JP2016025712A - Population transfer device - Google Patents

Population transfer device Download PDF

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JP2016025712A
JP2016025712A JP2014147558A JP2014147558A JP2016025712A JP 2016025712 A JP2016025712 A JP 2016025712A JP 2014147558 A JP2014147558 A JP 2014147558A JP 2014147558 A JP2014147558 A JP 2014147558A JP 2016025712 A JP2016025712 A JP 2016025712A
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battery
moving bodies
charging
traveling
transfer device
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JP6565009B2 (en
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一浩 武藤
Kazuhiro Muto
一浩 武藤
康太 浅井
Kota Asai
康太 浅井
和幸 赤石
Kazuyuki Akaishi
和幸 赤石
秀樹 木通
Hideki Kidooshi
秀樹 木通
洋宜 宮内
Hironori Miyauchi
洋宜 宮内
京加 小幡
Kyoka Obata
京加 小幡
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Japan Research Institute Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/57—Charging stations without connection to power networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a population transfer device capable of effectively charging a movable body during traction.SOLUTION: A traction vehicle 100 transfers plural movable bodies 40 traveling by batteries 41. The traction vehicle 100 comprises: communication parts (51, 52) communicating with the plural movable bodies 40; a traction part 60 for towing the plural movable bodies 40; a travel battery 56 serving as a drive source of the traction vehicle itself; a charge battery 57 for charging the batteries 41 for the plural movable bodies 40 during traction travel; and a determination part 54 for determining a travel state when the traction part 60 tows the plural movable bodies 40. The traction vehicle further comprises a control part 58 for communicating with respective movable body 40 by the communication parts (51, 52) and according to the travel state determined by the determination part 54, controlling charging and discharge of the respective batteries 41 for the plural movable bodies 40.SELECTED DRAWING: Figure 2

Description

本発明は、集団移送装置に関し、特に電気を駆動源とする複数の移動体を移送する集団移送装置に関する。   The present invention relates to a collective transfer apparatus, and more particularly to a collective transfer apparatus that transfers a plurality of moving bodies using electricity as a drive source.

近年、交通手段である自動車の技術は、動力機能がガソリンエンジンから電気モータに代わり、制御機能として自動走行や自動ブレーキに関する技術の実用化が進み、個々の自動車がネットワークを介して他の機器と接続できるネットワーク機能の発達が著しい。一方、環境への配慮、維持費の高騰、高齢者の増加等の問題により、個人における自動車の所有台数は、年々、減少している。   In recent years, automobile technology, which is a means of transportation, has shifted from a gasoline engine to an electric motor as a power function, and the practical use of technology related to automatic driving and automatic braking has progressed as a control function. The development of network functions that can be connected is remarkable. On the other hand, the number of cars owned by individuals is decreasing year by year due to issues such as consideration for the environment, soaring maintenance costs, and an increase in the number of elderly people.

しかしながら、例えば、自宅から駅や店舗等への人の移動、或いは荷物の運搬等、人や物が移動する手段に対する需要が減少しているわけではない。そこで、より便利で手軽な移動体と、ユーザの都合と目的に合わせた時間と場所に、移動体を柔軟かつスムーズに運行することができる交通システムが望まれている。   However, for example, the demand for means for moving people and things, such as movement of people from home to a station or store, transportation of luggage, etc., is not decreasing. Therefore, there is a demand for a mobile system that can operate the mobile body flexibly and smoothly at a time and place that is more convenient and convenient and according to the convenience and purpose of the user.

このようなユーザの要請に応じて移動体を配車する交通システムは、基本的に地域密着型であり、所定範囲の地域で運用される。そして、ある地域で運用されている交通システムを他の地域でも有効であるかを試験的に導入し、有効である場合には上記の交通システムを正式に導入することが想定される。また、交通の需要が一時的に増大し、ある地域から別の地域に移動体を応援として派遣したり、地域間にまたがって移動体を運用したりする場合も想定される。このような場合、ある地域に複数の移動体をまとめて移送する必要がある。ここでは、移動体のサービス地域の拡張又はサービス地域間の協調が必要となる場合がある。このため、発明者らは、特願２０１４−０６６９８７号において、新しい地域密着型の交通システムにおける移動体群編成装置を提案している。   Such a traffic system that dispatches a moving body in response to a user request is basically a community-based system, and is operated in a predetermined area. Then, it is assumed that a traffic system operated in a certain area is experimentally introduced as to whether it is effective in other areas, and if it is effective, the above traffic system is officially introduced. In addition, the demand for traffic temporarily increases, and it is assumed that a mobile body is dispatched from one area to another area as a support, or the mobile body is operated across regions. In such a case, it is necessary to transport a plurality of moving bodies together in a certain area. Here, there are cases where expansion of the service area of the mobile unit or cooperation between the service areas is required. For this reason, the inventors have proposed a moving body group organization apparatus in a new community-based traffic system in Japanese Patent Application No. 2014-0669987.

一方、特許文献１には、遠隔地域に複数の移動体をまとめて輸送する輸送システムが提案されている。特許文献１によれば、輸送システムは、高速自動車道を走行する牽引車と、牽引車に連結され、複数の車両を輸送する複数の被牽引車とからなり、被牽引車は、車両を積載するための車両積載手段と、車両を固定するための車両固定手段と、車両を降車させるための車両降車手段とを備える。この構成により、被牽引車に車両を複数積載することができ、車両は自走する必要がなく、地球環境温暖化の元凶とされるＣＯ２の発生を削減することができる。   On the other hand, Patent Document 1 proposes a transportation system that transports a plurality of moving bodies together in a remote area. According to Patent Document 1, the transport system includes a tow vehicle that travels on a highway and a plurality of tow vehicles that are connected to the tow vehicle and transport a plurality of vehicles. Vehicle loading means, vehicle fixing means for fixing the vehicle, and vehicle unloading means for getting off the vehicle. With this configuration, it is possible to load a plurality of vehicles on the towed vehicle, the vehicle does not need to run on its own, and the generation of CO2, which is a cause of global warming, can be reduced.

しかしながら、特許文献１のシステムでは、牽引車は、複数の被牽引車を牽引して走行するため、牽引車の運転負荷が増大する。また、ガソリンエンジンを搭載した車両では問題はないが、電気モータ駆動の車両では、遠隔地に移送される場合、バッテリを充電しておく必要があり、目的地到着後に車両の充電を行うと、充電に時間を要してしまい、即座に稼働できないといった課題がある。   However, in the system of Patent Document 1, since the tow vehicle travels by towing a plurality of towed vehicles, the driving load of the tow vehicle increases. In addition, there is no problem in a vehicle equipped with a gasoline engine, but in a vehicle driven by an electric motor, it is necessary to charge a battery when transported to a remote place, and when the vehicle is charged after arrival at the destination, There is a problem that it takes time to charge and cannot be operated immediately.

