of automatically operated vehicles 20B.
- the operation system 10 for an automatic driving vehicle includes a management server 45 that controls the entire building 40.
- the management server 45 is controlled by the operation server 30A to generate elevator usage information 61d and elevator control information.
- the elevator controller 44 may be controlled based on 61e.
- the management server 45 recognizes the automatic driving vehicle 20, and directly from the control unit 61 of the automatic driving vehicle 20 or the operation server 30A.
- the second audio output unit 43a in the elevator car 43 can output the announcement regarding the elevator usage of the automatically driven vehicle 20 by voice.
- the control unit 20 of the autonomous vehicle outputs elevator usage information when the travel route includes the elevator 41 of the building 40. 61d and elevator control information 61e to the elevator control unit 44 via the wireless network 50, and the elevator control unit 44 outputs the automatic operation information from the audio output unit 43a provided in the elevator car 43 based on the elevator usage information 61d.
- An announcement regarding the use of the vehicle's elevator may be audibly output.
- the second video output unit 43b in the elevator car 43 may output a video regarding the use of the elevator 41 of the automatically driven vehicle based on the elevator use information 61d. Also, along with this video output, an announcement may be output as audio from the audio output unit 43a.
- the automatic driving vehicle 20 has been described as an automatic driving vehicle exclusively for delivery. You may make it drive both mutually.
- the automated driving vehicle 20 is a passenger vehicle that transports the user at a transportation station, airport, etc.
- a camera, scanner, near-field wireless NFC (Near Field Communication) transmitting/receiving unit, etc., for reading a QR code (registered trademark) may be provided.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Health & Medical Sciences (AREA)
- Economics (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- General Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Elevator Control (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
