Patent Application
20210373561
Priority is claimed on Japanese Patent Application No. 2020-095435, filed on Jun. 1, 2020, the contents of which are incorporated herein by reference.
The present invention relates to a movable body control device, a movable body, a movable body management system, a movable body control method, and a program.
In the related art, an automatic vehicle allocation system is disclosed which: receives a signal from a position correction device that is located on a route on which an autonomous vehicle is capable of traveling and that specifies the position of an autonomous vehicle which travels in the vicinity thereof; corrects a self-position on the basis of the received signal; and guides a vehicle along a travel route on which a self-position corrected based on map information is set (for example, Japanese Unexamined Patent Application, First Publication No. 2001-005524).
As a related art, a technique described in Japanese Unexamined Patent Application, First Publication No. 2006-285639 is disclosed.
The related art described above guides the vehicle without considering a work task performed by a worker who boards a movable body, and convenience may be impaired for the worker.
An aspect of the present invention aims to provide a movable body control device, a movable body, a movable body management system, a movable body control method, and a program that can improve convenience of a worker.
A movable body control device according to a first aspect of the present invention is a movable body control device that controls a movable body on which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding, the movable body control device including: an acquisition part that acquires information based on information regarding the progress of the work task of the worker; and a control part that controls movement of the movable body based on the information which is acquired by the acquisition part.
A second aspect of the present invention is the movable body control device according to the first aspect described above, wherein the work task may be a work task by which the worker confirms information that is indicated by equipment which is provided at the workplace.
A third aspect of the present invention is the movable body control device according to the first or second aspect described above, wherein the information regarding the progress of the work task may be information which is generated by operating a terminal device that is carried by the worker and that receives information which is input by the worker in accordance with the work task.
A fourth aspect of the present invention is the movable body control device according to any of the first to third aspects described above, wherein the information regarding the progress of the work task may be information indicating that the work task has started, information that is indicated by equipment as a target of the work task, information indicating that the worker has confirmed information that is indicated by equipment which is provided at the workplace, or information indicating that the work task has been completed.
A fifth aspect of the present invention is the movable body control device according to any of the first to fourth aspects described above, wherein the control part may move the movable body to a position associated with a position of a work target at which the worker performs the work task based on the information acquired by the acquisition part.
A sixth aspect of the present invention is the movable body control device according to the fifth aspect described above, wherein the position associated with the position of the work target at which the worker performs the work task may be a position at which the worker is scheduled to arrive after getting off the movable body and then stopping at a plurality of work targets.
A seventh aspect of the present invention is the movable body control device according to any of the first to sixth aspects described above, wherein the control part may move the movable body in accordance with the progress of the work task after the worker gets off the movable body, in accordance with information generated based on the information regarding the progress of the work task of the worker and a work schedule performed by the worker.
An eighth aspect of the present invention is a movable body on which the movable body control device according to any of the first to seventh aspects described above is mounted.
A ninth aspect of the present invention is a movable body management system, including: the movable body control device according to any of the first to eighth aspects described above; and a server device that acquires the information regarding the progress of the work task of the worker and that provides information based on the information regarding the progress of the work task generated based on the acquired information to the movable body control device.
A tenth aspect of the present invention is the movable body management system according to the ninth aspect described above, wherein the server device may generate information based on the information regarding the progress of the work task for moving the movable body based on information regarding the progress of the work task of the worker and a work schedule including a plurality of work tasks and may provide the generated information to the movable body control device.
An eleventh aspect of the present invention is a movable body control method by way of a computer that controls a movable body on which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding, the movable body control method including: acquiring information based on information regarding the progress of the work task of the worker; and controlling movement of the movable body based on the information which is acquired.
A twelfth aspect of the present invention is a computer-readable non-transitory recording medium which includes a program causing a computer that controls a movable body on which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding to: acquire information based on information regarding the progress of the work task of the worker; and control movement of the movable body based on the information which is acquired.