他方、特許文献２には、最小限の乗用車両と走行移動能力付加車両を組み合わせて一体構成が可能な可変構成自動車であって、走行移動方法と乗車人数に応じて最適で必要最小限な車両構成とする車両システムが提案されている。特許文献２の車両システムは、牽引車に相当する公共乗入母車と、被牽引車に相当する子車とを含み、子車は、乗入地点で公共乗入母車に乗込んで公共乗入母車の統括の基に走行し、離脱地点で離脱し、以後は単独走行で目的地へ移動することができる。また、子車は、公共乗入母車からエネルギー補給を受け、あるいは回生エネルギーを返すこともできる。このような構成にすることで、公共乗入母車の運転負荷が減少し、また、子車は、公共乗入母車からエネルギー補給を受けることができるため、特許文献１の課題を解決することも考えられる。しかしながら、特許文献２には、子車が公共乗入母車からエネルギー補給を受けるために必要な具体的な構成については開示されていない。   On the other hand, Patent Document 2 discloses a variable configuration automobile that can be integrated with a combination of a minimum number of passenger vehicles and a vehicle with additional travel capability, and is an optimal and minimum vehicle according to the travel method and the number of passengers. A vehicle system having a configuration has been proposed. The vehicle system of Patent Document 2 includes a public passenger carriage corresponding to a tow vehicle and a child carriage corresponding to a towed vehicle. The child vehicle gets into the public passenger carriage at the entry point and is public. It travels based on the supervision of the passenger car, leaves at the departure point, and can then move to its destination by traveling alone. In addition, the child vehicle can receive energy from the public carriage or return regenerative energy. By adopting such a configuration, the driving load of the public entry carriage is reduced, and the child carriage can receive energy supply from the public entry carriage, thus solving the problem of Patent Document 1. It is also possible. However, Patent Document 2 does not disclose a specific configuration necessary for the child vehicle to receive energy supply from the public passenger carriage.

特開２０１４−００８９４５号公報JP 2014-008945 A 特開２００９−１７６２９５号公報JP 2009-176295 A

そこで、本発明では、牽引中の移動体の充電を効率的に行うことができる移動体の集団移送装置を提供することを目的とする。   Therefore, an object of the present invention is to provide a collective transfer device for moving bodies that can efficiently charge the moving bodies being towed.

上記課題を解決するため、本発明の移動体の集団移送装置は、以下のような解決手段を提供する。   In order to solve the above-mentioned problems, the collective transfer device for moving bodies of the present invention provides the following solution.

本発明の集団移送装置は、電気を駆動源とする複数の移動体を移送する集団移送装置であって、前記複数の移動体と通信を行う通信手段と、前記複数の移動体を牽引する牽引手段と、自らの駆動源となる走行用バッテリと、前記複数の移動体のバッテリを牽引走行中に充電する充電用バッテリと、前記牽引手段で前記複数の移動体を牽引する際の走行状況を判定する判定手段と、前記通信手段により前記複数の移動体のそれぞれと通信を行い、前記判定手段で判定された前記走行状況に応じて前記複数の移動体の前記バッテリのそれぞれの充放電制御を行う制御手段と、を備えることを特徴とする。   A collective transfer apparatus according to the present invention is a collective transfer apparatus that transfers a plurality of moving bodies that use electricity as a driving source, the communication means that communicates with the plurality of moving bodies, and the traction that pulls the plurality of moving bodies. Means, a running battery serving as its own drive source, a charging battery for charging the batteries of the plurality of moving bodies during towing running, and a running situation when towing the plurality of moving bodies by the towing means. The determination means and the communication means communicate with each of the plurality of mobile bodies, and charge / discharge control of each of the batteries of the plurality of mobile bodies is performed according to the travel situation determined by the determination means. And a control means for performing.

また、上記の集団移送装置において、前記制御手段は、前記走行用バッテリの電気容量と前記充電用バッテリの電気容量とを、前記判定手段で判定される前記走行状況に応じて可変に制御してもよい。   In the collective transfer apparatus, the control means variably controls the electric capacity of the traveling battery and the electric capacity of the charging battery according to the traveling condition determined by the determining means. Also good.

また、上記の集団移送装置において、前記制御手段は、前記判定手段により第１の走行状況が判定された場合、前記走行用バッテリで走行を行ない、第２の走行状況が判定された場合、前記走行用バッテリと、前記複数の移動体のバッテリとにより走行させてもよい。   Further, in the collective transfer device, the control means, when the first travel situation is determined by the determination means, travels with the travel battery, and when the second travel situation is determined, You may make it drive | work with the battery for driving | running | working and the battery of the said several mobile body.

また、上記の集団移送装置において、前記制御手段は、前記判定手段により第３の走行状況が判定された場合、前記充電用バッテリを制御して、前記複数の移動体のバッテリ残量に応じて充電を行い、かつ、前記移動体の回生ブレーキを利用して充電させてもよい。   Further, in the collective transfer device, the control unit controls the charging battery when the determination unit determines the third traveling situation, and according to the remaining battery power of the plurality of moving bodies. Charging may be performed and charging may be performed using a regenerative brake of the moving body.

また、上記の集団移送装置において、前記牽引手段は、進行方向に延びる主軸と、前記主軸に略直交する方向又は一定の角度の方向に伸び、前記主軸に対して所定の間隔で配置され、前記複数の移動体を連結する連結手段と、を有し、前記制御手段は、前記充電用バッテリから前記連結手段を介して、前記連結された前記移動体の前記バッテリを充電してもよい。   Further, in the collective transfer device, the traction means extends in a direction substantially perpendicular to the main axis or a constant angle, and is arranged at a predetermined interval with respect to the main axis. Connecting means for connecting a plurality of moving bodies, and the control means may charge the battery of the connected moving bodies from the charging battery via the connecting means.

また、上記の集団移送装置において、前記牽引手段は、牽引する前記移動体の数、及び前記移動体の車長に応じて、前記主軸が伸縮する機構を有してもよい。   In the collective transfer device, the traction means may include a mechanism that expands and contracts the main shaft according to the number of the moving bodies to be pulled and the vehicle length of the moving bodies.

