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WO2025142049A1 - Mobile body, storage for mobile body, and storage system for mobile body - Google Patents

Mobile body, storage for mobile body, and storage system for mobile body Download PDF

Info

Publication number
WO2025142049A1
WO2025142049A1 PCT/JP2024/037290 JP2024037290W WO2025142049A1 WO 2025142049 A1 WO2025142049 A1 WO 2025142049A1 JP 2024037290 W JP2024037290 W JP 2024037290W WO 2025142049 A1 WO2025142049 A1 WO 2025142049A1
Authority
WO
WIPO (PCT)
Prior art keywords
mounting
running
mounting body
running body
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/037290
Other languages
French (fr)
Japanese (ja)
Inventor
嘉孝 東川
航 佐々木
侑也 日下
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of WO2025142049A1 publication Critical patent/WO2025142049A1/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D27/00—Connections between superstructure or understructure sub-units
    • B62D27/06—Connections between superstructure or understructure sub-units readily releasable
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices

Definitions

  • the present invention relates to a mobile object, a storage facility for a mobile object, and a storage system for a mobile object.
  • a moving body that includes a running body that runs on a running surface and a mounting body that is mounted on the running body.
  • the mounting body can be attached to the running body, and the mounted body can be detached from the running body.
  • various types of mounting bodies can be attached to the running body as appropriate. An example of this type of moving body is disclosed in Non-Patent Document 1 below.
  • the object of the present invention is to provide a moving body that includes a running body and a mounting body that can be attached to and detached from the running body, and that can properly perform both the attachment and detachment of the mounting body.
  • the mobile body of the present invention comprises a running body capable of running in a first direction and having a mounting surface facing a second direction facing upward with respect to the first direction, and a mounting body configured to be detachable from the mounting surface, which moves integrally with the running body when attached to the mounting surface and mounted on the running body, and which is disposed separately from the running body when detached from the mounting surface and not mounted on the running body, the mounting body having a base detachable from the mounting surface, and a mounting body configured in an elongated shape, one end of which is supported by the base so as to be rotatable relative to the base, the other end of which extends from the base in the first direction and is operable, and which, when stored, has a first movable tool that rotates relatively to the base with the one end as a fulcrum so as to approach the base.
  • the mounting body has a first drive unit that rotates the first movable device relatively closer to the base by pulling the first movable device in the direction opposite to the first direction, using the one end as a fulcrum.
  • the mounting body is configured in a plate shape, is supported on the base so as to be movable relative to the base, and has a second movable tool that is positioned forward of the running body and works on a surface facing the first direction.
  • the mounting body is provided above the second movable device in the second direction and has a second drive unit that drives the mounting body itself to move the second movable device relative to the mounting body.
  • the second movable device is configured to be able to make contact with the ground surface of the running body when work is performed by the first movable device while the mounted body is attached to the running body.
  • the movable body of the present invention comprises a running body, and a mounting body that moves integrally with the running body when mounted on the running body and that can be positioned separately from the running body when detached from the running body, and the mounting body includes a base that can be attached and detached to the running body, and a first movable device that is configured in an elongated shape, has one end supported on the base so as to be rotatable relative to the base, and is capable of working at the other end extending from the base in the fore-and-aft direction of the running body, and when stored, rotates relatively to the base with the one end as a fulcrum so as to approach the base.
  • the mounting body is configured in a plate shape, is supported on the base so as to be movable relative to the base, and has a second movable tool that is positioned forward of the running body and works on a surface facing in the fore-and-aft direction.
  • both the mounting body can be properly attached and detached.
  • 2 is a perspective view of a lift portion, an engagement portion, a fixing portion, and a support portion provided in the movable body shown in FIG. 1 .
  • 2 is a cross-sectional view showing a state in which a lift section of the moving body shown in FIG. 1 rises and moves a mounting body upward while supporting it.
  • 2 is a cross-sectional view showing a state in which a lift unit included in the moving body shown in FIG. 1 descends and supports a mounting body while moving it downward.
  • 2 is a functional block diagram of each element of the moving body shown in FIG. 1 . 2 is a side view of a mounting body provided on the moving body shown in FIG. 1 . 2 is a plan view of a mounting body provided on the moving body shown in FIG. 1 .
  • FIG. 2 is a bottom view of a mounting body provided on the moving body shown in FIG. 1 .
  • 2 is a front view of a mounting body provided on the moving body shown in FIG. 1 .
  • 2 is a rear view of a mounting body provided on the moving body shown in FIG. 1 .
  • 2 is a side view of a mounted body provided on the moving body shown in FIG. 1 in a stored position.
  • FIG. 2 is a side view of the moving body shown in FIG. 1 is a perspective view of a storage system including a storage unit for storing a moving object according to a first embodiment of the present invention.
  • FIG. 21 is a rear view of the storage unit shown in FIG. 20. 21 is a rear view of the storage unit shown in FIG. 20 in which a moving object is stored.
  • FIG. 21 is a rear view of the storage unit shown in FIG. 20 in which the traveling body is stored.
  • FIG. 21 is a perspective view of the inside of the storage facility shown in FIG. 20 in a state in which a traveling body is stored in the storage facility.
  • 21 is a rear view of the storage unit shown in FIG. 20 in a state in which the mount is stored in the storage unit.
  • FIG. 21 is a perspective view of the inside of the storage unit shown in FIG. 20 in a state in which the mounted body is stored in the storage unit.
  • 21 is a side view showing the relationship between the detected part and the stop position of the moving body in the storage shown in FIG. 20.
  • 21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20.
  • 21 is a perspective view of the inside of the storage unit shown in FIG.
  • 21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20.
  • 21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20.
  • 21 is a flowchart showing a series of operations for detaching a mounted body of a moving body from a traveling body in the storage facility shown in FIG. 20.
  • FIG. 21 is a flowchart showing a series of operations for mounting a mounting body provided on a moving body to a traveling body in the storage facility shown in FIG. 20.
  • FIG. 11 is a perspective view of an engagement portion provided on a moving body according to a modified example of the first embodiment of the present invention.
  • 13 is a cross-sectional view showing how a protruding portion of an engagement portion provided on a movable body according to a modified example of the first embodiment of the present invention rotates and is screwed into a fitting portion to move the movable body upward and downward.
  • FIG. FIG. 11 is a plan view of a running body provided on a moving body according to a modified example of the first embodiment of the present invention.
  • FIG. 11 is a perspective view of an engagement portion provided on a moving body according to a second embodiment of the present invention.
  • 11 is an oblique view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in which a mounting body of the moving body is attached to a traveling body.
  • FIG. 11 is an oblique view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in which a mounting body of the moving body is attached to a traveling body.
  • FIG. 11 is an oblique view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in which a mounting body of the moving body is attached to a traveling body.
  • FIG. 11 is a perspective view of an engagement portion provided on a moving body according to a modified example of the second embodiment of the present invention.
  • FIG. 13 is a perspective view of an engagement portion and a fixing portion provided on a movable body according to a third embodiment of the present invention.
  • 13A and 13B are perspective views showing states before and after fixing at a fixing portion provided on a moving body according to a third embodiment of the present invention.
  • FIG. 13 is a perspective view of the inside of a storage facility for storing movable bodies according to a fourth embodiment of the present invention.
  • FIG. 11 is a perspective view of a moving body according to a fourth embodiment of the present invention.
  • FIG. 13 is a perspective view of a storage system including a storage unit for storing movable objects according to a fourth embodiment of the present invention.
  • 13 is a diagram for explaining a process for charging the mounted body and the traveling body of a moving body in a storage facility for storing the moving body according to the fourth embodiment of the present invention.
  • FIG. 13 is a diagram for explaining a process for charging the mounted body and the traveling body of a moving body in a storage facility for storing the moving body according to the fourth embodiment of the present invention.
  • FIG. 13 is a diagram for explaining a process for charging the mounted body and the traveling body of a moving body in a storage facility for storing the moving body according to the fourth embodiment of the present invention.
  • FIG. FIG. 13 is a perspective view of a moving body according to a fifth embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a fifth embodiment of the present invention.
  • FIG. 13 is a plan view of a running body provided on a moving body according to a fifth embodiment of the present invention.
  • FIG. 13 is a bottom view of a mounting body provided on a moving body according to a fifth embodiment of the present invention.
  • FIG. 13 is a functional block diagram of each element of a moving body according to a fifth embodiment of the present invention.
  • FIG. 13 is a cross-sectional view showing a state in which a first end and a second end of a moving body according to a fifth embodiment of the present invention are non-contact coils and electrical connection is made by the coils.
  • FIG. 13 is a time chart showing the change over time in the remaining battery charge of the power source of the traveling body and the power source of the mounted body provided in the moving body according to the fifth embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a sixth embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a sixth embodiment of the present invention.
  • FIG. 13 is a functional block diagram of each element of a moving body according to a sixth embodiment of the present invention.
  • FIG. 13 is a cross-sectional view showing a state in which transmission is performed by a mechanism at a transmitting part and a transmitted part included in a moving body according to a sixth embodiment of the present invention.
  • FIG. 13 is a cross-sectional view showing a state in which transmission is performed by a fluid in a transmitting portion and a transmitted portion included in a moving body according to a modified example of the sixth embodiment of the present invention.
  • FIG. FIG. 23 is a functional block diagram of each element provided in a moving body according to a modified example of the sixth embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a modified example of the sixth embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a modified example of the sixth embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention.
  • FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention.
  • 13 is a plan view of a running body and an outer shell portion of a moving body according to a seventh embodiment of the present invention.
  • FIG. FIG. 13 is a front view of a moving body according to a seventh embodiment of the present invention.
  • 13 is a functional block diagram of each element of a moving body according to a seventh embodiment of the present invention.
  • 13 is a perspective view of an outer shell part of a moving body according to a modified example of the seventh embodiment of the present invention.
  • FIG. FIG. 23 is a plan view of a moving body according to a modified example of the seventh embodiment of the present invention.
  • 13A to 13C are diagrams for explaining an example of an operation of a moving body according to a modified example of an embodiment of the present invention.
  • 13A to 13C are diagrams for explaining an example of an operation of a moving body according to a modified example of an embodiment of the present invention.
  • a moving body 100 includes a running body 200 and a mounting body 300 (hereinafter, sometimes referred to as an "attachment 300").
  • the directions up/down, left/right, front/rear correspond to the directions of the arrows up/down, left/right, front/rear as shown appropriately in each drawing.
  • the running body 200 can run in a first direction.
  • the "first direction” is either forward/backward, left/right, front diagonal left/front diagonal right, or rear diagonal left/rear diagonal right, and corresponds to the horizontal direction.
  • the oblique angles of the front diagonal left/front diagonal right, and rear diagonal left/rear diagonal right are each arbitrary.
  • the "first direction” also corresponds to a direction parallel to the traveling surface.
  • the traveling body 200 can travel in all directions along the traveling surface. This omnidirectional travel is made possible by the traveling device 270, the configuration of which will be described in detail later.
  • the running body 200 has a mounting surface 210 facing a second direction that faces upward with respect to the first direction.
  • the mounting surface 210 is included on the upper surface of the running body 200.
  • the “second direction” corresponds to the upward direction.
  • the “second direction” also corresponds to the vertical direction away from the running surface.
  • a third direction opposite to the second direction is also defined.
  • the "third direction” corresponds to the downward direction, and also corresponds to the vertical direction approaching the driving surface.
  • a fourth direction perpendicular to each of the first and second directions is also defined.
  • the "fourth direction” corresponds to the horizontal direction, and also corresponds to the direction parallel to the driving surface. For example, if the first direction is forward, the fourth direction is to the left or right.
  • the mounting body 300 is configured to be detachable from the mounting surface 210 of the running body 200.
  • the mounting body 300 is detached (see, for example, Figures 3 and 4), first, the bottom surface of the mounting body 300 facing the third direction is opposed to the mounting surface 210 facing the second direction. Then, by bringing both surfaces relatively close to each other, the mounting body 300 can be attached to the mounting surface 210.
  • the running body 200 is caused to run to the mounting body 300's position so that both sides face each other. Then, with both sides facing each other, the mounting body 300 may be moved in the third direction to achieve attachment.
  • the mounting body 300 is attached to the mounting surface 210 and mounted on the running body 200, it moves integrally with the running body 200.
  • the support portions 250 are disposed at positions corresponding to the vertices of a polygon in a plan view (see FIG. 6).
  • the support portion 250 includes six support portions 250a, 250b, 250c, 250d, 250e, and 250f.
  • the positions of support portions 250a, 250b, and 250c, and support portions 250d, 250e, and 250f correspond to the vertices of a triangle on the same plane.
  • the lift section 220 (i.e., support section 250b, support section 250c, support section 250e, and support section 250f) has a cylindrical shape.
  • the lift section 220 is coaxially fitted into a hole 221 that partially accommodates the lower part.
  • the hole 221 is located on the upper surface of the vehicle body 260, at the four corners in a plan view.
  • the hole 221 is provided to correspond to the position of the lift section 220.
  • the hole 221 has a circular opening with a diameter slightly larger than that of the lift section 220. Through this opening, the lower part of the lift section 220 is accommodated inside the vehicle body 260.
  • the lift section 220 protrudes toward the fitting portion 232 of the engagement portion 230 of the mounting body 300 (i.e., the fitting portion 242 of the fixing portion 240a).
  • the fitting portions 232 are provided at the four corners of the mounting body 300 when viewed from the bottom.
  • the fitting portions 232 are positioned to correspond to the arrangement of the lift section 220 when the mounting body 300 is attached to the running body 200.
  • the fitting portions 232 are recessed upward, allowing the lift section 220 to be fitted when the mounting body 300 is attached.
  • the mounting body 300 By fitting the lift unit 220 into the fitting portion 232, the mounting body 300 can be lifted and lowered while supporting the mounting body 300. That is, in response to the movement of the lift unit 220 in the second direction, the mounting body 300 moves in the second direction (upward) (see FIG. 10). In response to the movement of the lift unit 220 in the third direction (downward), the mounting body 300 moves in the third direction (downward) (see FIG. 11).
  • the lift section 220 is fitted into the fitting portion 232, whereby the running body 200 and the mounting body 300 are engaged with each other. In this way, the lift section 220 also functions as the protruding portion 231 of the engagement portion 230. In addition, the lift section 220 is fitted into the fitting portion 242, whereby the relative movement between the running body 200 and the mounting body 300 is restricted, and the mounting body 300 is fixed to the running body 200. In this way, the lift section 220 also functions as the protruding portion 241 of the fixing portion 240a.
  • the fitting portion 232 of the engagement portion 230 (fitting portion 242 of the fixing portion 240a) has a recessed shape into which the protruding portion 231 (protruding portion 241 of the fixing portion 240a) can fit.
  • This shape has a portion that narrows in diameter along the direction in which the protruding portion 231 (protruding portion 241 of the fixing portion 240a) fits.
  • the diameter of the cylindrical shape of the lift portion 220 which is the protruding portion 231 (protruding portion 241 of the fixed portion 240a) of the engagement portion 230, is approximately the same as the diameter of the abutment 232b and is smaller than the diameter of the opening 232a (see Figures 9, 10, and 11).
  • suction sites may also be provided on the tops 222 of the lift sections 220.
  • magnetic suction forces are generated at a total of six suction sites corresponding to the four lift sections 220 and the two fixed sections 240b.
  • the protruding portion 241 (adsorption portion 241a) is fitted into the fitting portion 242, and an adsorption force is generated by exciting the adsorption portion 241a, thereby restricting the relative movement of the running body 200 and the mounting body 300. In this way, the mounting body 300 is fixed to the running body 200.
  • the fitting portion 242 of the fixing portion 240b has a recessed shape into which the protruding portion 241 of the protruding fixing portion 240b can be fitted.
  • the shape is arbitrary as long as the fitting portion 242 can be fitted, and in this embodiment, it has the same diameter along the fitting direction (see Figures 9, 10, and 11). Alternatively, it may have a shape that reduces in diameter along the fitting direction.
  • the circular cross section of the lift section 220 is eccentric from the abutment 232b of the fitting section 232, and is within the area of the circular cross section of the opening 232a.
  • the lift portion 220 moves relative to the vehicle body 260 in the second direction (the lift portion 220 becomes exposed from the hole portion 221).
  • the lift portion 220 with the rising top portion 222 as the leading end, is inserted into the insertion portion 232 through the opening 232a.
  • the edge of the top portion 222 abuts against the inner wall of the insertion portion 232.
  • the top 222 After the top 222 reaches the butt 232b and comes into contact with each other, the top 222, which had been rising, stops at the uppermost position. As a result, the mounting body 300 facing the mounting surface 210 moves upward from its placement position in the second direction while being supported by the rising lift section 220.
  • the top 222 descends while supporting the mounting body 300. Therefore, the mounting body 300 moves in the third direction while the top 222 and the abutment 232b are in contact with each other.
  • the insertion portion 242 descends so as to approach the protruding portion 241 (the suction portion 241a).
  • the axis of the protruding portion 241 (the suction portion 241a) and the axis of the insertion portion 242 are aligned.
  • the protruding portion 241 As shown in FIG. 11(b), the protruding portion 241, with the suction portion 241a at its tip, is fitted into the descending fitting portion 242. As shown in FIG. 11(c), the descending top portion 222 stops at the lowest position. At the same time, the fitting of the protruding portion 241 into the fitting portion 242 is completed. As a result, the mounting body 300, which had been moving upward, moves downward to approach the mounting surface 210 while being supported by the descending lift portion 220.
  • a device related to the motor may be interposed between the power source 280 and the object to be powered.
  • the power supply from the power source 280 is controlled by a control device 283, and the traveling device 270, the lift unit 220, and the suction part 241a are controlled.
  • the communication device 281, the control device 283, the device related to the motor, etc. are arranged behind the power source 280 in the vehicle length direction of the vehicle body 260. These may be arranged integrally behind the vehicle body 260 as an electronic unit.
  • the communication device 281 is connected to the control device 283 and the sensor 282 via a communication network N1 such as a CAN.
  • the communication device 281 is also connected to an external terminal (not shown) and is capable of information communication.
  • the communication device 281 sends information received from the external terminal to the communication network N1, and also transmits information from the communication network N1 to the external terminal.
  • the external terminal may be a terminal capable of displaying information indicating the state of the mobile body 100, and may be a fixed terminal provided outside the storage facility 500 described below.
  • Information communication between the communication device 281 and the external terminal may be wireless communication based on the IEEE 802.11 series of standards (such as Wi-Fi (registered trademark)). Note that the form of wireless communication is not limited to the above, and may be, for example, infrared communication, Bluetooth (registered trademark), cellular/non-cellular LPWA, etc. Also, information communication via a wired connection may be performed instead of wireless communication.
  • the distance measurement sensor 282 is provided at the front end of the vehicle body 260 in the vehicle length direction, approximately in the center in the vehicle width direction. This allows the distance between the front end of the running body 200 and a detectable portion 531, which will be described later, to be measured. In addition, multiple distance measurement sensors 282 may be provided near the outer end of the side of the front of the vehicle body, etc.
  • the control device 283 is a device that executes control of the traveling device 270, control of the lift unit 220, and control of the suction portion 241a.
  • the control device 283 includes an attachment control unit 283a, a detachment control unit 283b, a stop position determination unit 283c, and an automatic driving control unit 283d, each of which is composed of electric/electronic circuits, programs stored in a CPU, etc. Instruction signals received by the communication device 281 and detection signals detected by the sensor 282 are sent to the control device 283 via the communication network N1.
  • the mounting control unit 283a controls the mounting of the mounted body 300 on a running body 200 on which the mounted body 300 is not mounted. More specifically, when mounting a mounted body 300 that is positioned at a position above the mounting surface 210 in the second direction to a running body 200 on which the mounted body 300 is not mounted, the mounting control unit 283a controls the lift unit 220 to support the mounted body 300 facing the mounting surface 210 and move it above the position in the second direction (see FIG. 10). In this embodiment, the mounted body 300 is positioned at a position in the storage facility 500 described below.
  • the mounting control unit 283a controls the fixing unit 240a and the fixing unit 240b to fix the mounting body 300 to the running body 200. More specifically, the demagnetized adhesion portion 241a is switched to an excited state to generate an adhesion force based on magnetism.
  • the detachment control unit 283b controls the lift unit 220 to support the mounting body 300 attached to the mounting surface 210 and move it above its placement position in the second direction.
  • the detachment control unit 283b controls the running device 270 to run the running body 200 together with the mounting body 300 to the above-mentioned stopping position while the mounting body 300 is moved above its placement position.
  • the mounting body 300 of this embodiment is an attachment 300 that functions as a backhoe when attached to the traveling body 200.
  • the mounting body 300 includes a first movable tool 310, a second movable tool 320, and a base 330.
  • the bottom surface 331 of the base 330 is provided with the insertion portions 232 and 242 in the lift portion 220, the engagement portion 230, and the fixed portion 240a and fixed portion 240b.
  • the insertion portions 232 and 242 are arranged to correspond to the six support portions 250 of the running body 200, respectively. Details of the arrangement and structure of the insertion portions 232 and 242 are as described above (see FIG. 9, FIG. 10, and FIG. 11).
  • the bucket 313 is configured so that one end is supported and the other end 313a traces a trajectory of the turning radius. A cutting edge is provided on the other end 313a.
  • One end of the bucket 313 is supported by the arm 312 via a bucket link so that the bucket 313 can rotate relative to the arm 312. The position where one end of the bucket 313 is supported is the other end of the arm 312.
  • the second movable device 320 is configured to be able to come into contact with the ground surface (i.e., running surface G) of the running device 200 when work is performed by the first movable device 310 with the mounting body 300 attached to the running device 200. More specifically, the lower end of the approximately rectangular dozer 321 faces the ground surface. When the first movable device 310 is working, if the center of gravity fluctuates and the mobile body 100 tilts, the lower end of the dozer 321 comes into contact with the ground. That is, the second movable device 320 has the function of working as a dozer 321, as well as the function of an outrigger.
  • the mounted body 300 includes a power source 380, a communication device 381, and a control device 382 as electrical devices.
  • the power source 380 is electrically connected to the communication device 381, the control device 382, and the actuators of the drive unit 340a, the drive unit 340b, the drive unit 340c, the drive unit 340d, and the drive unit 340e so as to be able to supply power to each of them.
  • the power source 380 may be charged by cable connection power supply, non-contact power supply, or the like via a predetermined electrical device (e.g., a fixed or mobile charger, etc.).
  • the form, timing, location, etc. of charging the power source 380 are arbitrary. For example, as described later, when the mounted body 300 is stored in the storage facility 500, the power source 380 may be charged by contact or non-contact power supply. On the other hand, the power source 380 may be charged outside the storage facility 500.
  • a device related to the motor may be interposed between the power source 380 and the object to be powered.
  • the power supply from the power source 380 is controlled by a control device 382, which controls the drive units 340a, 340b, 340c, 340d, and 340e.
  • the power source 380, communication device 381, control device 382, and the devices related to the motor may be integrally arranged as an electronic unit behind the base 330 in the vehicle length direction or on the protruding portion 332.
  • the communication device 381 is connected to the control device 382 via a communication network N2 such as a CAN.
  • a battery sensor (not shown) of the power source 380 may also be connected to the communication network N2.
  • the communication device 381 is also connected to the external terminal described above, enabling information communication.
  • the communication device 381 transmits information received from the external terminal to the communication network N2, while transmitting information from the communication network N2 to the external terminal.
  • Information communication between the communication device 381 and the external terminal may be, for example, wireless communication according to the above-mentioned standard. Note that the form of wireless communication is not limited to the above, and for example, infrared communication, Bluetooth (registered trademark), cellular/non-cellular LPWA, etc. may be used. Also, information communication by wired connection may be performed instead of wireless communication.
  • control device 382 is a device that executes the control of each of drive units 340a, 340b, 340c, 340d, and 340e.
  • Control device 382 is composed of electric and electronic circuits, programs stored in a CPU, etc. Instruction signals and the like received by communication device 381 are sent to control device 382 via communication network N2.
  • the storage system 400 for the moving body 100 includes a storage 500, a stop position determination unit 283c, an automatic driving control unit 283d, an attachment control unit 283a, and a detachment control unit 283b.
  • the stop position determination unit 283c, the automatic driving control unit 283d, the attachment control unit 283a, and the detachment control unit 283b are provided in the running body 200 of the moving body 100. Alternatively, they may be provided in a portion different from the running body 200 (for example, the mounting body 300, another terminal, etc.).
  • the storage system 400 is configured to detach the mounted body 300 from the moving body 100 to which it is attached at the stopping position of the storage facility 500 by the detachment control unit 283b, and place the mounted body 300 in the placement unit 560 of the storage facility 500 for storage.
  • the storage system 400 is configured to attach the mounted body 300 placed in the placement unit 560 to the traveling body 200 at the stopping position of the storage facility 500 by the attachment control unit 283a.
  • the storage facility 500 may store both the mounted body 300 and the running body 200 (i.e., the moving body 100) at the same time, or may store only the running body 200 or only the mounted body 300 (see, for example, Figures 22, 23, and 25).
  • the storage 500 is a housing capable of housing the entire moving body 100.
  • the storage 500 has a rectangular bottom surface portion 510, and the longitudinal and lateral directions of the bottom surface portion 510 correspond to the vehicle length and width directions of the vehicle body 260.
  • the longitudinal dimension of the bottom surface portion 510 is greater than the vehicle length dimension of the vehicle body 260.
  • the lateral dimension of the bottom surface portion 510 is greater than the vehicle width dimension of the vehicle body 260.
  • each placement section 560 one of the two faces constituting the inverted L shape in each placement section 560 is connected to each side section 520.
  • the other of the two faces protrudes from each side section 520 toward the center of the interior.
  • the other of the two faces is approximately parallel to the bottom section 510, and the mounting body 300 can be placed on its upper part.
  • the configuration of the storage cabinet 500 is not limited to the above, and any configuration that allows the mounting body 300 to be placed inside may be used.
  • the storage cabinet 500 may be simply configured with only the placement section 560 and a member that supports the placement section 560.
  • the storage cabinet 500 may also have a framework structure so that the inside can be seen, for example, or may have a wall structure to block wind and rain from the outside or for the purpose of crime prevention.
  • the placement section 560 is positioned away from the running body 200 in the first direction and the fourth direction. More specifically, the portion of the placement section 560 may be located forward of the front end of the body 260 of the running body 200. Furthermore, the portion of the placement section 560 may be located on the outer side of the body 260 of the running body 200 in the vehicle width direction. Note that in this embodiment, the placement section 560 is located above the running body 200 in the second direction, but this placement relationship is not limited.
  • the mounting body 300 when the mounting body 300 is stored in the storage 500, the mounting body 300 is arranged in the same manner as when the moving body 100 is stored (see FIG. 22).
  • the mounting body 300 is arranged above the arrangement section 560 (the other surface thereof). That is, when the internal space of the storage 500 is divided into upper and lower parts by the arrangement section 560, the mounting body 300 is arranged at the upper side of the internal space.
  • moisture, mud, dust, etc. may accumulate on the bottom surface 510.
  • this phenomenon is likely to be accelerated by adhesions such as tires of the traveling body 200.
  • the mounting body 300 by arranging the mounting body 300 on the upper side of the internal space of the storage 500, the mounting body 300 can be separated from the bottom surface 510, and the mounting body 300 can be prevented from getting wet or dirty during storage.
  • the mounting body 300 is housed inside the storage cabinet 500 so that the first direction is forward.
  • the mounting body 300 is positioned so that the longitudinal direction of the base 330 is aligned with the longitudinal direction of the bottom surface 510.
  • the first movable part 310 and the second movable part 320 of the mounting body 300 face the inside of the front surface 530 of the storage cabinet 500.
  • the placement section 560 is configured to be able to place the detached mounting body 300. More specifically, a portion of the placement section 560 may be configured to support the mounting body 300 in the second direction, thereby placing the mounting body 300.
  • the portion of the placement section 560 may have a planar shape capable of supporting the bottom surface 331 of the mounting body 300 to be placed, face the bottom surface 331 of the mounting body 300, and have a shape that extends in the first direction.
  • the position in the placement section 560 where the mounting body 300 is placed may also be referred to as the placement position.
  • the storage facility 500 includes a detectable portion 531.
  • the detectable portion 531 is used to determine the stopping position of the running body 200 in the storage facility 500.
  • the detectable portion 531 is provided on the inside of the front portion 530.
  • the detectable portion 531 corresponds to a portion whose positional relationship with the stopping position is specified.
  • the detectable portion 531 is configured to be detectable by the distance measuring sensor 282 at the front end of the vehicle body 260.
  • the detectable portion 531 is a component of the storage facility 500 on the inside of the front portion 530, but is not limited to this, and may be, for example, a component of the storage facility 500 that is located on the inside of the side, inside of the bottom, inside of the top, etc.
  • the distance sensor 282 detects the horizontal distance from the detected part 531 and stores it in advance in a memory or the like as a reference distance DS, and a stop position corresponding to the reference distance DS is determined.
  • control is executed to run and stop the running body 200 with the determined stop position as a target. This makes it possible to attach the mounted body 300 appropriately.
  • the horizontal distance D from the detected part 531 to the distance measuring sensor 282 is detected by the distance measuring sensor 282.
  • the detected horizontal distance D is successively compared with the stored reference distance DS. Based on the comparison result, the running object 200 starts running or stops.
  • the vehicle if it is determined that the horizontal distance D is greater than the reference distance DS, the vehicle is automatically controlled to move forward in the first direction.
  • the horizontal distance D decreases and approaches the reference distance DS, and it is determined that the horizontal distance D is equal to the reference distance DS, the vehicle is automatically controlled to stop on the spot.
  • the stop position is determined by the stop position determination unit 283c, and the vehicle 200 can be stopped at the determined stop position.
