Transport system, mobile body, transport method, transport program, and recording medium
An energy storage device transport system ( 1, 1 A) includes an energy storage device ( 40 ) which can move by self-propelling and a moving body ( 30 ) which has an accommodation portion ( 31 ) for accommodating the energy storage device ( 40 ). In the energy storage device transport system ( 1, 1 A), the moving body ( 30 ) accommodates the energy storage device ( 40 ) and moves to transport the energy storage device 40 . The energy storage device ( 40 ) moves inside the accommodation portion ( 31 ) of the moving body ( 30 ) by self-propelling and changes a position in the accommodation portion ( 31 ) of the moving body ( 30 ).
1. A transport system comprising:
a first moving body which can move autonomously; and
a second moving body which has an accommodation portion for accommodating the first moving body, wherein:
the second moving body accommodates the first moving body and moves to transport the first moving body;
the first moving body autonomously moves from a first position inside the accommodation portion of the second moving body to a second position as a destination inside the accommodation portion and changes a position inside the accommodation portion of the second moving body;
the first moving body includes a first wireless communication unit;
the second moving body includes a traveling state acquisition unit configured to acquire information on a traveling state of the second moving body, and a second wireless communication unit configured to transmit the information on the traveling state acquired by the traveling state acquisition unit;
the information on the traveling state of the second moving body is at least one of velocity and acceleration of the second moving body; and
the first moving body changes the position during the movement of the second moving body, when at least one of the velocity and the acceleration of the second moving body is equal to or less than a predetermined value, by:
autonomously moving inside the accommodation portion of the second moving body based on the traveling state of the second moving body indicated in the information received by the first wireless communication unit; or
autonomously moving inside the accommodation portion of the second moving body according to a control signal received by the first wireless communication unit when the first wireless communication unit receives the control signal generated based on the traveling state of the second moving body.
2. The transport system according to claim 1 , wherein
the first moving body changes the position by autonomously moving inside the accommodation portion of the second moving body based on a movement environment around the second moving body.
3. The transport system according to claim 2 , wherein
the movement environment around the second moving body is at least one of traffic information around the second moving body and moving infrastructure information around the second moving body.
4. The transport system according to claim 1 , wherein:
the first moving body includes a first energy storage unit and transports energy stored in the first energy storage unit from a transport source to a transport destination; and
at least one of the transport source and the transport destination, the first moving body, outputs the energy stored in the first energy storage unit to the outside, inputs external energy to the first energy storage unit, unloads the first energy storage unit from the first moving body, or loads the first energy storage unit on the first moving body.
5. The transport system according to claim 4 , wherein
the first moving body changes the position by autonomously moving inside the accommodation portion of the second moving body based on a remaining amount of energy stored in the first energy storage unit.
6. The transport system according to claim 4 , wherein
the first moving body changes the position by autonomously moving inside the accommodation portion of the second moving body based on an energy demand amount of the transport destination.
7. The transport system according to claim 4 , wherein:
the second moving body includes a second energy storage unit; and
the first energy storage unit of the first moving body and the second energy storage unit of the second moving body are provided so that energy can be transmitted and received to and from each other.
8. The transport system according to claim 7 , wherein:
the accommodation portion of the second moving body has an energy transmission and reception area where the first energy storage unit and the second energy storage unit transmit and receive energy to and from each other; and
the first moving body autonomously moves inside the accommodation portion of the second moving body and changes the position so that the position is within the energy transmission and reception area when the first energy storage unit and the second energy storage unit transmit and receive energy to and from each other.
9. The transport system according to claim 4 , wherein:
the accommodation portion of the second moving body is provided so as to be able to accommodate a plurality of the first moving bodies; and
the first energy storage unit of the first moving body is provided so as to be able to transmit and receive energy to and from the first energy storage unit of a different first moving body.
10. The transport system according to claim 1 , wherein
the first moving body includes a loading unit which loads a transported object.
11. The transport system according to claim 10 , wherein
the first moving body changes the position by autonomously moving inside the accommodation portion of the second moving body based on transport destination information of the transported object.
12. The transport system according to claim 10 , wherein
the first moving body changes the position by autonomously moving inside the accommodation portion of the second moving body based on content information of the transported object.
13. The transport system according to claim 1 , wherein
the second moving body includes an auxiliary portion which allows the first moving body to be able to autonomously move between the inside and the outside of the accommodation portion.
14. The transport system according to claim 1 , wherein:
the first moving body has a first engagement portion;
the accommodation portion of the second moving body has a second engagement portion; and
the first engagement portion and the second engagement portion are engaged with each other in a disengageable manner.