本発明によれば、牽引走行中に移動体の充電を効率的に行うことができる移動体の集団移送装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the collective transfer apparatus of the moving body which can charge a moving body efficiently during towing | running | working can be provided.

本発明の実施形態に係る集団移送装置の概念を説明する図である。It is a figure explaining the concept of the group transfer apparatus which concerns on embodiment of this invention. 本発明の実施形態に係る牽引車１００の機能ブロックを示した図である。It is the figure which showed the functional block of the tow vehicle 100 which concerns on embodiment of this invention. 本発明の実施形態に係る牽引車１００に移動体を搭載した上面図である。It is a top view which mounted the mobile body on the towing vehicle 100 which concerns on embodiment of this invention. 本発明の実施形態に係る牽引車１００に移動体を搭載した斜視図である。It is the perspective view which mounted the mobile body on the towing vehicle 100 which concerns on embodiment of this invention. 本発明の実施形態に係る牽引車１００の牽引手段の主軸が伸縮した一例を示す例である。It is an example which shows an example which the main axis | shaft of the traction means of the tow vehicle 100 which concerns on embodiment of this invention expanded and contracted. 本発明の実施形態に係る牽引車１００の充放電処理を示すフローチャートである。It is a flowchart which shows the charging / discharging process of the tow vehicle 100 which concerns on embodiment of this invention.

以下、添付図面を参照して、本発明を実施するための形態（以下、本実施形態と言う）について詳細に説明する。なお、実施形態の説明の全体を通して同じ要素には同じ番号または符号を付している。   DESCRIPTION OF EMBODIMENTS Hereinafter, a mode for carrying out the present invention (hereinafter referred to as this embodiment) will be described in detail with reference to the accompanying drawings. Note that the same numbers or symbols are assigned to the same elements throughout the description of the embodiment.

図１は、本発明の実施形態に係る集団移送装置の概念を説明する図である。本発明に係る交通システムは、地域における交通の利便性を向上し、当該地域における住民やサービサ（サービス提供者、例えば、宅配業者、移動店舗、公共交通機関、役所、病院、地域企業、スーパやコンビニ等の小売店等）における人や物の移動需要を喚起し、当該地域を活性化することを目的としたものである。   FIG. 1 is a diagram for explaining the concept of a collective transfer apparatus according to an embodiment of the present invention. The transportation system according to the present invention improves the convenience of transportation in a region, and residents and servicers (service providers such as courier companies, mobile stores, public transportation, government offices, hospitals, regional companies, supermarkets, etc.) The purpose is to stimulate the demand for movement of people and goods at retail stores such as convenience stores and to revitalize the area.

上記の交通システムにおける移動体４０は、自動運転に関する周知のシステムを備えた電気自動車であり、サーバ（図示せず）から受信した配車指示情報に示された日時において、配車指示情報に示されたルートを自動運転により、ユーザ又は荷物等を運び走行する。移動体４０は、例えば、前述の特願２０１４−０６６９８７号で説明した各種の形態の自動走行可能な移動体４０ａ、この移動体４０ａに客車又は荷台を備えた形態の移動体４０ｂの他、一般的な小型電気自動車の形態の移動体４０ｃであってもよい。   The moving body 40 in the above traffic system is an electric vehicle provided with a well-known system relating to automatic driving, and is indicated in the dispatch instruction information at the date and time indicated in the dispatch instruction information received from the server (not shown). The route travels automatically carrying the user or luggage, etc., by automatic driving. The mobile body 40 is, for example, a mobile body 40a that can automatically travel in various forms described in the above-mentioned Japanese Patent Application No. 2014-066987, a mobile body 40b that includes a passenger car or a loading platform, and the like. It may be a moving body 40c in the form of a typical small electric vehicle.

本実施形態の集団移送装置は、例えば、複数の移動体４０を牽引する手段を備えた牽引車であり、以降では牽引車１００と呼ぶことにする。牽引車１００は、サーバから受信した配車指示情報に基づき、移動元で複数の移動体４０と連結して、所定の地域（移動先）に配車を行う。移動体４０は、電池残量が所定値以下となった場合、牽引車１００のバッテリを経由して、充電される。そして、移動体４０は、所定地域に移送された後に、牽引車１００から分離して、その地域においてユーザや荷物等を運ぶ役割を果たす。   The collective transfer apparatus of the present embodiment is a tow vehicle provided with a means for towing a plurality of moving bodies 40, and will be referred to as a tow vehicle 100 hereinafter. Based on the dispatch instruction information received from the server, the tow vehicle 100 is connected to the plurality of moving bodies 40 at the movement source, and dispatches to a predetermined area (movement destination). The moving body 40 is charged via the battery of the towing vehicle 100 when the remaining battery level becomes equal to or less than a predetermined value. Then, after being transferred to a predetermined area, the mobile body 40 is separated from the tow vehicle 100 and carries a user, luggage, etc. in that area.

このような構成により、牽引車１００は、図示を省略したサーバから、所定地域に複数の移動体４０を配車するよう指示を受けると、所定地域の環境及び所定地域までの経路の状況（特に坂道の長さや勾配等の道路情報）を示す情報を収集する。そして、牽引車１００は、これらの情報に基づき、複数の移動体４０の車種や連結の態様を決定し、所定地域に移動体４０を集団で移送する。   With such a configuration, when the tow vehicle 100 receives an instruction from a server (not shown) to distribute a plurality of moving bodies 40 to a predetermined area, the tow vehicle 100 and the situation of the route to the predetermined area (especially slopes) Information indicating road information such as the length and slope of the road). And the tow vehicle 100 determines the vehicle type and connection aspect of the some mobile body 40 based on such information, and transfers the mobile body 40 to a predetermined area collectively.

（牽引車１００の構成）
図２は、本実施形態に係る牽引車１００の機能ブロックを示した図である。また、図３、図４は、牽引車１００の上面図及び斜視図である。これらの図で図示するように、牽引車１００は、牽引車本体５０と、牽引車本体５０の後部に結合された牽引部（牽引手段）６０と、を備える。 (Configuration of towing vehicle 100)
FIG. 2 is a diagram illustrating functional blocks of the tow vehicle 100 according to the present embodiment. 3 and 4 are a top view and a perspective view of the tow vehicle 100. FIG. As illustrated in these drawings, the tow vehicle 100 includes a tow vehicle main body 50 and a tow portion (traction means) 60 coupled to the rear portion of the tow vehicle main body 50.