  • the running body 200 switches to automatic driving control.
  • the control device 283 causes the running device 270 to run in automatic driving mode so as to stop at a stopping position in the storage facility 500 via the automatic driving control unit 283d.
  • the reference distance DS determined and stored at the time of the previous attachment may be used.
  • the horizontal distance D from the detected portion 531 to the front end of the vehicle body 260 is detected by the distance measurement sensor 282, but since the reference distance DS is less than the horizontal distance D at this point, the running body 200 moves forward in the first direction (see FIG. 27).
  • the control device 283 stops the traveling device 270 via the automatic driving control unit 283d (see FIG. 27) (step S4 in FIG. 42).
  • the control device 283 controls the lift unit 220 to support and move the mounting body 300, which has moved upward, in the third direction while the running body 200 is stopped at the stopping position, using the detachment control unit 283b.
  • the mounting body 300 is detached from the running body 200, and the mounting body 300 is placed in the placement unit 560.
  • the stopping position of the running body 200 is located below the placement unit 560, and is a position where the mounting body 300 can be detached from the running body 200 to which it is attached and placed in the placement unit 560 (step S5 in FIG. 42).
  • control device 283 also determines and stores a reference distance DS (i.e., the stop position) from the detected part 531 to the distance measurement sensor 282 by the stop position determination part 283c.
  • the reference distance DS determined this time may update the one stored last time.
  • the reference distance DS stored this time may be used the next time the mounting body 300 is attached (step S5 in FIG. 42).
  • the mounting body 300 is stored in the placement section 560, and the running body 200 is running outside the storage facility 500. In other words, this is after the above-mentioned detachment operation of the mounting body 300 has been performed.
  • the operator who has been operating it via an external terminal causes the running body 200 to run toward the slope section 550 (step S7 in FIG. 43).
  • the reference distance DS determined and stored at the time of the previous detachment may be used.
  • the horizontal distance D from the detected portion 531 to the front end of the vehicle body 260 is detected by the distance sensor 282, but at this point, the reference distance DS is less than the horizontal distance D, so the running body 200 moves forward in the first direction (see FIG. 27).
  • the running body 200 enters through the entrance/exit of the storage facility 500, and the horizontal distance D detected by the distance sensor 282 approaches the reference distance DS.
  • the control device 283 stops the running device 270 via the automatic driving control unit 283d (see FIG. 27).
  • the running body 200 is positioned below the mounting body 300 placed in the placement unit 560.
  • the mounting surface 210 of the running body 200 faces the bottom surface 331 of the mounting body 300 with a gap (step S9 in FIG. 43).
  • control device 283 controls the lift unit 220 by the mounting control unit 283a to support and move the mounting body 300 facing the mounting surface 210 above the placement unit 560 in the second direction while the running body 200 is stopped at the stop position (step S10 in FIG. 43).
  • the control device 283 controls the running body 200 to run together with the mounting body 300 with the rear facing in the first direction, with the mounting body 300 moved above the placement section 560, by using the mounting control section 283a and the automatic driving control section 283d.
  • the running body 200 runs out of the entrance/exit of the storage facility 500 together with the mounting body 300 (step S11 in FIG. 43).
  • the fitting portion 232 may have a recessed shape into which the protruding protrusion portion 231 can be fitted, and may have a shape that has a portion that screws into the protruding portion 231 when the protruding portion 231 is fitted, and may be engaged by being fitted into the protruding portion 231.
  • the protruding direction of the protruding portion 231 may be the same as in the first embodiment.
  • the engagement portion 230 in the first embodiment includes a protruding portion 231 and an insertion portion 232, and the engagement is achieved by inserting the protruding portion 231 into the insertion portion 232.
  • the engagement portion 230 in the second embodiment is configured to engage with the running body 200 while the running body 200 is running, and to attach the mounting body 300.
  • the second embodiment differs from the first embodiment only in this respect, and is otherwise the same as the first embodiment.
  • the engagement portion 230 of the second embodiment includes an outer rail 233 and an inner rail 234.
  • the outer rail 233 is provided on the mounting body 300
  • the inner rail 234 is provided on the running body 200.
  • the positional relationship between the outer rail 233 and the inner rail 234 may be reversed.
  • the outer rail 233 is configured as a recess on the bottom surface of the base 330 of the mounting body 300.
  • the recess is recessed from bottom to top, and its cross-sectional shape corresponds to the protrusion of the inner rail 234.
  • the outer rail 233 extends along the first direction at approximately the center in the vehicle width direction.
  • the rear end of the outer rail 233 is an open end, and the front end of the inner rail 234 can enter.
  • the mounting body 300 has its position (height and direction) adjusted in the positioning section 560 so that the front end of the inner rail 234 can enter the rear end of the outer rail 233.
  • the running body 200 is automatically controlled so that the front end of the inner rail 234 faces the rear end of the outer rail 233.
  • the running body 200 When the running body 200 enters the storage facility 500 from the rear entrance, the running body 200 travels under the mounting body 300 while the front end of the inner rail 234 enters from the rear end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.
  • the mounting body 300 separates from the placement section 560 and becomes attached to the running body 200. In this way, the mounting body 300 is attached to the running body 200 by engaging with the running body 200 while the running body 200 is running.
  • the engagement portion 230 includes the outer rail 233 and the inner rail 234, but may be configured not to include these.
  • the erected portion 233a may be provided at the front end of the base 330 of the mounting body 300
  • the abutment portion 234a may be provided at the front end of the vehicle body 260 of the running body 200.
  • the erected portion 233a may protrude downward in the third direction from the bottom surface 331 at the front end of the base 330 of the mounting body 300 over the entire length in the vehicle width direction.
  • the surface of the erected portion 233a facing the first direction (the surface that abuts against the abutment portion 234a) may be inclined with respect to the vertical direction.
  • the inclination may be configured so that the surface that abuts against the abutment portion 234a extends diagonally downward to the rear.
  • the abutment portion 234a may have a notch structure extending from the mounting surface 210 downward in the third direction and from the front end to the rear side at the front end of the vehicle body 260 of the running body 200 over the entire vehicle width direction.
  • the abutment surface at the abutment portion 234a may be inclined to correspond to the shape of the standing portion 233a.
  • the standing portion 233a and the abutment portion 234a configured in this manner may have a Z-shape or an inverted Z-shape in side view.
  • the moving body 100 according to the third embodiment of the present invention differs from the first embodiment described above in the manner of engagement and fixation between the running body 200 and the mounting body 300.
  • the engagement portion 230 is configured to be able to engage the running body 200 and the mounting body 300 with each other, and is configured to attach the mounting body 300 by engaging the running body 200 and the mounting body 300, and to detach the mounting body 300 by releasing the engagement.
  • the fixing portion 240a is configured to be able to fix the mounting body 300 to the running body 200, and by fixing, the relative movement of the mounting body 300 with respect to the running body 200 is restricted, and by releasing the fixation, the relative movement is permitted.
  • the engaging portion 230 and the fixing portion 240a in the first embodiment include a protruding portion 231 and an insertion portion 232, and the engaging and fixing is achieved by inserting the protruding portion 231 into the insertion portion 232.
  • This protruding portion 231 protrudes upward in the second direction.
  • the engagement portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234, and is configured to engage with the outer rail 233 and the inner rail 234 while the running body 200 is running, and to attach the mounting body 300.
  • the fixing portion 240a of the third embodiment includes a protruding portion 243 and an insertion portion 244, and is fixed by inserting the protruding portion 243 into the insertion portion 244. This protruding portion 243 protrudes in a direction approximately perpendicular to the second direction.
  • the third embodiment differs from the first embodiment only in these respects, and is otherwise the same as the first embodiment.
  • Two outer rails 233 are provided on the mounting surface 210 at the upper end of the running body 200.
  • the outer rails 233 are installed parallel to each other and spaced apart in the vehicle width direction, and each extends along the first direction.
  • the two outer rails 233 are each concave toward the outside in the vehicle width direction, and their cross-sectional shapes correspond to the convex portions of the inner rails 234.
  • the front end of the outer rails 233 is an open end, allowing the rear end of the inner rails 234 to enter.
  • Two inner rails 234 are provided on the bottom surface 331 at the lower end of the mounting body 300.
  • the inner rails 234 are installed parallel to each other and spaced apart in the vehicle width direction, and are located inside the two outer rails 233, and each extends along the first direction.
  • the two inner rails 234 each protrude outward in the vehicle width direction, and their cross-sectional shapes correspond to the recesses of the outer rails 233. When the inner rails 234 enter the outer rails 233 from their rear ends, they are guided along the first direction.
  • a number of protruding portions 243 are provided along the first direction on the outer surfaces of the convex portions of the two inner rails 234.
  • Each protruding portion 243 can protrude in a direction substantially perpendicular to the second direction, i.e., toward the outside in the vehicle width direction (see Figure 53(b)).
  • each protruding portion 243 can be stored inside the inner rail 234 toward the inside in the vehicle width direction (see FIG. 53(a)).
  • the protruding and storing operations of the protruding portions 231 may be controlled by the control device 382, for example, via a built-in actuator.
  • the side walls of the two outer rails 233 are provided with multiple insertion portions 244 along the first direction.
  • Each insertion portion 244 is arranged to correspond to the position of the multiple protruding portions 243.
  • Each insertion portion 244 penetrates the side walls of the outer rails 233 in a direction approximately perpendicular to the second direction, i.e., in the vehicle width direction.
  • Each insertion portion 244 as a through hole is configured so that each protruding protruding portion 231 can be inserted therein (see FIG. 53(b)).
  • the running body 200 reaches the stop position and stops.
  • the stored protruding portion 243 is controlled to protrude outward in the vehicle width direction (see FIG. 53(b)). This achieves engagement and fixation, and the mounting body 300 is attached to the running body 200.
  • the moving body 100 travels with the rear as the first direction, and runs outside from the rear end entrance of the storage facility 500.
  • the storage facility 500 (storage system 400) for the moving body 100 according to the fourth embodiment of the present invention differs from the first embodiment described above in that the power source for the running body 200 and/or the power source 380 for the mounted body 300 can be charged inside the storage facility 500, and information corresponding to the charging status can be displayed externally.
  • the storage system 400 includes a stop position determination unit 283c that determines a stop position inside the storage facility 500, and the storage facility 500 includes a placement unit 560 that is configured to be able to place the detached mounting body 300.
  • the bottom surface 510 in the storage 500 of the first embodiment is configured to face the bottom surface of the vehicle body 260 of the running body 200 when the running body 200 stops at the stopping position. Adding functions to the bottom surface 510 is optional.
  • the placement section 560 in the storage 500 of the first embodiment is configured to support the mounting body 300 from the bottom surface of the base 330 of the mounting body 300 upward in the second direction when the mounting body 300 is placed. Adding functions to the placement section 560 other than supporting the mounting body 300 is optional.
  • the storage facility 500 of the fourth embodiment includes power supply units 570a and 570b, and a display unit 580.
  • the power sources 280 and 380 of the mobile body 100 of the fourth embodiment are both rechargeable batteries (secondary batteries).
  • Power supply unit 570a and power supply unit 570b are configured to be capable of supplying electrical energy for charging to power source 280 of running body 200 and power source 380 of mounted body 300.
  • Display unit 580 is configured to be capable of externally displaying information corresponding to the charging state of power source 280 and power source 380.
  • the fourth embodiment differs from the first embodiment only in these respects, and is the same as the first embodiment in other respects.
  • a power receiving unit 385 is provided on the bottom surface of the base 330 of the mounting body 300.
  • the power receiving unit 385 has a flat plate shape.
  • the lower surface of the power receiving unit 385 is arranged so as to overlap with the upper surface of the power supply unit 570b when the mounting body 300 is arranged in the arrangement section 560.
  • the power receiving unit 385 is electrically connected to the power source 380 of the mounting body 300.
  • the power receiving unit 285 is capable of sending electrical energy for charging to the power source 280.
  • first end 286b and the second end 386b are allowed to flow, and the power source 280 of the running body 200 can send electric energy for driving to the driving units 340a, 340b, 340c, 340d, and 340e of the mounting body 300. Furthermore, the first end 286c and the second end 386c are allowed to flow, and the power source 380 of the mounting body 300 can send electric energy for driving to the running device 270 of the running body 200 (see FIG. 65).
  • electricity can be supplied from the power source 280 of the running body 200 to the mounting body 300 via the first end 286b and the second end 386b, and electricity can be supplied from the power source 380 of the mounting body 300 to the running body 200 via the first end 286c and the second end 386c.
  • electricity can be supplied from the power source 280 of the running body 200 to the mounting body 300 via the first end 286b and the second end 386b, and electricity can be supplied from the power source 380 of the mounting body 300 to the running body 200 via the first end 286c and the second end 386c.
  • only one of the combinations of the first end 286b and the second end 386b, and the first end 286c and the second end 386c may be present.
  • the lift unit 220 supporting the mounting body 300 rises, and the mounting body 300 is detached from the running body 200.
  • the shaft 291 of the transmission unit 290 is removed from the engagement unit 391 of the transmitted unit 390, and the engagement and meshing between the tip of the shaft 291 and the spline gear is released. This also releases the transmission of driving force to the drive units 340a, 340b, 340c, 340d, and 340e.
  • the lift section 220 supporting the mounting body 300 is lowered, and the mounting body 300 is attached to the running body 200.
  • the piping section 292 of the transmitting section 290 fits into the fitting section 391 of the transmitted section 390, and the open end of the piping section 292 overlaps with the open end of the flow path section 392. Oil is allowed to flow between the piping section 292 and the flow path section 392.
  • the lift section 220 supporting the mounting body 300 rises, and the mounting body 300 is detached from the running body 200.
  • the piping section 292 of the transmission section 290 is removed from the fitting section 391 of the transmission receiving section 390, and the flow of oil through the piping section 292 and the flow path section 392 is cut off. This also stops the transmission of pressure to the drive section 340a, the drive section 340b, the drive section 340c, the drive section 340d, and the drive section 340e.
  • the transmission unit 290 may transmit energy to the drive units of the first movable device 310 and the second movable device 320 via electricity or magnetism.
  • the transmission unit 290 may include the first end 286b of the fifth embodiment instead of the shaft 291, and the transmitted unit 390 may include the second end 386b of the fifth embodiment instead of the engagement unit 391 (see FIG. 69 and FIG. 70).
  • the terminals are maintained in a non-contact state. This stops the transmission of electrical energy to the drive units 340a, 340b, 340c, 340d, and 340e.
  • the carrier 300 is attached to the traveling body 200, and an attachment 300 that functions as a backhoe when attached is used as the carrier 300.
  • an attachment 300 that functions as a mobility for carrying people when attached may be used.
  • the attachment 300 includes a housing 350, a seat 351, and a handle 352.
  • the attachment 300 does not include a power source.
  • the housing 350 has a generally rectangular parallelepiped shape. In a plan view, the housing 350 is configured so that its long sides run along the vehicle length direction and its short sides run along the vehicle width direction.
  • the upper side of the housing part 350 is open, and a seat part 351 is provided inside the housing part 350.
  • the seat part 351 is configured so that the inclination of the backrest can be adjusted. Therefore, the occupant can get into the seat part 351 in a seated or lying position.
  • Recesses 353 are formed in the housing part 350 on both sides of the seat part 351 in the vehicle width direction. The occupant can straddle the seat part 351, using the recesses 353 as steps, and place their feet on each recess 353 on both sides to get into the vehicle.
  • a handle 352 is provided on the upper front end of the housing 350. The occupant can grip the handle 352 while driving.
  • a floor 354 is formed between the handle 352 and the seat 351. The occupant can get in while standing, with both feet on the floor 354.
  • the bottom surface of the lower end of the housing 350 faces the mounting surface 210 of the running body 200.
  • the manner of support, lift operation, engagement, and fixation to the bottom surface are the same as those described above.
  • the manner of attachment and detachment of the attachment 300 is the same as those described above.
  • the running body 200 runs together with the attachment 300, allowing the person to move.
  • the moving body 100 functions as a mobility that transports people.
  • an attachment 300 that functions as a movable hot/cold box when attached is used as the mounting body 300.
  • the seventh embodiment differs from the above-described first embodiment in this respect.
  • the attachment 300 is detachable from the running body 200. These points, including the manner in which the mounting body 300 is attached and detached in the storage facility 500, are common to the first and seventh embodiments.
  • an attachment 300 that functions as a backhoe when attached is used as the mounting body 300.
  • the structure of the outer shell of the attachment 300, the positional relationship between the outer shell and the outer end of the vehicle body 260, the storage function, etc. are arbitrary.
  • the attachment 300 has an outer shell 360 and a storage section 361.
  • the outer shell 360 is configured to be located outside the outer end of the vehicle body 260 in a plan view when the attachment 300 is attached.
  • the storage section 361 is configured to be able to store materials inside the outer shell 360.
  • the seventh embodiment differs from the first embodiment in these respects only, and is the same as the first embodiment in other respects.
  • the attachment 300 of this embodiment is configured to have a rectangular parallelepiped housing.
  • the housing has a front wall 360a, a side wall 360b, a rear wall 360c, and a bottom 360d.
  • the bottom 360d has a rectangular plate shape, and is surrounded by the front wall 360a, the side wall 360b, and the rear wall 360c so as to correspond to its four sides.
  • These parts that make up the housing may be made of a heat-insulating material.
  • the bottom 360d is slightly raised across the entire attachment 300.
  • the bottom 360d is used as a boundary to divide the attachment 300 into a lower side and an upper side.
  • the front wall 360a, the side wall 360b, and the rear wall 360c extend downward from the bottom 360d.
  • the underside of the bottom 360d faces the mounting surface 210 at the upper end of the running body 200.
  • An insertion portion 232 is provided on the underside of the bottom 360d at a position corresponding to the lift portion 220 (see FIG. 83). When attaching, the lift portion 220 and the insertion portion 232 are engaged to bring the bottom 360d close to the mounting surface 210. This allows the running body 200 to be fixed to the underside of the attachment 300.
  • the bottom 360d When the attachment 300 is attached, most of the running body 200 is covered by the bottom 360d, the front wall 360a, the side wall 360b, and the rear wall 360c. More specifically, the front and rear ends of the body 260 in the vehicle length direction face the inside of the front wall 360a and the rear wall 360c, respectively. Both ends of the body 260 in the vehicle width direction and both ends of the front and rear running devices 270 face the inside of the side wall 360b on both sides, respectively (see Figure 84).
  • the lower surface of the bottom 360d faces the entire upper surface of the body 260 and the upper sides of the front and rear running devices 270, respectively.
  • the positional relationship between the attachment 300 and the vehicle body 260 is as follows.
  • the front wall portion 360a, the side wall portion 360b, and the rear wall portion 360c are located outside the outer end of the vehicle body 260.
  • the bottom portion 360d is located above the traveling device 270 in the second direction. That is, in this embodiment, the front wall portion 360a, the side wall portion 360b, the rear wall portion 360c, and the bottom portion 360d correspond to the outer shell portion 360.
  • the outer shell 360 By configuring the outer shell 360 in this manner, the running body 200 can be protected as a whole. Because the outer shell 360 itself can also serve as the outside of the attachment 300, there is no need to add separate guards or fenders to the running device 270. This allows the mobile body 100 to have a cohesive design as a whole.
  • the outer shell 360 has a transparent portion 362.
  • the transparent portion 362 is positioned outside the sensor 282 in a plan view when the attachment 300 (mounting body 300) is mounted on the mounting surface 210, and is configured to allow the beam emitted from the sensor 282 to pass outside.
  • the transparent portion 362 is provided on the front wall portion 360a, and its inner side faces the sensor 282 and the front end of the vehicle body 260.
  • the transparent portion 362 may be disposed at the center and lower side in the vehicle width direction with respect to the entire front wall portion 360a.
  • the area that the transparent portion 362 occupies on the front wall portion 360a may be adjusted to be larger than the cross-sectional area of the beam projection shadow of the sensor 282.
  • the material constituting the transparent portion 362 may be any material that allows the beam to pass through, and may be changed depending on the beam intensity and wavelength.
  • the transparent portion 362 may also be a through hole in the front wall portion 360a, and may be transparent when the beam passes through it.
  • the outer shell 360 When the mounting body 300 is attached, the outer shell 360 is positioned so as to cover the upper sides of the front wheels 271 and the rear wheels 272. At this time, the outer shell 360 is positioned outboard of both side ends of the vehicle body 260 in the vehicle width direction in a plan view. Also, in a plan view, the area occupied by the outer shell 360 includes the areas of the front wheels 271 and the rear wheels 272, respectively.
  • the engaging portion 230 includes an outer rail 233 extending along the first direction, and an inner rail 234 configured to be engageable with the inside of the outer rail 233 and engaged while moving in the first direction while being guided by the outer rail 233 when the running body 200 is running (Claim 6).
  • the mounting surface 210 can be a portion of the running body 200 suitable for mounting the mounting body 300.
  • the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200.
  • the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position.
  • the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.
  • the fixing portion 240a includes a protruding portion 241 that protrudes in the second direction or in a third direction opposite to the second direction, and an insertion portion 242 into which the protruding protruding portion 241 can be inserted, and which fixes the mounting body 300 to the running body 200 by being inserted into the protruding portion 241 (Claim 2).
  • the mounting surface 210 can be a portion of the running body 200 suitable for mounting the mounting body 300.
  • the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200.
  • the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position.
  • the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.
  • the detached mounting body 300 can be placed in an appropriate position, for example so that the bottom surface of the mounting body 300 is approximately horizontal, and can also be stored. Furthermore, the mounting body 300 placed in the placement section 560 can be left in that state waiting for the next attachment.
  • the placement section 560 is configured to place the mounting body 300 by supporting the mounting body 300 in the second direction (Claim 2).
  • the mounting body 300 can be stably placed on the placement section 560.
  • the storage facility 500 is equipped with a power supply unit 570a configured to supply electrical energy for charging the batteries provided in either or both of the running body 200 and the mounting body 300 (Claim 4).
  • the storage unit 500 is equipped with a display unit 580 that displays information corresponding to the charging state of the battery to the outside (Claim 5).
  • the storage system 400 for a moving body 100 includes a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being positioned separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and a storage facility 500 for storing the moving body 100, and a stop position determination unit 283c that determines the stopping position of the running body 200 within the storage facility 500 (Claim 1).
  • the mounting surface 210 can be a portion of the running body 200 suitable for mounting the mounting body 300.
  • the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200.
  • the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position.
  • the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.
  • the stopping position determination unit 283c determines the stopping position inside the storage facility 500, so that the running body 200 outside the storage facility 500 can be appropriately guided to the storage facility 500.
  • the storage facility 500 is provided with a detectable part 531 that corresponds to a part whose positional relationship with the stop position is specified, and the stop position determination part 283c determines the stop position based on the detection result of the detectable part 531 (claim 2).
  • the desired stopping position can be determined with high precision based on the detection result of the detectable part 531.
  • the detectable part 531 is detected when the mounting body 300 is detached at a predetermined position inside the storage facility 500, and the stopping position for the next time it is attached can be determined with high precision based on the detection result.
  • the storage system 400 for the moving body 100 is equipped with an automatic driving control unit 283d that automatically drives the moving body 200 so that it stops at the determined stopping position (Claim 3).
  • the storage facility 500 is located above the running body 200 in the second direction and includes a placement section 560 configured to be able to place the detached mounting body 300, and the stop position is located below the placement section 560 and is a position for attaching the mounting body 300 placed on the placement section 560 to the running body 200 to which the mounting body 300 is not attached, and is a position for detaching the mounting body 300 from the running body 200 to which the mounting body 300 is attached and placing it on the placement section 560 (Claim 4).
  • the detached mounting body 300 can be positioned in an appropriate position, for example so that the bottom surface of the mounting body 300 is approximately horizontal, and can also be stored. Furthermore, the mounting body 300 placed in the positioning section 560 can be left in that state waiting for the next attachment. Furthermore, the positioning section 560 of the storage facility 500 can be used to stop the running body 200 at a stop position so that the mounting body 300 can be attached or detached.
  • the storage system 400 for the moving body 100 includes an attachment control unit 283a that performs control to attach the mounting body 300 arranged in the placement unit 560 to the running body 200 to which the mounting body 300 is not attached when the running body 200 is stopped at the stopping position (Claim 5).
  • the mounting body 300 can be automatically attached to the running body 200. In other words, the mounting body 300 can be easily and reliably attached.
  • the storage system 400 for the moving body 100 includes a detachment control unit 283b that performs control to detach the mounting body 300 from the running body 200 to which it is attached and place it in the placement unit 560 when the running body 200 is stopped at the stop position (Claim 6).
  • the mounting body 300 can be automatically detached from the running body 200. In other words, the mounting body 300 can be detached easily and reliably.
  • the storage system 400 for the moving body 100 includes an attachment control unit 283a that controls the attachment of the mounting body 300 placed on the placement unit 560 to the running body 200 to which the mounting body 300 is not attached when the running body 200 is stopped at the stopping position, and a detachment control unit 283b that controls the detachment of the mounting body 300 from the running body 200 to which the mounting body 300 is attached and the placement of the mounting body 300 on the placement unit 560 when the running body 200 is stopped at the stopping position.
  • the mounting body 300 can be automatically attached to the running body 200, and the mounting body 300 can be automatically detached from the running body 200. In other words, both the attachment and detachment of the mounting body 300 can be easily and reliably performed.
  • the storage facility 500 is equipped with a power supply unit 570a configured to supply electrical energy for charging the batteries provided in either or both of the running body 200 and the mounting body 300 (claim 8).
  • the storage unit 500 is equipped with a display unit 580 that displays information corresponding to the charging state of the battery to the outside (Claim 9).
  • the vehicle body 300 is equipped with a power source 380 that is separate from the power source 280 provided in the vehicle body 260 (Claim 10).
  • the on-board body 300 to be equipped with a power source 380 separate from the power source 280 of the vehicle body 260. This allows the mobile body 100 to operate for a longer period of time by the additional power source.
  • the vehicle 200 is equipped with a range sensor or distance sensor (Claim 11).
  • the information obtained by the range sensor or distance sensor can be used, for example, to control the running object 200.
  • the vehicle 200 is equipped with a camera that captures images of the outside of the vehicle (Claim 12).
  • the information obtained by the camera can be transmitted to an external terminal, for example, and the image can be displayed on that terminal.
  • the running body 200 includes a vehicle body 260 on which the mounting surface 210 is provided, and running devices 270 arranged at both ends of the vehicle body 260 in the vehicle width direction to support the vehicle body 260 and configured to be capable of running in all directions in a plan view (Claim 13).
  • the running devices 270 are arranged at the front and rear of the vehicle body 260 in the vehicle length direction, and are capable of running by being driven to rotate. They each have a wheel axis that defines the center of rotation, and a tire that has a solid portion and is configured to rotate integrally with the wheel when in contact with the ground (Claim 14).
  • the running device 270 can be configured as, for example, a Mecanum wheel, and the unique running characteristics of the Mecanum wheel can be utilized in the operation of the moving body 100.
  • the wheel is driven to rotate based on the power of a motor, and the motor and/or electrical equipment related to the driving of the motor are provided (Claim 15).
  • the wheel to be configured as, for example, an in-wheel motor, and increases the space available in the vehicle body 260 to accommodate the power source 280, etc.
  • the traveling device 270 is arranged so as to be detachable from the vehicle body 260, and the vehicle body 260 is configured so that when the attached traveling device 270 is detached, a traveling device 270 of a different configuration from the detached one can be attached (Claim 16).
  • the mobile body 100 is capable of traveling in a first direction and has a mounting surface 210 facing a second direction facing upward relative to the first direction, and is equipped with a running body 200 having a first electrical device and a first end 286 electrically connected to the first electrical device, and a mounting body 300 that is configured to be detachable from the mounting surface 210 and moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and is arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and has a second electrical device and a second end 386 that is electrically connected to the second electrical device and allows electricity to flow without contacting the first end (Claim 1).
  • the mounting surface 210 can be a portion of the running body 200 suitable for mounting the mounting body 300.
  • the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200.
  • the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position.
  • the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.
  • the mounting body 300 when the mounting body 300 is attached, it is possible to supply electrical energy from the running body 200 to the mounting body 300 (or from the mounting body 300 to the running body 200), send control signals, send sensor signals, etc., via the first end 286 and the second end 386. Therefore, the power source 280, the control device 283, the sensor 282, etc. can be mounted on either the running body 200 or the mounting body 300. Also, for example, the power source 280 and the power source 380 can be mounted on both the running body 200 and the mounting body 300, and the power supply from each of the power sources 280 and the power source 380 can be shared. This greatly expands the variety of electrical equipment that can be mounted and how it can be used.
  • first end 286 and the second end 386 allow electrical current to flow without contacting each other, precise alignment is not required compared to, for example, when contact-type electrodes or terminals are used. Therefore, electrical current can be easily passed between the running body 200 and the mounting body 300.
  • the second end 386 is allowed to pass electricity without contact with the first end 286, thereby achieving an electrical connection between the first and second electrical devices (Claim 2).
  • the second end 386 allows non-contact current to flow with the first end 286, achieving electrical connection between the first and second electrical devices, and when the mounting body 300 is detached from the mounting surface 210, non-contact current to the first end 286 is restricted, releasing the electrical connection between the first and second electrical devices (Claim 3).
  • One of the first electrical device and the second electrical device is a power source 280/power source 380, and the other is configured to consume power supplied from the power source 280/power source 380, and the first end 286 and the second end 386 are configured to allow current to flow via magnetism (Claim 4).
  • the first electrical device of the traveling body 200 is the power source 280
  • the mounted body 300 is equipped with a first movable device 310 and a second movable device 320
  • the second electrical device of the mounted body 300 is a drive unit 340 that consumes power supply to generate power and drives the first movable device 310 and the second movable device 320 (Claim 5).