自動運転車両が該走行経路として建造物のエレベータを利用する場合には、前記制御部は、当該エレベータの乗車階及び降車階を含むエレベータ利用情報と、乗車階での当該エレベータかごの呼び出し及び降車階の指定を含むエレベータ制御情報を作成し、建造物のエレベータが、無線ネットワークを介して運行サーバに接続され、自動運転車両からのエレベータ利用情報及びエレベータ制御情報に基づいてエレベータかごの昇降を制御するエレベータ制御部を備えていて、自動運転車両の制御部は、エレベータ利用情報及びエレベータ制御情報を無線ネットワークを介してエレベータ制御部に送信し、エレベータ制御部が、エレベータ利用情報に基づいてエレベータかご内に備えられた音声出力部から当該自動運転車両のエレベータ利用に関するアナウンスを音声出力することを特徴とする。
上記運行サーバは好ましくは、自動運転車両の現在位置及び走行経路から自動運転車両同士または自動運転車両と周辺環境等との相互位置に基づいて自動運転車両の運行を遠隔監視及び/又は遠隔操作し、エレベータ制御部は運行サーバにより制御される。
建造物は、好ましくは当該建造物全体を制御する管理サーバを備え、管理サーバが運行サーバにより制御されることでエレベータ利用情報及びエレベータ制御情報に基づいてエレベータ制御部が制御される。エレベータ制御部は、好ましくは、エレベータ利用情報に基づいて当該自動運転車両のエレベータ乗車前から降車までの間にエレベータかご内に備えられた音声出力部から乗車階から降車階までの自動運転車両乗車の旨のアナウンスを音声出力する。エレベータ制御部は、好ましくは、当該エレベータの各階のエレベータホールに、それぞれ音声出力部を備え、エレベータ利用情報に基づいて乗車階または降車階に設けられたエレベータホールの音声出力部から当該自動運転車両乗車のエレベータ利用に関するアナウンスを音声出力する。好ましくは、エレベータかごはディスプレイを備え、エレベータ制御部が、エレベータ利用情報に基づいて当該自動運転車両のエレベータ利用に関する映像を表示する。エレベータかごにエレベータ分析センサを設け、エレベータ分析センサで取得されたエレベータかごの乗員情報がエレベータ制御部と運行サーバを介して自動運転車両の制御部に送出され、乗員情報に基づいてエレベータ利用情報及びエレベータ制御情報が作成されてもよい。エレベータ分析センサは、測長ができるカメラ又はライダーと、カメラ又はライダーで取得した映像信号を処理するコンピュータと、記憶装置とを含み、映像信号に基づいて取得したエレベータかご内の利用者に関する乗員情報を、エレベータ制御部及び運行サーバへ出力するように構成し得る。エレベータホール近傍にディスプレイを備えれば、運行サーバ及び/又はエレベータ制御部が、エレベータ利用情報に基づいて乗車階または降車階に設けられたエレベータホールの音声出力部と共に、ディスプレイに当該自動運転車両乗車のエレベータ利用に関する映像を出力することができる。
運行サーバは、好ましくは、エレベータ制御部から送出されるエレベータ利用統計情報を分析する分析部と、エレベータ利用統計情報を分析して取得する在宅確率情報に基づいて自動運転車両の走行経路を作成する走行経路作成部と、を備える。エレベータかごが、エレベータ分析センサを備え、分析部は、エレベータ制御部から送出されるエレベータ利用統計情報及び/又はエレベータ分析センサから出力される乗員情報に基づいて自動運転車両の走行経路を作成してもよい。
運行サーバは好ましくは、複数の自動運転車両を制御する制御部と、複数の自動運転車両及び複数のエレベータを通信接続する連携部と、分析部と、複数の自動運転車両の走行を管理する走行管理部と、複数の自動運転車両を遠隔監視及び/又は遠隔操作をする遠隔監視部及び/又は遠隔操作部と、記憶部に格納される接続用データベースと分析用データベースと走行管理用データベースと遠隔監視及び/又は遠隔操作用データベースと、を備え、制御部は、複数の自動運転車両及び複数のエレベータを連携部により接続し、複数の自動運転車両の予定に応じて走行管理部により複数のエレベータに関するエレベータ利用情報を作成し、複数の自動運転車両及び複数のエレベータの稼働状況を遠隔監視部及び/又は遠隔操作部により遠隔監視及び/又は遠隔操作する。
なお、自動運転車両は、老人,傷病人,身体障害者等のユーザーを搬送する乗用車両のほか、清掃,消毒,監視等を行う各種作業用車両であっても、或いは、飲食物や商品或いは宅配物などの各種物品を配送する配送車両であってもよく、エレベータへの乗車可能なサイズであれば、とくに用途を問わず適用され得る。
以下、図面に示した幾つかの実施形態に基づいて本発明を詳細に説明するが、各実施形態は本発明を説明するためのものに過ぎず、本発明はこれに限られるものではない。図示の例では、自動運転車両は、注文された飲食物や購入された商品を搬送するワンボックスタイプの自動配送車両として説明しているが、形状や構造などは、建物やエレベータに乗降できる限り、これらの車両に限定されない。また、用途についても、物品の配送車両のほか、老人,傷病人,身体障害者等のユーザーを搬送する自動乗用車両であっても、或いは、清掃,消毒,監視等を行う各種の自動作業用車両であっても適用可能である。エレベータが設置された建造物は、会社ビルや商業施設に限らず、高層の大規集合住宅ビルであってもよい。