According to the first to twelfth aspects described above, the movable body control device controls the movement of the movable body using the information regarding the progress of the work task, and thereby, it is possible to improve convenience of a worker. For example, the movable body automatically moves to a position suitable for the worker, and thereby, the worker can easily access the movable body in accordance with the progress of the work task.
According to the sixth aspect described above, since the movable body moves to a position at which the worker is scheduled to arrive after stopping at a plurality of work targets, the worker can board the movable body promptly after stopping at the work targets and proceed to the next destination.
Hereinafter, a movable body management system including a movable body control device, a movable body, a movable body management system, a movable body control method, and a program according to embodiments of the present invention will be described with reference to the drawings. The movable body control device controls a movable body on which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding. The movable body control device is, for example, mounted on the movable body described above and performs a variety of processes in cooperation with another device included in the movable body management system.
The terminal device 100 is, for example, a smartphone, a tablet terminal, or the like. In the terminal device 100, an application program, a browser, or the like for utilizing a service provided by the movable body management system 1 is started, and the service described below is supported. In the following description, it is assumed that the terminal device 100 is a tablet terminal, and the application program (service application) for receiving the service has started. The service application communicates with the management device 200 in response to an operation of a worker, transmits information that is input by the worker to the management device 200, and provides information on the basis of information that is received from the management device 200.
The management device 200 includes, for example, a communication part 210, an information management part 220, a command part 230, and a storage part 250. The information management part 220 and the command part 230 are implemented, for example, by a processor such as a CPU (Central Processing Unit) as hardware executing a program (software). Some or all of the information management part 220 and the command part 230 may be implemented by hardware (a circuit part including circuitry) such as an LSI (Large-Scale Integration), an ASIC (Application-Specific Integrated Circuit), a FPGA (Field-Programmable Gate Array), or a GPU (Graphics-Processing Unit) or may be implemented by software and hardware in cooperation. The program may be stored in advance in a storage device (a storage device including a non-transitory storage medium) such as a HDD or a flash memory, or may be stored in a removable storage medium (a non-transitory storage medium) such as a HDD (Hard Disc Drive), a DVD, or a CD-ROM and be installed in the storage device by the storage medium being mounted on a drive device. The storage part 250 is implemented by a DVD, a RAM (Random-Access Memory), a flash memory, or the like. Position information 252, work information 254, instrument information 256, and the like are stored in the storage part 250. The position information 252 includes position information of the movable body 300 in a time series. Details of other information are described later.
The communication part 210 is, for example, a wireless communication module for connecting to a network NW or communicating directly with another terminal device or the like. The communication part 210 performs wireless communication on the basis of Wi-Fi, DSRC (Dedicated Short-Range Communications), Bluetooth (Registered Trademark), or other communication standards.
The information management part 220 manages information that is provided by the terminal device 100 or the movable body 300. For example, the information management part 220 stores the information that is provided by the terminal device 100 or the movable body 300 in the storage part 250. The information management part 220 provides the information stored in the storage part 250 or information based on the information stored in the storage part 250 to the terminal device 100 or the movable body 300.
The command part 230 gives a command to the movable body 300 on the basis of the information that is provided by the terminal device 100. The command is a command regarding a direction in which the movable body 300 proceeds, the height of the movable body 300, and the like. The command may include a speed, a route, trajectory information, and the like when the movable body proceeds to a destination. The trajectory information is information in which the position and the speed in a time series when the movable body 300 moves are associated with each other.
The movable body 300 includes, for example, a base body 302, a wheel 304R and a wheel 304L that are attached to the base body 302, a seat part 306 like a cushion on which a passenger is seated, a lifting mechanism 308 (refer to
The present embodiment is described using an example in which the movable body 300 as shown in
The wheel 304R is provided on a +Y direction side of the movable body 300. The wheel 304L is provided on a −Y direction side of the movable body 300. The wheel 304R and the wheel 304L are driven by the motor. The seat part 306 is provided above the base body 302. An upper surface of the seat part 306 is a seat surface that supports the hip of the passenger from below. The seat part 306 is supported by the base body 302 via the lifting mechanism 308. Details of the first support part 310 and the second support part 320 are described below.