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Abstract

The present invention is a mobile body comprising a traveling body and a mounting body attachable to and detachable from the traveling body, wherein both the attaching of the mounting body and the detaching of the mounting body are appropriately executed. This mobile body 100 comprises: a traveling body 200 which can travel in a first direction and includes a mounting surface 210 directed in a second direction facing upward with respect to the first direction; and a mounting body 300 which is configured to be attachable to and detachable from the mounting surface 210, moves integrally with the traveling body 200 when attached to the mounting surface 210 and mounted on the traveling body 200, and is arranged separately from the traveling body 200 when detached from the mounting surface 210 and not mounted on the traveling body 200.

Description

移動体、移動体の保管庫、及び、移動体の保管システムMOBILE BODY, MOBILE BODY STORAGE, AND MOBILE BODY STORAGE SYSTEM

　本発明は、移動体、移動体の保管庫、及び、移動体の保管システムに関する。 The present invention relates to a mobile object, a storage facility for a mobile object, and a storage system for a mobile object.

　従来、走行面を走行する走行体と、走行体に搭載される搭載体と、を備えた移動体が知られている。搭載体は、走行体に装着可能であり、装着された搭載体は、走行体から脱離可能となっている。移動体の活用場面に応じて、走行体には、様々な態様の搭載体を、適宜付け替えることができる。この種の移動体の一例は、下記非特許文献１に開示されている。 　Conventionally, a moving body is known that includes a running body that runs on a running surface and a mounting body that is mounted on the running body. The mounting body can be attached to the running body, and the mounted body can be detached from the running body. Depending on the application of the moving body, various types of mounting bodies can be attached to the running body as appropriate. An example of this type of moving body is disclosed in Non-Patent Document 1 below.

Honda Unveils 3E-D18 Robotic Workhorse at CES 2018, YouTube [online][video], 2018年1月11日配信, [2023年4月4日検索], 主に1:20～1:43を参照, URL, https://www.youtube.com/watch?v=PuGoP_eCXZkHonda Unveils 3E-D18 Robotic Workhorse at CES 2018, YouTube [online][video], Posted on January 11, 2018, [Retrieved April 4, 2023], See mainly 1:20 to 1:43, URL, https://www.youtube.com/watch?v=PuGoP_eCXZk

　ところで、上述の移動体においては、搭載体を走行体に装着するコンセプトを確認できるものの、搭載体の車両への装着時の、車両における搭載体の装着部位や装着方法等、具体的な装着の態様は不明である。さらに、装着前の搭載体を、何処から、どの様に走行体まで移動させて来るか等、装着前における搭載体の処置も不明である。このため、搭載体を走行体に適切に装着させているとは、言えない。 Incidentally, in the above-mentioned moving body, although the concept of attaching the mount to the running body can be confirmed, the specific manner of attachment, such as the mounting location on the vehicle and the mounting method, when the mount is attached to the vehicle, is unclear. Furthermore, the treatment of the mount before attachment, such as where and how it is moved to the running body before attachment, is also unclear. For this reason, it cannot be said that the mount is properly attached to the running body.

　また、上述の移動体においては、搭載体を車両から脱離させるコンセプトを確認できるものの、搭載体の車両からの脱離時における脱離方法等、具体的な脱離の態様は不明である。さらに、脱離後の搭載体を、車両から何処まで、どの様に移動させて行くか等、脱離後における搭載体の処置も不明である。このため、搭載体を走行体から適切に脱離させているとは、言えない。以上のことから、この種の移動体において、搭載体の装着、及び、搭載体の脱離の両方を、適切に実行する点で、改善の余地があると言える。 In addition, although the concept of detaching the mount from the vehicle can be confirmed for the above-mentioned mobile body, the specific manner of detachment, such as the method of detaching the mount from the vehicle, is unclear. Furthermore, it is also unclear what to do with the mount after detachment, such as how far it will be moved from the vehicle and how. For this reason, it cannot be said that the mount is properly detached from the traveling body. For the above reasons, it can be said that there is room for improvement in properly performing both the attachment and detachment of the mount in this type of mobile body.

　上記を鑑み、本発明の目的は、走行体と、走行体に着脱可能な搭載体と、を備えた移動体において、搭載体の装着、及び、搭載体の脱離の両方を、適切に実行できるものを、提供することにある。 In view of the above, the object of the present invention is to provide a moving body that includes a running body and a mounting body that can be attached to and detached from the running body, and that can properly perform both the attachment and detachment of the mounting body.

　この技術的課題を解決するための本発明の技術的手段は、以下に示す点を特徴とする。本発明の移動体は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面を備えた走行体と、前記搭載面に対して着脱可能に構成され、前記搭載面に装着され前記走行体に搭載されている場合には前記走行体と一体的に移動し、前記搭載面から脱離され前記走行体に搭載されていない場合には前記走行体とは別体的に配置される搭載体であって、前記搭載面に対して着脱可能な基部、及び、長尺状に構成され、前記基部に対し相対回転可能となるよう一端が前記基部に支持されて、前記基部から前記第１方向に向かって伸長する他端にて作業可能となっており、収容される場合には、前記一端を支点として前記基部に近づくように相対回転する第１可動具を有する搭載体と、を備えている。 The technical means of the present invention for solving this technical problem is characterized by the following points. The mobile body of the present invention comprises a running body capable of running in a first direction and having a mounting surface facing a second direction facing upward with respect to the first direction, and a mounting body configured to be detachable from the mounting surface, which moves integrally with the running body when attached to the mounting surface and mounted on the running body, and which is disposed separately from the running body when detached from the mounting surface and not mounted on the running body, the mounting body having a base detachable from the mounting surface, and a mounting body configured in an elongated shape, one end of which is supported by the base so as to be rotatable relative to the base, the other end of which extends from the base in the first direction and is operable, and which, when stored, has a first movable tool that rotates relatively to the base with the one end as a fulcrum so as to approach the base.

　本発明の移動体において、前記搭載体は、前記一端を支点として、前記第１可動具を前記第１方向と反対側に引張ることで、前記第１可動具を前記基部に近づくように相対回転させる第１駆動部を有する。 In the moving body of the present invention, the mounting body has a first drive unit that rotates the first movable device relatively closer to the base by pulling the first movable device in the direction opposite to the first direction, using the one end as a fulcrum.

　本発明の移動体において、前記搭載体は、板状に構成され、前記基部に対し相対移動可能となるよう前記基部に支持されて、前記走行体よりも前側に配置されて前記第１方向に向かう面にて作業する第２可動具を有する。 In the mobile body of the present invention, the mounting body is configured in a plate shape, is supported on the base so as to be movable relative to the base, and has a second movable tool that is positioned forward of the running body and works on a surface facing the first direction.

　本発明の移動体において、前記搭載体は、前記第２可動具よりも前記第２方向における上側に設けられ、自身が駆動することで、前記第２可動具を相対移動させる第２駆動部を有する。 In the moving body of the present invention, the mounting body is provided above the second movable device in the second direction and has a second drive unit that drives the mounting body itself to move the second movable device relative to the mounting body.

　本発明の移動体において、前記第２可動具は、前記搭載体が前記走行体に装着されている状態において、前記第１可動具による作業が実行されるときに、前記走行体の接地面へ接地可能に構成されている。
　本発明の移動体は、走行体と、前記走行体に搭載されている場合には前記走行体と一体的に移動し、前記走行体から脱離された場合には前記走行体とは別体的に配置可能な搭載体と、を備え、前記搭載体は、前記走行体に対して着脱可能な基部、及び、長尺状に構成され、前記基部に対し相対回転可能となるよう一端が前記基部に支持されて、前記基部から前記走行体の前後方向に向かって伸長する他端にて作業可能となっており、収容される場合には、前記一端を支点として前記基部に近づくように相対回転する第１可動具を含んでいる。
　前記搭載体は、板状に構成され、前記基部に対し相対移動可能となるよう前記基部に支持されて、前記走行体よりも前側に配置されて前記前後方向に向かう面にて作業する第２可動具を有する。 In the moving body of the present invention, the second movable device is configured to be able to make contact with the ground surface of the running body when work is performed by the first movable device while the mounted body is attached to the running body.
The movable body of the present invention comprises a running body, and a mounting body that moves integrally with the running body when mounted on the running body and that can be positioned separately from the running body when detached from the running body, and the mounting body includes a base that can be attached and detached to the running body, and a first movable device that is configured in an elongated shape, has one end supported on the base so as to be rotatable relative to the base, and is capable of working at the other end extending from the base in the fore-and-aft direction of the running body, and when stored, rotates relatively to the base with the one end as a fulcrum so as to approach the base.
The mounting body is configured in a plate shape, is supported on the base so as to be movable relative to the base, and has a second movable tool that is positioned forward of the running body and works on a surface facing in the fore-and-aft direction.

　本発明によれば、走行体と、走行体に着脱可能な搭載体と、を備えた移動体において、搭載体の装着、及び、搭載体の脱離の両方を、適切に実行できる。 According to the present invention, in a moving body that includes a running body and a mounting body that can be attached to and detached from the running body, both the mounting body can be properly attached and detached.

本発明の第１実施形態に係る移動体の斜視図である。1 is a perspective view of a moving body according to a first embodiment of the present invention; 図１に示す移動体の斜視図である。FIG. 2 is a perspective view of the moving body shown in FIG. 1 . 図１に示す移動体の斜視図である。FIG. 2 is a perspective view of the moving body shown in FIG. 1 . 図１に示す移動体の斜視図である。FIG. 2 is a perspective view of the moving body shown in FIG. 1 . 図１に示す移動体が備える走行体の側面図である。2 is a side view of a running body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える走行体の平面図である。2 is a plan view of a running body provided in the moving body shown in FIG. 1 . 図１に示す移動体が備える走行体の背面図である。2 is a rear view of a running body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える走行体の正面図である。2 is a front view of a running body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備えるリフト部、係合部、固定部、支持部の斜視図である。2 is a perspective view of a lift portion, an engagement portion, a fixing portion, and a support portion provided in the movable body shown in FIG. 1 . 図１に示す移動体が備えるリフト部が上昇し、搭載体を支持しつつ上方へ移動させる様子を示す断面図である。2 is a cross-sectional view showing a state in which a lift section of the moving body shown in FIG. 1 rises and moves a mounting body upward while supporting it. 図１に示す移動体が備えるリフト部が下降し、搭載体を支持しつつ下方へ移動させる様子を示す断面図である。2 is a cross-sectional view showing a state in which a lift unit included in the moving body shown in FIG. 1 descends and supports a mounting body while moving it downward. 図１に示す移動体が備える各要素の機能ブロック図である。2 is a functional block diagram of each element of the moving body shown in FIG. 1 . 図１に示す移動体が備える搭載体の側面図である。2 is a side view of a mounting body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える搭載体の平面図である。2 is a plan view of a mounting body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える搭載体の底面図である。2 is a bottom view of a mounting body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える搭載体の正面図である。2 is a front view of a mounting body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える搭載体の背面図である。2 is a rear view of a mounting body provided on the moving body shown in FIG. 1 . 図１に示す移動体が備える搭載体が収容姿勢をとった状態の搭載体の側面図である。2 is a side view of a mounted body provided on the moving body shown in FIG. 1 in a stored position. 図１に示す移動体の側面図である。FIG. 2 is a side view of the moving body shown in FIG. 本発明の第１実施形態に係る移動体を保管するための保管庫を備えた保管システムの斜視図である。1 is a perspective view of a storage system including a storage unit for storing a moving object according to a first embodiment of the present invention. 図２０に示す保管庫の背面図である。FIG. 21 is a rear view of the storage unit shown in FIG. 20. 図２０に示す保管庫に移動体が保管されている状態の保管庫の背面図である。21 is a rear view of the storage unit shown in FIG. 20 in which a moving object is stored. FIG. 図２０に示す保管庫に走行体が保管されている状態の保管庫の背面図である。21 is a rear view of the storage unit shown in FIG. 20 in which the traveling body is stored. FIG. 図２０に示す保管庫に走行体が保管されている状態の保管庫内部における斜視図である。21 is a perspective view of the inside of the storage facility shown in FIG. 20 in a state in which a traveling body is stored in the storage facility. 図２０に示す保管庫に搭載体が保管されている状態の保管庫の背面図である。21 is a rear view of the storage unit shown in FIG. 20 in a state in which the mount is stored in the storage unit. FIG. 図２０に示す保管庫に搭載体が保管されている状態の保管庫内部における斜視図である。21 is a perspective view of the inside of the storage unit shown in FIG. 20 in a state in which the mounted body is stored in the storage unit. 図２０に示す保管庫における被検知部と走行体の停止位置との関係を示す側面図である。21 is a side view showing the relationship between the detected part and the stop position of the moving body in the storage shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for detaching the mounted body of the moving body from the traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫に搭載体が保管されている状態の保管庫内部における斜視図である。21 is a perspective view of the inside of the storage unit shown in FIG. 20 in a state in which the mounted body is stored in the storage unit. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるためのプロセスを説明するための図である。21 is a diagram for explaining a process for attaching a mounted body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体から脱離させるための一連の作動を示すフローチャートである。21 is a flowchart showing a series of operations for detaching a mounted body of a moving body from a traveling body in the storage facility shown in FIG. 20. 図２０に示す保管庫にて、移動体が備える搭載体を、走行体に装着させるための一連の作動を示すフローチャートである。21 is a flowchart showing a series of operations for mounting a mounting body provided on a moving body to a traveling body in the storage facility shown in FIG. 20. 本発明の第１実施形態の変形例に係る移動体が備える係合部の斜視図である。FIG. 11 is a perspective view of an engagement portion provided on a moving body according to a modified example of the first embodiment of the present invention. 本発明の第１実施形態の変形例に係る移動体が備える係合部の突出部位が回転し、嵌入部位と螺合することで上方・下方へ移動させる様子を示す断面図である。13 is a cross-sectional view showing how a protruding portion of an engagement portion provided on a movable body according to a modified example of the first embodiment of the present invention rotates and is screwed into a fitting portion to move the movable body upward and downward. FIG. 本発明の第１実施形態の変形例に係る移動体が備える走行体の平面図である。FIG. 11 is a plan view of a running body provided on a moving body according to a modified example of the first embodiment of the present invention. 本発明の第２実施形態に係る移動体が備える係合部の斜視図である。FIG. 11 is a perspective view of an engagement portion provided on a moving body according to a second embodiment of the present invention. 本発明の第２実施形態に係る移動体を保管する保管庫にて、移動体が備える搭載体を、走行体に装着させる状態の保管庫内部における斜視図である。11 is an oblique view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in which a mounting body of the moving body is attached to a traveling body. FIG. 本発明の第２実施形態に係る移動体を保管する保管庫にて、移動体が備える搭載体を、走行体に装着させる状態の保管庫内部における斜視図である。11 is an oblique view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in which a mounting body of the moving body is attached to a traveling body. FIG. 本発明の第２実施形態に係る移動体を保管する保管庫にて、移動体が備える搭載体を、走行体に装着させる状態の保管庫内部における斜視図である。11 is an oblique view of the inside of a storage facility for storing a moving body according to a second embodiment of the present invention, in which a mounting body of the moving body is attached to a traveling body. FIG. 本発明の第２実施形態の変形例に係る移動体が備える係合部の斜視図である。FIG. 11 is a perspective view of an engagement portion provided on a moving body according to a modified example of the second embodiment of the present invention. 本発明の第３実施形態に係る移動体が備える係合部、固定部の斜視図である。FIG. 13 is a perspective view of an engagement portion and a fixing portion provided on a movable body according to a third embodiment of the present invention. 本発明の第３実施形態に係る移動体が備える固定部における固定前後の状態を示す斜視図である。13A and 13B are perspective views showing states before and after fixing at a fixing portion provided on a moving body according to a third embodiment of the present invention. 本発明の第４実施形態に係る移動体を保管するための保管庫内部における斜視図である。FIG. 13 is a perspective view of the inside of a storage facility for storing movable bodies according to a fourth embodiment of the present invention. 本発明の第４実施形態に係る移動体の斜視図である。FIG. 11 is a perspective view of a moving body according to a fourth embodiment of the present invention. 本発明の第４実施形態に係る移動体を保管するための保管庫を備えた保管システムの斜視図である。13 is a perspective view of a storage system including a storage unit for storing movable objects according to a fourth embodiment of the present invention. FIG. 本発明の第４実施形態に係る移動体を保管するための保管庫を備えた保管システムが備える各要素の機能ブロック図である。A functional block diagram of each element of a storage system including a storage facility for storing moving objects in accordance with a fourth embodiment of the present invention. 本発明の第４実施形態に係る移動体を保管するための保管庫にて、移動体が備える搭載体及び走行体に、それぞれ充電ためのプロセスを説明するための図である。13 is a diagram for explaining a process for charging the mounted body and the traveling body of a moving body in a storage facility for storing the moving body according to the fourth embodiment of the present invention. FIG. 本発明の第４実施形態に係る移動体を保管するための保管庫にて、移動体が備える搭載体及び走行体に、それぞれ充電ためのプロセスを説明するための図である。13 is a diagram for explaining a process for charging the mounted body and the traveling body of a moving body in a storage facility for storing the moving body according to the fourth embodiment of the present invention. FIG. 本発明の第４実施形態に係る移動体を保管するための保管庫にて、移動体が備える搭載体及び走行体に、それぞれ充電ためのプロセスを説明するための図である。13 is a diagram for explaining a process for charging the mounted body and the traveling body of a moving body in a storage facility for storing the moving body according to the fourth embodiment of the present invention. FIG. 本発明の第５実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える走行体の平面図である。FIG. 13 is a plan view of a running body provided on a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える搭載体の底面図である。FIG. 13 is a bottom view of a mounting body provided on a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える各要素の機能ブロック図である。FIG. 13 is a functional block diagram of each element of a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える第１端部及び第２端部を、接続するためのプロセスを説明するための図である。13A to 13C are diagrams for explaining a process for connecting a first end and a second end of a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える第１端部及び第２端部を、接続するためのプロセスを説明するための図である。13A to 13C are diagrams for explaining a process for connecting a first end and a second end of a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える第１端部及び第２端部を、接続するためのプロセスを説明するための図である。13A to 13C are diagrams for explaining a process for connecting a first end and a second end of a moving body according to a fifth embodiment of the present invention. 本発明の第５実施形態に係る移動体が備える第１端部及び第２端部が、それぞれ接触式の端子であり、端子にて電気的接続がなされる状態を示す断面図である。13 is a cross-sectional view showing a state in which a first end and a second end of a moving body according to a fifth embodiment of the present invention are contact-type terminals and an electrical connection is made at the terminals. FIG. 本発明の第５実施形態に係る移動体が備える第１端部及び第２端部が、それぞれ非接触式のコイルであり、コイルにて電気的接続がなされる状態を示す断面図である。13 is a cross-sectional view showing a state in which a first end and a second end of a moving body according to a fifth embodiment of the present invention are non-contact coils and electrical connection is made by the coils. FIG. 本発明の第５実施形態に係る移動体が備える走行体の電源及び搭載体の電源における、それぞれのバッテリ残量の経時変化を示すタイムチャートである。13 is a time chart showing the change over time in the remaining battery charge of the power source of the traveling body and the power source of the mounted body provided in the moving body according to the fifth embodiment of the present invention. 本発明の第６実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a sixth embodiment of the present invention. 本発明の第６実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a sixth embodiment of the present invention. 本発明の第６実施形態に係る移動体が備える各要素の機能ブロック図である。FIG. 13 is a functional block diagram of each element of a moving body according to a sixth embodiment of the present invention. 本発明の第６実施形態に係る移動体が備える伝達部及び被伝達部にて、機構により伝達がなされる状態を示す断面図である。13 is a cross-sectional view showing a state in which transmission is performed by a mechanism at a transmitting part and a transmitted part included in a moving body according to a sixth embodiment of the present invention. FIG. 本発明の第６実施形態の変形例に係る移動体が備える伝達部及び被伝達部にて、流体により伝達がなされる状態を示す断面図である。13 is a cross-sectional view showing a state in which transmission is performed by a fluid in a transmitting portion and a transmitted portion included in a moving body according to a modified example of the sixth embodiment of the present invention. FIG. 本発明の第６実施形態の変形例に係る移動体が備える各要素の機能ブロック図である。FIG. 23 is a functional block diagram of each element provided in a moving body according to a modified example of the sixth embodiment of the present invention. 本発明の第６実施形態の変形例に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a modified example of the sixth embodiment of the present invention. 本発明の第６実施形態の変形例に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a modified example of the sixth embodiment of the present invention. 本発明の第７実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention. 本発明の第７実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention. 本発明の第７実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention. 本発明の第７実施形態に係る移動体の斜視図である。FIG. 13 is a perspective view of a moving body according to a seventh embodiment of the present invention. 本発明の第７実施形態に係る移動体が備える走行体及び外郭部の平面図である。13 is a plan view of a running body and an outer shell portion of a moving body according to a seventh embodiment of the present invention. FIG. 本発明の第７実施形態に係る移動体の正面図である。FIG. 13 is a front view of a moving body according to a seventh embodiment of the present invention. 本発明の第７実施形態に係る移動体が備える各要素の機能ブロック図である。FIG. 13 is a functional block diagram of each element of a moving body according to a seventh embodiment of the present invention. 本発明の第７実施形態の変形例に係る移動体が備える外郭部の斜視図である。13 is a perspective view of an outer shell part of a moving body according to a modified example of the seventh embodiment of the present invention. FIG. 本発明の第７実施形態の変形例に係る移動体の平面図である。FIG. 23 is a plan view of a moving body according to a modified example of the seventh embodiment of the present invention. 本発明の実施形態の変形例に係る移動体における作動の一例を説明するための図である。13A to 13C are diagrams for explaining an example of an operation of a moving body according to a modified example of an embodiment of the present invention. 本発明の実施形態の変形例に係る移動体における作動の一例を説明するための図である。13A to 13C are diagrams for explaining an example of an operation of a moving body according to a modified example of an embodiment of the present invention.

　以下、本発明の各実施形態を図面に基づいて説明する。 Each embodiment of the present invention will be described below with reference to the drawings.

［第１実施形態］
　本発明の第１実施形態の説明としては、移動体１００、走行体２００、搭載体３００、保管システム４００（保管庫５００）の順に、それぞれの詳細を説明していく。 [First embodiment]
In describing the first embodiment of the present invention, the details of each of the moving body 100, the traveling body 200, the mounting body 300, and the storage system 400 (storage facility 500) will be described in that order.

＜移動体＞
　図１、図２、図３、及び、図４に示すように、本発明の第１実施形態に係る移動体１００は、走行体２００と、搭載体３００（以下、「アタッチメント３００」と称呼する場合もある。）とを、備えている。 <Mobile>
As shown in Figures 1, 2, 3, and 4, a moving body 100 according to a first embodiment of the present invention includes a running body 200 and a mounting body 300 (hereinafter, sometimes referred to as an "attachment 300").

　本実施形態における方向において、上方・下方、左方・右方、前方・後方は、各図面に適宜示される矢印の上・下、左・右、前・後の各方向に対応している。 In the present embodiment, the directions up/down, left/right, front/rear correspond to the directions of the arrows up/down, left/right, front/rear as shown appropriately in each drawing.

　走行体２００は、第１方向に走行可能である。ここにおいて、「第１方向」は、前方・後方、左方・右方、前斜左方・前斜右方、後斜左方・後斜右方の何れかであって、水平方向に相当している。前斜左方・前斜右方、後斜左方・後斜右方の斜角は、それぞれ任意である。 The running body 200 can run in a first direction. Here, the "first direction" is either forward/backward, left/right, front diagonal left/front diagonal right, or rear diagonal left/rear diagonal right, and corresponds to the horizontal direction. The oblique angles of the front diagonal left/front diagonal right, and rear diagonal left/rear diagonal right are each arbitrary.

　また、「第１方向」は、走行面に平行な方向にも対応している。即ち、走行体２００は、走行面に沿って、全方向に走行可能となっている。この全方向の走行は、走行装置２７０により可能となっており、走行装置２７０の構成については、後に詳述する。 The "first direction" also corresponds to a direction parallel to the traveling surface. In other words, the traveling body 200 can travel in all directions along the traveling surface. This omnidirectional travel is made possible by the traveling device 270, the configuration of which will be described in detail later.

　走行体２００は、第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えている。搭載面２１０は、走行体２００の上面に含まれている。ここにおいて、「第２方向」は、上方に相当している。また、「第２方向」は、走行面から離間する鉛直方向にも対応している。 The running body 200 has a mounting surface 210 facing a second direction that faces upward with respect to the first direction. The mounting surface 210 is included on the upper surface of the running body 200. Here, the "second direction" corresponds to the upward direction. The "second direction" also corresponds to the vertical direction away from the running surface.

　また、第２方向と反対の第３方向も規定される。ここにおいて、「第３方向」は下方に相当し、走行面へ近接する鉛直方向にも対応している。また、第１方向及び第２方向のそれぞれに直行する第４方向も規定される。ここにおいて、「第４方向」は、水平方向に相当し、走行面に平行な方向にも対応している。例えば、第１方向が前方である場合、第４方向は左方又は右方となる。 A third direction opposite to the second direction is also defined. Here, the "third direction" corresponds to the downward direction, and also corresponds to the vertical direction approaching the driving surface. A fourth direction perpendicular to each of the first and second directions is also defined. Here, the "fourth direction" corresponds to the horizontal direction, and also corresponds to the direction parallel to the driving surface. For example, if the first direction is forward, the fourth direction is to the left or right.

　搭載体３００は、走行体２００の搭載面２１０に対して、着脱可能に構成されている。搭載体３００が脱離している状態において（例えば、図３、及び、図４を参照）、先ず、第２方向に向かう搭載面２１０に、第３方向に向かう搭載体３００の底面を対向させる。そして、両面を相対的に近接させていくことで、搭載体３００を搭載面２１０に装着可能となっている。 The mounting body 300 is configured to be detachable from the mounting surface 210 of the running body 200. When the mounting body 300 is detached (see, for example, Figures 3 and 4), first, the bottom surface of the mounting body 300 facing the third direction is opposed to the mounting surface 210 facing the second direction. Then, by bringing both surfaces relatively close to each other, the mounting body 300 can be attached to the mounting surface 210.

　より具体的には、搭載体３００が、搭載面２１０よりも上側に配置されている場合、両面が対向するよう、走行体２００を搭載体３００の配置位置まで走行させる。そして、両面を対向させた状態で、搭載体３００を第３方向に移動させることで、装着が達成されてもよい。搭載体３００は、搭載面２１０に装着されて走行体２００に搭載されている場合には、走行体２００と一体的に移動する。 More specifically, when the mounting body 300 is disposed above the mounting surface 210, the running body 200 is caused to run to the mounting body 300's position so that both sides face each other. Then, with both sides facing each other, the mounting body 300 may be moved in the third direction to achieve attachment. When the mounting body 300 is attached to the mounting surface 210 and mounted on the running body 200, it moves integrally with the running body 200.

　他方、搭載体３００が装着されている状態において（例えば、図１、及び、図２を参照）、搭載面２１０から搭載体３００の下面を相対的に離間させていくことで、搭載体３００を搭載面２１０から脱離可能となっている。 On the other hand, when the mounting body 300 is attached (see, for example, Figures 1 and 2), the underside of the mounting body 300 can be moved relatively away from the mounting surface 210, thereby making it possible to detach the mounting body 300 from the mounting surface 210.

　より具体的には、両面を対向させた状態で、走行体２００から搭載体３００を第２方向に移動させる。そして、搭載体３００を、搭載面２１０よりも上側に配置させて、走行体２００を搭載体３００の配置位置から走行させることで、脱離が達成されてもよい。搭載体３００は、搭載面２１０から脱離され走行体２００に搭載されていない場合には、走行体２００とは別体的に配置される。 More specifically, with both surfaces facing each other, the mounting body 300 is moved in the second direction from the running body 200. The mounting body 300 may then be positioned above the mounting surface 210, and the running body 200 may be caused to run from the position where the mounting body 300 was positioned, thereby achieving detachment. When the mounting body 300 is detached from the mounting surface 210 and is no longer mounted on the running body 200, it is positioned separately from the running body 200.

　着脱の制御は、移動体１００が備える装着制御部２８３ａ、及び、脱離制御部２８３ｂにより実行される（例えば、図１２を参照）。なお、着脱の制御や作動、脱離させた搭載体３００の保管庫５００における配置等については、後に詳述する。 The control of attachment and detachment is performed by an attachment control unit 283a and a detachment control unit 283b provided in the moving body 100 (see, for example, FIG. 12). The control and operation of attachment and detachment, and the placement of the detached mounting body 300 in the storage facility 500 will be described in detail later.

　走行体２００に装着される搭載体３００は、いわゆるアタッチメント３００であって、装着・脱離されるものが同一であってもよい。また、装着されている一態様のアタッチメント３００を脱離させた後に、異なる態様のアタッチメント３００が装着されるようになっていてもよい。即ち、複数の態様の異なるアタッチメント３００を、一態様の走行体２００に対し、場面に応じて付け替えるようにしてもよい。アタッチメント３００は、走行体２００に装着されたとき、農作業、建設作業、運搬作業などの、各種作業を実行可能となるよう構成されてもよいし、乗用のモビリティとなるよう構成されてもよく、その態様は任意である。例えば、アタッチメント３００の態様を農作業に対応させる場合、芝刈り、播種、散布、畝立などが実行可能なよう、アタッチメント３００が構成されてもよい。 The mounting body 300 attached to the running body 200 is a so-called attachment 300, and the one that is attached and detached may be the same. Also, after one type of attached attachment 300 is detached, a different type of attachment 300 may be attached. That is, a plurality of different types of attachments 300 may be attached to one type of running body 200 depending on the situation. When attached to the running body 200, the attachment 300 may be configured to be capable of performing various tasks such as agricultural work, construction work, and transportation work, or may be configured to be a riding mobility, and the type is arbitrary. For example, when the type of the attachment 300 is adapted to agricultural work, the attachment 300 may be configured to be capable of performing lawn mowing, sowing, scattering, ridge making, etc.