図1は、本発明による自動運転車両の運行システム(以下、運行システムという)の第一の実施形態の全体構成を示している。運行システム10は、自動運転車両20と、サーバ30と、建造物40と、無線ネットワーク50と、から構成されている。無線ネットワーク50は、任意の構成の無線ネットワークであって、専用回線ネットワークであっても、また公衆回線ネットワークであってもよく、あるいはWi-Fi等の無線LANであってもよい。
図4は、エレベータホール46の構成を示す模式的な図である。エレベータホール46には、エレベータの扉46a、エレベータの移動を示す表示部46b、希望の行き先の上下を示す押しボタン46cと、スピーカ(第三の音声出力部)41aと第三の映像出力部としてディスプレイ46eとが備えられる。スピーカ41aとディスプレイ46eとは、運行サーバ30及び/又はエレベータ制御部44によりエレベータ利用情報61dに基づいてその映像出力と音声出力が制御される。スピーカ41aによる音声出力は、後述する図6に示すフロー図と同様に行うことができる。さらに、スピーカ41aによる音声出力と共に、ディスプレイ46eには、自動運転車両20の乗車や降車に関する映像が表示される。この映像は、自動運転車両20の静止画像、アニメ映像、又はエレベータかご43に設置したカメラで撮像した自動運転車両20等が使用できる。スピーカ41aとディスプレイ46eの設置場所は、エレベータホール46に限らず、エレベータかご43の他、エレベータホール46の近くの場所等のエレベータホール46の近傍であってもよい。
カメラ43cがエレベータかご43内の例えば天井部に設置される場合には、エレベータ制御部44又は管理サーバ45は、カメラ43cにより取得した映像信号からエレベータかご43内の利用者の人数を積算する。利用者の人数の積算には、種々の画像認識方法を用い得る。自動運転車両20の乗降のために、エレベータかご43の乗車定員に対する利用者の人数割合、つまり乗車率を計算してもよい。これらのエレベータ制御部44又は管理サーバ45で取得された利用者の人数や乗車率等からなるエレベータかご43の乗員情報43eは、運行サーバ30の制御部33に送出されてもよい。
まず、自動運転車両20のCPU61に、ステップA1にて、図示しない操作部により、あるいは運行サーバ30から目的地を表す目的地情報61bが入力される。次に、自動運転車両20のCPU61は、ステップA2にて、位置センサ66dからの検出信号により当該自動運転車両20の現在位置を検出して、現在位置情報61aを取得する。CPU61は、ステップA3にて、現在位置情報61a及び目的地情報61bを無線ネットワーク50を介して運行サーバ30に送信する。これを受けて、運行サーバ30の制御部33は、ステップA4にて、現在位置情報61a及び目的地情報61bに基づいて現在位置情報61aによる現在位置から目的地情報61bによる目的地までの走行経路に対応するエリアのマップデータ31を記憶部32から読み出し、ステップA5にてこのマップデータ31を無線ネットワーク50を介して自動運転車両20に送信する。
CPU61は、前述したステップA6にて走行経路61cを作成した後に、ステップB1にてエレベータ利用情報61d及びエレベータ制御情報61eを作成し、ステップB2にてこれらのエレベータ利用情報61d及びエレベータ制御情報61eを無線ネットワーク50を介して運行サーバ30に送信する。
第一の実施形態では、自動運転車両20のエレベータ41の乗車及び降車について説明したが、エレベータ41の設置されている建造物40は、商業ビルやホテルに限らず、大規集合住宅ビルに設置されているエレベータ41にも適用できる。第二の実施形態では、エレベータ41の利用状況に関する情報の利用について説明する。
図7は、本発明による自動運転車両の運行システムの第二の実施形態の構成を示すブロック図である。図7に示す自動運転車両の運行システム10Aが、図1に示す自動運転車両の運行システム10と異なるのは、サーバ30Aが、エレベータ制御部44から送出されるエレベータ利用統計情報61fを分析する分析部34と、該エレベータ利用統計情報61fを分析して取得する各階での在宅確率情報61gに基づいて自動運転車両20の走行経路を作成する走行経路作成部35と、を備え、具体的には、エレベータ制御部44からゲートウェー45a及び管理サーバ45を介して、サーバ又は運行サーバ30Aにエレベータ利用統計情報61fが送出される点である。例えば、住宅ビルの各階から1階へのエレベータによる移動がエレベータ制御部44で情報として取得されるので、その回数を各階で分析すれば、午前中に1階までエレベータを利用した回数が各階ごとに把握でき、各階の戸数が予め分かっているので、住人の在宅の度合、つまり在宅確率が統計的に取得される。分析部34で分析された在宅確率情報61gが、運行サーバ30Aの自動運転車両20のための走行経路作成部35に送出される。