The operation part 330 includes an operation element for the worker to control an operation of the movable body 300. For example, the operation element is an operation element for controlling the speed of the movable body 300, a braking operation, and the lifting mechanism 308.
The first support part 310 is provided on an end part in the +X direction of the seat part 306, extends in a ground direction, and supports the movable body 300 as needed. The second support part 320 is provided on an end part in the −X direction of the seat part 306, extends in the ground direction, and supports the movable body 300 as needed.
The first support part 310 and the second support part 320 are controlled, for example, by a control mechanism 322 (refer to
For example, when the worker boards the movable body 300, the lifting mechanism 308 lowers the seat part 306 to a lower position on the basis of control of the control device 380. In accordance with the height of the seat part 306, the ground contact part of the first support part 310 and the second support part 320 is controlled to be located on the ground.
Thereby, for example, the stability when the worker boards the movable body 300 is ensured. When the movable body 300 travels, the first support part 310 and the second support part 320 may be controlled such that the ground contact part is not located on the ground. Thereby, the travel performance of the movable body 300 is improved.
The first support part 310 and the second support part 320 may have a stretchable or retractable configuration in place of the functional configuration described above. In this case, when the seat part 306 is controlled, the first support part 310 and the second support part 320 may extend and be located on the ground, or the first support part 310 and the second support part 320 may emerge from a storage part and be located on the ground.
The camera 350 is set, for example, at a position where the periphery (for example, the front) of the movable body 300 can be imaged. For example, the camera 350 is provided on an end portion of the operation part 330 on the +X direction side or the like. The movable body 300 may include a plurality of cameras 350. The plurality of cameras 350 are each set to positions having optical axes in different directions. According to this setting, any directions represented by the X direction and the Y direction can be within an imaging range. The movable body 300 may have, in addition to the camera 350, a functional configuration capable of detecting a situation and an object around the movable body 300 such as a laser range finder or an infrared sensor.
The communication device 352 is, for example, a wireless communication module for connecting to the network NW or communicating directly with another terminal device or the like. The communication device 352 performs wireless communication on the basis of Wi-Fi, DSRC, Bluetooth, or other communication standards.
The vehicle sensor 354 is a sensor that detects the speed, the acceleration, the angular speed around the vertical axis, or the like of the movable body 300.
The GNSS receiver 356 measures the self-position on the basis of radio waves arriving from a GNSS satellite (for example, a GPS satellite). The GNSS receiver 356 outputs the positioning result to the control device 380.
The seating sensor 358 is a sensor that outputs an ON signal to the control device 380 in a case where a worker is boarding the movable body 300. The seating sensor 358 is, for example, a pressure sensor provided on the seating sensor 358. The seating sensor 358 may be an IMU (Inertial Measurement Unit). In this case, the control device 380 determines that the worker is not boarding the movable body 300 when the detection result of the IMU matches a detection result in a case where the worker is not boarding the movable body 300.
The control device 380 includes, for example, a recognition part 382, an acquisition part 384, an information-processing part 386, a first control part 388, and a second control part 390. These functional configurations are implemented, for example, by a processor such as a CPU as hardware executing a program (software). Some or all of these functional configurations may be implemented by hardware (a circuit part including circuitry) such as an LSI, an ASIC, a FPGA, or a GPU or may be implemented by software and hardware in cooperation. The program may be stored in advance in a storage device (a storage device including a non-transitory storage medium) such as a HDD (Hard Disk Drive) or a flash memory or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or a CD-ROM and be installed in the storage device by the storage medium being mounted on a drive device.
The recognition part 382 recognizes an object around the movable body 300 on the basis of an image captured by the camera 350. The recognition part 382 recognizes, for example, the presence or absence of an obstacle, the situation of a road on which the movable body travels, the kind of an object that is present in the vicinity, the position of the object, and the like.