　本実施形態では、搭載体３００としては、装着時にバックホーとして機能するアタッチメント３００が用いられるものとして、説明する。本実施形態では、装着・脱離されるアタッチメント３００が、同一のものであるとして、説明する。なお、搭載体３００の態様や着脱作動については、後に詳細する。 In this embodiment, the mounting body 300 is described as an attachment 300 that functions as a backhoe when attached. In this embodiment, the mounting body 300 is described as being the same attachment 300 that is attached and detached. The configuration of the mounting body 300 and the attachment and detachment operation will be described in detail later.

　また、移動体１００は、リフト部２２０と、係合部２３０と、固定部２４０ａ・固定部２４０ｂと、支持部２５０と、を備えている。リフト部２２０は、搭載体３００を支持しつつ、搭載面２１０に対し第２方向又は第３方向へ搭載体３００を移動可能に構成されている。本実施形態においては、リフト部２２０は、走行体２００側に設けられているが、走行体２００及び搭載体３００のうち、何れか一方に設けられるようにしてもよい（例えば、図３を参照）。 The moving body 100 also includes a lift section 220, an engagement section 230, a fixing section 240a, a fixing section 240b, and a support section 250. The lift section 220 is configured to support the mounting body 300 and to be able to move the mounting body 300 in a second direction or a third direction relative to the mounting surface 210. In this embodiment, the lift section 220 is provided on the running body 200 side, but may be provided on either the running body 200 or the mounting body 300 (see FIG. 3, for example).

　係合部２３０は、走行体２００及び搭載体３００を互いに係合可能に構成され、係合して搭載体３００が装着され、係合が解除されることで搭載体３００が脱離するようになっている。係合部２３０は、突出部位２３１と、嵌入部位２３２とを備えている。嵌入部位２３２は、突出する突出部位２３１が嵌入可能に構成され、突出部位２３１に嵌入されることで係合するようになっている。 The engaging portion 230 is configured so that the running body 200 and the mounting body 300 can be engaged with each other, and is adapted to attach the mounting body 300 by engaging with it, and to detach the mounting body 300 by disengaging it. The engaging portion 230 has a protruding portion 231 and an insertion portion 232. The insertion portion 232 is configured so that the protruding protruding portion 231 can be inserted into it, and is adapted to engage with it by being inserted into the protruding portion 231.

　本実施形態においては、係合部２３０は、リフト部２２０に対応する箇所に設けられている。リフト部２２０は、突出部位２３１に相当しており、嵌入部位２３２に向けて突出している。突出部位２３１（リフト部２２０）に嵌入される嵌入部位２３２は、搭載体３００側に設けられているが、走行体２００及び搭載体３００のうち、何れか他方に設けられるようにしてもよい（例えば、図４を参照）。また、これに代えて、係合部２３０は、リフト部２２０とは独立して配置されていてもよい。 In this embodiment, the engagement portion 230 is provided at a location corresponding to the lift portion 220. The lift portion 220 corresponds to the protruding portion 231, and protrudes toward the fitting portion 232. The fitting portion 232 that fits into the protruding portion 231 (lift portion 220) is provided on the mounting body 300 side, but may be provided on the other of the running body 200 and the mounting body 300 (see, for example, FIG. 4). Alternatively, the engagement portion 230 may be disposed independently of the lift portion 220.

　固定部２４０ａ・固定部２４０ｂは、搭載体３００を走行体２００に固定可能に構成され、固定して搭載体３００の走行体２００に対する相対移動が規制され、固定が解除されることで相対移動が許容されるようになっている。固定部２４０ａ・固定部２４０ｂは、突出部位２４１と、嵌入部位２４２とを備えている。嵌入部位２４２は、突出する突出部位２４１が嵌入可能に構成され、突出部位２４１に嵌入されることで固定するようになっている。 The fixing parts 240a and 240b are configured to be able to fix the mounting body 300 to the running body 200, and when fixed, the relative movement of the mounting body 300 with respect to the running body 200 is restricted, and when the fixation is released, the relative movement is permitted. The fixing parts 240a and 240b have a protruding portion 241 and an insertion portion 242. The insertion portion 242 is configured so that the protruding protruding portion 241 can be inserted therein, and is fixed by being inserted into the protruding portion 241.

　本実施形態においては、固定部２４０ａは、リフト部２２０（係合部２３０）に対応する箇所に設けられている。固定部２４０ａにおける突出部位２４１・嵌入部位２４２は、係合部２３０における突出部位２３１・嵌入部位２３２に、それぞれ相当している。これに代えて、固定部２４０ａは、係合部２３０、リフト部２２０とは独立して配置されていてもよい。他方、固定部２４０ｂは、リフト部２２０（係合部２３０）の設置箇所とは異なる箇所に設けられている。固定部２４０ｂにおける突出部位２４１・嵌入部位２４２は、係合部２３０における突出部位２３１・嵌入部位２３２とは、別体となっている。 In this embodiment, the fixing portion 240a is provided at a location corresponding to the lift portion 220 (engagement portion 230). The protruding portion 241 and the fitting portion 242 of the fixing portion 240a correspond to the protruding portion 231 and the fitting portion 232 of the engagement portion 230, respectively. Alternatively, the fixing portion 240a may be disposed independently of the engagement portion 230 and the lift portion 220. On the other hand, the fixing portion 240b is provided at a location different from the location where the lift portion 220 (engagement portion 230) is installed. The protruding portion 241 and the fitting portion 242 of the fixing portion 240b are separate from the protruding portion 231 and the fitting portion 232 of the engagement portion 230.

　支持部２５０は、走行体２００に設けられ、搭載体３００が搭載面２１０に装着された場合に、搭載体３００を支持するようになっている。支持部２５０は、平面視において多角形の各頂点に対応する位置に、それぞれ配設されている。本実施形態においては、支持部２５０は、突出部位２３１・突出部位２４１に、それぞれ相当している。なお、リフト部２２０、係合部２３０、固定部２４０ａ・固定部２４０ｂ、支持部２５０の態様、リフト、係合、固定、支持のための制御については、後に詳述する。 The support parts 250 are provided on the running body 200 and are configured to support the mounting body 300 when the mounting body 300 is attached to the mounting surface 210. The support parts 250 are disposed at positions corresponding to the vertices of a polygon in a plan view. In this embodiment, the support parts 250 correspond to the protruding parts 231 and 241, respectively. The aspects of the lift part 220, the engagement part 230, the fixing part 240a and the fixing part 240b, and the support part 250, as well as the control for lifting, engagement, fixing, and support, will be described in detail later.

＜走行体＞
　図５、図６、図７、及び、図８に示すように、走行体２００は、車体２６０と、走行装置２７０と、を備えている。車体２６０は、略直方体状の筐体で構成されており、車体２６０には、電源２８０、及び、各種電気機器（通信装置、制御装置、センサ等）が搭載されている。車体２６０の上端には、搭載面２１０が設けられている。また、車体２６０の上面における前方、及び、後方には、支持部２５０（リフト部２２０、係合部２３０、固定部２４０ａ・固定部２４０ｂ）が設けられている。 <Running vehicle>
As shown in Figures 5, 6, 7, and 8, the running body 200 includes a vehicle body 260 and a running device 270. The vehicle body 260 is configured as a substantially rectangular parallelepiped housing, and a power source 280 and various electrical devices (communication devices, control devices, sensors, etc.) are mounted on the vehicle body 260. A mounting surface 210 is provided on the upper end of the vehicle body 260. In addition, support parts 250 (lift part 220, engagement part 230, fixing part 240a, fixing part 240b) are provided on the front and rear of the upper surface of the vehicle body 260.

　車体２６０の左右側面には、張出部２６１が設けられている。張出部２６１は、車体２６０における車長方向の略中央部に設置されている。張出部２６１は、車体２６０の側面から、車幅方向の外側に張り出している。張出部２６１は、車体２６０の平面視にて台形を呈しており、当該台形の下底が車体２６０の側面と接続され、当該台形の上底が張り出し方向の端部に相当する。 Protruding portions 261 are provided on the left and right side surfaces of the vehicle body 260. The protruding portions 261 are located in approximately the center of the vehicle body 260 in the vehicle length direction. The protruding portions 261 protrude outward in the vehicle width direction from the side surfaces of the vehicle body 260. The protruding portions 261 are trapezoidal in a plan view of the vehicle body 260, with the bottom base of the trapezoid connected to the side surfaces of the vehicle body 260 and the top base of the trapezoid corresponding to the end portions in the protruding direction.

＜＜走行装置＞＞
　走行装置２７０は、車体２６０を支持するように、車体２６０の車幅方向における両端にそれぞれ配置されている。即ち、走行装置２７０の配置位置は、平面視における左右両側端となっている。走行装置２７０は、車体２６０の車長方向における前方に前輪２７１を備え、車体２６０の車長方向における後方に後輪２７２を備えている。前輪２７１及び後輪２７２は、張出部２６１の前側及び後側に、それぞれ配置されている。即ち、張出部２６１は、車体２６０の側面において、前輪２７１及び後輪２７２の間に介装されている。なお、出張部２６１、及び、前輪２７１及び後輪２７２の各寸法は任意であるが、車幅方向において、出張部２６１の外端は、前輪２７１及び後輪２７２のそれぞれの外端よりも、内側に位置していること、好適である。 <<Running gear>>
The running devices 270 are disposed at both ends of the vehicle body 260 in the vehicle width direction so as to support the vehicle body 260. That is, the running devices 270 are disposed at both left and right ends in a plan view. The running devices 270 are provided with front wheels 271 at the front of the vehicle body 260 in the vehicle length direction, and rear wheels 272 at the rear of the vehicle body 260 in the vehicle length direction. The front wheels 271 and the rear wheels 272 are disposed at the front and rear sides of the overhanging portion 261, respectively. That is, the overhanging portion 261 is interposed between the front wheels 271 and the rear wheels 272 on the side of the vehicle body 260. Note that the dimensions of the protruding portion 261 and the front and rear wheels 271 and 272 are arbitrary, but it is preferable that the outer end of the protruding portion 261 is located inside the outer ends of the front wheels 271 and the rear wheels 272 in the vehicle width direction.

　本実施形態においては、前輪２７１及び後輪２７２は、全てメカナムホイールである。より具体的には、各前輪２７１及び各後輪２７２は、ホイール２７３と、タイヤ２７４と、をそれぞれ備えている。ホイール２７３は、略円盤状を呈しており、車体２６０の車長方向における前後方に、それぞれ配置されている。ホイール２７３は、回転駆動することで走行可能とし、回転中心の軸となる車輪軸２７５がそれぞれ規定される。 In this embodiment, the front wheels 271 and rear wheels 272 are all Mecanum wheels. More specifically, each of the front wheels 271 and rear wheels 272 is equipped with a wheel 273 and a tire 274. The wheels 273 are roughly disk-shaped and are disposed at the front and rear of the vehicle body 260 in the vehicle length direction. The wheels 273 are driven to rotate so that the vehicle can run, and each wheel axle 275 is defined as the axis of the center of rotation.

　タイヤ２７４は、略円筒状を呈しており、その両端が若干縮径しており、中実部位を有している。１つのホイール２７３に対し、タイヤ２７４は複数個設けられている。各タイヤ２７４の軸は、平面視において、対応するホイール２７３の車輪軸２７５に対しそれぞれ傾斜するよう位置している。タイヤ２７４は、全体として、走行面に接地した状態でホイール２７３と一体的に回転可能に構成されている。また、各タイヤ２７４は、ホイール２７３に対し相対回転可能にも構成されている。 The tire 274 is roughly cylindrical, with both ends slightly tapered and having a solid portion. A plurality of tires 274 are provided for one wheel 273. The axis of each tire 274 is positioned so as to be inclined with respect to the wheel axis 275 of the corresponding wheel 273 in a plan view. The tires 274 as a whole are configured to be able to rotate integrally with the wheel 273 while in contact with the running surface. Each tire 274 is also configured to be able to rotate relative to the wheel 273.

　前輪２７１及び後輪２７２のそれぞれの車幅方向内側に、独立したモータが設けられている。当該モータの動力に基づいて、各メカナムホイールのホイール２７３、及び、タイヤ２７４が、独立的に回転駆動するようになっている。即ち、各メカナムホイールの回転の態様を、個別に調整できるようになっている。このため、走行装置２７０は、平面視にて全方向に走行可能となっている。なお、本実施形態では、走行装置２７０（前輪２７１及び後輪２７２）として、上述のように構成されたメカナムホイールが用いられているが、ホイール・タイヤが独立作動し、ステアリング機構がなくとも、平面視全方向に走行可能であれば、何れの態様のメカナムホイールが用いられてもよい。また、走行装置２７０として、メカナムホイール以外の駆動系、機構等が用いられてもよい。この場合、前輪２７１及び後輪２７２が、それぞれ独立した駆動装置を有し、移動体１００を自在方向（平面視にて全方向）に走行可能とするものであればよい。例えば、オムニホイール（登録商標）、キャスター機構、球駆動機構などが、用いられてもよい。 An independent motor is provided on the inside of each of the front and rear wheels 271 and 272 in the vehicle width direction. Based on the power of the motor, the wheels 273 and tires 274 of each Mecanum wheel are rotated independently. In other words, the rotational mode of each Mecanum wheel can be adjusted individually. Therefore, the running device 270 can run in all directions in a plan view. In this embodiment, the Mecanum wheels configured as described above are used as the running device 270 (front and rear wheels 271 and 272). However, any type of Mecanum wheel may be used as long as the wheels and tires operate independently and the vehicle can run in all directions in a plan view without a steering mechanism. In addition, a drive system, mechanism, etc. other than the Mecanum wheel may be used as the running device 270. In this case, it is sufficient that the front and rear wheels 271 and 272 each have an independent drive device and can run the moving body 100 in any direction (all directions in a plan view). For example, Omniwheel (registered trademark), caster mechanism, ball drive mechanism, etc. may be used.

　なお、本実施形態では、モータ及びモータの駆動に関連する電気機器は、車体２６０側に設けられているが、これに代えて、例えば、モータ及び／又は上記電気機器が、ホイール２７３側に設けられていてもよい。即ち、前輪２７１及び後輪２７２が、インホイールモータ式のメカナムホイールであってもよい。 In this embodiment, the motor and the electrical equipment related to driving the motor are provided on the vehicle body 260 side, but instead, for example, the motor and/or the electrical equipment may be provided on the wheel 273 side. In other words, the front wheels 271 and the rear wheels 272 may be in-wheel motor type Mecanum wheels.

　また、走行装置２７０は、車体２６０に対して着脱可能に配置されてもよい。この場合、車体２６０は、装着されていた走行装置２７０が脱離された場合に、脱離されたものと異なる態様の走行装置２７０を装着可能となるように構成されてもよい。より具体的には、所定の径をもつホイールが車体２６０に配置されている場合、当該ホイールを脱離させて、異なる径をもつホイールや、クローラ等を、車体２６０に装着させてもよい。 The traveling device 270 may also be arranged so as to be detachable from the vehicle body 260. In this case, the vehicle body 260 may be configured so that when the attached traveling device 270 is detached, a traveling device 270 of a different type from the detached one can be attached. More specifically, when a wheel with a predetermined diameter is arranged on the vehicle body 260, the wheel may be detached and a wheel with a different diameter, a crawler, or the like may be attached to the vehicle body 260.

＜＜電源＞＞
　電源２８０は、本実施形態においては、充放電を繰り返し実行可能なバッテリである。電源２８０は、走行装置２７０や支持部２５０等の各種駆動部位、通信装置２８１、制御装置２８３、各種センサ等に向けて、給電可能となっている。電源２８０は、略直方体形状を呈しており、電源２８０の両側面は車体２６０の車長方向に沿って伸長している。電源２８０の底面は、走行面に対し略水平となっている。なお、電源２８０は、所定の電気機器（例えば、固定式または移動式のチャージャー等）を介して、ケーブル接続給電、非接触式給電等で充電可能となっていてもよい。電源２８０の充電の形式、タイミング、場所等は任意であり、例えば、後述のように、走行体２００が保管庫５００に保管されているときに、接触式又は非接触式の給電にて、電源２８０が充電されるようになっていてもよい。他方、保管庫５００の外部にて、電源２８０が充電されるようになっていてもよい。 ＜＜Power＞＞
In this embodiment, the power source 280 is a battery capable of repeatedly charging and discharging. The power source 280 can supply power to various driving parts such as the traveling device 270 and the support unit 250, the communication device 281, the control device 283, various sensors, and the like. The power source 280 has a substantially rectangular parallelepiped shape, and both sides of the power source 280 extend along the vehicle length direction of the vehicle body 260. The bottom surface of the power source 280 is substantially horizontal to the traveling surface. The power source 280 may be charged by a cable connection power supply, a non-contact power supply, or the like, via a predetermined electrical device (for example, a fixed or mobile charger, etc.). The type, timing, location, etc. of charging the power source 280 are arbitrary. For example, as described later, the power source 280 may be charged by a contact or non-contact power supply when the traveling body 200 is stored in the storage facility 500. On the other hand, the power source 280 may be charged outside the storage facility 500.

　電源２８０は、車体２６０の車幅方向における、両端の走行装置２７０の間に配置されている。また、電源２８０は、車体２６０の車長方向における、前後方の車輪軸２７５の間に配置されている。より具体的には、電源２８０は、平面視にて車体２６０の略中央部位に配置されている。即ち、電源２８０の前端は、前輪２７１の車輪軸２７５よりも、車長方向における後方に位置している。電源２８０の後端は、後輪２７２の車輪軸２７５よりも、車長方向における前方に位置している。 The power source 280 is disposed between the running gears 270 at both ends in the vehicle width direction of the vehicle body 260. The power source 280 is also disposed between the front and rear wheel axles 275 in the vehicle length direction of the vehicle body 260. More specifically, the power source 280 is disposed in approximately the center of the vehicle body 260 in a plan view. That is, the front end of the power source 280 is located rearward in the vehicle length direction from the wheel axle 275 of the front wheel 271. The rear end of the power source 280 is located forward in the vehicle length direction from the wheel axle 275 of the rear wheel 272.

　また、電源２８０は、側面視において、電源２８０の重心が車輪軸２７５よりも、第２方向における上方に位置するよう配置されている。即ち、走行面Ｇから電源２８０の重心までの高さＨ１は、走行面Ｇから車輪軸２７５までの高さＨ２よりも、大きい。このように、本実施形態においては、電源２８０は、車輪軸に対して若干上方に配置されて、走行面Ｇ及び電源２８０のクリアランスが大きくなっている（図５を参照）。 The power source 280 is also positioned such that the center of gravity of the power source 280 is located higher in the second direction than the wheel axle 275 in a side view. That is, the height H1 from the running surface G to the center of gravity of the power source 280 is greater than the height H2 from the running surface G to the wheel axle 275. Thus, in this embodiment, the power source 280 is positioned slightly higher than the wheel axle, and the clearance between the running surface G and the power source 280 is large (see FIG. 5).

　なお、電源２８０としてのバッテリは、充放電可能な二次電池であれば、その形式は何れでもよく、例えば、リチウムイオン電池、全固体電池等であってもよい。また、バッテリとしては、これに代えて、一次電池が用いられてもよい。この場合、バッテリは着脱式に構成されて、残量が低下した場合には、バッテリを交換することが好適である。また、電源２８０においては、バッテリに代えて、例えば、燃料電池、動力を電力に変換する発電機（エンジン及びオルタネータ）等が、用いられてもよい。 The battery serving as power source 280 may be of any type so long as it is a chargeable and dischargeable secondary battery, such as a lithium ion battery or an all-solid-state battery. Alternatively, a primary battery may be used as the battery. In this case, it is preferable that the battery is configured to be detachable and that the battery be replaced when the remaining charge becomes low. Alternatively, the power source 280 may be, instead of a battery, a fuel cell, a generator (engine and alternator) that converts motive power into electric power, or the like.

＜＜支持部の配置＞＞
　支持部２５０は、搭載体３００が搭載面２１０に装着された場合に、搭載体３００を第２方向に向かって支持する。支持部２５０は、走行体２００の車体２６０の上面に、複数個配置されている。支持部２５０は、搭載体３００の底面、及び、走行体２００の搭載面２１０が対向する場合に、搭載体３００の底面に向かって、即ち、第２方向の上方に向かって突出するようになっている。このため、搭載体３００は、搭載面２１０に装着された場合に、支持部２５０により底面から支持されるようになっている。支持部２５０の配置位置・個数は、例えば、走行体２００に搭載体３００を装着した場合に、安定的な装着が達成されるよう、搭載体３００の重心等を考慮して決定されてもよいし、後述する保管庫５００における配置部５６０と干渉しないよう、調整されてもよい。支持部２５０の配置位置・個数は、任意であるが、後述の態様をとると好適である。 <<Arrangement of Support Parts>>
The support unit 250 supports the mounting body 300 in the second direction when the mounting body 300 is attached to the mounting surface 210. A plurality of support units 250 are arranged on the upper surface of the vehicle body 260 of the running body 200. When the bottom surface of the mounting body 300 and the mounting surface 210 of the running body 200 face each other, the support unit 250 protrudes toward the bottom surface of the mounting body 300, that is, toward the upper side in the second direction. Therefore, when the mounting body 300 is attached to the mounting surface 210, the mounting body 300 is supported from the bottom surface by the support unit 250. The arrangement position and number of the support units 250 may be determined in consideration of the center of gravity of the mounting body 300, etc., so that stable attachment is achieved when the mounting body 300 is attached to the running body 200, for example, or may be adjusted so as not to interfere with the arrangement unit 560 in the storage 500 described later. The positions and number of the support parts 250 are arbitrary, but it is preferable to adopt the form described below.

　支持部２５０は、平面視において、多角形の各頂点に対応する位置に、それぞれ配設されている（図６を参照）。本実施形態の支持部２５０は、６つの支持部２５０ａ、支持部２５０ｂ、支持部２５０ｃ、支持部２５０ｄ、支持部２５０ｅ、及び、支持部２５０ｆを含む。支持部２５０ａ・支持部２５０ｂ・支持部２５０ｃ、及び、支持部２５０ｄ・支持部２５０ｅ・支持部２５０ｆの配置位置は、同一平面上にて、それぞれ３角形の頂点に対応している。 The support portions 250 are disposed at positions corresponding to the vertices of a polygon in a plan view (see FIG. 6). In this embodiment, the support portion 250 includes six support portions 250a, 250b, 250c, 250d, 250e, and 250f. The positions of support portions 250a, 250b, and 250c, and support portions 250d, 250e, and 250f correspond to the vertices of a triangle on the same plane.

　即ち、平面視において、支持部２５０の配置を頂点とする多角形の領域は、複数存在する。本実施形態では、３角形の領域が、車体２６０の車長方向における前方に１つ、後方に１つずつ配置されており、当該３角形の領域が合計２つ存在している。３角形の領域は、例えば、２等辺３角形でもよく、支持部２５０ａ、及び、支持部２５０ｄに対応する各内角が、それぞれ頂角となっていてもよい。 In other words, in a plan view, there are multiple polygonal regions with the vertices being the positions of the support parts 250. In this embodiment, one triangular region is disposed in the front of the vehicle body 260 in the vehicle length direction, and one is disposed in the rear, so there are a total of two triangular regions. The triangular region may be, for example, an isosceles triangle, and the interior angles corresponding to the support parts 250a and 250d may each be vertices.

　また、平面視において、複数存在する多角形の領域は、それぞれ対称となるよう配置されている。本実施形態では、２つの領域の図形は、例えば、平面視において、電源２８０を通り且つ車体２６０の車幅方向に延びる対称線を軸として、互いに線対称となるよう配置されている。即ち、支持部２５０ａ・支持部２５０ｂ・支持部２５０ｃを頂点とする２等辺３角形、及び、支持部２５０ｄ・支持部２５０ｅ・支持部２５０ｆを頂点とする２等辺３角形は、当該対称線を軸として、互いに線対称となっている。 Furthermore, in a plan view, the multiple polygonal regions are arranged so that they are symmetrical with respect to each other. In this embodiment, the figures of the two regions are arranged so that they are, for example, symmetrical with respect to a line of symmetry that passes through the power source 280 and extends in the vehicle width direction of the vehicle body 260 in a plan view. In other words, an isosceles triangle with support parts 250a, 250b, and 250c as its vertices, and an isosceles triangle with support parts 250d, 250e, and 250f as its vertices, are symmetrical with respect to the line of symmetry.

　また、支持部２５０は、車体２６０の車幅方向において、電源２８０よりも外側に配設されている。支持部２５０は、車体２６０の車長方向において電源２８０よりも外側に配設されている。より具体的には、支持部２５０ａ・支持部２５０ｂ・支持部２５０ｃは、車体２６０の車長方向において、電源２８０の前端よりも前方に、配置されている。支持部２５０ｂは、車体２６０の車幅方向において、電源２８０の左側面よりも左側に配置されている。支持部２５０ｃは、車体２６０の車幅方向において、電源２８０の右側面よりも右側に配置されている。 Furthermore, support portion 250 is disposed outboard of power source 280 in the vehicle width direction of vehicle body 260. Support portion 250 is disposed outboard of power source 280 in the vehicle length direction of vehicle body 260. More specifically, support portion 250a, support portion 250b, and support portion 250c are disposed forward of the front end of power source 280 in the vehicle length direction of vehicle body 260. Support portion 250b is disposed to the left of the left side surface of power source 280 in the vehicle width direction of vehicle body 260. Support portion 250c is disposed to the right of the right side surface of power source 280 in the vehicle width direction of vehicle body 260.

　支持部２５０ｄ・支持部２５０ｅ・支持部２５０ｆは、車体２６０の車長方向において、電源２８０の後端よりも後方に、配置されている。支持部２５０ｅは、車体２６０の車幅方向において、電源２８０の左側面よりも左側に配置されている。支持部２５０ｆは、車体２６０の車幅方向において、電源２８０の右側面よりも右側に配置されている。 Support portion 250d, support portion 250e, and support portion 250f are disposed rearward of the rear end of power source 280 in the vehicle length direction of vehicle body 260. Support portion 250e is disposed to the left of the left side surface of power source 280 in the vehicle width direction of vehicle body 260. Support portion 250f is disposed to the right of the right side surface of power source 280 in the vehicle width direction of vehicle body 260.

　さらに、支持部２５０は、平面視において、ホイール２７３の車輪軸２７５を同軸的に通る仮想線上に、配設されている。より具体的には、当該仮想線は、前方仮想線ＦＬ、及び、後方仮想線ＲＬを含む。前方仮想線ＦＬは、左右の前輪２７１における各車輪軸２７５を、同軸的に通る仮想線である。後方仮想線ＲＬは、左右の後輪２７２における各車輪軸２７５を、同軸的に通る仮想線である。平面視において、支持部２５０ｂ・支持部２５０ｃは、前方仮想線ＦＬ上にそれぞれ配置され、支持部２５０ｅ・支持部２５０ｆは、後方仮想線ＲＬ上にそれぞれ配置されている。 Furthermore, in a plan view, the support portion 250 is disposed on a virtual line that passes coaxially through the wheel axle 275 of the wheel 273. More specifically, the virtual lines include a forward virtual line FL and a rearward virtual line RL. The forward virtual line FL is a virtual line that passes coaxially through each wheel axle 275 of the left and right front wheels 271. The rearward virtual line RL is a virtual line that passes coaxially through each wheel axle 275 of the left and right rear wheels 272. In a plan view, the support portions 250b and 250c are disposed on the forward virtual line FL, and the support portions 250e and 250f are disposed on the rearward virtual line RL.

　なお、平面視において、支持部２５０ａは、前方仮想線ＦＬ及び電源２８０の前端の間に、配置されている。支持部２５０ｄは、後方仮想線ＲＬ及び電源２８０の後端の間に、配置されている。支持部２５０ａ・支持部２５０ｄは、車体２６０の車幅方向における略中央部に、配置されている。 In addition, in a plan view, the support portion 250a is disposed between the forward virtual line FL and the front end of the power source 280. The support portion 250d is disposed between the rearward virtual line RL and the rear end of the power source 280. The support portions 250a and 250d are disposed approximately in the center of the vehicle body 260 in the vehicle width direction.

＜＜リフト部、係合部、固定部の詳細＞＞
　本実施形態においては、支持部２５０は、リフト部２２０、係合部２３０の突出部位２３１、固定部２４０ａ・固定部２４０ｂの突出部位２４１として、機能してもよい。より具体的には、支持部２５０ｂ・支持部２５０ｃ・支持部２５０ｅ・支持部２５０ｆは、リフト部２２０（係合部２３０の突出部位２３１、固定部２４０ａの突出部位２４１）に対応している。支持部２５０ａ・支持部２５０ｄは、固定部２４０ｂの突出部位２４１に対応している（図６を参照）。 <<Details of the lift part, engagement part, and fixing part>>
In this embodiment, the support portion 250 may function as the lift portion 220, the protruding portion 231 of the engagement portion 230, and the protruding portion 241 of the fixed portion 240a and the fixed portion 240b. More specifically, the support portions 250b, 250c, 250e, and 250f correspond to the lift portion 220 (the protruding portion 231 of the engagement portion 230 and the protruding portion 241 of the fixed portion 240a). The support portions 250a and 250d correspond to the protruding portion 241 of the fixed portion 240b (see FIG. 6).