第一及び第二の実施形態では、自動運転車両20のエレベータ41の乗車及び降車について説明したが、複数の自動運転車両と、複数のエレベータ41を備え、複数階の建造物40においても、自動運転車両20のエレベータ41への利用が可能である。この実施形態では、複数の自動運転車両20が、複数の建造物40に設置された複数のエレベータ41Bを利用する場合の自動運転車両の運行システムについて説明する。
図8は、本発明による自動運転車両の運行システムの第三の実施形態の構成を示すブロック図である。図8に示す自動運転車両の運行システム10Bが、図7に示す自動運転車両の運行システム10Aと異なるのは、サーバ30Bが、複数の自動運転車両20Bを、複数の建造物40Bに設置された複数のエレベータ41Bを利用できる自動運転車両の運行システムとして構成される点である。複数の自動運転車両20B(20a~20i~20n)のそれぞれは、図7に示す自動運転車両の運行システム10Aと同様にネットワーク50を介してサーバ30Bと接続される。複数の建造物41B(41a~41i~41n)は複数のエレベータ42B(42a~42i~42m)を有している。各建物は一つのエレベータだけではなく、複数のエレベータを備えて構成されてもよい。各建物の複数の自動運転車両20Bの走行経路には、エレベータ42Bの他にセキュリティゲートを備えてもよい。各エレベータ42iは、エレベータ制御部44Bとゲートウェー45aと管理サーバ45Bとゲートウェー45bとネットワーク50Bを介してサーバ30Bと接続される。
図9には、分析するデータとして、上段左にモード使用率、上段真中に稼働時間、上段右にバッテリー残量、下段左に総距離、下段真中にエラー回数、下段右にマーカーの検出が表示されている。モード使用率は、自動運転車両20の走行モードがニュートラル、駐車、ドライブ等の何れかのモードで走行しているかを%表示している。他のグラフの横軸は年月日であり、毎日の稼働に関するものである。稼働時間は、自動運転車両20が稼働した日の走行モードの割合を示すグラフである。バッテリー残量は、日毎の自動運転車両20のバッテリー残量を示す。総距離は、日毎の自動運転車両20の走行距離を示す。エラー回数は、日毎の自動運転車両20の運行に関して警告、エラー、障害物検出に遭遇する回数を示す。図は、障害物が検出されなかった例を示す。マーカーは、例えば、建物の床や壁面に貼って、自動運転車両20の方向指示をする。マーカーの検出は、日毎の自動運転車両20の運行に関して、方向指示用のマーカーの種類に関しての頻度を示す。マーカーの種類としては、直進、左折、右折、停止、Uターン等が挙げられる(特許文献2参照)。図9に例示した表示画面70のように、分析部34Bでは、自動運転車両の基本的な指標をモニタリングするために、グラフ表示、期間の指定、データを表示するためにコンマ区切りのテキストファイルであるCSV(Comma Separated Value)ファイルのダウンロードの機能等が実装されている。
Claims (14)
- 道路,周辺環境及びエレベータを備えた建造物に関する三次元のマップデータを登録した記憶部を備える自動運転車両の運行サーバと、前記運行サーバに無線ネットワークを介して接続される自動運転車両と、を利用して、前記運行サーバから受信したマップデータに基づいて前記自動運転車両が現在地から目的地まで所定の走行経路に沿って自動運転を行なう自動運転車両の運行システムであって、
前記自動運転車両が、走行部,駆動部及び制御部と、撮像部,姿勢検出センサ及び位置センサから成る検出部と、前記無線ネットワークに接続される送受信部と、を備え、
自動運転車両の前記制御部が、前記検出部からの検出信号に基づいて現在位置と周囲環境を認識すると共に、現在位置から目的地までの移動に係るエリアのマップデータを前記サーバから受信して現在位置から目的地までの走行経路を作成し該走行経路に基づいて駆動部を制御して走行部を駆動するように構成され、
当該走行経路により前記自動運転車両が建造物のエレベータを利用する場合には、前記制御部は、当該エレベータの乗車階及び降車階を含むエレベータ利用情報と、乗車階での当該エレベータかごの呼び出し及び降車階の指定を含むエレベータ制御情報を作成し、
前記建造物のエレベータが、前記無線ネットワークを介して前記運行サーバに接続され、自動運転車両からのエレベータ利用情報及びエレベータ制御情報に基づいて前記エレベータかごの昇降を制御するエレベータ制御部を備えていて、
自動運転車両の前記制御部は、前記エレベータ利用情報及びエレベータ制御情報を前記無線ネットワークを介して前記エレベータ制御部に送信し、
前記エレベータ制御部が、前記エレベータ利用情報に基づいてエレベータかご内に備えられた音声出力部から当該自動運転車両のエレベータ利用に関するアナウンスを音声出力する、自動運転車両の運行システム。 - 前記自動運転車両が、音声出力部を備え、