The acquisition part 384 acquires information that is acquired by the communication device 352 or acquires information that is acquired by the vehicle sensor 354 or the GNSS receiver 356. The acquisition part 384 acquires, from the terminal device 100 that is carried by the worker and that receives information which is input by the worker in accordance with the work task, information based on the information regarding the progress of the work task of the worker. Details of the information based on the information regarding the progress of the work task will be described later.
The information-processing part 386 manages the information that is acquired by the acquisition part 384 or controls each piece of equipment (equipment other than the equipment as a control target of the first control part 388 and the second control part 390) included in the movable body 300.
The first control part 388 controls the motor of the movable body 300 to cause the movable body 300 to travel.
The first control part 388 causes the movable body 300 to travel on the basis of an operation of the operation part 330 or a command of the management device 200. The first control part 388 controls the speed of the movable body 300, the movement such as the direction of movement, or the height of the seat part 306 on the basis of the information that is acquired by the acquisition part 384.
The second control part 390 controls the lifting mechanism 308 or the control mechanism 322. The second control part 390 controls the lifting mechanism 308 on the basis of an operation of the operation part 330 or a command of the management device 200.
The second control part 390 controls the height of the seat part 306 on the basis of the information that is acquired by the acquisition part 384. For example, the second control part 390 acquires an adjustment degree of the height of the seat part 306 and the height of the instrument from the management device 200 and controls the control mechanism 322 such that the instrument can be readily confirmed in a state where the worker is seated on the basis of the acquired information.
The worker boards the movable body 300, moves within a predetermined facility, and performs a work task. The facility is, for example, a facility having a predetermined size such as a substation but is not limited thereto. The work task is, for example, a work task in which a worker performs confirmation, an operation, or treatment of the equipment in a facility or the like. The following embodiment is described using an example in which a worker performs a work task of confirming the information indicated by an instrument in a facility such as a substation.
In the example of
The position associated with the work task is a position where it is estimated that the worker moves after finishing the work task (a position associated with a position of a work target at which the worker performs the work task). This position may be set in the past action history of the worker or may be set by an administrator.
For example, when a worker operates the terminal device 100, starts a service application, and performs a predetermined operation, the service application of the terminal device 100 and the management device 200 cooperate with each other. For example, identification information of the movable body 300 used by the worker, a work schedule, equipment of a work target included in the work schedule, information in which the equipment and map information of the facility are associated with each other (for example, information as shown in
In a case where the worker boards a designated movable body 300 and, for example, arrives near the instrument 1, an image IM is displayed on the display part of the terminal device 100.
The image IM may be displayed in a case where the worker performs a predetermined operation of the terminal device 100, or the terminal device 100 may display the image IM on the display part in a case where the movable body 300 arrives near the instrument 1 on the basis of the position information of the movable body 300.
The image IM includes an icon IC1, an icon IC2, and an icon IC3. The icon IC1 is a button that is operated when a work task 1 is started. The icon IC2 is an icon to which information indicated by the instrument 1 is input. For example, in a case where the icon IC1 is operated, when the worker operates the icon IC2, a numeric keypad or the like is displayed on the display part. The worker operates the numeric keypad and inputs the information indicated by the instrument 1. When the worker operates the icon IC3, the information input to the icon IC2 is transmitted to the management device 200.
Information indicating that the icon IC1, the icon IC2, or the icon IC3 is operated is an example of “information regarding the progress of the work task (information which is generated by operating a terminal device that is carried by the worker and that receives information which is input by the worker in accordance with the work task)”. Information indicating that the icon IC1 is operated is an example of “information indicating that the work task has started”.
Information that is indicated by the instrument 1 and that is input to the icon IC2 is an example of “information that is indicated by equipment” or “information indicating that the worker has confirmed information that is indicated by equipment which is provided at the workplace”. Information indicating that the icon IC3 is operated is an example of “information indicating that the work task has been completed” or “information indicating that the worker has confirmed the information indicating equipment which is provided at the workplace”.