　図９に示すように、リフト部２２０（即ち、支持部２５０ｂ・支持部２５０ｃ・支持部２５０ｅ・支持部２５０ｆ）は、円柱形状を呈している。リフト部２２０は、下方を部分的に収納する穴部２２１に、同軸的に嵌合されている。穴部２２１は、車体２６０の上面であって、平面視における四隅に配置されている。穴部２２１は、リフト部２２０の位置に対応するよう設けられている。穴部２２１は、リフト部２２０の径よりも若干大きい径の円形開口を有している。当該開口を介して、リフト部２２０の下側の部位は、車体２６０内部に収容されている。なお、リフト部２２０（即ち、支持部２５０ｂ・支持部２５０ｃ・支持部２５０ｅ・支持部２５０ｆ）の形状は、円柱形状に限られず、軸と並進方向が一致する形状であれば、角柱（例えば、四角柱）形状等いずれであってもよい。 As shown in FIG. 9, the lift section 220 (i.e., support section 250b, support section 250c, support section 250e, and support section 250f) has a cylindrical shape. The lift section 220 is coaxially fitted into a hole 221 that partially accommodates the lower part. The hole 221 is located on the upper surface of the vehicle body 260, at the four corners in a plan view. The hole 221 is provided to correspond to the position of the lift section 220. The hole 221 has a circular opening with a diameter slightly larger than that of the lift section 220. Through this opening, the lower part of the lift section 220 is accommodated inside the vehicle body 260. Note that the shape of the lift section 220 (i.e., support section 250b, support section 250c, support section 250e, and support section 250f) is not limited to a cylindrical shape, and may be any shape such as a prism (e.g., a square prism) as long as the axis and the translation direction are aligned.

　リフト部２２０は、当該開口を介して、第２方向（上方向）及び第３方向（下方向）に、相対移動可能となっている。リフト部２２０の下端部には、車体２６０に内蔵されたアクチュエータ（例えば、ステッピングモータ等）が設けられている。アクチュエータの動力は、リフト部２２０の下端部に伝達されて、回転動力が、リフト部２２０の軸方向の並進運動に変換される。 The lift section 220 is capable of relative movement in the second direction (upward) and the third direction (downward) through the opening. An actuator (e.g., a stepping motor, etc.) built into the vehicle body 260 is provided at the lower end of the lift section 220. The power of the actuator is transmitted to the lower end of the lift section 220, and the rotational power is converted into translational motion in the axial direction of the lift section 220.

　アクチュエータが正回転する場合、リフト部２２０は、車体２６０に対して第２方向へ相対移動し、穴部２２１の開口から露出していき、頂部２２２がより上方に推移する。他方、アクチュエータが逆回転する場合、リフト部２２０は、第３方向に相対移動し、穴部２２１の開口に収容されていき、上方に推移していた頂部２２２が、より下方に推移する。 When the actuator rotates forward, the lift portion 220 moves relative to the vehicle body 260 in the second direction and is exposed from the opening of the hole portion 221, and the top portion 222 moves further upward. On the other hand, when the actuator rotates reversely, the lift portion 220 moves relative to the vehicle body 260 in the third direction and is accommodated in the opening of the hole portion 221, and the top portion 222, which had been moving upward, moves further downward.

　リフト部２２０は、搭載体３００における係合部２３０の嵌入部位２３２（即ち、固定部２４０ａの嵌入部位２４２）に向けて突出する。嵌入部位２３２は、搭載体３００の底面視における四隅に設けられている。嵌入部位２３２は、搭載体３００が走行体２００に装着されたときに、リフト部２２０の配置に対応するよう位置している。嵌入部位２３２は、上方に向かって凹んでおり、搭載体３００の装着時にリフト部２２０が嵌入可能となっている。 The lift section 220 protrudes toward the fitting portion 232 of the engagement portion 230 of the mounting body 300 (i.e., the fitting portion 242 of the fixing portion 240a). The fitting portions 232 are provided at the four corners of the mounting body 300 when viewed from the bottom. The fitting portions 232 are positioned to correspond to the arrangement of the lift section 220 when the mounting body 300 is attached to the running body 200. The fitting portions 232 are recessed upward, allowing the lift section 220 to be fitted when the mounting body 300 is attached.

　リフト部２２０が、嵌入部位２３２に嵌入されることで、搭載体３００を支持しつつ、搭載体３００の持ち上げ、及び、持ち下げが可能となっている。即ち、リフト部２２０の第２方向の移動に応じて、搭載体３００は第２方向（上方向）へ移動する（図１０を参照）。リフト部２２０の第３方向（下方向）の移動に応じて、搭載体３００は第３方向（下方向）へ移動する（図１１を参照）。 By fitting the lift unit 220 into the fitting portion 232, the mounting body 300 can be lifted and lowered while supporting the mounting body 300. That is, in response to the movement of the lift unit 220 in the second direction, the mounting body 300 moves in the second direction (upward) (see FIG. 10). In response to the movement of the lift unit 220 in the third direction (downward), the mounting body 300 moves in the third direction (downward) (see FIG. 11).

　また、リフト部２２０が、嵌入部位２３２に嵌入されることで、走行体２００及び搭載体３００が互いに係合される。このように、リフト部２２０は、係合部２３０の突出部位２３１としても機能している。また、リフト部２２０が、嵌入部位２４２に嵌入されることで、走行体２００及び搭載体３００の相対移動が規制されて、搭載体３００が走行体２００に固定される。このように、リフト部２２０は、固定部２４０ａの突出部位２４１としても機能している。 In addition, the lift section 220 is fitted into the fitting portion 232, whereby the running body 200 and the mounting body 300 are engaged with each other. In this way, the lift section 220 also functions as the protruding portion 231 of the engagement portion 230. In addition, the lift section 220 is fitted into the fitting portion 242, whereby the relative movement between the running body 200 and the mounting body 300 is restricted, and the mounting body 300 is fixed to the running body 200. In this way, the lift section 220 also functions as the protruding portion 241 of the fixing portion 240a.

　係合部２３０の嵌入部位２３２（固定部２４０ａの嵌入部位２４２）は、突出する突出部位２３１（固定部２４０ａの突出部位２４１）が嵌入可能な凹み形状を呈している。当該形状は、突出部位２３１（固定部２４０ａの突出部位２４１）が嵌入する方向に沿って、縮径する部位を有する。 The fitting portion 232 of the engagement portion 230 (fitting portion 242 of the fixing portion 240a) has a recessed shape into which the protruding portion 231 (protruding portion 241 of the fixing portion 240a) can fit. This shape has a portion that narrows in diameter along the direction in which the protruding portion 231 (protruding portion 241 of the fixing portion 240a) fits.

　より具体的には、嵌入部位２３２（固定部２４０ａの嵌入部位２４２）は、下端に円形の開口２３２ａ、上端に突当り２３２ｂを有している。開口２３２ａの径は、突当り２３２ｂの径よりも大きい。本実施形態においては、嵌入部位２３２（固定部２４０ａの嵌入部位２４２）は、底面視にて、すり鉢状、又は、カップ状を呈している。ここにおいて、係合部２３０の突出部位２３１（固定部２４０ａの突出部位２４１）であるリフト部２２０においては、その円柱形状における径が、突当り２３２ｂの径と略同一であり、開口２３２ａの径よりも小さくなっている（図９、図１０、及び、図１１を参照）。 More specifically, the fitting portion 232 (fitting portion 242 of the fixed portion 240a) has a circular opening 232a at the bottom end and abutment 232b at the top end. The diameter of the opening 232a is larger than the diameter of the abutment 232b. In this embodiment, the fitting portion 232 (fitting portion 242 of the fixed portion 240a) is cone-shaped or cup-shaped when viewed from the bottom. Here, the diameter of the cylindrical shape of the lift portion 220, which is the protruding portion 231 (protruding portion 241 of the fixed portion 240a) of the engagement portion 230, is approximately the same as the diameter of the abutment 232b and is smaller than the diameter of the opening 232a (see Figures 9, 10, and 11).

　固定部２４０ｂの突出部位２４１（即ち、支持部２５０ａ、及び、支持部２５０ｄ）は、円柱形状を呈しており、リフト部２２０とは異なる位置に配置されている。固定部２４０ｂの突出部位２４１は、リフト部２２０とは異なり、上下方向に移動せず、車体２６０と一体的に固定されている。即ち、固定部２４０ｂの突出部位２４１は、車体２６０から上方へ常時突出しているものの、その頂部２４１ａの位置は、上下方向において不変である。 The protruding portion 241 of the fixed portion 240b (i.e., the support portion 250a and the support portion 250d) has a cylindrical shape and is disposed at a different position from the lift portion 220. Unlike the lift portion 220, the protruding portion 241 of the fixed portion 240b does not move in the vertical direction and is fixed integrally with the vehicle body 260. In other words, although the protruding portion 241 of the fixed portion 240b always protrudes upward from the vehicle body 260, the position of its top 241a is constant in the vertical direction.

　また、固定部２４０ｂは、当該頂部２４１ａに吸着部位を有している。以下、頂部２４１ａを、吸着部位２４１ａと称呼する場合もある。吸着部位２４１ａは、走行体２００、及び、搭載体３００の間において磁気に基づく吸着力を発生可能に構成され、吸着力の作用にて、搭載体３００を走行体２００に固定する。本実施形態においては、吸着部位２４１ａにおける励磁/消磁は、電気供給に応じて切り替えられる。吸着部位２４１ａは、励磁されたときに吸着力を発生し、消磁されたときに吸着力を解消するよう、構成されていてもよい。吸着部位２４１ａは、例えば、複数の電磁石が内蔵され、それぞれの磁化方向を調整することで、吸着力の発生／解消が切り替えられるようにしてもよい。 Furthermore, the fixing part 240b has an adsorption part at the top 241a. Hereinafter, the top 241a may be referred to as the adsorption part 241a. The adsorption part 241a is configured to be able to generate an adsorption force based on magnetism between the running body 200 and the mounting body 300, and fixes the mounting body 300 to the running body 200 by the action of the adsorption force. In this embodiment, the excitation/demagnetization of the adsorption part 241a is switched according to the supply of electricity. The adsorption part 241a may be configured to generate an adsorption force when excited and to cancel the adsorption force when demagnetized. The adsorption part 241a may be configured, for example, to have multiple electromagnets built in, and to switch between generating and canceling the adsorption force by adjusting the magnetization direction of each.

　なお、リフト部２２０の頂部２２２にも、同様に、吸着部位が設けられていてもよい。この場合には、４つのリフト部２２０、２つの固定部２４０ｂに対応して、合計６つの吸着部位にて、磁気に基づく吸着力が発生する。 Note that similar suction sites may also be provided on the tops 222 of the lift sections 220. In this case, magnetic suction forces are generated at a total of six suction sites corresponding to the four lift sections 220 and the two fixed sections 240b.

　固定部２４０ｂの突出部位２４１（吸着部位２４１ａ）は、搭載体３００における固定部２４０ｂの嵌入部位２４２に向けて突出する。嵌入部位２４２は、搭載体３００の底面視における車幅方向の略中央部に、設けられている。嵌入部位２４２は、搭載体３００が走行体２００に装着されたときに、突出部位２４１（吸着部位２４１ａ）の配置に対応するよう位置している。嵌入部位２４２は、上方に向かって凹んでおり、搭載体３００の装着時に、突出部位２４１（吸着部位２４１ａ）が嵌入可能となっている。 The protruding portion 241 (adsorption portion 241a) of the fixing portion 240b protrudes toward the fitting portion 242 of the fixing portion 240b on the mounting body 300. The fitting portion 242 is provided in approximately the center of the mounting body 300 in the vehicle width direction when viewed from the bottom. The fitting portion 242 is positioned to correspond to the arrangement of the protruding portion 241 (adsorption portion 241a) when the mounting body 300 is attached to the running body 200. The fitting portion 242 is recessed upward, allowing the protruding portion 241 (adsorption portion 241a) to fit in when the mounting body 300 is attached.

　突出部位２４１（吸着部位２４１ａ）が、嵌入部位２４２に嵌入されて、吸着部位２４１ａの励磁にて吸着力が発生することで、走行体２００及び搭載体３００の相対移動が規制される。これにより、搭載体３００が走行体２００に固定される。固定部２４０ｂの嵌入部位２４２は、突出する固定部２４０ｂの突出部位２４１が嵌入可能な凹み形状を呈している。当該形状は、嵌入部位２４２が嵌入可能であれば任意であり、本実施形態においては、嵌入する方向に沿って同一の径を有するものとなっている（図９、図１０、及び、図１１を参照）。なお、これに代えて、嵌入する方向に沿って、縮径する形状であってもよい。 The protruding portion 241 (adsorption portion 241a) is fitted into the fitting portion 242, and an adsorption force is generated by exciting the adsorption portion 241a, thereby restricting the relative movement of the running body 200 and the mounting body 300. In this way, the mounting body 300 is fixed to the running body 200. The fitting portion 242 of the fixing portion 240b has a recessed shape into which the protruding portion 241 of the protruding fixing portion 240b can be fitted. The shape is arbitrary as long as the fitting portion 242 can be fitted, and in this embodiment, it has the same diameter along the fitting direction (see Figures 9, 10, and 11). Alternatively, it may have a shape that reduces in diameter along the fitting direction.

＜＜リフト部による搭載体の上下移動＞＞
　図１０、及び、図１１に示すように、リフト部２２０は、自身の作動により、搭載体３００を、第２方向（上方）及び第３方向（下方）へ移動させるようになっている。作動の一例として、作動開始時点においては、搭載体３００が、走行体２００の搭載面２１０よりも、第２方向における上方の配置位置に配置されているものとする。また、リフト部２２０の頂部２２２は、最下位置に推移しているものとする。 <<Up and down movement of the load body by the lift unit>>
10 and 11, the lift unit 220 is configured to move the mounting body 300 in the second direction (upward) and the third direction (downward) by its own operation. As an example of the operation, it is assumed that at the start of the operation, the mounting body 300 is disposed at a position above the mounting surface 210 of the running body 200 in the second direction. It is also assumed that the top 222 of the lift unit 220 is in the lowest position.

　更に、作動開始時点においては、平面視において、リフト部２２０の円形断面は、嵌入部位２３２の突当り２３２ｂから偏心しており、且つ、開口２３２ａの円形断面の領域内に存在しているものとする。即ち、リフト部２２０の軸と、嵌入部位２３２の軸との間に、ずれが生じている。また、突出部位２４１（吸着部位２４１ａ）の軸と、嵌入部位２４２の軸との間にも、ずれが生じている。 Furthermore, at the start of operation, in a plan view, the circular cross section of the lift section 220 is eccentric from the abutment 232b of the fitting section 232, and is within the area of the circular cross section of the opening 232a. In other words, there is a misalignment between the axis of the lift section 220 and the axis of the fitting section 232. There is also a misalignment between the axis of the protruding section 241 (adsorption section 241a) and the axis of the fitting section 242.

　図１０（ａ）の状態から作動を開始すると、リフト部２２０は、車体２６０に対して第２方向へ相対移動していく（リフト部２２０が穴部２２１から露出していく）。リフト部２２０は、上昇する頂部２２２を先端として、開口２３２ａを介して嵌入部位２３２に嵌入されていく。図１０（ｂ）に示すように、頂部２２２が上昇していくと、頂部２２２の縁が嵌入部位２３２の内壁に当接する。 When operation is started from the state shown in FIG. 10(a), the lift portion 220 moves relative to the vehicle body 260 in the second direction (the lift portion 220 becomes exposed from the hole portion 221). The lift portion 220, with the rising top portion 222 as the leading end, is inserted into the insertion portion 232 through the opening 232a. As shown in FIG. 10(b), as the top portion 222 rises, the edge of the top portion 222 abuts against the inner wall of the insertion portion 232.

　ここにおいて、嵌入部位２３２は、嵌入方向に沿って縮径している。このため、頂部２２２は、上昇しつつ、嵌入部位２３２の内壁にて突当り２３２ｂまで案内されていく。これにより、リフト部２２０に対し嵌入部位２３２が摺動しつつ、平面視において、偏心していたリフト部２２０の円形断面は、嵌入部位２３２の突当り２３２ｂに近づいていく。即ち、リフト部２２０の軸と、嵌入部位２３２の軸とが一致する方向に、搭載体３００が移動していく。 Here, the insertion portion 232 reduces in diameter along the insertion direction. Therefore, the top 222 rises and is guided by the inner wall of the insertion portion 232 to the abutment 232b. As a result, while the insertion portion 232 slides relative to the lift portion 220, the circular cross section of the lift portion 220, which was eccentric in a plan view, approaches the abutment 232b of the insertion portion 232. In other words, the mounting body 300 moves in a direction in which the axis of the lift portion 220 and the axis of the insertion portion 232 are aligned.

　図１０（ｃ）に示すように、上昇する頂部２２２が突当り２３２ｂに到達すると、平面視において、リフト部２２０の円形断面は、嵌入部位２３２の突当り２３２ｂと一致する。即ち、リフト部２２０の軸と、嵌入部位２３２の軸とが一致する。また、突出部位２４１（吸着部位２４１ａ）の軸と、嵌入部位２４２の軸とが一致する。 As shown in FIG. 10(c), when the rising top 222 reaches the end 232b, the circular cross section of the lift portion 220 coincides with the end 232b of the insertion portion 232 in a plan view. That is, the axis of the lift portion 220 coincides with the axis of the insertion portion 232. Also, the axis of the protruding portion 241 (adsorption portion 241a) coincides with the axis of the insertion portion 242.

　頂部２２２が突当り２３２ｂに到達した後、これらが互いに当接した状態で、上昇していた頂部２２２は、最上位置にて停止する。以上により、搭載面２１０に対向している搭載体３００は、上昇するリフト部２２０に支持されつつ、第２方向における配置位置よりも上方へ移動する。 After the top 222 reaches the butt 232b and comes into contact with each other, the top 222, which had been rising, stops at the uppermost position. As a result, the mounting body 300 facing the mounting surface 210 moves upward from its placement position in the second direction while being supported by the rising lift section 220.

　図１１（ａ）の状態としては、リフト部２２０の頂部２２２が最上位置に推移しているものとする。また、頂部２２２及び突当り２３２ｂが互いに当接することで、リフト部２２０により、搭載体３００が支持されているものとする。この状態から、リフト部２２０は、車体２６０に対して第３方向へ相対移動していく（リフト部２２０が穴部２２１へ収容されていく）。 In the state shown in FIG. 11(a), the top 222 of the lift section 220 is in the uppermost position. Furthermore, the top 222 and the abutment 232b come into contact with each other, so that the mounting body 300 is supported by the lift section 220. From this state, the lift section 220 moves relative to the vehicle body 260 in the third direction (the lift section 220 is accommodated in the hole 221).

　即ち、頂部２２２が、搭載体３００を支持しつつ下降していく。このため、頂部２２２及び突当り２３２ｂが互いに当接した状態で、搭載体３００は第３方向へ移動していく。これと同時に、嵌入部位２４２が、突出部位２４１（吸着部位２４１ａ）に近づくよう、下降していく。ここにおいて、突出部位２４１（吸着部位２４１ａ）の軸と、嵌入部位２４２の軸とが一致している。 In other words, the top 222 descends while supporting the mounting body 300. Therefore, the mounting body 300 moves in the third direction while the top 222 and the abutment 232b are in contact with each other. At the same time, the insertion portion 242 descends so as to approach the protruding portion 241 (the suction portion 241a). Here, the axis of the protruding portion 241 (the suction portion 241a) and the axis of the insertion portion 242 are aligned.

　このため、図１１（ｂ）に示すように、突出部位２４１は、吸着部位２４１ａを先端として、下降する嵌入部位２４２に嵌入されていく。図１１（ｃ）に示すように、下降していた頂部２２２は、最下位置にて停止する。これとともに、突出部位２４１の嵌入部位２４２への嵌入が完了する。以上により、上方に推移していた搭載体３００は、下降するリフト部２２０に支持されつつ、搭載面２１０に近づくように下方へ移動する。 As a result, as shown in FIG. 11(b), the protruding portion 241, with the suction portion 241a at its tip, is fitted into the descending fitting portion 242. As shown in FIG. 11(c), the descending top portion 222 stops at the lowest position. At the same time, the fitting of the protruding portion 241 into the fitting portion 242 is completed. As a result, the mounting body 300, which had been moving upward, moves downward to approach the mounting surface 210 while being supported by the descending lift portion 220.

　図１１（ｃ）の状態においては、四隅のリフト部２２０は、各嵌入部位２３２にそれぞれ嵌入されている。これにより、走行体２００及び搭載体３００の係合が達成される。また、これにより、走行体２００及び搭載体３００の相対移動が規制され、搭載体３００の走行体２００への固定も達成される。更に、図１１（ｃ）の状態は、嵌入部位２４２の突当りと吸着部位２４１ａとが当接した状態である。吸着部位２４１ａを励磁することで、磁気に基づく吸着力が発生し、搭載体３００の走行体２００への更なる固定が達成される。 In the state shown in FIG. 11(c), the lift sections 220 at the four corners are fitted into the fitting portions 232, respectively. This achieves engagement between the running body 200 and the mounting body 300. This also restricts the relative movement between the running body 200 and the mounting body 300, and also achieves fixation of the mounting body 300 to the running body 200. Furthermore, the state shown in FIG. 11(c) is a state in which the end of the fitting portion 242 abuts against the suction portion 241a. By exciting the suction portion 241a, a magnetic suction force is generated, and further fixation of the mounting body 300 to the running body 200 is achieved.

＜＜電気機器＞＞
　図１２に示すように、走行体２００は、電気機器として、電源２８０、通信装置２８１、センサ２８２、及び、制御装置２８３を備えている。電源２８０は、それぞれに給電可能なように、通信装置２８１、制御装置２８３、走行装置２７０のモータ、リフト部２２０のアクチュエータ、及び、吸着部位２４１ａの電磁石と、電気的に接続されている。 <<Electrical Equipment>>
12, the traveling body 200 includes, as electrical devices, a power source 280, a communication device 281, a sensor 282, and a control device 283. The power source 280 is electrically connected to the communication device 281, the control device 283, the motor of the traveling device 270, the actuator of the lift unit 220, and the electromagnet of the suction part 241a so as to be able to supply power to each of them.

　電源２８０と、給電対象との間には、モータに関連する機器（コンバータなど）、スイッチ等が介装されていてもよい。電源２８０による給電が制御装置２８３により制御されて、走行装置２７０、リフト部２２０、及び、吸着部位２４１ａが、制御されるようになっている。図６、及び、図７に示すように、通信装置２８１、制御装置２８３、モータに関連する機器等は、車体２６０の車長方向における電源２８０よりも後側に、配置されている。これらは、電子ユニットとして、車体２６０の後方に一体的に配置されてもよい。 A device related to the motor (such as a converter), a switch, etc. may be interposed between the power source 280 and the object to be powered. The power supply from the power source 280 is controlled by a control device 283, and the traveling device 270, the lift unit 220, and the suction part 241a are controlled. As shown in Figures 6 and 7, the communication device 281, the control device 283, the device related to the motor, etc. are arranged behind the power source 280 in the vehicle length direction of the vehicle body 260. These may be arranged integrally behind the vehicle body 260 as an electronic unit.

　通信装置２８１は、ＣＡＮ等の通信ネットワークＮ１を介して、制御装置２８３、及び、センサ２８２と接続されている。通信装置２８１は、外部端末（図示せず）とも接続されており、情報通信が可能となっている。通信装置２８１は、外部端末からの受信情報を通信ネットワークＮ１に送出する一方、通信ネットワークＮ１から外部端末へ情報送信する。 The communication device 281 is connected to the control device 283 and the sensor 282 via a communication network N1 such as a CAN. The communication device 281 is also connected to an external terminal (not shown) and is capable of information communication. The communication device 281 sends information received from the external terminal to the communication network N1, and also transmits information from the communication network N1 to the external terminal.

　当該外部端末は、例えば、操作者による指示入力が可能な端末であって、当該操作者により所有される移動端末や、サーバでもよい。移動端末やサーバでの指示としては、例えば、走行装置２７０への走行・操舵、搭載体３００の走行体２００への着脱、後述する第１可動具３１０、第２可動具３２０の操作等があげられる。 The external terminal is, for example, a terminal to which an operator can input instructions, and may be a mobile terminal owned by the operator, or a server. Examples of instructions from the mobile terminal or server include driving and steering the running device 270, attaching and detaching the mounted body 300 to the running body 200, and operating the first movable device 310 and the second movable device 320 described below.

　また、当該外部端末は、移動体１００の状態を示す情報を表示可能な端末であって、後述する保管庫５００の外側に設けられる固定端末でもよい。通信装置２８１及び外部端末の情報通信は、例えば、ＩＥＥＥ８０２．１１シリーズの規格（例えば、Ｗｉ－Ｆｉ(登録商標)等）による、無線通信であってもよい。なお、無線通信の形式としては、上記に限定されず、例えば、赤外線通信、Ｂｌｕｅｔｏｏｔｈ（登録商標）、セルラー型／非セルラー型ＬＰＷＡ等が、用いられてもよい。また、無線通信に代えて、有線接続による情報通信が、実行されるようにしてもよい。 The external terminal may be a terminal capable of displaying information indicating the state of the mobile body 100, and may be a fixed terminal provided outside the storage facility 500 described below. Information communication between the communication device 281 and the external terminal may be wireless communication based on the IEEE 802.11 series of standards (such as Wi-Fi (registered trademark)). Note that the form of wireless communication is not limited to the above, and may be, for example, infrared communication, Bluetooth (registered trademark), cellular/non-cellular LPWA, etc. Also, information communication via a wired connection may be performed instead of wireless communication.

　センサ２８２は、距離センサ（測距センサ）、バッテリ残量センサ等を含んでいる。以下、センサ２８２を、測距センサ２８２と称呼する場合もある。測距センサ２８２は、車体２６０と、車体２６０から離間した被検知物との離間距離を測定可能となっている。測距センサ２８２は、ビームの反射状況等に基づいて、離間距離を測定するものであってもよい。測距センサ２８２としては、例えば、超音波センサ、ＬｉＤＡＲ等が用いられる。なお、測距センサ２８２に代えて、測域センサが用いられてもよい。 Sensor 282 includes a distance sensor (distance measurement sensor), a battery remaining amount sensor, etc. Hereinafter, sensor 282 may be referred to as distance measurement sensor 282. Distance measurement sensor 282 is capable of measuring the distance between vehicle body 260 and a detected object that is spaced apart from vehicle body 260. Distance measurement sensor 282 may measure the distance based on the reflection conditions of a beam, etc. As distance measurement sensor 282, for example, an ultrasonic sensor, LiDAR, etc. may be used. Note that a range sensor may be used instead of distance measurement sensor 282.

　図８に示すように、本実施形態では、測距センサ２８２は、車体２６０における車長方向の前端であって、車幅方向の略中央部位に設けられている。これにより、走行体２００の前端と、後述する被検知部５３１と、の離間距離が測定されるようになっている。これに加え、測距センサ２８２は、車体前方の側面における外端付近等にも、複数個設けられてもよい。 As shown in FIG. 8, in this embodiment, the distance measurement sensor 282 is provided at the front end of the vehicle body 260 in the vehicle length direction, approximately in the center in the vehicle width direction. This allows the distance between the front end of the running body 200 and a detectable portion 531, which will be described later, to be measured. In addition, multiple distance measurement sensors 282 may be provided near the outer end of the side of the front of the vehicle body, etc.

　なお、本実施形態においては、測距センサ２８２が車体２６０の前端に設けられているが、これに代え、車体２６０の前端に、カメラが備えられていてもよい。当該カメラは、例えば、走行体２００の外側を撮像するものであってもよい。撮像されたデータは、通信ネットワークＮ１、及び、通信装置２８１を介して、外部端末に送信されてもよい。 In this embodiment, the distance measurement sensor 282 is provided at the front end of the vehicle body 260, but instead, a camera may be provided at the front end of the vehicle body 260. The camera may, for example, capture an image of the outside of the vehicle 200. The captured image data may be transmitted to an external terminal via the communication network N1 and the communication device 281.

　図１２に示すように、制御装置２８３は、走行装置２７０の制御、リフト部２２０の制御、及び、吸着部位２４１ａの制御等を実行する装置である。制御装置２８３は、装着制御部２８３ａ、脱離制御部２８３ｂ、停止位置決定部２８３ｃ、及び、自動運転制御部２８３ｄを含み、それぞれ電気・電子回路、ＣＰＵ等に格納されたプログラム等から構成されている。制御装置２８３には、通信ネットワークＮ１を介して、通信装置２８１にて受信された指示信号や、センサ２８２にて検出された検出信号が、送出されるようになっている。 As shown in FIG. 12, the control device 283 is a device that executes control of the traveling device 270, control of the lift unit 220, and control of the suction portion 241a. The control device 283 includes an attachment control unit 283a, a detachment control unit 283b, a stop position determination unit 283c, and an automatic driving control unit 283d, each of which is composed of electric/electronic circuits, programs stored in a CPU, etc. Instruction signals received by the communication device 281 and detection signals detected by the sensor 282 are sent to the control device 283 via the communication network N1.

　装着制御部２８３ａは、搭載体３００が装着されていない走行体２００に、配置されている搭載体３００を装着させる制御を行う。より具体的には、搭載体３００が装着されていない走行体２００に、搭載面２１０よりも第２方向における上方の配置位置に配置されている搭載体３００を装着させる場合、装着制御部２８３ａは、搭載面２１０に対向している搭載体３００を、支持しつつ、第２方向における配置位置よりも上方へ移動させるように、リフト部２２０を制御する（図１０を参照）。搭載体３００は、本実施形態では、後述する保管庫５００における配置位置に、配置されるものとする。 The mounting control unit 283a controls the mounting of the mounted body 300 on a running body 200 on which the mounted body 300 is not mounted. More specifically, when mounting a mounted body 300 that is positioned at a position above the mounting surface 210 in the second direction to a running body 200 on which the mounted body 300 is not mounted, the mounting control unit 283a controls the lift unit 220 to support the mounted body 300 facing the mounting surface 210 and move it above the position in the second direction (see FIG. 10). In this embodiment, the mounted body 300 is positioned at a position in the storage facility 500 described below.