前記自動運転車両の前記制御部は、前記走行経路に沿った移動に応じて該走行経路における当該自動運転車両の走行を報知するためのアナウンスを前記自動運転車両の音声出力部から音声出力すると共に、前記エレベータ利用情報に基づいてエレベータ利用に関するアナウンスを前記自動運転車両の音声出力部から音声出力する、請求項1に記載の自動運転車両の運行システム。 - 前記運行サーバが、自動運転車両の現在位置及び走行経路から自動運転車両同士または自動運転車両と周辺環境等との相互位置に基づいて自動運転車両の運行を遠隔監視及び/又は遠隔操作し、前記エレベータ制御部は前記運行サーバにより制御される、請求項1に記載の自動運転車両の運行システム。
- 前記建造物が、当該建造物全体を制御する管理サーバを備えており、
前記管理サーバが、前記サーバにより制御されることにより前記エレベータ利用情報及びエレベータ制御情報に基づいて前記エレベータ制御部を制御する、請求項1に記載の自動運転車両の運行システム。 - 前記エレベータ制御部が、前記エレベータ利用情報に基づいて当該自動運転車両のエレベータ乗車前から降車までの間に、前記エレベータかご内に備えられた音声出力部から前記乗車階から降車階までの前記自動運転車両乗車の旨のアナウンスを音声出力する、請求項1に記載の自動運転車両の運行システム。
- 前記エレベータ制御部が、当該エレベータの各階のエレベータホールにそれぞれ音声出力部を備えており、前記エレベータ制御部は、前記エレベータ利用情報に基づいて前記乗車階または降車階に設けられた前記エレベータホールの音声出力部から当該自動運転車両のエレータ利用に関するアナウンスを音声出力する、請求項1に記載の自動運転車両の運行システム。
- 前記エレベータかごがディスプレイを備え、前記エレベータ制御部が、前記エレベータ利用情報に基づいて前記ディスプレイから当該自動運転車両のエレベータ利用に関する映像を表示する、請求項1に記載の自動運転車両の運行システム。
- 前記エレベータかごが、エレベータ分析センサを備えており、
前記エレベータ分析センサで取得された前記エレベータかごの乗員情報が、前記エレベータ制御部と前記運行サーバを介して前記自動運転車両の制御部に送出され、前記乗員情報に基づいて前記エレベータ利用情報及び前記エレベータ制御情報が作成される、請求項1に記載の自動運転車両の運行システム。 - 前記エレベータ分析センサは、測長ができるカメラ又はライダーと、前記カメラ又はライダーで取得した映像信号を処理するコンピュータと、記憶装置とを含み、前記映像信号に基づいて取得した前記エレベータかご内の利用者に関する乗員情報を、前記エレベータ制御部及び前記運行サーバへ出力する、請求項8に記載の自動運転車両の運行システム。
- 前記エレベータホール近傍には、ディスプレイが備えられ、
前記運行サーバ及び/又はエレベータ制御部が、前記エレベータ利用情報に基づいて前記乗車階または降車階に設けられた前記エレベータホールの音声出力部と共に、前記ディスプレイに当該自動運転車両のエレベータ利用に関する映像を出力する、請求項6に記載の自動運転車両の運行システム。 - 前記自動運転車両が、老人,傷病人,身体障害者等のユーザーを搬送する乗用車両、清掃,消毒,監視等を行う各種作業用車両、或いは、飲食物や商品などの各種物品を配送する自動配送車両である、請請求項1に記載の自動運転車両の運行システム。
- 前記運行サーバが、前記エレベータ制御部から送出されるエレベータ利用統計情報を分析する分析部と、該エレベータ利用統計情報を分析して取得する在宅確率情報に基づいて前記自動運転車両の走行経路を作成する走行経路作成部とを備える、請求項1に記載の自動運転車両の運行システム。
- 前記エレベータかごが、エレベータ分析センサを備えており、前記分析部は、前記エレベータ制御部から送出されるエレベータ利用統計情報及び/又は前記エレベータ分析センサから出力される乗員情報に基づいて前記自動運転車両の走行経路を作成する、請求項12に記載の自動運転車両の運行システム。
- 前記運行サーバが、さらに、複数の前記自動運転車両を制御する制御部と、前記複数の自動運転車両及び複数の前記エレベータを通信接続する連携部と、分析部と、前記複数の自動運転車両の走行を管理する走行管理部と、前記複数の自動運転車両を遠隔監視及び/又は遠隔操作をする遠隔監視部及び/又は遠隔操作部と、前記記憶部に格納される接続用データベースと分析用データベースと走行管理用データベースと遠隔監視及び/又は遠隔操作用データベースと、
を備え、
前記制御部は、
前記複数の自動運転車両及び複数の前記エレベータを前記連携部により接続し、
前記複数の自動運転車両の予定に応じて前記走行管理部により前記複数のエレベータに関するエレベータ利用情報を作成し、
前記複数の自動運転車両及び複数の前記エレベータの稼働状況を前記遠隔監視部及び/又は遠隔操作部により遠隔監視及び/又は遠隔操作する、請求項1に記載の自動運転車両の運行システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/558,678 US20240231387A1 (en) | 2021-11-10 | 2022-10-28 | Autonomous driving vehicle operation system |