“Information based on information regarding the progress of the work task” is, for example, information (for example, information for controlling the movable body 300) transmitted to the movable body 300 by the management device 200 in response to the management device 200 acquiring the information regarding the progress of the work task described above.
In accordance with the operation of the icon, the management device 200 transmits a movement position to the movable body 300. The movable body 300 acquires the movement position that is transmitted by the management device 200. Then, the movable body 300 proceeds to the movement position that is provided by the management device 200. That is, the movable body 300 moves the movable body 300 in accordance with the progress of the work task after the worker gets off the movable body 300 on the basis of the work schedule and the information regarding the progress of the work task. In a case where an icon regarding another instrument is operated, the movable body moves to a predetermined position in accordance with the progress of the work task.
In the example of
As shown in
As described above, since the worker can move the movable body 300 by a simple operation with respect to the terminal device 100, convenience of the worker is improved.
First, the terminal device 100 transmits start information indicating the start of a work task to the management device 200 (Step S100). The start information is, for example, information indicating that the icon IC1 has been operated and includes identification information of the instrument as the work target.
Next, after the process of Step S100, the terminal device 100 receives an input of information with respect to the icon IC2 and transmits the received information (for example, information indicated by the instrument) to the management device 200 (Step S102). Next, the management device 200 registers the information transmitted in Step S102 to the instrument information 256 (Step S104). Thereby, the management device 200 deems that the work task with respect to the target equipment has been completed.
When the work task has been completed, the management device 200 transmits information indicating that the work task has been completed to the terminal device 100 (Step S106). Next, the management device 200 extracts a position associated with the instrument which is the next work target (Step S108) and transmits a command (information based on information regarding the progress of the work task of the worker) of moving to the extracted position to the movable body 300 (Step S110). For example, the management device 200 generates the command described above on the basis of information regarding the progress of the work task of the worker and the work schedule that includes a plurality of work tasks. When acquiring the command transmitted in Step S110, the movable body 300 moves to the indicated position (Step S112). When acquiring predetermined information (for example, information of confirming the instrument or information indicating that a predetermined icon displayed on the display part of the terminal device 100 has been operated) in place of information indicating that the work task has been completed, the management device 200 may generate a command of moving the movable body 300 and transmit the generated command to the movable body 300.
In this way, the movable body 300 moves in accordance with the progress of the work task, and thereby, convenience of a worker is improved.
Although the above embodiment has been described using an example in which the movable body 300 moves on the basis of the work schedule, alternatively (or additionally), the movable body 300 may determine a target position of movement on the basis of the way of stepping when the worker gets off the movable body 300 to the ground and may move the target position. For example, the movable body 300 derives an attitude of a worker on the basis of a position or a change in the center of gravity of the worker obtained from a detection result of a gyroscope sensor or an IMU provided on the movable body 300 and determines whether the foot that is first placed on the ground when the worker gets off the movable body 300 is the right foot or the left foot on the basis of the derived result. When the worker first places the left foot on the ground, the movable body 300 moves toward a target position that is present in the left direction.
The target position is a position associated with a position where the worker gets off the movable body 300. This position is associated, for example, with a first position when the worker gets off the movable body 300 from the left foot and with a second position when the worker gets off the movable body 300 from the right foot. In a case where the worker gets off the movable body 300 from the left foot, the movable body 300 moves to the first position. In a case where the worker gets off the movable body 300 from the right foot, the movable body 300 moves to the second position.
The first position is a position (a position where it is estimated that the worker boards the movable body 300 next) to which it is estimated that the worker proceeds in a case where the worker gets off the movable body 300 from the left foot. The second position is a position to which it is estimated that the worker proceeds in a case where the worker gets off the movable body 300 from the right foot. Since the movable body 300 automatically moves to a position where the worker wants to ride the movable body 300 next, for example, the worker can further easily board the movable body 300 after performing a predetermined work task.
In this way, the movable body 300 moves on the basis of the motion of the worker, and thereby, convenience of the worker is improved.