15. The transport system according to claim 14 , wherein
the first engagement portion is provided so as to be displaceable between an engaged position and a non-engaged position, and is engaged with the second engagement portion at the engaged position in a state where the first moving body is stopped.
16. The transport system according to claim 14 , wherein:
the second engagement portion has a slit groove recessed substantially linearly in a floor of the accommodation portion; and
the first engagement portion has a claw portion which is engaged with the slit groove.
17. The transport system according to claim 1 , wherein:
the first moving body is a vehicle having a wheel, and can autonomously travel inside the accommodation portion of the second moving body.
18. The transport system according to claim 1 , wherein
the first moving body starts autonomously moving from the first position in a state where the first moving body is stopped, and stops at the second position as the destination.
19. A moving body capable of autonomously moving which is accommodated in an accommodation portion of another moving body and transported by the other moving body, comprising:
a position changing unit which autonomously moves from a first position inside the accommodation portion of the other moving body to a second position as a destination inside the accommodation portion of the other moving body and changes a position inside the accommodation portion of the other moving body, wherein:
the moving body includes a first wireless communication unit;
the other moving body includes a traveling state acquisition unit configured to acquire information on a traveling state of the other moving body, and a second wireless communication unit configured to transmit the information on the traveling state acquired by the traveling state acquisition unit or transmit a control signal for the moving body, the control signal being generated based on information on the traveling state acquired by the traveling state acquisition unit;
the information on the traveling state acquired by the traveling state acquisition unit is at least one of velocity and acceleration of the other moving body; and
the moving body changes the position during the movement of the other moving body, when at least one of the velocity and the acceleration of the other moving body is equal to or less than a predetermined value, by:
autonomously moving inside the accommodation portion of the other moving body based on the traveling state of the other moving body indicated in the information received by the first wireless communication unit; or
autonomously moving inside the accommodation portion of the other moving body according to the control signal received by the first wireless communication unit when the first wireless communication unit receives the control signal generated based on the traveling state of the other moving body.
20. A transport method in which an autonomously movable moving body is accommodated in an accommodation portion of another moving body and transported by the other moving body, comprising:
a position changing step for changing a position of the moving body inside the accommodation portion of the other moving body by autonomously moving the moving body from a first position inside the accommodation portion of the other moving body to a second position as a destination inside the accommodation portion of the other moving body;
an acquiring step for acquiring, by a traveling state acquisition unit of the other moving body, information on a traveling state of the other moving body; and
a transmitting step for transmitting, by a second wireless communication unit of the other moving body, the information on the traveling state of the other moving body or transmitting a control signal for the moving body, the control signal being generated based on the information on the traveling state of the other moving body,
wherein the information on the traveling state of the other moving body is at least one of velocity and acceleration of the other moving body, and
wherein, in the position changing step, the moving body changes the position during the movement of the other moving body, when at least one of the velocity and the acceleration of the other moving body is equal to or less than a predetermined value, by:
autonomously moving inside the accommodation portion of the other moving body based on the traveling state of the other moving body indicated in the information acquired in the acquiring step and received by a first wireless communication unit of the moving body; or
autonomously moving inside the accommodation portion of the other moving body according to the control signal received by a first wireless communication unit of the moving body when the first wireless communication unit receives the control signal generated based on the traveling state of the other moving body.
21. A computer program product, for accommodating an autonomously movable moving body in an accommodation portion of another moving body and transporting the moving body by the other moving body, comprising a non-transitory computer readable storage medium having instructions encoded thereon that, when executed by a processor, cause the processor to execute a process, the process comprising:
a position changing step for changing a position of the moving body inside the accommodation portion of the other moving body by autonomously moving the moving body from a first position inside the accommodation portion of the other moving body to a second position as a destination inside the accommodation portion of the other moving body:
an acquiring step for acquiring, by a traveling state acquisition unit of the other moving body, information on a traveling state of the other moving body; and
a transmitting step for transmitting, by a second wireless communication unit of the other moving body, the information on the traveling state of the other moving body or transmitting a control signal for the moving body, the control signal being generated based on the information on the traveling state of the other moving body,
wherein the information on the traveling state of the other moving body is at least one of velocity and acceleration of the other moving body, and
wherein, in the position changing step, the moving body changes the position during the movement of the other moving body, when at least one of the velocity and the acceleration of the other moving body is equal to or less than a predetermined value, by:
autonomously moving inside the accommodation portion of the other moving body based on the traveling state of the other moving body indicated in the information acquired in the acquiring step and received by a first wireless communication unit of the moving body, or
autonomously moving inside the accommodation portion of the other moving body according to the control signal received by a first wireless communication unit of the moving body when the first wireless communication unit receives the control signal generated based on the traveling state of the other moving body.