CN202280041377.4A CN117501202A (zh) | 2021-11-10 | 2022-10-28 | 自动驾驶车辆的运行系统 |
KR1020237042803A KR20240006670A (ko) | 2021-11-10 | 2022-10-28 | 자동 운전 차량의 운행 시스템 |
JP2023559562A JPWO2023085136A1 (ja) | 2021-11-10 | 2022-10-28 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-183758 | 2021-11-10 | ||
JP2021183758 | 2021-11-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023085136A1 true WO2023085136A1 (ja) | 2023-05-19 |
Family
ID=86335704
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/040566 WO2023085136A1 (ja) | 2021-11-10 | 2022-10-28 | 自動運転車両の運行システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US20240231387A1 (ja) |
JP (1) | JPWO2023085136A1 (ja) |
KR (1) | KR20240006670A (ja) |
CN (1) | CN117501202A (ja) |
WO (1) | WO2023085136A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006089262A (ja) * | 2004-09-27 | 2006-04-06 | Matsushita Electric Works Ltd | 自律移動ロボット用のエレベータ乗降システム |
JP2009001425A (ja) * | 2007-05-21 | 2009-01-08 | Panasonic Corp | 自動搬送方法、搬送ロボット、及び自動搬送システム |
JP2012017184A (ja) * | 2010-07-08 | 2012-01-26 | Hitachi Ltd | 自律移動装置同乗エレベータシステム |
WO2018066054A1 (ja) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | エレベーター制御装置および自律移動体制御装置 |
WO2020217739A1 (ja) * | 2019-04-20 | 2020-10-29 | 株式会社Zmp | 自動運転車両による利用者搬送システム |
JP2021064233A (ja) * | 2019-10-16 | 2021-04-22 | トヨタ自動車株式会社 | 物品搬送ロボット、物品搬送システム、ロボット管理装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020013337A1 (ja) | 2018-07-13 | 2020-01-16 | 株式会社Zmp | 移動車両の走行システム |
US12036917B2 (en) | 2019-01-12 | 2024-07-16 | Zmp Inc. | Autonomous vehicle, delivery system, and program |
-
2022
- 2022-10-28 KR KR1020237042803A patent/KR20240006670A/ko unknown
- 2022-10-28 CN CN202280041377.4A patent/CN117501202A/zh active Pending
- 2022-10-28 US US18/558,678 patent/US20240231387A1/en active Pending
- 2022-10-28 JP JP2023559562A patent/JPWO2023085136A1/ja active Pending
- 2022-10-28 WO PCT/JP2022/040566 patent/WO2023085136A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006089262A (ja) * | 2004-09-27 | 2006-04-06 | Matsushita Electric Works Ltd | 自律移動ロボット用のエレベータ乗降システム |
JP2009001425A (ja) * | 2007-05-21 | 2009-01-08 | Panasonic Corp | 自動搬送方法、搬送ロボット、及び自動搬送システム |
JP2012017184A (ja) * | 2010-07-08 | 2012-01-26 | Hitachi Ltd | 自律移動装置同乗エレベータシステム |