牽引車本体５０は、図３及び図４に示すように、四角形状のボディの下側に４つの車輪が設けられ、ボディの前面の上部には、内部及び外部から視認可能な窓が備えられており、ボディの前面の下部には、ライトが備えられ、ボディの左右側には、人が乗り入れ可能なドアが備えられている。なお、牽引車本体５０は、単独でも走行可能であり、自動運転か人間による運転かは特に限定されない。牽引車本体５０は、後部の連結部６２に備えられている連結機構（図示せず）によって、牽引部６０と連結される。牽引部６０は、さらに主軸６１、連結部６２、接続部６３で構成される。また、牽引車本体５０の屋根には、太陽光パネル７０を備えるようにしてもよい。   As shown in FIGS. 3 and 4, the tow vehicle main body 50 is provided with four wheels on the lower side of the rectangular body, and a window visible from the inside and the outside is provided on the upper part of the front surface of the body. In the lower part of the front of the body, lights are provided, and on the left and right sides of the body are provided doors through which people can enter. In addition, the tow vehicle main body 50 can run alone, and is not particularly limited to automatic driving or human driving. The tow vehicle main body 50 is coupled to the towing unit 60 by a coupling mechanism (not shown) provided in the rear coupling unit 62. The traction unit 60 is further configured by a main shaft 61, a coupling unit 62, and a connection unit 63. Further, a solar panel 70 may be provided on the roof of the tow vehicle body 50.

図２に戻り、牽引車本体５０は、移動体４０又はサーバ（図示省略）との通信手段として機能する無線通信部５１と、移動体４０との有線通信手段として機能する電力線通信部５２と、移送中の道路情報からの走行状況を検出する走行状況検出部５３と、走行状況に応じて牽引時の走行方法や充放電の方法を判定する判定部（判定手段）５４と、走行用のバッテリと充電用のバッテリを含むバッテリ部５５と、制御部（制御手段）５８と、から構成される。   Returning to FIG. 2, the tow vehicle main body 50 includes a wireless communication unit 51 that functions as a communication unit with the mobile unit 40 or a server (not shown), a power line communication unit 52 that functions as a wired communication unit with the mobile unit 40, A traveling state detection unit 53 that detects a traveling state from road information being transferred, a determination unit (determination unit) 54 that determines a traveling method and a charging / discharging method according to the traveling state, and a battery for traveling And a battery unit 55 including a charging battery, and a control unit (control means) 58.

無線通信部５１は、図示を省略したサーバや、移動体４０との間を無線で通信を行う通信インタフェースである。   The wireless communication unit 51 is a communication interface that performs wireless communication with a server (not shown) and the moving body 40.

電力線通信部５２は、電源用の配線又はその他の有線ケーブルを利用して通信を行う通信インタフェースである。牽引車１００は、牽引車本体５０に結合されている牽引部６０に移動体４０が連結されることによって、移動体４０と有線で通信が可能になり、かつ、移動体４０の充放電制御を行う。   The power line communication unit 52 is a communication interface that performs communication using power supply wiring or other wired cables. The tow vehicle 100 is connected to the tow unit 60 coupled to the tow vehicle main body 50 so that the moving body 40 can communicate with the moving body 40 by wire, and charge / discharge control of the moving body 40 can be performed. Do.

走行状況検出部５３は、図示を省略したサーバから、所定の地域に複数の移動体４０を配車するように指示を受けると、所定の地域の環境、及び所定地域までの経路の状況を示す道路情報を収集し、現在の走行状況を検出する。   When receiving an instruction from a server (not shown) to dispatch a plurality of moving bodies 40 to a predetermined area, the traveling state detection unit 53 indicates the environment of the predetermined area and the route status to the predetermined area. Collect information and detect the current driving situation.

判定部５４は、走行状況検出部５３が検出した道路情報からの走行状況及びその他の情報に基づいて、牽引車本体５０に移動体４０の牽引時の走行方法及び充放電に適する方法を判定する。すなわち、走行状況検出部５３が検出した道路情報及び移動体４０の情報（移動体の数、充電量、重量等）から、牽引車本体５０と牽引されている移動体４０に対して駆動命令や充電命令を発行する。なお、ここでは、３つの走行状況（第１の走行状況、第２の走行状況、第３の走行状況）を判定するものとする。なお、判定部５４は、走行状況検出部５３と一体に構成してもよい。   The determination unit 54 determines a traveling method when the moving body 40 is towed and a method suitable for charging / discharging the towing vehicle body 50 based on the traveling state and other information from the road information detected by the traveling state detection unit 53. . That is, from the road information detected by the traveling state detection unit 53 and the information of the moving body 40 (number of moving bodies, charge amount, weight, etc.) Issue a charge command. Here, it is assumed that three driving situations (first driving situation, second driving situation, and third driving situation) are determined. Note that the determination unit 54 may be configured integrally with the traveling state detection unit 53.

第１の走行状況とは、牽引車１００の充電用バッテリ５７により移動体４０に安定的に充電が可能な状態である。すなわち、第１の走行状況は、牽引車１００の走行用バッテリ５６単独で走行が可能であり、例えば、定速走行状態若しくは平地走行状態であり、又はその他同様の状態（牽引する移動体４０の数が少なく、総重量も比較的軽いとき等）も含む。   The first traveling state is a state in which the mobile body 40 can be stably charged by the charging battery 57 of the tow vehicle 100. That is, the first traveling state can be traveled by the traveling battery 56 of the tow vehicle 100 alone, for example, a constant speed traveling state or a flat ground traveling state, or other similar states (such as the towed moving body 40). Including when the number is small and the total weight is relatively light).

第２の走行状況とは、移動体４０に充電を行うことができず、逆に、選択された移動体４０のバッテリ４１を消費して移動体４０から駆動力を補助的に受けて全体が走行する状態である。このとき、補助的な駆動力として選択される移動体４０は、牽引されている移動体４０全体であってもよいし、一部の移動体４０のみであってもよい。すなわち、第２の走行状況は、牽引車１００の走行用バッテリ５６単独では牽引が困難な状況であり、例えば、所定時間以上の加速状態若しくは所定距離又は所定勾配以上の登り坂での走行状態であり、走行用バッテリ５６の残量が十分でない状態、又はその他同様の状態（牽引する移動体４０の数が多く、総重量も比較的重いとき等）も含む。   In the second traveling state, the moving body 40 cannot be charged, and conversely, the battery 41 of the selected moving body 40 is consumed and the driving force is received from the moving body 40 as a whole. It is a state of running. At this time, the moving body 40 selected as the auxiliary driving force may be the entire moving body 40 being pulled or only a part of the moving bodies 40. In other words, the second traveling situation is a situation where it is difficult to tow with the traveling battery 56 of the towing vehicle 100 alone. In addition, it includes a state where the remaining amount of the traveling battery 56 is not sufficient, or other similar state (when the number of moving bodies 40 to be pulled is large and the total weight is relatively heavy, etc.).