　このリフト部２２０の制御は、走行体２００が停止位置にて停止している状態において、実行される。当該停止位置は、停止位置決定部２８３ｃにより決定されるようになっている。本実施形態では、測距センサ２８２による被検知部の検知結果に基づいて、停止位置が決定される。当該停止位置では、搭載面２１０が搭載体３００の底面と互いに対向するようになっている。停止位置の決定については、後に詳述する。 This control of the lift unit 220 is executed when the running body 200 is stopped at a stopping position. The stopping position is determined by the stopping position determination unit 283c. In this embodiment, the stopping position is determined based on the detection result of the detected part by the distance measurement sensor 282. At the stopping position, the mounting surface 210 and the bottom surface of the mounting body 300 face each other. The determination of the stopping position will be described in detail later.

　次に、装着制御部２８３ａは、搭載体３００を配置位置よりも上方へ推移させた状態で、搭載体３００と一体的に走行体２００が第１方向へ走行するように、走行装置２７０を制御する。次に、装着制御部２８３ａは、上方へ推移していた搭載体３００を、支持しつつ、第３方向に移動させるようにリフト部を制御する（図１１を参照）。 Next, the mounting control unit 283a controls the running device 270 so that the running body 200 runs in the first direction together with the mounting body 300 while shifting the mounting body 300 upward from the placement position. Next, the mounting control unit 283a controls the lift unit to move the mounting body 300, which has shifted upward, in the third direction while supporting the mounting body 300 (see FIG. 11).

　そして、装着制御部２８３ａは、搭載体３００を走行体２００に固定するよう、固定部２４０ａ・固定部２４０ｂを制御する。より具体的には、消磁していた吸着部位２４１ａを励磁状態に切り替えて、磁気に基づく吸着力を発生させる。 Then, the mounting control unit 283a controls the fixing unit 240a and the fixing unit 240b to fix the mounting body 300 to the running body 200. More specifically, the demagnetized adhesion portion 241a is switched to an excited state to generate an adhesion force based on magnetism.

　脱離制御部２８３ｂは、搭載体３００が装着されている走行体２００から搭載体３００を脱離させ、当該搭載体３００を配置する制御を行う。より具体的には、搭載体３００が装着されている走行体２００から搭載体３００を脱離させ、搭載面２１０よりも第２方向における上方の配置位置に配置する場合、脱離制御部２８３ｂは、搭載体３００の走行体２００への固定を解除するよう、固定部２４０ａ・固定部２４０ｂを制御する。より具体的には、励磁していた吸着部位２４１ａを消磁状態に切り替えて、磁気に基づく吸着力を解消させる。 The detachment control unit 283b performs control to detach the mounting body 300 from the running body 200 to which it is attached, and to position the mounting body 300. More specifically, when the mounting body 300 is detached from the running body 200 to which it is attached and positioned at a position above the mounting surface 210 in the second direction, the detachment control unit 283b controls the fixing unit 240a and the fixing unit 240b to release the mounting body 300 from the running body 200. More specifically, the magnetized adhesion portion 241a is switched to a demagnetized state to eliminate the magnetic adhesion force.

　次に、脱離制御部２８３ｂは、搭載面２１０に装着されている搭載体３００を、支持しつつ、第２方向における配置位置よりも上方へ移動させるように、リフト部２２０を制御する。次に、脱離制御部２８３ｂは、搭載体３００を配置位置よりも上方へ推移させた状態で、搭載体３００と一体的に、走行体２００が上述した停止位置まで走行するよう、走行装置２７０を制御する。 Next, the detachment control unit 283b controls the lift unit 220 to support the mounting body 300 attached to the mounting surface 210 and move it above its placement position in the second direction. Next, the detachment control unit 283b controls the running device 270 to run the running body 200 together with the mounting body 300 to the above-mentioned stopping position while the mounting body 300 is moved above its placement position.

　そして、脱離制御部２８３ｂは、上方へ推移していた搭載体３００を、支持しつつ、第３方向に移動させるようにリフト部２２０を制御する（図１１を参照）。このリフト部２２０の制御は、走行体２００が上述した停止位置にて停止している状態において、実行される。 Then, the detachment control unit 283b controls the lift unit 220 to support the mounting body 300, which has been moving upward, and move it in the third direction (see FIG. 11). This control of the lift unit 220 is executed when the running body 200 is stopped at the above-mentioned stopping position.

　自動運転制御部２８３ｄは、走行体２００を、決定された停止位置にて停止するよう自動運転にて走行させる。本実施形態では、自動運転制御部２８３ｄは、搭載体３００の走行体２００への装着に際し、外部端末からの指示に応じて、装着制御部２８３ａの実行にあわせて実行される。また、自動運転制御部２８３ｄは、搭載体３００の走行体２００への脱離に際し、外部端末からの指示に応じて、脱離制御部２８３ｂの実行にあわせて実行される。 The automatic driving control unit 283d drives the running body 200 in automatic driving so as to stop at the determined stopping position. In this embodiment, the automatic driving control unit 283d is executed in conjunction with the execution of the attachment control unit 283a in response to instructions from an external terminal when the mounted body 300 is attached to the running body 200. The automatic driving control unit 283d is also executed in conjunction with the execution of the detachment control unit 283b in response to instructions from an external terminal when the mounted body 300 is detached from the running body 200.

＜搭載体＞
　図１３、図１４、図１５、図１６、図１７、図１８、及び、図１９に示すように、本実施形態の搭載体３００は、走行体２００への装着時に、バックホーとして機能するアタッチメント３００である。搭載体３００は、第１可動具３１０と、第２可動具３２０と、基部３３０と、を備えている。 <Payload>
As shown in Figures 13, 14, 15, 16, 17, 18, and 19, the mounting body 300 of this embodiment is an attachment 300 that functions as a backhoe when attached to the traveling body 200. The mounting body 300 includes a first movable tool 310, a second movable tool 320, and a base 330.

　また、搭載体３００は、駆動部３４０を備えている。駆動部３４０は、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０eを含む。駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄは、第１可動具３１０を駆動するために用いられる。駆動部３４０ｅは、第２可動具３２０を駆動するために用いられる。 The mounting body 300 also includes a drive unit 340. The drive unit 340 includes drive units 340a, 340b, 340c, 340d, and 340e. Drive units 340a, 340b, 340c, and 340d are used to drive the first movable device 310. Drive unit 340e is used to drive the second movable device 320.

　基部３３０は、車体２６０の搭載面２１０に対して、着脱可能となっている。基部３３０は、略直方体状の筐体で構成されており、基部３３０には、電源３８０、及び、各種電気機器（通信装置、制御装置等）が搭載されている。基部３３０の底面３３１（下端）は、走行体２００の搭載面２１０と、略平行に対向するようになっている。 The base 330 is detachable from the mounting surface 210 of the vehicle body 260. The base 330 is configured as a roughly rectangular parallelepiped housing, and is equipped with a power source 380 and various electrical devices (communication devices, control devices, etc.). The bottom surface 331 (lower end) of the base 330 faces the mounting surface 210 of the running body 200 roughly parallel to it.

　図１５に示すように、基部３３０の底面３３１には、リフト部２２０、係合部２３０、固定部２４０ａ・固定部２４０ｂにおける嵌入部位２３２・嵌入部位２４２が設けられている。嵌入部位２３２・嵌入部位２４２は、走行体２００の６個の支持部２５０に、それぞれ対応するよう配置されている。嵌入部位２３２・嵌入部位２４２の配置位置および構造についての詳細は、上述した通りである（図９、図１０、及び、図１１を参照）。 As shown in FIG. 15, the bottom surface 331 of the base 330 is provided with the insertion portions 232 and 242 in the lift portion 220, the engagement portion 230, and the fixed portion 240a and fixed portion 240b. The insertion portions 232 and 242 are arranged to correspond to the six support portions 250 of the running body 200, respectively. Details of the arrangement and structure of the insertion portions 232 and 242 are as described above (see FIG. 9, FIG. 10, and FIG. 11).

　図１４、及び、図１５に示すように、基部３３０の左右側面には、張出部３３２が設けられている。張出部３３２は、平面視にて台形を呈しており、車体２６０の張出部２６１と上下方向で対向するよう、基部３３０の側面から車幅方向の外側に張り出している。当該台形の下底が基部３３０の側面と接続され、当該台形の上底が張り出し方向の端部に相当する。 As shown in Figures 14 and 15, the base 330 has protruding portions 332 on its left and right side surfaces. The protruding portions 332 are trapezoidal in plan view, and protrude outward in the vehicle width direction from the side surfaces of the base 330 so as to face the protruding portions 261 of the vehicle body 260 in the up-down direction. The lower base of the trapezoid is connected to the side surfaces of the base 330, and the upper base of the trapezoid corresponds to the end portions in the protruding direction.

＜＜第１可動具＞＞
　図１３に示すように、第１可動具３１０は、ブーム３１１、アーム３１２、及び、バケット３１３を備えている。これらが連節的に接続されて、第１可動具３１０は長尺状に構成されている。ブーム３１１は、トラス構造を有し、一端３１１ａ及び他端の略中間部位で屈曲している。ブーム３１１における一端３１１ａは、基部３３０に対しブーム３１１が相対回転可能となるよう、基部３３０に支持されている。ブーム３１１の一端を支持する位置は、基部３３０における前方かつ車幅方向の略中央の部位である。 <<First movable tool>>
As shown in Fig. 13, the first movable part 310 includes a boom 311, an arm 312, and a bucket 313. These are articulated to form the first movable part 310 in a long shape. The boom 311 has a truss structure and is bent at an approximately intermediate portion between one end 311a and the other end. One end 311a of the boom 311 is supported by the base 330 so that the boom 311 can rotate relative to the base 330. The position where one end of the boom 311 is supported is a portion in front of the base 330 and approximately in the center in the vehicle width direction.

　アーム３１２は、トラス構造を有し、一端から他端に亘り略直線的に伸びている。アーム３１２における一端は、ブーム３１１に対しアーム３１２が相対回転可能となるよう、ブーム３１１に支持されている。アーム３１２の一端を支持する位置は、ブーム３１１の他端である。 The arm 312 has a truss structure and extends in a substantially straight line from one end to the other end. One end of the arm 312 is supported by the boom 311 so that the arm 312 can rotate relative to the boom 311. The position where one end of the arm 312 is supported is the other end of the boom 311.

　バケット３１３は、一端が支持されて、他端３１３ａが回転半径の軌跡を描くように構成されている。当該他端３１３ａには、刃先が設けられている。バケット３１３における一端は、アーム３１２に対しバケット３１３が相対回転可能となるよう、バケットリンクを介してアーム３１２に支持されている。バケット３１３の一端を支持する位置は、アーム３１２の他端である。 The bucket 313 is configured so that one end is supported and the other end 313a traces a trajectory of the turning radius. A cutting edge is provided on the other end 313a. One end of the bucket 313 is supported by the arm 312 via a bucket link so that the bucket 313 can rotate relative to the arm 312. The position where one end of the bucket 313 is supported is the other end of the arm 312.

　駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、及び、駆動部３４０ｄは、それぞれ一端及び他端が規定されるシリンダであり、軸方向に伸縮可能となっている。駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、及び、駆動部３４０ｄには、アクチュエータ（例えば、ステッピングモータ等）が、それぞれ内蔵されており、その回転動力が軸方向の伸縮運動に変換される。アクチュエータが正回転／逆回転する場合に、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、及び、駆動部３４０ｄは、伸長／短縮するようになっている。 Drive units 340a, 340b, 340c, and 340d are each cylinders with defined ends, and are capable of expanding and contracting in the axial direction. Drive units 340a, 340b, 340c, and 340d each have an actuator (e.g., a stepping motor, etc.) built in, and the rotational power of the actuator is converted into expansion and contraction motion in the axial direction. When the actuator rotates forward/reverse, drive units 340a, 340b, 340c, and 340d extend/retract.

　駆動部３４０ａの一端は、基部３３０におけるブーム３１１の支持位置（ブーム３１１の一端３１１ａ）より前側に、接続されている。駆動部３４０ａの他端は、ブーム３１１における下側であって屈曲部位より若干前側に、接続されている。ブーム３１１は、駆動部３４０ａの伸長／短縮に応じて、基部３３０に対して相対回転する。 One end of the drive unit 340a is connected to the base 330 forward of the support position of the boom 311 (one end 311a of the boom 311). The other end of the drive unit 340a is connected to the underside of the boom 311, slightly forward of the bent portion. The boom 311 rotates relative to the base 330 in response to the extension/contraction of the drive unit 340a.

　駆動部３４０ｂの一端は、ブーム３１１における上側であって駆動部３４０ａの接続位置より若干後側に、接続されている。駆動部３４０ｂの他端は、アーム３１２における支持位置より若干上側に、接続されている。アーム３１２は、駆動部３４０ｂの伸長／短縮に応じて、ブーム３１１に対して相対回転する。 One end of the drive unit 340b is connected to the upper side of the boom 311, slightly behind the connection position of the drive unit 340a. The other end of the drive unit 340b is connected to the arm 312, slightly above the support position. The arm 312 rotates relative to the boom 311 in response to the extension/retraction of the drive unit 340b.

　駆動部３４０ｃの一端は、アーム３１２における支持位置より若干上側に、接続されている。駆動部３４０ｃの他端は、アーム３１２の他端側にて、バケット３１３の一端側に設けられたバケットリンクに接続されている。バケット３１３は、駆動部３４０ｃの伸長／短縮に応じて、アーム３１２に対して相対回転する。 One end of the drive unit 340c is connected slightly above the support position on the arm 312. The other end of the drive unit 340c is connected to a bucket link provided on one end of the bucket 313 at the other end of the arm 312. The bucket 313 rotates relative to the arm 312 in response to the extension/contraction of the drive unit 340c.

　このように、第１可動具３１０を構成するブーム３１１、アーム３１２、及び、バケット３１３は、駆動部３４０ａ、駆動部３４０ｂ、及び、駆動部３４０ｃの駆動により、上述のようにそれぞれ相対回転する。バケット３１３の他端３１３ａは、ブーム３１１、アーム３１２、及び、バケット３１３のそれぞれの相対回転に応じて、基部３３０から第１方向に向かって伸長し、刃先として作業可能となっている。 In this way, the boom 311, arm 312, and bucket 313 constituting the first movable tool 310 rotate relative to each other as described above by the driving of the driving units 340a, 340b, and 340c. The other end 313a of the bucket 313 extends from the base 330 in the first direction in response to the relative rotation of the boom 311, arm 312, and bucket 313, and can be used as a cutting edge.

　図１３、及び、図１４に示すように、駆動部３４０ｄ（第１駆動部に相当）の一端は、基部３３０におけるブーム３１１の支持位置（ブーム３１１の一端３１１ａ）より後側であって、車長方向の後半の部位に、接続されている。駆動部３４０ｄの他端は、ブーム３１１における一端３１１ａの近傍に、接続されている。ブーム３１１は、駆動部３４０ｄの伸長／短縮に応じて、基部３３０に対して相対回転する。 As shown in Figures 13 and 14, one end of drive unit 340d (corresponding to the first drive unit) is connected to a rear portion of the base 330 in the vehicle length direction, rearward of the support position of boom 311 (one end 311a of boom 311). The other end of drive unit 340d is connected near one end 311a of boom 311. Boom 311 rotates relative to base 330 in response to the extension/retraction of drive unit 340d.

　図１８に示すように、第１可動具３１０は、後述する保管庫５００等にて収容される場合には、一端３１１ａを支点として、第１可動具３１０が基部３３０に近づくように相対回転するようになっている。本実施形態では、駆動部３４０ｄにて、第１方向に伸びていた第１可動具３１０を、第１方向と反対側に引張ることで、基部３３０に近づける。 As shown in FIG. 18, when the first movable part 310 is stored in a storage cabinet 500 (described later) or the like, it rotates relative to the base part 330, with one end 311a as a fulcrum. In this embodiment, the first movable part 310, which is extended in the first direction, is pulled in the opposite direction to the first direction by the driving part 340d, thereby bringing it closer to the base part 330.

　より具体的には、駆動部３４０ａ、駆動部３４０ｂ、及び、駆動部３４０ｃも駆動させ、第１可動具３１０のアーム３１２、及び、バケット３１３を折り込みつつ、駆動部３４０ｄの駆動により、一端３１１ａを支点として、ブーム３１１を紙面上の時計回りに傾倒させる。これにより、第１可動具３１０が基部３３０に近づいた状態で、姿勢が保持される。従って、移動体１００全体として、収容に適した形状となる。 More specifically, drive units 340a, 340b, and 340c are also driven to fold in the arm 312 and bucket 313 of the first movable device 310, while drive unit 340d is driven to tilt the boom 311 clockwise on the page, with one end 311a as the fulcrum. This maintains the position of the first movable device 310 close to the base 330. Therefore, the moving body 100 as a whole takes on a shape suitable for storage.

＜＜第２可動具＞＞
　図１３に示すように、第２可動具３２０は、本実施形態では、ドーザとして板状に構成されている。以下、第２可動具３２０をドーザ３２１として説明する。ドーザ３２１は、搭載体３００が走行体２００に装着された場合、走行体２００よりも前側に配置されるようになっている（例えば、図１、図２、及び、図１９を参照）。 <<Second movable tool>>
13, in this embodiment, the second movable part 320 is configured in a plate shape as a dozer. Hereinafter, the second movable part 320 will be described as a dozer 321. When the mounting body 300 is attached to the running body 200, the dozer 321 is arranged to be disposed forward of the running body 200 (see, for example, FIGS. 1, 2, and 19).

　図１５、図１６、及び、図１７に示すように、ドーザ３２１は、ドーザアーム３２２を介して、基部３３０よりも下側に配置されている。ドーザ３２１は、正面視にて略長方形を呈しており、第１方向に向かう面にて作業可能となっている。当該面の反対側は、車体２６０の前端に対向するようになっており、２本のドーザアーム３２２の一端が、それぞれ接続されている。 As shown in Figures 15, 16, and 17, the dozer 321 is disposed below the base 330 via the dozer arms 322. The dozer 321 has a roughly rectangular shape when viewed from the front, and is capable of working on the surface facing the first direction. The opposite side of this surface faces the front end of the vehicle body 260, and one end of each of the two dozer arms 322 is connected to it.

　図１３に示すように、ドーザアーム３２２は、ドーザ３２１における接続部位から上方向に伸びており、基部３３０に対し相対回転可能となるよう、基部３３０に支持されている。ドーザアーム３２２の他端は、基部３３０における支持部位よりも上側に位置している。 As shown in FIG. 13, the dozer arm 322 extends upward from a connection point on the dozer 321 and is supported by the base 330 so as to be rotatable relative to the base 330. The other end of the dozer arm 322 is located above the support point on the base 330.

　駆動部３４０ｅ（第２駆動部に相当）は、一端及び他端が規定されるシリンダであり、軸方向に伸縮可能となっている。駆動部３４０ｅには、アクチュエータ（例えば、ステッピングモータ等）が内蔵されており、その回転動力が軸方向の伸縮運動に変換される。アクチュエータが正回転／逆回転する場合に、駆動部３４０ｅは、伸長／短縮するようになっている。 The driving unit 340e (corresponding to the second driving unit) is a cylinder with one end and the other end defined, and is capable of expanding and contracting in the axial direction. An actuator (e.g., a stepping motor, etc.) is built into the driving unit 340e, and the rotational power of the actuator is converted into expansion and contraction motion in the axial direction. When the actuator rotates forward and backward, the driving unit 340e extends and contracts.

　図１４、及び、図１５に示すように、駆動部３４０ｅは、２本備えられ、各ドーザアーム３２２にそれぞれ対応している。２本の駆動部３４０ｅ及びドーザアーム３２２は、第１可動具３１０を間に挟むよう配置されている。駆動部３４０ｅの一端は、基部３３０におけるドーザアーム３２２の支持位置より上側であって、ドーザアーム３２２の他端に、接続されている。駆動部３４０ｅの他端は、ブーム３１１の一端３１１ａより後側であって、車長方向の後半の部位に、接続されている。 As shown in Figures 14 and 15, two drive units 340e are provided, one corresponding to each dozer arm 322. The two drive units 340e and the dozer arms 322 are arranged to sandwich the first movable member 310 between them. One end of the drive unit 340e is located above the support position of the dozer arm 322 on the base 330 and is connected to the other end of the dozer arm 322. The other end of the drive unit 340e is located rearward of one end 311a of the boom 311 and is connected to a rear half in the vehicle length direction.

　このように、駆動部３４０ｅは、第２可動具３２０よりも第２方向における上側に設けられ、自身が駆動することで、第２可動具３２０を相対移動させる。即ち、ドーザ３２１は、駆動部３４０ｅの伸長／短縮に応じて、ドーザアーム３２２を介して基部３３０に対して相対移動する。これにより、ドーザ３２１の第１方向に向かう面にて、作業するようになっている。 In this way, the driving unit 340e is provided above the second movable device 320 in the second direction, and moves the second movable device 320 relative to itself by driving the driving unit 340e. That is, the dozer 321 moves relative to the base 330 via the dozer arm 322 in response to the extension/contraction of the driving unit 340e. This allows work to be performed on the surface of the dozer 321 facing the first direction.

　図１９に示すように、第２可動具３２０は、搭載体３００が走行体２００に装着されている状態において、第１可動具３１０による作業が実行されるときに、走行体２００の接地面（即ち、走行面Ｇ）へ接地可能に構成されている。より具体的には、略長方形状のドーザ３２１の下端は、接地面と対向している。第１可動具３１０の作業に際し、重心が変動して移動体１００が傾く場合、ドーザ３２１の下端が接地する。即ち、第２可動具３２０は、ドーザ３２１として作業する機能に加え、アウトリガーとしての機能も有する。 As shown in FIG. 19, the second movable device 320 is configured to be able to come into contact with the ground surface (i.e., running surface G) of the running device 200 when work is performed by the first movable device 310 with the mounting body 300 attached to the running device 200. More specifically, the lower end of the approximately rectangular dozer 321 faces the ground surface. When the first movable device 310 is working, if the center of gravity fluctuates and the mobile body 100 tilts, the lower end of the dozer 321 comes into contact with the ground. That is, the second movable device 320 has the function of working as a dozer 321, as well as the function of an outrigger.

＜＜電気機器＞＞
　図１２に示すように、搭載体３００は、電気機器として、電源３８０、通信装置３８１、及び、制御装置３８２を備えている。電源３８０は、それぞれに給電可能なように、通信装置３８１、制御装置３８２、及び、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅの各アクチュエータと、電気的に接続されている。なお、電源３８０は、所定の電気機器（例えば、固定式または移動式のチャージャー等）を介して、ケーブル接続給電、非接触式給電等で充電可能となっていてもよい。電源３８０の充電の形式、タイミング、場所等は任意であり、例えば、後述のように、搭載体３００が保管庫５００に保管されているときに、接触式又は非接触式の給電にて、電源３８０が充電されるようになっていてもよい。他方、保管庫５００の外部にて、電源３８０が充電されるようになっていてもよい。 <<Electrical Equipment>>
As shown in FIG. 12, the mounted body 300 includes a power source 380, a communication device 381, and a control device 382 as electrical devices. The power source 380 is electrically connected to the communication device 381, the control device 382, and the actuators of the drive unit 340a, the drive unit 340b, the drive unit 340c, the drive unit 340d, and the drive unit 340e so as to be able to supply power to each of them. The power source 380 may be charged by cable connection power supply, non-contact power supply, or the like via a predetermined electrical device (e.g., a fixed or mobile charger, etc.). The form, timing, location, etc. of charging the power source 380 are arbitrary. For example, as described later, when the mounted body 300 is stored in the storage facility 500, the power source 380 may be charged by contact or non-contact power supply. On the other hand, the power source 380 may be charged outside the storage facility 500.

　電源３８０と、給電対象との間には、モータに関連する機器（コンバータなど）、スイッチ等が介装されていてもよい。電源３８０による給電が制御装置３８２により制御されて、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅが、制御されるようになっている。図１４、及び、図１７に示すように、電源３８０、通信装置３８１、制御装置３８２、モータに関連する機器等は、基部３３０の車長方向における後方や、張出部３３２に、電子ユニットとして一体的に配置されてもよい。 A device related to the motor (such as a converter), a switch, etc. may be interposed between the power source 380 and the object to be powered. The power supply from the power source 380 is controlled by a control device 382, which controls the drive units 340a, 340b, 340c, 340d, and 340e. As shown in Figures 14 and 17, the power source 380, communication device 381, control device 382, and the devices related to the motor may be integrally arranged as an electronic unit behind the base 330 in the vehicle length direction or on the protruding portion 332.

　通信装置３８１は、ＣＡＮ等の通信ネットワークＮ２を介して、制御装置３８２と接続されている。また、通信ネットワークＮ２には、電源３８０のバッテリセンサ（図示せず）が接続されていてもよい。通信装置３８１は、上述した外部端末とも接続されており、情報通信が可能となっている。通信装置３８１は、外部端末からの受信情報を通信ネットワークＮ２に送出する一方、通信ネットワークＮ２から外部端末へ情報送信する。通信装置３８１及び外部端末の情報通信は、例えば、上述した規格による無線通信であってもよい。なお、無線通信の形式としては、上記に限定されず、例えば、赤外線通信、Ｂｌｕｅｔｏｏｔｈ（登録商標）、セルラー型／非セルラー型ＬＰＷＡ等が、用いられてもよい。また、無線通信に代えて、有線接続による情報通信が、実行されるようにしてもよい。 The communication device 381 is connected to the control device 382 via a communication network N2 such as a CAN. A battery sensor (not shown) of the power source 380 may also be connected to the communication network N2. The communication device 381 is also connected to the external terminal described above, enabling information communication. The communication device 381 transmits information received from the external terminal to the communication network N2, while transmitting information from the communication network N2 to the external terminal. Information communication between the communication device 381 and the external terminal may be, for example, wireless communication according to the above-mentioned standard. Note that the form of wireless communication is not limited to the above, and for example, infrared communication, Bluetooth (registered trademark), cellular/non-cellular LPWA, etc. may be used. Also, information communication by wired connection may be performed instead of wireless communication.

　図１２に示すように、制御装置３８２は、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅの各制御等を実行する装置である。制御装置３８２は、電気・電子回路、ＣＰＵ等に格納されたプログラム等から構成されている。制御装置３８２には、通信ネットワークＮ２を介して、通信装置３８１にて受信された指示信号等が、送出されるようになっている。 As shown in FIG. 12, control device 382 is a device that executes the control of each of drive units 340a, 340b, 340c, 340d, and 340e. Control device 382 is composed of electric and electronic circuits, programs stored in a CPU, etc. Instruction signals and the like received by communication device 381 are sent to control device 382 via communication network N2.

＜保管システム＞
　図１２、及び、図２０に示すように、本発明の第１実施形態に係る移動体１００の保管システム４００は、保管庫５００と、停止位置決定部２８３ｃと、自動運転制御部２８３ｄと、装着制御部２８３ａと、脱離制御部２８３ｂと、を備えている。本実施形態では、停止位置決定部２８３ｃ、自動運転制御部２８３ｄ、装着制御部２８３ａ、及び、脱離制御部２８３ｂは、移動体１００の走行体２００に、備えらえている。これに代えて、走行体２００とは異なる部位（例えば、搭載体３００、その他の端末等）に、備えられていてもよい。 <Storage system>
12 and 20, the storage system 400 for the moving body 100 according to the first embodiment of the present invention includes a storage 500, a stop position determination unit 283c, an automatic driving control unit 283d, an attachment control unit 283a, and a detachment control unit 283b. In this embodiment, the stop position determination unit 283c, the automatic driving control unit 283d, the attachment control unit 283a, and the detachment control unit 283b are provided in the running body 200 of the moving body 100. Alternatively, they may be provided in a portion different from the running body 200 (for example, the mounting body 300, another terminal, etc.).

　保管システム４００は、停止位置決定部２８３ｃにより、保管庫５００の内部における、移動体１００又は走行体２００の停止位置が決定されるようになっている。保管システム４００は、自動運転制御部２８３ｄにより、保管庫５００の外部に位置する移動体１００又は走行体２００を自動運転で走行させて、停止位置にて停止させるようになっている。 The storage system 400 is configured so that the stopping position of the mobile body 100 or the running body 200 inside the storage facility 500 is determined by the stopping position determination unit 283c. The storage system 400 is configured so that the mobile body 100 or the running body 200 located outside the storage facility 500 is automatically driven by the automatic driving control unit 283d, and stopped at the stopping position.

　保管システム４００は、脱離制御部２８３ｂにより、保管庫５００の停止位置にて、搭載体３００を装着している移動体１００から搭載体３００を脱離させ、当該搭載体３００を保管庫５００の配置部５６０に配置して保管するようになっている。保管システム４００は、装着制御部２８３ａにより、保管庫５００の停止位置にて、配置部５６０に配置されている搭載体３００を、走行体２００に装着するようになっている。 The storage system 400 is configured to detach the mounted body 300 from the moving body 100 to which it is attached at the stopping position of the storage facility 500 by the detachment control unit 283b, and place the mounted body 300 in the placement unit 560 of the storage facility 500 for storage. The storage system 400 is configured to attach the mounted body 300 placed in the placement unit 560 to the traveling body 200 at the stopping position of the storage facility 500 by the attachment control unit 283a.