WO2018066054A1 (ja) * | 2016-10-04 | 2018-04-12 | 三菱電機株式会社 | エレベーター制御装置および自律移動体制御装置 |
WO2020217739A1 (ja) * | 2019-04-20 | 2020-10-29 | 株式会社Zmp | 自動運転車両による利用者搬送システム |
JP2021064233A (ja) * | 2019-10-16 | 2021-04-22 | トヨタ自動車株式会社 | 物品搬送ロボット、物品搬送システム、ロボット管理装置 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2023085136A1 (ja) | 2023-05-19 |
KR20240006670A (ko) | 2024-01-15 |
US20240231387A1 (en) | 2024-07-11 |
CN117501202A (zh) | 2024-02-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11796998B2 (en) | Autonomous vehicle fleet service and system | |
US11314249B2 (en) | Teleoperation system and method for trajectory modification of autonomous vehicles | |
US11283877B2 (en) | Software application and logic to modify configuration of an autonomous vehicle | |
EP3371797B1 (en) | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes | |
WO2020170644A1 (ja) | 情報処理装置、情報処理システム、および情報処理方法、並びにプログラム | |
US10248119B2 (en) | Interactive autonomous vehicle command controller | |
US10334050B2 (en) | Software application and logic to modify configuration of an autonomous vehicle | |
US9754490B2 (en) | Software application to request and control an autonomous vehicle service | |
US9910441B2 (en) | Adaptive autonomous vehicle planner logic | |
EP4404015A2 (en) | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes | |
CA2864027C (en) | Robotic ordering and delivery apparatuses, systems and methods | |
CN118154398A (zh) | 用于请求和控制自主车辆服务的软件应用 | |
JP7117743B2 (ja) | 自動運転車両による利用者搬送システム | |
KR102558767B1 (ko) | 로봇 친화형 건물 | |
CN115547091A (zh) | 合乘车辆以及运行管理系统 | |
WO2023085136A1 (ja) | 自動運転車両の運行システム | |
JP2022125493A (ja) | 移動ロボット、搬送システム、方法、及びプログラム | |
JP7358680B2 (ja) | 車両制御方法、制御装置、車両制御システムおよびプログラム | |
JP7481572B2 (ja) | 車両制御方法、車両制御装置およびプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22892635 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2023559562 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18558678 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202280041377.4 Country of ref document: CN |
|
ENP | Entry into the national phase |
Ref document number: 20237042803 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020237042803 Country of ref document: KR |