第３の走行状況とは、牽引車１００が単独で走行が可能であり、かつ走行の負荷が少ない状態であり、移動体４０に第１の走行状況に比べ、安定的ではないが、多くの充電が可能な状態である。例えば、所定時間以上の減速若しくは所定距離又は所定勾配以上の下り坂での走行状態であり、又はその他同様の状態（天候がよく、搭載する太陽光パネル等からの充電量が多いとき等）も含む。すなわち、第３の走行状況は、牽引車１００の充電用バッテリ５７を充電可能で、更に移動体４０を充電可能な状態である。   The third traveling state is a state in which the tow vehicle 100 can travel alone and the traveling load is small, and the moving body 40 is not stable compared to the first traveling state, but many Charging is possible. For example, a deceleration state for a predetermined time or more, a traveling state on a downhill with a predetermined distance or a predetermined gradient, or other similar states (when the weather is good and the amount of charge from the installed solar panel, etc. is large) Including. That is, the third traveling state is a state in which the charging battery 57 of the tow vehicle 100 can be charged and the moving body 40 can be charged.

バッテリ部５５は、走行用バッテリ５６と、充電用バッテリ５７とからなる。また、バッテリ部５５は、走行用バッテリ５６と充電用バッテリ５７の容量比を可変とする手段を備えてもよい。例えば、バッテリ部５５全体に備えたバッテリの数を、一部を走行用に割り当て、残りの部分を充電用に割り当てる手段を有するようにしてもよい。   The battery unit 55 includes a traveling battery 56 and a charging battery 57. Further, the battery unit 55 may include means for changing the capacity ratio between the traveling battery 56 and the charging battery 57. For example, you may make it have a means which allocates the number of the batteries with which the battery part 55 whole was equipped for a part for driving | running | working and the remaining part for a charge.

走行用バッテリ５６は、牽引車本体５０が走行するため、すなわち自らの駆動源となるバッテリである。充電用バッテリ５７は、牽引された複数の移動体４０のバッテリを走行中に充電するために必要な電力を蓄積するバッテリである。なお、走行用バッテリ５６も必要時には充電用バッテリ５７からも電力の供給を受けることができる。また、牽引車１００には、充電用バッテリ５７に自然エネルギーで電力を供給するための太陽光パネル等を備えていてもよい。牽引車１００は、移動先に到着後は、移動体４０の充電ステーションとして機能させることも可能とし、そのための外部電源への接続手段を備えてもよい。   The traveling battery 56 is a battery that serves as a driving source for the tow vehicle body 50 to travel. The charging battery 57 is a battery that accumulates electric power necessary for charging the batteries of the plurality of towed moving bodies 40 during traveling. The traveling battery 56 can also receive power from the charging battery 57 when necessary. Further, the tow vehicle 100 may include a solar panel or the like for supplying electric power to the charging battery 57 with natural energy. The tow vehicle 100 can also function as a charging station for the moving body 40 after arrival at the destination, and may be provided with means for connecting to an external power source for that purpose.

制御部５８は、無線通信部５１、又は電力線通信部５２を介して移動体４０のそれぞれと通信を行い、判定部５４で判定された走行状況に応じて移動体４０のバッテリのそれぞれの充放電制御を行う。判定部５４によって、第１の走行状況が判定された場合は、走行用バッテリ５６で走行を行ない、第２の走行状況が判定された場合は、自らの走行用バッテリ５６を使った駆動力に、選択された複数の移動体４０の駆動力を加えて走行する。判定部５４により第３の走行状況が判定された場合は、充電用バッテリ５７を制御して、複数の移動体４０のバッテリ残量に応じて充電を行い、かつ、移動体４０の回生ブレーキを利用して充電させる（回生充電）。回生充電をする際には、回転抵抗が発生するため、牽引部６０の主軸６１に対して左右の抵抗がバランスよく制御されることが望ましい。そこで、回生充電するときは、左右で隣り合った移動体４０をセットで充電するとよい。更にその充電制御を効率よく行うために、連結する際に充電量の近い移動体４０同士を左右に配置するように連結するとよい。また、制御部５８は、牽引している移動体４０からそれぞれのバッテリ４１のバッテリ残量を移動体との通信手段によって取得し、バッテリ残量が所定値未満（例えば、フル充電時の５０％未満）の移動体４０を選出して、選出した複数の移動体４０のバッテリ４１の充電を行う。あるいは、バッテリ残量が所定値未満かどうかにかかわらず、バッテリ残量の少ない移動体４０ほど優先して充電を行うようにしてもよい。なお、図示を省略しているが、牽引車１００は、電気で駆動するために必要な公知の駆動手段（バッテリ、インバータ、モータ、ブレーキ等）を備えており、それらの制御を行う。   The control unit 58 communicates with each of the mobile objects 40 via the wireless communication unit 51 or the power line communication unit 52, and each charge / discharge of the battery of the mobile object 40 according to the traveling situation determined by the determination unit 54. Take control. When the determination unit 54 determines the first traveling state, the traveling battery 56 travels, and when the second traveling state is determined, the driving force using the traveling battery 56 is increased. Then, the driving force of the selected moving bodies 40 is applied to travel. When the third traveling state is determined by the determination unit 54, the charging battery 57 is controlled to charge according to the remaining battery capacity of the plurality of moving bodies 40, and the regenerative braking of the moving body 40 is performed. Use and charge (regenerative charge). When regenerative charging is performed, rotational resistance is generated. Therefore, it is desirable that the left and right resistances are controlled in a well-balanced manner with respect to the main shaft 61 of the traction unit 60. Therefore, when regenerative charging is performed, it is preferable to charge the mobile units 40 adjacent on the left and right as a set. Furthermore, in order to perform the charge control efficiently, it is good to connect so that the mobile bodies 40 with a near charge amount may be arrange | positioned on either side when connecting. Moreover, the control part 58 acquires the battery remaining amount of each battery 41 from the moving body 40 towing | pulled by a communication means with a moving body, and a battery remaining amount is less than predetermined value (for example, 50% of the time of a full charge) Less than the moving body 40 is selected, and the batteries 41 of the selected moving bodies 40 are charged. Alternatively, regardless of whether the remaining battery level is less than a predetermined value, the mobile unit 40 with the lower remaining battery level may be preferentially charged. Although not shown, the tow vehicle 100 includes known drive means (battery, inverter, motor, brake, etc.) necessary for driving with electricity, and controls them.