According to the first embodiment described above, the control device 380 can realize useful control for the worker or a facility operation on the basis of information based on the input information that is input from the terminal device 100 by the worker in accordance with the work task.
Hereinafter, a second embodiment is described. In the second embodiment, the movable body 300 moves close to the equipment as a work target prior to a worker. In other words, the movable body 300 guides the worker to access the equipment as the work target. Hereinafter, the difference from the first embodiment is mainly described.
For example, the movable body 300 moves on the basis of the command of the management device 200. In this case, the management device 200 moves the movable body 300 to a predetermined position in accordance with the progress of the work task of the worker U on the basis of the position information of the movable body 300, the position information of the terminal device 100 held by the worker U, and the work schedule.
In this way, the movable body 300 guides a user in accordance with the work task, and thereby, convenience of the user is improved.
The movable body 300 may use a speaker or the like and report, by way of speech, the information (information of the kind of work task, target equipment, a movement direction, and the like) regarding the next work task on the basis of the information acquired from the management device 200.
According to the second embodiment described above, the movable body 300 guides the worker such that the next work target is indicated, and thereby, convenience of the worker is improved.
Hereinafter, a third embodiment is described. In the third embodiment, a worker or an administrator may operate, for example, a device such as a terminal device 100 and select a work task, the selected work task may be incorporated into a work schedule, and the incorporated work schedule may be displayed on the display part of the terminal device 100.
For example, when generating the work schedule, the management device 200 determines the route of the movable body 300 on the basis of the position of the instrument included in the work schedule. For example, the management device 200 determines the order of stopping at the instruments such that a movement amount (a movement distance or a movement time) of the movable body 300 becomes small when stopping at the instruments included in the work schedule. The management device 200 transmits, to the terminal device 100, information for displaying information in which the generated route and the map information are associated with each other on the display part of the terminal device 100. Thereby, a route on which the movable body 300 is scheduled to move is provided to the worker as shown in the image IM3.
The worker may refer to the image IM3, operate the terminal device 100, and arbitrarily change the route or the order of the work task. In a case where the content, the order, the route, and the like of the work task are approved, when the worker operates a registration button included in the image IM3, the content, the order, the route, and the like of the work task described above are fixed. In this case, the management device 200 acquires information indicating that the registration button has been operated, incorporates the generated content of the work task, and moves the movable body 300 using the fixed order and route in cooperation with the terminal device 100 and the movable body 300.
In the embodiment described above, in place of (in addition to) the instrument being operated in the image IM, the work schedule may be generated by selecting the identification information of the work task. For example, when the worker selects the identification information of the work task associated with the content of the work task, the management device 200 generates a work schedule on the basis of the identification information of the operated work task.
The order or route of stopping at the instruments included in the work schedule described above may be determined on the basis of a past action history of the movable body 300. For example, the management device 200 determines the order or route of the work task in the current work schedule with reference to the action history at the time of performing the past work schedule that includes a work content which is the same as a work task to be performed. For example, the management device 200 determines an efficient order or route of the work task with reference to, from the past action history, an action history of a worker who is highly skilled at the work task, an order or route of the work task having a short time for completing the work schedule, and the like.
According to the third embodiment described above, since the movable body 300 moves based on a work schedule for efficiently moving that is generated based on the past history, the worker can efficiently perform the work task. For example, even a worker who is less skilled at the work task can easily and efficiently perform the work task. Further, since the worker can select the work task and generate the work schedule by operating the terminal device 100 (or another device), convenience of the worker is improved.
The embodiments described above can be represented as follows.
A control device controls a movable body which a worker who performs a work task at a workplace is capable of boarding and which is capable of traveling in a state where the worker is boarding, the control device including a storage device that stores a program and a hardware processor and being configured to: acquire information based on information regarding the progress of the work task of the worker; and control movement of the movable body based on the information which is acquired by executing the program.
Although the embodiments of the present invention have been described with reference to the drawings, the present invention is not limited to such embodiments, and various modifications and substitutions can be made without departing from the scope of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-095435 | Jun 2020 | JP | national |