　なお、保管庫５００では、搭載体３００及び走行体２００の両方（即ち、移動体１００）を同時に保管してもよいし、走行体２００のみ、又は、搭載体３００のみを、保管するようにしてもよい（例えば、図２２、図２３、及び、図２５を参照）。 In addition, the storage facility 500 may store both the mounted body 300 and the running body 200 (i.e., the moving body 100) at the same time, or may store only the running body 200 or only the mounted body 300 (see, for example, Figures 22, 23, and 25).

＜＜保管庫の構成＞＞
　図２０、及び、図２１に示すように、保管庫５００は、移動体１００の全体を収容可能な筐体となっている。保管庫５００は、長方形状の底面部５１０を有しており、底面部５１０の長手方向・短手方向が、車体２６０の車長方向・車幅方向に対応するようになっている。底面部５１０の長手方向における寸法は、車体２６０の車長寸法よりも大きい。底面部５１０の短手方向における寸法は、車体２６０の車幅寸法よりも大きい。 <<Storage Configuration>>
20 and 21 , the storage 500 is a housing capable of housing the entire moving body 100. The storage 500 has a rectangular bottom surface portion 510, and the longitudinal and lateral directions of the bottom surface portion 510 correspond to the vehicle length and width directions of the vehicle body 260. The longitudinal dimension of the bottom surface portion 510 is greater than the vehicle length dimension of the vehicle body 260. The lateral dimension of the bottom surface portion 510 is greater than the vehicle width dimension of the vehicle body 260.

　底面部５１０の各長辺においては、側面部５２０が上方へ向けてそれぞれ立設されている。底面部５１０の前側一方の短辺においては、前面部５３０が上方へ向けて立設されている。最上部には、底面部５１０に上下方向にて対向するように、ルーフ部５４０が設けられている。 A side portion 520 is erected upward on each long side of the bottom portion 510. A front portion 530 is erected upward on one short side at the front of the bottom portion 510. A roof portion 540 is provided at the top so as to face the bottom portion 510 in the vertical direction.

　底面部５１０の後側他方の短辺側には、移動体１００又は走行体２００が出入可能に、出入口が構成されている。当該短辺には、ヒンジを介してスロープ部５５０が接続されている。保管庫５００を接地させた場合、底面部５１０は、当該接地面から若干上方に推移する。スロープ部５５０は、保管庫５００の出入口から外部に向かって、下り傾斜を形成している。 An entrance/exit is formed on the other short side of the rear of the bottom surface portion 510 so that the mobile body 100 or running body 200 can enter and exit. A slope portion 550 is connected to this short side via a hinge. When the storage unit 500 is placed on the ground, the bottom surface portion 510 transitions slightly upward from the contact surface. The slope portion 550 forms a downward incline from the entrance/exit of the storage unit 500 toward the outside.

　移動体１００又は走行体２００が保管庫５００から出入りする際、スロープ部５５０を走行する。即ち、スロープ部５５０は、保管庫５００の出入口から外部へ、又は、保管庫５００の外部から出入口へ、案内可能となっている。他方、スロープ部５５０は、跳ね上げ可能に構成されている。スロープ部５５０の端部が、ルーフ部５４０に向けて跳ね上げられたとき、出入口としての上記開口が、閉塞されるようになっている。 When the mobile body 100 or the running body 200 enters or exits the storage facility 500, it travels along the slope section 550. That is, the slope section 550 is capable of guiding the mobile body 100 or the running body 200 from the entrance/exit of the storage facility 500 to the outside, or from the outside of the storage facility 500 to the entrance/exit. On the other hand, the slope section 550 is configured to be able to be flipped up. When the end of the slope section 550 is flipped up towards the roof section 540, the opening serving as the entrance/exit is closed.

　保管庫５００は、配置部５６０を備えている。配置部５６０は、搭載体３００を配置するために用いられる。配置部５６０は、正面視にて逆Ｌ字状の板部材で構成されている。２つの配置部５６０は、底面部５１０の長辺に沿う方向に伸びるよう、保管庫５００の内側にそれぞれ配置されている。 The storage unit 500 includes a placement section 560. The placement section 560 is used to place the mounting body 300. The placement section 560 is composed of a plate member that is inverted L-shaped when viewed from the front. The two placement sections 560 are each positioned inside the storage unit 500 so as to extend in a direction along the long side of the bottom surface section 510.

　より具体的には、各配置部５６０における逆Ｌ字を構成する２面のうちの一面が、各側面部５２０と接続されている。当該２面のうちの他面は、各側面部５２０から内部中央に向かって、それぞれ突出している。当該２面のうちの他面は、底面部５１０と略平行をなしており、その上部にて、搭載体３００を配置可能となっている。なお、保管庫５００の構成は、上述したものに限られず、搭載体３００を内部にて配置可能なものであれば、何れでもよい。例えば、保管庫５００は、配置部５６０と、配置部５６０を支持する部材のみとで、簡易に構成されてもよい。また、保管庫５００は、例えば、内部を視認可能なよう、骨組み構造を有していてもよいし、外部からの風雨を遮蔽したり、防犯の目的等で、壁面構造を有しいていてもよい。また、前面部５３０は、保管庫５００から取り外し可能となっていてもよく、前面部５３０を取り外した場合、保管庫５００から移動体１００（走行体２００）が、前方へ走出可能となる。また、保管庫５００の内部での搭載体３００の配置位置（配置部５６０の設置位置）は、底面部５１０よりも上方であると好適であるが、任意である。搭載体３００が、例えば、保管庫５００内において、走行体２００の位置に対し、前側（第１方向側）、横側（第４方向側）、及び、上側（第２方向側）の何れかに配置されるよう、保管庫５００が構成されてもよい。 More specifically, one of the two faces constituting the inverted L shape in each placement section 560 is connected to each side section 520. The other of the two faces protrudes from each side section 520 toward the center of the interior. The other of the two faces is approximately parallel to the bottom section 510, and the mounting body 300 can be placed on its upper part. The configuration of the storage cabinet 500 is not limited to the above, and any configuration that allows the mounting body 300 to be placed inside may be used. For example, the storage cabinet 500 may be simply configured with only the placement section 560 and a member that supports the placement section 560. The storage cabinet 500 may also have a framework structure so that the inside can be seen, for example, or may have a wall structure to block wind and rain from the outside or for the purpose of crime prevention. In addition, the front part 530 may be removable from the storage 500, and when the front part 530 is removed, the moving body 100 (the running body 200) can run forward from the storage 500. In addition, the position of the mounting body 300 (the installation position of the placement part 560) inside the storage 500 is preferably above the bottom part 510, but is optional. The storage 500 may be configured so that the mounting body 300 is, for example, located in front (first direction side), to the side (fourth direction side), or above (second direction side) of the running body 200 inside the storage 500.

　図２２に示すように、例えば、移動体１００が保管庫５００に収容される場合、保管庫５００の内部空間において、移動体１００は、所定の向きで配置される。保管庫５００の内部では、走行体２００の両側における各走行装置２７０は、底面部５１０に接地しつつ、保管庫５００の各側面部５２０の内側に、それぞれ対向する。走行体２００の底面は、底面部５１０と対向しつつ、搭載体３００の上方は、ルーフ部５４０に覆われるようになっている。 As shown in FIG. 22, for example, when the mobile body 100 is stored in the storage facility 500, the mobile body 100 is arranged in a predetermined orientation in the internal space of the storage facility 500. Inside the storage facility 500, each running device 270 on both sides of the running body 200 is in contact with the bottom surface portion 510 and faces the inside of each side surface portion 520 of the storage facility 500. The bottom surface of the running body 200 faces the bottom surface portion 510, and the upper part of the mounting body 300 is covered by the roof portion 540.

　図２３に示すように、例えば、走行体２００が保管庫５００に収容される場合、移動体１００が収容される場合における走行体２００の配置態様と同様に、走行体２００が配置される（図２２を参照）。走行体２００は、配置部５６０（の上記他面）の下方に配置されるようになっている。即ち、保管庫５００の内部空間を、配置部５６０にて上側・下側に区画した場合、走行体２００の配置位置は、当該内部空間の下側となる。 As shown in FIG. 23, for example, when the running body 200 is stored in the storage facility 500, the running body 200 is arranged in the same manner as when the moving body 100 is stored (see FIG. 22). The running body 200 is arranged below the arrangement section 560 (the other surface mentioned above). In other words, when the internal space of the storage facility 500 is divided into an upper side and a lower side by the arrangement section 560, the arrangement position of the running body 200 is the lower side of the internal space.

　図２４に示すように、第１方向が前方となるよう、走行体２００が保管庫５００内部に収容されたものとする。この場合、底面部５１０の長手方向に、車長方向が沿うように、走行体２００が配置される。走行体２００の車体２６０の前端は、保管庫５００の前面部５３０の内側に対向する。 As shown in FIG. 24, the running body 200 is stored inside the storage shed 500 so that the first direction is forward. In this case, the running body 200 is arranged so that the vehicle length direction is along the longitudinal direction of the bottom surface portion 510. The front end of the vehicle body 260 of the running body 200 faces the inside of the front surface portion 530 of the storage shed 500.

　配置部５６０は、走行体２００に対して第１方向、及び、第４方向に離間して位置する。より具体的には、配置部５６０の部位は、走行体２００の車体２６０における前端よりも前側に、存在していてもよい。更に、配置部５６０の部位は、走行体２００の車体２６０における車幅方向の外側に、存在していてもよい。なお、本実施形態では、配置部５６０は、走行体２００よりも第２方向における上側に位置しているが、この配置関係は限定されない。 The placement section 560 is positioned away from the running body 200 in the first direction and the fourth direction. More specifically, the portion of the placement section 560 may be located forward of the front end of the body 260 of the running body 200. Furthermore, the portion of the placement section 560 may be located on the outer side of the body 260 of the running body 200 in the vehicle width direction. Note that in this embodiment, the placement section 560 is located above the running body 200 in the second direction, but this placement relationship is not limited.

　また、平面視において、車幅方向両側における２つの配置部５６０の間に、車体２６０の４つのリフト部２２０が、位置するようになっている。即ち、４つのリフト部２２０の上側は、配置部５６０に覆われないようになっている。 In addition, in a plan view, the four lift sections 220 of the vehicle body 260 are positioned between the two arrangement sections 560 on both sides in the vehicle width direction. In other words, the upper sides of the four lift sections 220 are not covered by the arrangement sections 560.

　図２５に示すように、例えば、搭載体３００が保管庫５００に収容される場合、移動体１００が収容される場合における搭載体３００の配置態様と同様に、搭載体３００が配置される（図２２を参照）。搭載体３００は、配置部５６０（の上記他面）の上方に配置されるようになっている。即ち、保管庫５００の内部空間を、配置部５６０にて上側・下側に区画した場合、搭載体３００の配置位置は、当該内部空間の上側となる。保管庫５００の構成や、保管庫５００を設置する環境によっては、底面部５１０に、水分、泥、埃などが、堆積する場合がある。また、走行体２００のタイヤ等の付着物により、この事象が促進される可能性が高い。上述のように、搭載体３００を、保管庫５００の内部空間における上側に配置することで、搭載体３００を底面部５１０から離間させることができ、保管時に搭載体３００が濡れたり、汚れたりすることを抑制できる。 25, for example, when the mounting body 300 is stored in the storage 500, the mounting body 300 is arranged in the same manner as when the moving body 100 is stored (see FIG. 22). The mounting body 300 is arranged above the arrangement section 560 (the other surface thereof). That is, when the internal space of the storage 500 is divided into upper and lower parts by the arrangement section 560, the mounting body 300 is arranged at the upper side of the internal space. Depending on the configuration of the storage 500 and the environment in which the storage 500 is installed, moisture, mud, dust, etc. may accumulate on the bottom surface 510. In addition, this phenomenon is likely to be accelerated by adhesions such as tires of the traveling body 200. As described above, by arranging the mounting body 300 on the upper side of the internal space of the storage 500, the mounting body 300 can be separated from the bottom surface 510, and the mounting body 300 can be prevented from getting wet or dirty during storage.

　図２６に示すように、第１方向が前方となるよう、搭載体３００が保管庫５００内部に収容されたものとする。この場合、底面部５１０の長手方向に、基部３３０の長手方向が沿うように、搭載体３００が配置される。搭載体３００の第１可動具３１０及び第２可動具３２０は、保管庫５００の前面部５３０の内側に対向する。 As shown in FIG. 26, the mounting body 300 is housed inside the storage cabinet 500 so that the first direction is forward. In this case, the mounting body 300 is positioned so that the longitudinal direction of the base 330 is aligned with the longitudinal direction of the bottom surface 510. The first movable part 310 and the second movable part 320 of the mounting body 300 face the inside of the front surface 530 of the storage cabinet 500.

　配置部５６０は、脱離した搭載体３００を配置可能なように構成されている。より具体的には、配置部５６０の部位は、第２方向に向かって搭載体３００を支持することで、搭載体３００が配置されるようになっていてもよい。また、配置部５６０の部位は、配置される搭載体３００の底面３３１を支持可能な平面形状であって、搭載体３００の底面３３１に対向し、且つ、第１方向に伸びる形状を呈していてもよい。なお、配置部５６０における搭載体３００を配置する位置を、配置位置と称呼することもある。 The placement section 560 is configured to be able to place the detached mounting body 300. More specifically, a portion of the placement section 560 may be configured to support the mounting body 300 in the second direction, thereby placing the mounting body 300. The portion of the placement section 560 may have a planar shape capable of supporting the bottom surface 331 of the mounting body 300 to be placed, face the bottom surface 331 of the mounting body 300, and have a shape that extends in the first direction. The position in the placement section 560 where the mounting body 300 is placed may also be referred to as the placement position.

　図２１、及び、図２４に示すように、保管庫５００は、被検知部５３１を備えている。被検知部５３１は、保管庫５００での走行体２００の停止位置を決定するために用いられる。本実施形態においては、被検知部５３１は、前面部５３０の内側に設けられている。被検知部５３１は、停止位置との位置関係が規定された部位に、対応している。被検知部５３１は、車体２６０の前端の測距センサ２８２にて、検知可能に構成されている。なお、本実施形態においては、被検知部５３１は、前面部５３０の内側の保管庫５００の構成部材であるが、これに限定されず、例えば、保管庫５００の構成部材であって、側面内側、底面内側、上面内側等に位置するものであってもよい。また、被検知部５３１は、保管庫５００の構成部材に代えて、保管庫５００内側に付される識別コードであってもよい。識別コードとしては、測距センサ２８２により識別・検知が容易であるものが好ましく、例えば、バーコード、ＱＲコード（登録商標）などであってもよい。この場合、識別コードに、各種情報を格納させ、センサにより読取可能としてもよい。また、被検知部５３１の位置に対応して、測距センサ２８２のマウント位置も調整されると、好適である。 21 and 24, the storage facility 500 includes a detectable portion 531. The detectable portion 531 is used to determine the stopping position of the running body 200 in the storage facility 500. In this embodiment, the detectable portion 531 is provided on the inside of the front portion 530. The detectable portion 531 corresponds to a portion whose positional relationship with the stopping position is specified. The detectable portion 531 is configured to be detectable by the distance measuring sensor 282 at the front end of the vehicle body 260. In this embodiment, the detectable portion 531 is a component of the storage facility 500 on the inside of the front portion 530, but is not limited to this, and may be, for example, a component of the storage facility 500 that is located on the inside of the side, inside of the bottom, inside of the top, etc. In addition, the detectable portion 531 may be an identification code attached to the inside of the storage facility 500 instead of a component of the storage facility 500. The identification code is preferably one that is easy to identify and detect by the distance measurement sensor 282, and may be, for example, a barcode or a QR code (registered trademark). In this case, various information may be stored in the identification code so that it can be read by the sensor. It is also preferable to adjust the mounting position of the distance measurement sensor 282 according to the position of the detected part 531.

＜＜停止位置の決定＞＞
　図２７に示すように、本実施形態では、被検知部５３１及び停止位置の位置関係が、予め規定される。例えば、底面部５１０からの、保管庫５００の前面部５３０における被検知部５３１の高さと、車体２６０前端の測距センサ２８２の高さとが、それぞれ同一であるものとする。 <<Determining the stopping position>>
27, in this embodiment, the positional relationship between the detected part 531 and the stop position is predefined. For example, the height of the detected part 531 on the front part 530 of the storage 500 from the bottom part 510 and the height of the distance measuring sensor 282 at the front end of the vehicle body 260 are the same.

　この場合に、実線で示すように、保管庫５００内にて走行体２００が停止して位置しており、この停止位置において、被検知部５３１から測距センサ２８２までの水平距離が、基準距離ＤＳであるものとする。当該停止位置にて、搭載体３００を、走行体２００の搭載面２１０から脱離させて、上述した配置部５６０に配置させたものとする。 In this case, as shown by the solid line, the running body 200 is stopped and positioned within the storage facility 500, and at this stopped position, the horizontal distance from the detected part 531 to the distance sensor 282 is the reference distance DS. At this stopped position, the mounting body 300 is detached from the mounting surface 210 of the running body 200 and placed in the placement part 560 described above.

　この際に、測距センサ２８２にて、被検知部５３１からの水平距離を検出し、基準距離ＤＳとして予めメモリ等に記憶しておき、当該基準距離ＤＳに対応する停止位置を決定する。次回に搭載体３００を装着させるときには、決定された停止位置を目標にして、走行体２００を走行させ停止させる制御を実行すればよい。これにより、適切な搭載体３００の装着が可能となる。 At this time, the distance sensor 282 detects the horizontal distance from the detected part 531 and stores it in advance in a memory or the like as a reference distance DS, and a stop position corresponding to the reference distance DS is determined. The next time the mounted body 300 is attached, control is executed to run and stop the running body 200 with the determined stop position as a target. This makes it possible to attach the mounted body 300 appropriately.

　係る知見により、本実施形態では、停止位置決定部２８３ｃにより、被検知部５３１の検知結果に基づいて、停止位置が決定される。より具体的には、保管庫５００内で走行体２００が停止中であり、搭載面２１０の脱離が実行された際に、停止位置決定部２８３ｃは、被検知部５３１から測距センサ２８２までの水平距離を検出し、基準距離ＤＳとして決定して記憶する。即ち、本実施形態では、基準距離ＤＳを決定することが、停止位置を決定することに対応している。なお、これに代えて、座標、ベクトルの演算により、停止位置を直接決定してもよい。 With this knowledge, in this embodiment, the stop position is determined by the stop position determination unit 283c based on the detection result of the detected part 531. More specifically, when the running body 200 is stopped in the storage facility 500 and the mounting surface 210 is detached, the stop position determination unit 283c detects the horizontal distance from the detected part 531 to the distance measurement sensor 282, and determines and stores this as the reference distance DS. That is, in this embodiment, determining the reference distance DS corresponds to determining the stop position. Alternatively, the stop position may be determined directly by calculating coordinates and vectors.

　基準距離ＤＳが決定された後（即ち、停止位置が決定された後）、搭載体３００のみ配置部５６０に配置された状態で、走行体２００は、保管庫５００から外部向けて走出したものとする。そして、搭載体３００の再装着のために、走行体２００が保管庫５００内に、帰還してきたものとする。 After the reference distance DS is determined (i.e., after the stopping position is determined), the running body 200 is assumed to have left the storage facility 500 and run toward the outside, with only the mounted body 300 placed in the placement section 560. Then, the running body 200 is assumed to have returned to the storage facility 500 in order to reattach the mounted body 300.

　この場合に、破線で示すように、被検知部５３１から測距センサ２８２までの水平距離Ｄが、測距センサ２８２にて検出されていく。検出される水平距離Ｄと、記憶されている基準距離ＤＳとが、逐次比較されていく。比較結果に基づいて、走行体２００が走行又は停止するようになっている。 In this case, as shown by the dashed line, the horizontal distance D from the detected part 531 to the distance measuring sensor 282 is detected by the distance measuring sensor 282. The detected horizontal distance D is successively compared with the stored reference distance DS. Based on the comparison result, the running object 200 starts running or stops.

　本実施形態では、水平距離Ｄ＞基準距離ＤＳと判定された場合には、第１方向に前進するよう自動運転制御される。水平距離Ｄが減少して基準距離ＤＳに近づいていき、水平距離Ｄ＝基準距離ＤＳと判定されたとき、その場で停止するよう自動運転制御される。このようにして、停止位置決定部２８３ｃにより停止位置が決定され、決定された停止位置に走行体２００を停止させることができるようになっている。 In this embodiment, if it is determined that the horizontal distance D is greater than the reference distance DS, the vehicle is automatically controlled to move forward in the first direction. When the horizontal distance D decreases and approaches the reference distance DS, and it is determined that the horizontal distance D is equal to the reference distance DS, the vehicle is automatically controlled to stop on the spot. In this way, the stop position is determined by the stop position determination unit 283c, and the vehicle 200 can be stopped at the determined stop position.

＜＜搭載体の脱離作動＞＞
　図２８～図３４、及び、図４２のフローチャートを参照しつつ、搭載体３００が装着されている走行体２００から搭載体３００を脱離させ、脱離させた搭載体３００を、保管庫５００の内部における配置部５６０に配置するための、一連の作動について時系列的に説明する。 <<Detachment of the payload>>
28 to 34 and the flowchart of FIG. 42, a series of operations for detaching the carrier 300 from the running body 200 to which it is attached and placing the detached carrier 300 in the placement section 560 inside the storage facility 500 will be described in chronological order.

　図２８に示すように、保管庫５００の内部には、搭載体３００及び走行体２００の何れも保管されておらず、移動体１００が、保管庫５００外部にて走行又は作業しているものとする。搭載体３００を脱離させる場合、先ず、外部端末を介して操作していた操作者により、走行体２００（移動体１００）をスロープ部５５０に向けて走行させる（図４２のステップＳ１）。 As shown in FIG. 28, neither the mounted body 300 nor the running body 200 is stored inside the storage facility 500, and the mobile body 100 is running or working outside the storage facility 500. When the mounted body 300 is to be detached, first, the operator who has been operating it via an external terminal makes the running body 200 (mobile body 100) run toward the slope section 550 (step S1 in FIG. 42).

　次いで図２９に示すように、走行装置２７０がスロープ部にさしかかった際に、操作者により、脱離モードをとるよう、外部端末から走行体２００及び搭載体３００に指示される。搭載体３００においては、通信装置３８１にて当該脱離モードの指示を受信すると、制御装置３８２は、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄを駆動させ、第１可動具３１０を紙面上の時計回りに傾倒させ、収容姿勢として第１可動具３１０を基部３３０に近づけた状態の姿勢が、保持される（図１２、及び、図１８を参照）（図４２のステップＳ２）。 Next, as shown in FIG. 29, when the traveling device 270 approaches the slope, the operator instructs the traveling body 200 and the mounting body 300 from an external terminal to enter the detachment mode. In the mounting body 300, when the communication device 381 receives the instruction for the detachment mode, the control device 382 drives the drive units 340a, 340b, 340c, and 340d to tilt the first movable device 310 clockwise on the page, and the first movable device 310 is held in a stored position with the first movable device 310 close to the base 330 (see FIG. 12 and FIG. 18) (step S2 in FIG. 42).

　走行体２００においては、通信装置２８１にて当該脱離モードの指示を受信すると、自動運転制御に切り替わる。制御装置２８３は、自動運転制御部２８３ｄにより、保管庫５００内の停止位置にて停止するよう走行装置２７０を自動運転にて走行させる。停止位置での停止に関し、前回の装着の際に決定され、記憶されている基準距離ＤＳが用いられてもよい。被検知部５３１から車体２６０前端までの水平距離Ｄが、測距センサ２８２により検出されるが、この時点では、基準距離ＤＳ＜水平距離Ｄであるため、走行体２００は第１方向に向かって前進する（図２７を参照）。 When the communication device 281 receives the instruction for the detachment mode, the running body 200 switches to automatic driving control. The control device 283 causes the running device 270 to run in automatic driving mode so as to stop at a stopping position in the storage facility 500 via the automatic driving control unit 283d. For stopping at the stopping position, the reference distance DS determined and stored at the time of the previous attachment may be used. The horizontal distance D from the detected portion 531 to the front end of the vehicle body 260 is detected by the distance measurement sensor 282, but since the reference distance DS is less than the horizontal distance D at this point, the running body 200 moves forward in the first direction (see FIG. 27).

　次いで図３０に示すように、制御装置２８３は、脱離制御部２８３ｂにより、搭載体３００の走行体２００への固定を解除するよう、固定部２４０ａ・固定部２４０ｂを制御し（吸着部位２４１ａを消磁状態に切り替えるよう制御し）、搭載面２１０に装着されている搭載体３００を、支持しつつ、第２方向における配置部５６０よりも上方へ移動させるように、リフト部２２０を制御する（図４２のステップＳ３）。 Next, as shown in FIG. 30, the control device 283 controls the fixing parts 240a and 240b via the detachment control part 283b to release the mounting body 300 from the running body 200 (controlling the suction part 241a to switch to a demagnetized state), and controls the lift part 220 to support and move the mounting body 300 attached to the mounting surface 210 above the placement part 560 in the second direction (step S3 in FIG. 42).

　次に、制御装置２８３は、脱離制御部２８３ｂ及び自動運転制御部２８３ｄにより、搭載体３００を配置部５６０よりも上方へ推移させた状態で、搭載体３００と一体的に、走行体２００が上述した停止位置まで自動運転にて走行するよう、走行装置２７０を制御する。この時点では、基準距離ＤＳ＜水平距離Ｄであるため、移動体１００は第１方向に向かって前進する。移動体１００は、保管庫５００の出入口から侵入していき、測距センサ２８２により検出される水平距離Ｄは、基準距離ＤＳに近づいていく。 The control device 283 then controls the traveling device 270, using the detachment control unit 283b and the automatic driving control unit 283d, so that the traveling body 200 travels in automatic driving together with the mounted body 300 to the above-mentioned stopping position, with the mounted body 300 shifted above the placement unit 560. At this point, the reference distance DS is smaller than the horizontal distance D, so the moving body 100 advances in the first direction. The moving body 100 enters through the entrance/exit of the storage facility 500, and the horizontal distance D detected by the distance measurement sensor 282 approaches the reference distance DS.

　次いで図３１に示すように、移動体１００が保管庫５００内に入り、水平距離Ｄ＝基準距離ＤＳとなったときに、制御装置２８３は、自動運転制御部２８３ｄにより、走行装置２７０を停止させる（図２７を参照）（図４２のステップＳ４）。 Next, as shown in FIG. 31, when the moving body 100 enters the storage facility 500 and the horizontal distance D becomes equal to the reference distance DS, the control device 283 stops the traveling device 270 via the automatic driving control unit 283d (see FIG. 27) (step S4 in FIG. 42).

　このとき、図３４に示すように、搭載体３００は、リフト部２２０により保管庫５００の配置部５６０よりも、第２方向の上方に支持されている。このため、配置部５６０は、上下方向において、搭載体３００（の底面３３１）、及び、走行体２００（の搭載面２１０）の間に位置する。搭載体３００は、配置部５６０よりも第２方向の上方に推移する。 At this time, as shown in FIG. 34, the mounting body 300 is supported by the lift unit 220 above the placement unit 560 of the storage cabinet 500 in the second direction. Therefore, the placement unit 560 is located between the mounting body 300 (its bottom surface 331) and the running body 200 (its mounting surface 210) in the vertical direction. The mounting body 300 moves above the placement unit 560 in the second direction.

　次いで図３２に示すように、制御装置２８３は、脱離制御部２８３ｂにより、走行体２００が停止位置にて停止している状態において、上方へ推移していた搭載体３００を、支持しつつ、第３方向に移動させるようにリフト部２２０を制御する。これにより、走行体２００から搭載体３００が脱離して、搭載体３００は配置部５６０に配置される。このように、走行体２００の停止位置は、配置部５６０よりも下側に位置し、搭載体３００が装着されている走行体２００から搭載体３００を脱離させ、配置部５６０に配置するための位置となる（図４２のステップＳ５）。 Next, as shown in FIG. 32, the control device 283 controls the lift unit 220 to support and move the mounting body 300, which has moved upward, in the third direction while the running body 200 is stopped at the stopping position, using the detachment control unit 283b. As a result, the mounting body 300 is detached from the running body 200, and the mounting body 300 is placed in the placement unit 560. In this way, the stopping position of the running body 200 is located below the placement unit 560, and is a position where the mounting body 300 can be detached from the running body 200 to which it is attached and placed in the placement unit 560 (step S5 in FIG. 42).

　また、このとき、制御装置２８３は、停止位置決定部２８３ｃにより、被検知部５３１からの測距センサ２８２までの基準距離ＤＳ（即ち、停止位置）を決定して記憶する。今回決定された基準距離ＤＳにて、前回記憶されていたものを更新してもよい。今回記憶された基準距離ＤＳは、次回の搭載体３００の装着時に、用いられるようにしてもよい（図４２のステップＳ５）。 At this time, the control device 283 also determines and stores a reference distance DS (i.e., the stop position) from the detected part 531 to the distance measurement sensor 282 by the stop position determination part 283c. The reference distance DS determined this time may update the one stored last time. The reference distance DS stored this time may be used the next time the mounting body 300 is attached (step S5 in FIG. 42).

　次いで図３３に示すように、搭載体３００が配置部５６０に配置された状態のまま、走行体２００のみが、後方を第１方向として走行し、保管庫５００の出入口から走出していく（図４２のステップＳ６）。以上の一連の作動により、搭載体３００が装着されている走行体２００から、搭載体３００が脱離され配置部５６０に配置される。 Next, as shown in FIG. 33, while the carrier 300 remains placed in the placement section 560, only the running body 200 runs backward in the first direction and exits through the entrance of the storage facility 500 (step S6 in FIG. 42). Through the above series of operations, the carrier 300 is detached from the running body 200 to which it is attached and placed in the placement section 560.