牽引部６０は、図３及び図４に示すように、進行方向に延びる主軸６１と、主軸６１に略直交する方向又は一定の角度の方向に伸び、主軸６１に対して所定の間隔で配置され、複数の移動体４０を連結する連結部（連結手段）６２とを有し、充電用バッテリ５７から連結部６２を介して、連結された移動体４０のバッテリ４１を充電する。なお、連結部６２には、接続部６３が設けられており、牽引時に接続部６３によって、牽引部６０と、移動体４０とを結合する。   As shown in FIGS. 3 and 4, the traction unit 60 extends in a direction that is substantially orthogonal to the main shaft 61 or at a certain angle, and is disposed at a predetermined interval with respect to the main shaft 61. And a connecting portion (connecting means) 62 for connecting the plurality of moving bodies 40, and charging the battery 41 of the connected moving body 40 from the charging battery 57 via the connecting portion 62. In addition, the connection part 63 is provided in the connection part 62, and the pulling part 60 and the mobile body 40 are couple | bonded by the connection part 63 at the time of towing.

図５は、本発明の実施形態に係る牽引車１００の牽引手段の主軸が伸縮した一例を示す例である。図５に示すように、図５（ａ）は、牽引部６０の主軸６１が伸びている状態（例えば、移動体４０の牽引前）を示し、図５（ｂ）は、図５（ａ）に対して、主軸６１が短くなっている状態を示している。また、図５（ｃ）は、図５（ｂ）の状態からさらに連結部６２及び後部の車輪が横方向に短くなっている状態を示している。牽引部６０は、牽引する移動体４０の数及び移動体４０の車長に応じて、主軸６１が伸縮可能となる機構を有している。なお、各連結部６２において、上記条件に応じて伸縮可能となる機構を有していてもよい。このようにすることで、様々なサイズの移動体４０を牽引することができ、かつ牽引を行わないときは、コンパクトに折りたたむことができる。   FIG. 5 is an example showing an example in which the main shaft of the traction means of the tow vehicle 100 according to the embodiment of the present invention is expanded and contracted. As shown in FIG. 5, FIG. 5A shows a state where the main shaft 61 of the traction unit 60 is extended (for example, before towing the moving body 40), and FIG. 5B shows the state shown in FIG. On the other hand, a state in which the main shaft 61 is shortened is shown. FIG. 5C shows a state in which the connecting portion 62 and the rear wheel are further shortened in the lateral direction from the state of FIG. The towing unit 60 has a mechanism that allows the main shaft 61 to expand and contract according to the number of moving bodies 40 to be pulled and the vehicle length of the moving body 40. Each connecting portion 62 may have a mechanism that can expand and contract according to the above conditions. By doing in this way, the moving body 40 of various sizes can be pulled, and when not towing, it can be folded compactly.

移動体４０は、駆動用のバッテリ４１を備える。また、図示を省略しているが、移動体４０は、電気で駆動するために必要な公知の駆動手段（バッテリ、インバータ、モータ、ブレーキ等）を備える。   The moving body 40 includes a battery 41 for driving. Although not shown, the moving body 40 includes known driving means (battery, inverter, motor, brake, etc.) necessary for driving with electricity.

図６は、本実施形態に係る牽引車１００の充放電処理を示すフローチャートである。なお、以下に説明する処理は、必ずしもこのフローチャートで示した順で処理される必要はなく、各処理ブロックの入力データと出力データの関係が損なわれない限り、処理順序を変更してもよい。   FIG. 6 is a flowchart showing the charging / discharging process of the tow vehicle 100 according to the present embodiment. Note that the processing described below does not necessarily have to be performed in the order shown in this flowchart, and the processing order may be changed as long as the relationship between input data and output data of each processing block is not impaired.

まず、ステップＳ１１において、牽引車本体５０の制御部５８は、サーバ又は移動体４０から移動体４０の移送先、及び移動体４０の接続台数を受信する。なお、予め、サーバの指示又は牽引を希望する移動体４０より無線通信部５１から移動体４０の接続台数を取得してもよいし、移動体４０が牽引部６０の接続部６３に結合することで電力線通信部５２を介して、接続台数を取得してもよい。   First, in step S <b> 11, the control unit 58 of the tow vehicle body 50 receives the transfer destination of the moving body 40 and the number of connected moving bodies 40 from the server or the moving body 40. Note that the number of connected mobile units 40 may be acquired from the wireless communication unit 51 in advance from the mobile unit 40 that wishes to instruct or pull the server, or the mobile unit 40 is coupled to the connection unit 63 of the tow unit 60. Thus, the number of connected devices may be acquired via the power line communication unit 52.

次に、ステップＳ１２において、制御部５８は、取得した移動体４０の接続台数に基づき、バッテリ部５５に搭載されている走行用バッテリ５６と充電用バッテリ５７の容量比Ｂ１：Ｂ２の設定を行う。   Next, in step S12, the control unit 58 sets a capacity ratio B1: B2 between the traveling battery 56 and the charging battery 57 mounted on the battery unit 55 based on the acquired number of connected mobile bodies 40. .

続いて、ステップＳ１３において、牽引車１００が指定された地域へ移送（走行）を開始すると、ステップＳ１４の処理に進み、制御部５８は、ステップＳ１２で設定されたバッテリ部５５の容量比に基づき、充放電を開始する。   Subsequently, when the tow vehicle 100 starts to be transferred (traveled) to the designated area in step S13, the process proceeds to step S14, and the control unit 58 is based on the capacity ratio of the battery unit 55 set in step S12. , Start charging and discharging.

ステップＳ１５において、走行状況検出部５３は、図示を省略したサーバ、又は移動体４０から受信した移送先までの環境情報及び経路情報（走行状況）を取得し、判定部５４に送信する。   In step S <b> 15, the traveling state detection unit 53 acquires environmental information and route information (traveling state) from the server (not shown) or the transfer destination received from the moving body 40, and transmits them to the determination unit 54.

続いて、ステップＳ１６において、判定部５４は、走行状況検出部５３が検出した走行状況及び移動体４０の情報（移動体の数、充電量、重量など）に基づき、現在走行中の充放電に適した状況が下記３つの走行状況のうちのどれに該当するかを判定する。   Subsequently, in step S <b> 16, the determination unit 54 performs charging / discharging during the current traveling based on the traveling state detected by the traveling state detection unit 53 and information on the moving body 40 (number of moving bodies, charge amount, weight, etc.). It is determined which of the following three driving situations is appropriate.

制御部５８は、判定部５４で第１の走行状況と判定された場合（ステップＳ１６“第１の走行状況”）、ステップ１７の処理に移り、自車両（牽引車１００）の駆動力のみによる移送に切替え、牽引車１００の走行用バッテリ５６によってのみ走行する。   When it is determined by the determination unit 54 that the vehicle is in the first traveling state (step S16 “first traveling state”), the control unit 58 proceeds to the processing of step 17 and only uses the driving force of the host vehicle (the towing vehicle 100). The vehicle is switched to transfer and travels only by the traveling battery 56 of the tow vehicle 100.

制御部５８は、判定部５４で第２の走行状況と判定された場合（ステップＳ１８“第２の走行状況”）、通信手段を介して、接続された各移動体４０のバッテリ４１の残容量を取得する。   When the determination unit 54 determines that the second traveling state is present (step S18 “second traveling state”), the control unit 58 receives the remaining capacity of the battery 41 of each connected mobile unit 40 via the communication unit. To get.

次に、制御部５８は、移動体４０をバッテリ４１の残容量が多い順にｎ台選出し（ステップＳ１９）、例えば、高負荷となる坂道や、天候による悪路等の状況に応じて牽引車１００の走行用バッテリ５６による駆動力と、選択したｎ台の移動体４０のバッテリ４１による駆動力を合わせて移送を行う（ステップＳ２０）。   Next, the control unit 58 selects n moving bodies 40 in order of increasing remaining capacity of the battery 41 (step S19). For example, the towing vehicle according to the situation such as a high road or a bad road due to the weather. The driving force by the traveling battery 56 of 100 and the driving force by the battery 41 of the selected n moving bodies 40 are combined (step S20).

制御部５８は、判定部５４で第３の走行条件と判定された場合（ステップＳ２１“第３の走行状況”）、各移動体４０に回生制御（回生ブレーキ）を利用して充電を行う指示を送る。このことにより、各移動体４０のバッテリ４１の充電が可能になる（ステップＳ２１）。   When the determination unit 54 determines that the third traveling condition is satisfied (step S21 “third traveling state”), the control unit 58 instructs each mobile body 40 to be charged using regenerative control (regenerative braking). Send. Thereby, the battery 41 of each moving body 40 can be charged (step S21).

このとき、制御部５８は、通信手段を介して各移動体４０のバッテリ４１の残容量を取得し（ステップＳ２２）、例えば、残容量が少ない移動体４０を優先して充電制御を行う（ステップＳ２３）。   At this time, the control unit 58 acquires the remaining capacity of the battery 41 of each moving body 40 via the communication means (step S22), and performs charge control with priority given to the moving body 40 having a small remaining capacity, for example (step S22). S23).

（実施形態の効果）
以上の説明のように本実施形態に係る牽引車１００は、電気を駆動源とする複数の移動体４０を移送する集団移送装置であって、複数の移動体４０と通信を行う通信部（５１、５２）と、複数の移動体４０を牽引する牽引部６０と、自らの駆動源となる走行用バッテリ５６と、複数の移動体４０のバッテリ４１を牽引走行中に充電する充電用バッテリ５７と、牽引部６０で複数の移動体４０を牽引する際の走行状況を判定する判定部５４と、を備える。そして、通信部（５１、５２）により複数の移動体４０のそれぞれと通信を行い、判定部５４で判定された走行状況に応じて複数の移動体４０のバッテリ４１のそれぞれの充放電制御を行う制御部５８を備える。これにより、移動体４０のエネルギー補給（バッテリ４１の充電）を、迅速、かつ効率的に行うことができる。 (Effect of embodiment)
As described above, the tow vehicle 100 according to the present embodiment is a collective transfer device that transfers a plurality of moving bodies 40 using electricity as a driving source, and a communication unit (51) that communicates with the plurality of moving bodies 40. 52), a traction unit 60 that pulls the plurality of moving bodies 40, a traveling battery 56 that serves as its own drive source, and a charging battery 57 that charges the batteries 41 of the plurality of moving bodies 40 during towing traveling, And a determination unit 54 that determines a traveling situation when the plurality of moving bodies 40 are towed by the tow unit 60. And it communicates with each of the some mobile body 40 by the communication part (51, 52), and performs each charge / discharge control of the battery 41 of the some mobile body 40 according to the driving | running | working condition determined by the determination part 54. A control unit 58 is provided. Thereby, energy replenishment (charge of the battery 41) of the mobile body 40 can be performed quickly and efficiently.

また、制御部５８は、走行用バッテリ５６の電気容量と充電用バッテリ５７の電気容量とを、判定部５４で判定される走行状況に応じて可変に制御する。また、制御部５８は、判定部５４により第１の走行状況が判定された場合、走行用バッテリ５６で走行を行なう。そして、第２の走行状況が判定された場合、走行用バッテリ５６と、複数の移動体４０のバッテリ４１とにより走行させる。また、第３の走行状況が判定された場合、充電用バッテリ５７を制御して、複数の移動体４０のバッテリ残量に応じて充電を行い、かつ、移動体４０の回生ブレーキを利用して充電させる。これにより、配車する移動体４０の数、配車先の距離、及び、移動先までの走行状況に応じて、電気容量を可変にできるため、無駄のない電気容量の配分が可能となる。   The control unit 58 variably controls the electric capacity of the traveling battery 56 and the electric capacity of the charging battery 57 according to the traveling state determined by the determining unit 54. In addition, when the determination unit 54 determines the first traveling state, the control unit 58 travels with the traveling battery 56. When the second traveling situation is determined, the traveling battery 56 and the batteries 41 of the plurality of moving bodies 40 are used for traveling. In addition, when the third traveling state is determined, the charging battery 57 is controlled to perform charging according to the remaining battery capacity of the plurality of moving bodies 40 and the regenerative brake of the moving body 40 is used. Let it charge. As a result, the electric capacity can be made variable according to the number of moving bodies 40 to be dispatched, the distance to the dispatch destination, and the traveling situation up to the travel destination, so that it is possible to distribute the electrical capacity without waste.

また、牽引部６０は、進行方向に延びる主軸６１と、主軸６１に略直交する方向又は一定の角度で伸び、主軸６１に対して所定の間隔で配置され、複数の移動体４０を連結する連結部６２と、を有する。そして、制御部５８は、充電用バッテリ５７から連結部６２を介して、連結された移動体４０のバッテリ４１を充電する。また、牽引部６０は、牽引する移動体４０の数、及び移動体４０の車長に応じて、主軸６１が伸縮する機構を有する。これにより、牽引中にバッテリ充電ができるとともに、牽引予定の移動体４０の数や車長に応じて牽引車１００全体の車長を可変にすることができる。そして、それぞれの移動体４０が単独で指定された地域に走行せずに、牽引車１００でまとめて移動することで、道路の渋滞緩和やエネルギー消費の削減にもつながる。   The pulling unit 60 is connected to a main shaft 61 extending in the traveling direction and a direction substantially orthogonal to the main shaft 61 or extending at a certain angle, arranged at a predetermined interval with respect to the main shaft 61, and connecting a plurality of moving bodies 40. Part 62. And the control part 58 charges the battery 41 of the connected mobile body 40 via the connection part 62 from the battery 57 for charge. The towing unit 60 has a mechanism in which the main shaft 61 expands and contracts according to the number of the moving bodies 40 to be pulled and the vehicle length of the moving body 40. Thereby, the battery can be charged during towing, and the vehicle length of the entire towing vehicle 100 can be made variable according to the number of moving bodies 40 to be towed and the vehicle length. And each moving body 40 does not drive to the designated area alone, but moves together with the tow vehicle 100, leading to alleviation of traffic congestion on the road and reduction of energy consumption.

以上、実施形態を用いて本発明を説明したが、本発明の技術的範囲は上記実施形態に記載の範囲には限定されないことは言うまでもない。上記実施形態に、多様な変更または改良を加えることが可能であることが当業者に明らかである。またその様な変更または改良を加えた形態も本発明の技術的範囲に含まれ得ることが、特許請求の範囲の記載から明らかである。   As mentioned above, although this invention was demonstrated using embodiment, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments. Further, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

４０ 移動体
４１ バッテリ
５０ 牽引車本体
５１ 無線通信部（通信手段）
５２ 電力線通信部（通信手段）
５３ 走行状況検出部
５４ 判定部（判定手段）
５５ バッテリ部
５６ 走行用バッテリ
５７ 充電用バッテリ
５８ 制御部（制御手段）
６０ 牽引部（牽引手段）
６１ 主軸
６２ 連結部（連結手段）
６３ 接続部
７０ 太陽パネル
１００ 牽引車（集団移送装置） 40 mobile body 41 battery 50 tow truck main body 51 wireless communication unit (communication means)
52 Power line communication unit (communication means)
53 Traveling condition detection unit 54 Determination unit (determination means)
55 Battery Unit 56 Traveling Battery 57 Charging Battery 58 Control Unit (Control Unit)
60 Towing unit (traction means)
61 Spindle 62 Connecting part (connecting means)
63 Connecting part 70 Solar panel 100 Towing vehicle (collective transfer device)

Claims (6)

電気を駆動源とする複数の移動体を移送する集団移送装置であって、
前記複数の移動体と通信を行う通信手段と、
前記複数の移動体を牽引する牽引手段と、
自らの駆動源となる走行用バッテリと、
前記複数の移動体のバッテリを牽引走行中に充電する充電用バッテリと、
前記牽引手段で前記複数の移動体を牽引する際の走行状況を判定する判定手段と、
前記通信手段により前記複数の移動体のそれぞれと通信を行い、前記判定手段で判定された前記走行状況に応じて前記複数の移動体の前記バッテリのそれぞれの充放電制御を行う制御手段と、
を備えることを特徴とする集団移送装置。 A collective transfer device for transferring a plurality of moving bodies using electricity as a drive source,
Communication means for communicating with the plurality of mobile units;
Towing means for towing the plurality of moving bodies;
A battery for running as its drive source;
A charging battery that charges the batteries of the plurality of moving bodies during towing, and
Determination means for determining a traveling situation when the plurality of moving bodies are towed by the towing means;
Control means for performing communication with each of the plurality of moving bodies by the communication means, and for controlling charging / discharging of the batteries of the plurality of moving bodies according to the traveling state determined by the determination means;
A collective transfer device comprising: 前記制御手段は、前記走行用バッテリの電気容量と前記充電用バッテリの電気容量とを、前記判定手段で判定される前記走行状況に応じて可変に制御することを特徴とする請求項１に記載の集団移送装置。   2. The control unit according to claim 1, wherein the control unit variably controls the electric capacity of the traveling battery and the electric capacity of the charging battery according to the traveling state determined by the determination unit. Collective transfer device. 前記制御手段は、前記判定手段により第１の走行状況が判定された場合、前記走行用バッテリで走行を行ない、第２の走行状況が判定された場合、前記走行用バッテリと、前記複数の移動体のバッテリとにより走行させることを特徴とする請求項２に記載の集団移送装置。   When the first travel situation is determined by the determination means, the control means travels with the travel battery, and when the second travel situation is determined, the control means and the plurality of movements The collective transfer device according to claim 2, wherein the collective transfer device is driven by a body battery. 前記制御手段は、前記判定手段により第３の走行状況が判定された場合、前記充電用バッテリを制御して、前記複数の移動体のバッテリ残量に応じて充電を行い、かつ、前記移動体の回生ブレーキを利用して充電させることを特徴とする請求項２又は３に記載の集団移送装置。   The control means controls the charging battery when the third running condition is judged by the judging means, performs charging according to the remaining battery power of the plurality of mobile bodies, and the mobile body The collective transfer device according to claim 2, wherein the regenerative brake is used for charging. 前記牽引手段は、
進行方向に延びる主軸と、
前記主軸に略直交する方向又は一定の角度の方向に伸び、前記主軸に対して所定の間隔で配置され、前記複数の移動体を連結する連結手段と、
を有し、
前記制御手段は、
前記充電用バッテリから前記連結手段を介して、前記連結された前記移動体の前記バッテリを充電することを特徴とする請求項１ないし４のいずれか１項に記載の集団移送装置。 The traction means is
A main shaft extending in the direction of travel;
A connecting means that extends in a direction substantially perpendicular to the main axis or a direction at a constant angle, is arranged at a predetermined interval with respect to the main axis, and connects the plurality of moving bodies;
Have
The control means includes
The collective transfer apparatus according to any one of claims 1 to 4, wherein the battery of the connected moving body is charged from the charging battery via the connecting means. 前記牽引手段は、牽引する前記移動体の数、及び前記移動体の車長に応じて、前記主軸が伸縮する機構を有することを特徴とする請求項５に記載の集団移送装置。   6. The collective transfer apparatus according to claim 5, wherein the pulling means includes a mechanism that expands and contracts the main shaft according to the number of the moving bodies to be pulled and the vehicle length of the moving bodies.
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