＜＜搭載体の装着作動＞＞
　図３５～図４１、及び、図４３のフローチャートを参照しつつ、搭載体３００が装着されていない走行体２００に、配置部５６０に配置されている搭載体３００を装着するための、一連の作動について時系列的に説明する。 <<Attachment of the payload>>
35 to 41 and the flowchart of FIG. 43, a series of operations for attaching the mounting body 300 placed in the placement section 560 to a running body 200 on which the mounting body 300 is not attached will be explained in chronological order.

　図３５に示すように、保管庫５００の内部には、搭載体３００が配置部５６０に配置されて保管されており、走行体２００が、保管庫５００外部にて走行しているものとする。即ち、上述した搭載体３００の脱離作動が、実行された後であるものとする。搭載体３００を装着させる場合、先ず、外部端末を介して操作していた操作者により、走行体２００をスロープ部５５０に向けて走行させる（図４３のステップＳ７）。 As shown in FIG. 35, inside the storage facility 500, the mounting body 300 is stored in the placement section 560, and the running body 200 is running outside the storage facility 500. In other words, this is after the above-mentioned detachment operation of the mounting body 300 has been performed. When attaching the mounting body 300, first, the operator who has been operating it via an external terminal causes the running body 200 to run toward the slope section 550 (step S7 in FIG. 43).

　次いで図３６に示すように、走行装置２７０がスロープ部にさしかかった際に、操作者により、装着モードをとるよう、外部端末から走行体２００及び搭載体３００に指示される。走行体２００においては、通信装置２８１にて当該装着モードの指示を受信すると、自動運転制御に切り替わる（図４３のステップＳ８）。 Next, as shown in FIG. 36, when the traveling device 270 approaches a slope, the operator instructs the traveling body 200 and the mounting body 300 from an external terminal to enter the mounting mode. When the communication device 281 of the traveling body 200 receives the instruction to enter the mounting mode, it switches to automatic driving control (step S8 in FIG. 43).

　制御装置２８３は、自動運転制御部２８３ｄにより、保管庫５００内の停止位置にて停止するよう走行装置２７０を自動運転にて走行させる。停止位置での停止に関し、前回の脱離の際に決定され、記憶されている基準距離ＤＳが用いられてもよい。 The control device 283, via the automatic driving control unit 283d, automatically drives the traveling device 270 so that it stops at a stopping position within the storage facility 500. For stopping at the stopping position, the reference distance DS determined and stored at the time of the previous detachment may be used.

　被検知部５３１から車体２６０前端までの水平距離Ｄが、測距センサ２８２により検出されるが、この時点では、基準距離ＤＳ＜水平距離Ｄであるため、走行体２００は第１方向に向かって前進する（図２７を参照）。走行体２００は、保管庫５００の出入口から侵入していき、測距センサ２８２により検出される水平距離Ｄは、基準距離ＤＳに近づいていく。 The horizontal distance D from the detected portion 531 to the front end of the vehicle body 260 is detected by the distance sensor 282, but at this point, the reference distance DS is less than the horizontal distance D, so the running body 200 moves forward in the first direction (see FIG. 27). The running body 200 enters through the entrance/exit of the storage facility 500, and the horizontal distance D detected by the distance sensor 282 approaches the reference distance DS.

　次いで図３７に示すように、走行体２００が保管庫５００内に入り、水平距離Ｄ＝基準距離ＤＳとなったときに、制御装置２８３は、自動運転制御部２８３ｄにより、走行装置２７０を停止させる（図２７を参照）。これにより、走行体２００は、配置部５６０に配置されている搭載体３００の下側に位置する。停止位置において、走行体２００の搭載面２１０は、搭載体３００の底面３３１に、ギャップをもって対向する（図４３のステップＳ９）。 Next, as shown in FIG. 37, when the running body 200 enters the storage facility 500 and the horizontal distance D becomes equal to the reference distance DS, the control device 283 stops the running device 270 via the automatic driving control unit 283d (see FIG. 27). As a result, the running body 200 is positioned below the mounting body 300 placed in the placement unit 560. At the stopped position, the mounting surface 210 of the running body 200 faces the bottom surface 331 of the mounting body 300 with a gap (step S9 in FIG. 43).

　次いで図３８に示すように、制御装置２８３は、装着制御部２８３ａにより、走行体２００が停止位置にて停止している状態において、搭載面２１０に対向している搭載体３００を、支持しつつ、第２方向における配置部５６０よりも上方へ移動させるように、リフト部２２０を制御する（図４３のステップＳ１０）。 Next, as shown in FIG. 38, the control device 283 controls the lift unit 220 by the mounting control unit 283a to support and move the mounting body 300 facing the mounting surface 210 above the placement unit 560 in the second direction while the running body 200 is stopped at the stop position (step S10 in FIG. 43).

　これにより、走行体２００及び搭載体３００が、リフト部２２０（係合部２３０）を介して互いに係合する。このように、走行体２００の停止位置は、配置部５６０よりも下側に位置し、搭載体３００が装着されていない走行体２００に、配置部５６０に配置されている搭載体３００を装着させるための位置にもなる。 As a result, the running body 200 and the mounting body 300 engage with each other via the lift section 220 (engagement section 230). In this way, the stopping position of the running body 200 is located lower than the placement section 560, and is also a position for attaching the mounting body 300 placed on the placement section 560 to a running body 200 that does not have a mounting body 300 attached.

　なお、走行体２００の実際に停止した位置が、狙いとしていた停止位置から若干ずれた場合や、配置部５６０に配置されていた搭載体３００が、保管中に若干移動した場合等において、図１０に示すように、リフト部２２０の軸と、嵌入部位２３２の軸との間に、ずれが生じる場合がある。 Note that if the actual stopping position of the running body 200 deviates slightly from the intended stopping position, or if the mounting body 300 placed in the placement section 560 moves slightly during storage, a misalignment may occur between the axis of the lift section 220 and the axis of the insertion section 232, as shown in FIG. 10.

　この場合であっても、嵌入部位２３２の凹み形状は、嵌入する方向（即ち、第２方向）に沿って、縮径する部位を有する形状（例えば、底面視にて、すり鉢又はカップ状）であるため、リフト部２２０の上昇時に上記各軸のずれが補正される。従って、確実な支持、及び、係合が可能となる。 Even in this case, the recessed shape of the fitting portion 232 has a shape (e.g., a cone or cup shape when viewed from the bottom) that has a portion that narrows in diameter along the fitting direction (i.e., the second direction), so that the misalignment of the above-mentioned axes is corrected when the lift portion 220 rises. Therefore, reliable support and engagement are possible.

　また、このとき、制御装置２８３は、停止位置決定部２８３ｃにより、被検知部５３１からの測距センサ２８２までの基準距離ＤＳ（即ち、停止位置）を決定して記憶する。今回決定された基準距離ＤＳにて、前回記憶されていたものを更新してもよい。今回記憶された基準距離ＤＳは、次回の搭載体３００の脱離時に、用いられるようにしてもよい（図４３のステップＳ１０）。 At this time, the control device 283 also determines and stores a reference distance DS (i.e., the stop position) from the detected part 531 to the distance measurement sensor 282 by the stop position determination part 283c. The reference distance DS determined this time may update the one stored last time. The reference distance DS stored this time may be used the next time the mounted body 300 is detached (step S10 in FIG. 43).

　次いで図３９に示すように、制御装置２８３は、装着制御部２８３ａ及び自動運転制御部２８３ｄにより、搭載体３００を配置部５６０よりも上方へ推移させた状態で、搭載体３００と一体的に、後方を第１方向として走行するように走行体２００を制御する。これにより、走行体２００は、搭載体３００とともに、保管庫５００の出入口から走出していく（図４３のステップＳ１１）。 Next, as shown in FIG. 39, the control device 283 controls the running body 200 to run together with the mounting body 300 with the rear facing in the first direction, with the mounting body 300 moved above the placement section 560, by using the mounting control section 283a and the automatic driving control section 283d. As a result, the running body 200 runs out of the entrance/exit of the storage facility 500 together with the mounting body 300 (step S11 in FIG. 43).

　次いで図４０に示すように、制御装置２８３は、装着制御部２８３ａにより、上方へ推移していた搭載体３００を、支持しつつ、第３方向に移動させるようにリフト部２２０を制御する。これにより、全ての係合部２３０、固定部２４０ａ・固定部２４０ｂが、対応する嵌入部位２３２・嵌入部位２４２に嵌入されて、搭載体３００が車体２６０の搭載面２１０に装着される。次に、制御装置２８３は、装着制御部２８３ａにより、搭載体３００を走行体２００に固定するよう、固定部２４０ａ・固定部２４０ｂを制御する（吸着部位２４１ａを励磁状態に切り替えるよう制御する）（図４３のステップＳ１２）。 Next, as shown in FIG. 40, the control device 283 controls the lift unit 220 by the mounting control unit 283a to move the mounting body 300, which has been moving upward, in the third direction while supporting it. As a result, all of the engagement units 230 and the fixing units 240a and 240b are fitted into the corresponding fitting portions 232 and 242, and the mounting body 300 is mounted on the mounting surface 210 of the vehicle body 260. Next, the control device 283 controls the fixing units 240a and 240b by the mounting control unit 283a to fix the mounting body 300 to the running body 200 (controls the suction portion 241a to switch to an excited state) (step S12 in FIG. 43).

　次いで図４１に示すように、上述した装着モードの指示を受信していた受信搭載体３００においては、制御装置３８２が、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄを駆動させ、収容姿勢をとっていた第１可動具３１０を、紙面上の反時計回りに傾倒させる。即ち、第１可動具３１０の姿勢を、作業可能なものとなるよう復帰させる（図４３のステップＳ１３）。 Next, as shown in FIG. 41, in the receiving mount 300 that has received the above-mentioned mounting mode instruction, the control device 382 drives the drive units 340a, 340b, 340c, and 340d to tilt the first movable device 310, which has been in a storage position, counterclockwise on the page. In other words, the position of the first movable device 310 is returned to one that is ready for work (step S13 in FIG. 43).

　これにより、移動体１００として、走行体２００による走行、及び、第１可動具３１０・第２可動具３２０による作業が可能となる。以上の一連の作動により、搭載体３００が装着されていない走行体２００に、搭載面２１０よりも第２方向における上方の配置部５６０に配置されている搭載体３００が装着される。 As a result, the moving body 100 can move using the running body 200 and perform work using the first movable tool 310 and the second movable tool 320. Through the above series of operations, the mounting body 300 arranged in the arrangement section 560 above the mounting surface 210 in the second direction is attached to the running body 200 to which the mounting body 300 is not attached.

＜係合部の変形例＞
　本実施形態においては、係合部２３０は、突出部位２３１と、嵌入部位２３２とを備えている。突出部位２３１は、第２方向、又は、第３方向に向かって突出している。嵌入部位２３２は、突出部位２３１が嵌入する方向に沿って、縮径する部位を有する形状を有している（図９、図１０、及び、図１１を参照）。 <Modifications of Engagement Part>
In this embodiment, the engagement portion 230 includes a protruding portion 231 and a fitting portion 232. The protruding portion 231 protrudes in the second direction or the third direction. The fitting portion 232 has a shape including a portion that decreases in diameter along the fitting direction of the protruding portion 231 (see FIGS. 9, 10, and 11).

　図４４、及び、図４５に示すように、嵌入部位２３２は、突出する突出部位２３１が嵌入可能な凹み形状であって、突出部位２３１が嵌入する際に螺合する部位を有する形状を呈しており、突出部位２３１に嵌入されることで係合するようになっていてもよい。突出部位２３１の突出する方向は、第１実施形態と同様であってもよい。 As shown in Figures 44 and 45, the fitting portion 232 may have a recessed shape into which the protruding protrusion portion 231 can be fitted, and may have a shape that has a portion that screws into the protruding portion 231 when the protruding portion 231 is fitted, and may be engaged by being fitted into the protruding portion 231. The protruding direction of the protruding portion 231 may be the same as in the first embodiment.

　この場合、例えば、突出部位２３１が雄ねじ構造２３１ａを備え、嵌入部位２３２が、突出部位２３１と螺合可能な雌ねじ構造２３２ｃを、備えていてもよい。突出部位２３１は、高さが変わらずに、軸まわりに回転可能に構成されていると好適である。 In this case, for example, the protruding portion 231 may have a male thread structure 231a, and the fitting portion 232 may have a female thread structure 232c that can be screwed into the protruding portion 231. It is preferable that the protruding portion 231 is configured to be rotatable around an axis without changing its height.

　走行体２００の搭載面２１０に、搭載体３００の基部３３０の底面３３１を対向させ、突出部位２３１及び嵌入部位２３２の各軸を一致させた状態で、螺合が可能となっている（図４５（ｂ）を参照）。この状態で、突出部位２３１を正回転させると、雄ねじ構造２３１ａ及び雌ねじ構造２３２ｃが噛み合いつつ、底面３３１は搭載面２１０に近接する。これにより、搭載体３００は、第３方向の下方に移動していく。そして、固定部２４０ｂも嵌入部位２４２に嵌入し、搭載体３００が最下位に推移して係合・固定が達成されて、装着が完了する（図４５（ａ）を参照）。 The bottom surface 331 of the base 330 of the mounting body 300 is placed opposite the mounting surface 210 of the running body 200, and the axes of the protruding portion 231 and the fitting portion 232 are aligned, allowing for screwing (see FIG. 45(b)). In this state, when the protruding portion 231 is rotated in the normal direction, the male screw structure 231a and the female screw structure 232c mesh with each other, and the bottom surface 331 approaches the mounting surface 210. This causes the mounting body 300 to move downward in the third direction. The fixing portion 240b also fits into the fitting portion 242, and the mounting body 300 moves to the lowest position, achieving engagement and fixation, and completing the installation (see FIG. 45(a)).

　搭載体３００が装着された状態で（図４５（ａ）を参照）、突出部位２３１を逆回転させると、雄ねじ構造２３１ａ及び雌ねじ構造２３２ｃが噛み合いつつ、底面３３１は搭載面２１０に離間する。これにより、搭載体３００は、第２方向の上方に移動していく。そして、固定部２４０ｂも嵌入部位２４２から嵌出し、搭載体３００が最上位に推移して係合・固定が解除されて、脱離が完了する（図４５（ｂ）を参照）。 When the protruding portion 231 is rotated in the reverse direction while the mounting body 300 is attached (see FIG. 45(a)), the male screw structure 231a and the female screw structure 232c mesh with each other, and the bottom surface 331 moves away from the mounting surface 210. This causes the mounting body 300 to move upward in the second direction. The fixing portion 240b also fits out of the fitting portion 242, and the mounting body 300 moves to the top, releasing the engagement and fixing, and completing the detachment (see FIG. 45(b)).

＜支持部の変形例＞
　本実施形態においては、支持部２５０は、上述のように、車体２６０の上端における特定の位置に、複数配置されている。特に、支持部２５０ａ、支持部２５０ｂ、支持部２５０ｃ、支持部２５０ｄ、支持部２５０ｅ、及び、支持部２５０ｆは、車体２６０の平面視において、幾何学的な規則性をもってそれぞれ配置されている（図６を参照）。 <Modifications of Support Part>
In the present embodiment, as described above, a plurality of support portions 250 are arranged at specific positions on the upper end of vehicle body 260. In particular, support portion 250a, support portion 250b, support portion 250c, support portion 250d, support portion 250e, and support portion 250f are each arranged with geometric regularity in a plan view of vehicle body 260 (see FIG. 6 ).

　図４６に示すように、上述の配置に代えて、又は、加えて、張出部２６１の上端に、支持部２５０を配置してもよい。このように、張出部２６１のスペースを、有効に活用してもよい。張出部２６１に、支持部２５０を配置するのに加え、更に、モータ及び／又はモータの駆動に関連する電気機器２８４が、備えられていてもよい。この場合、電気機器２８４が、搭載体３００の装着に対し、構造上干渉しないように、例えば、張出部２６１の側面や、張出部２６１の下端に配置されてもよい。なお、張出部２６１に配置される電気機器２８４には、補助電源（補助バッテリ）が含まれてもよい。これにより、張出部２６１のスペースを有効活用して、電源容量を積み増すことができる。 As shown in FIG. 46, instead of or in addition to the above arrangement, a support portion 250 may be arranged on the upper end of the protruding portion 261. In this way, the space of the protruding portion 261 may be effectively utilized. In addition to arranging the support portion 250 on the protruding portion 261, a motor and/or electrical equipment 284 related to the drive of the motor may further be provided. In this case, the electrical equipment 284 may be arranged, for example, on the side surface of the protruding portion 261 or at the lower end of the protruding portion 261 so as not to structurally interfere with the attachment of the mounting body 300. Note that the electrical equipment 284 arranged on the protruding portion 261 may include an auxiliary power source (auxiliary battery). This makes it possible to effectively utilize the space of the protruding portion 261 and increase the power supply capacity.

［第２実施形態］
　本発明の第２実施形態に係る移動体１００は、走行体２００及び搭載体３００の係合の態様が異なる点で、上述した第１実施形態と異なる。第１、第２実施形態においては、係合部２３０が、走行体２００及び搭載体３００を互いに係合可能に構成され、係合して搭載体３００が装着され、係合が解除されることで搭載体３００が脱離するようになっている。この点は、第１、第２実施形態で共通している。 [Second embodiment]
The moving body 100 according to the second embodiment of the present invention differs from the first embodiment described above in that the manner of engagement between the running body 200 and the mounting body 300 is different. In the first and second embodiments, the engaging portion 230 is configured to be able to engage the running body 200 and the mounting body 300 with each other, and the mounting body 300 is attached by the engagement, and the mounting body 300 is detached by releasing the engagement. This point is common to the first and second embodiments.

　第１実施形態の係合部２３０は、突出部位２３１と、嵌入部位２３２とを備え、係合の態様としては、突出部位２３１が嵌入部位２３２に嵌入されて、係合が達成される。これに対し、第２実施形態の係合部２３０は、走行体２００が走行している状態で係合して、搭載体３００が装着されるように構成されている。第２実施形態においては、この点のみ第１実施形態と異なり、他の点は第１実施形態と同じである。 The engagement portion 230 in the first embodiment includes a protruding portion 231 and an insertion portion 232, and the engagement is achieved by inserting the protruding portion 231 into the insertion portion 232. In contrast, the engagement portion 230 in the second embodiment is configured to engage with the running body 200 while the running body 200 is running, and to attach the mounting body 300. The second embodiment differs from the first embodiment only in this respect, and is otherwise the same as the first embodiment.

　以下、第２実施形態の第１実施形態と異なる点のみ説明する。第２実施形態において、第１実施形態等と同一・等価な構成、部位に対しては、第１実施形態等と同じ符号を付している。 Only the differences between the first and second embodiments will be described below. In the second embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

　図４７に示すように、第２実施形態の係合部２３０は、アウターレール２３３、及び、インナーレール２３４を備えている。本実施形態では、アウターレール２３３は、搭載体３００に設けられ、インナーレール２３４は、走行体２００に設けられている。これに代えて、アウターレール２３３及びインナーレール２３４の配置関係が、逆であってもよい。 As shown in FIG. 47, the engagement portion 230 of the second embodiment includes an outer rail 233 and an inner rail 234. In this embodiment, the outer rail 233 is provided on the mounting body 300, and the inner rail 234 is provided on the running body 200. Alternatively, the positional relationship between the outer rail 233 and the inner rail 234 may be reversed.

　アウターレール２３３は、搭載体３００の基部３３０の底面において、凹部として構成されている。当該凹部は、下から上に向かって凹んでおり、断面形状がインナーレール２３４の凸部に対応している。アウターレール２３３は、車幅方向の略中央部にて、第１方向に沿って伸長している。アウターレール２３３の後端は開口端となっており、インナーレール２３４の前端が進入可能である。 The outer rail 233 is configured as a recess on the bottom surface of the base 330 of the mounting body 300. The recess is recessed from bottom to top, and its cross-sectional shape corresponds to the protrusion of the inner rail 234. The outer rail 233 extends along the first direction at approximately the center in the vehicle width direction. The rear end of the outer rail 233 is an open end, and the front end of the inner rail 234 can enter.

　インナーレール２３４は、走行体２００の上端の搭載面２１０において、凸部として構成されている。当該凸部は、下から上に向かって凸んでおり、断面形状がアウターレール２３３の凹部に対応している。インナーレール２３４は、車幅方向の略中央部にて、第１方向に沿って伸長している。インナーレール２３４は、前端からアウターレール２３３に侵入すると、第１方向に沿って案内されるようになっている。 The inner rail 234 is configured as a convex portion on the mounting surface 210 at the upper end of the running body 200. The convex portion protrudes from bottom to top, and its cross-sectional shape corresponds to the concave portion of the outer rail 233. The inner rail 234 extends along the first direction at approximately the center in the vehicle width direction. When the inner rail 234 enters the outer rail 233 from the front end, it is guided along the first direction.

　また、第２実施形態の係合部２３０は、立設部位２３３ａ、及び、当接部位２３４ａを備えている。立設部位２３３ａは、第２方向、又は、第３方向に向かって立設され、第１方向に対向する面を有する。当接部位２３４ａは、立設部位２３３ａの当該面に当接可能に構成されている。本実施形態では、立設部位２３３ａは、アウターレール２３３の前端として、第３方向に向かって立設するよう構成され、当接部位２３４ａは、インナーレール２３４の前端として構成されている。これに代えて、立設部位２３３ａ及び当接部位２３４ａの配置関係が、逆であってもよい。 The engaging portion 230 of the second embodiment also includes an erected portion 233a and an abutment portion 234a. The erected portion 233a is erected toward the second direction or the third direction, and has a surface facing the first direction. The abutment portion 234a is configured to be able to abut against the surface of the erected portion 233a. In this embodiment, the erected portion 233a is configured to erect toward the third direction as the front end of the outer rail 233, and the abutment portion 234a is configured as the front end of the inner rail 234. Alternatively, the positional relationship between the erected portion 233a and the abutment portion 234a may be reversed.

　図４８に示すように、走行体２００及び搭載体３００を係合して装着する場合、保管庫５００の配置部５６０にて、搭載体３００が支持されつつ配置されているものとする。なお、本実施形態における保管庫５００は、後端から走行体２００が進入可能となっており、前端より走行体２００が走出可能となっている。即ち、保管庫５００の後端が入口として構成され、前端が出口として構成されている。 As shown in FIG. 48, when the running body 200 and the mounting body 300 are engaged and attached, the mounting body 300 is supported and positioned in the placement section 560 of the storage facility 500. In this embodiment, the storage facility 500 is designed so that the running body 200 can enter from the rear end and can exit from the front end. In other words, the rear end of the storage facility 500 is configured as the entrance and the front end is configured as the exit.

　搭載体３００は、アウターレール２３３の後端に、インナーレール２３４の前端が進入可能なよう、配置部５６０において、配置位置（高さ及び方向）が調整されている。走行体２００は、アウターレール２３３の後端に、インナーレール２３４の前端が向かうよう、自動運転制御される。 The mounting body 300 has its position (height and direction) adjusted in the positioning section 560 so that the front end of the inner rail 234 can enter the rear end of the outer rail 233. The running body 200 is automatically controlled so that the front end of the inner rail 234 faces the rear end of the outer rail 233.

　走行体２００が、保管庫５００の後端入口から内部に侵入すると、走行体２００は搭載体３００の下側を走行しつつ、インナーレール２３４の前端が、アウターレール２３３の後端から進入していく。この状態で、インナーレール２３４は、アウターレール２３３に案内されて、第１方向にスライド移動しながら互いに係合していく。 When the running body 200 enters the storage facility 500 from the rear entrance, the running body 200 travels under the mounting body 300 while the front end of the inner rail 234 enters from the rear end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.

　図４９に示すように、走行体２００が走行している状態で、インナーレール２３４がスライド移動していくと、アウターレール２３３の立設部位２３３ａと、インナーレール２３４の当接部位２３４ａとが当接する（図４８を参照）。このとき、インナーレール２３４のスライド移動が止まり、係合が達成される。 As shown in FIG. 49, when the inner rail 234 slides while the running body 200 is running, the erected portion 233a of the outer rail 233 comes into contact with the abutment portion 234a of the inner rail 234 (see FIG. 48). At this time, the sliding movement of the inner rail 234 stops, and engagement is achieved.

　図５０に示すように、走行体２００が、保管庫５００の前端出口から外部に走出すると、搭載体３００は配置部５６０から離れて、走行体２００に装着された状態となる。このように、走行体２００が走行している状態で係合されて、搭載体３００が走行体２００に装着される。 As shown in FIG. 50, when the running body 200 runs out from the front end exit of the storage facility 500 to the outside, the mounting body 300 separates from the placement section 560 and becomes attached to the running body 200. In this way, the mounting body 300 is attached to the running body 200 by engaging with the running body 200 while the running body 200 is running.

＜係合部の変形例＞
　本実施形態においては、係合部２３０が、アウターレール２３３、及び、インナーレール２３４を備えているが、これらを備えないように構成されてもよい。図５１に示すように、例えば、立設部位２３３ａが、搭載体３００の基部３３０における前端に設けられ、当接部位２３４ａが、走行体２００の車体２６０における前端に設けられてもよい。 <Modifications of Engagement Part>
In the present embodiment, the engagement portion 230 includes the outer rail 233 and the inner rail 234, but may be configured not to include these. As shown in Fig. 51, for example, the erected portion 233a may be provided at the front end of the base 330 of the mounting body 300, and the abutment portion 234a may be provided at the front end of the vehicle body 260 of the running body 200.

　立設部位２３３ａは、搭載体３００の基部３３０の前端において、車幅方向の全長に亘って、底面３３１から第３方向の下側に突出してもよい。立設部位２３３ａにおける第１方向に対向する面（当接部位２３４ａと当接する面）は、鉛直方向に対して傾斜していてもよい。例えば、当接部位２３４ａと当接する面が、後斜下に伸びるように、傾斜が構成されてもよい。 The erected portion 233a may protrude downward in the third direction from the bottom surface 331 at the front end of the base 330 of the mounting body 300 over the entire length in the vehicle width direction. The surface of the erected portion 233a facing the first direction (the surface that abuts against the abutment portion 234a) may be inclined with respect to the vertical direction. For example, the inclination may be configured so that the surface that abuts against the abutment portion 234a extends diagonally downward to the rear.

　当接部位２３４ａは、走行体２００の車体２６０の前端において、車幅方向の全長に亘って、搭載面２１０から第３方向の下側、及び、当該前端から後側に向かう切り欠き構造を呈していてもよい。当接部位２３４ａにおける当接面は、立設部位２３３ａの形状に対応するよう傾斜していてもよい。このように構成された立設部位２３３ａ、及び、当接部位２３４ａは、側面視においてＺ字形状又は逆Ｚ字形状を、呈していてもよい。 The abutment portion 234a may have a notch structure extending from the mounting surface 210 downward in the third direction and from the front end to the rear side at the front end of the vehicle body 260 of the running body 200 over the entire vehicle width direction. The abutment surface at the abutment portion 234a may be inclined to correspond to the shape of the standing portion 233a. The standing portion 233a and the abutment portion 234a configured in this manner may have a Z-shape or an inverted Z-shape in side view.

［第３実施形態］
　本発明の第３実施形態に係る移動体１００は、走行体２００及び搭載体３００の係合の態様、及び、固定の態様が異なる点で、上述した第１実施形態と異なる。第１、第３実施形態においては、係合部２３０が、走行体２００及び搭載体３００を互いに係合可能に構成され、係合して搭載体３００が装着され、係合が解除されることで搭載体３００が脱離するようになっている。 [Third embodiment]
The moving body 100 according to the third embodiment of the present invention differs from the first embodiment described above in the manner of engagement and fixation between the running body 200 and the mounting body 300. In the first and third embodiments, the engagement portion 230 is configured to be able to engage the running body 200 and the mounting body 300 with each other, and is configured to attach the mounting body 300 by engaging the running body 200 and the mounting body 300, and to detach the mounting body 300 by releasing the engagement.

　また、第１、第３実施形態においては、固定部２４０ａが、搭載体３００を走行体２００に固定可能に構成され、固定して搭載体３００の走行体２００に対する相対移動が規制され、固定が解除されることで相対移動が許容されるようになっている。これらの点は、第１、第３実施形態で共通している。 In addition, in the first and third embodiments, the fixing portion 240a is configured to be able to fix the mounting body 300 to the running body 200, and by fixing, the relative movement of the mounting body 300 with respect to the running body 200 is restricted, and by releasing the fixation, the relative movement is permitted. These points are common to the first and third embodiments.

　第１実施形態の係合部２３０・固定部２４０ａは、突出部位２３１と、嵌入部位２３２とを備え、係合・固定の態様としては、突出部位２３１が嵌入部位２３２に嵌入されて、係合・固定が達成される。この突出部位２３１は、第２方向の上方に向かって突出する。 The engaging portion 230 and the fixing portion 240a in the first embodiment include a protruding portion 231 and an insertion portion 232, and the engaging and fixing is achieved by inserting the protruding portion 231 into the insertion portion 232. This protruding portion 231 protrudes upward in the second direction.

　これに対し、第３実施形態の係合部２３０は、アウターレール２３３、及び、インナーレール２３４を備え、走行体２００が走行している状態で係合して、搭載体３００が装着されるように構成されている。第３実施形態の固定部２４０ａは、突出部位２４３と、嵌入部位２４４とを備え、固定の態様としては、突出部位２４３が嵌入部位２４４に嵌入されて、固定が達成される。この突出部位２４３は、第２方向に対し略垂直方向に向かって突出する。第３実施形態においては、これらの点のみ第１実施形態と異なり、他の点は第１実施形態と同じである。 In contrast, the engagement portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234, and is configured to engage with the outer rail 233 and the inner rail 234 while the running body 200 is running, and to attach the mounting body 300. The fixing portion 240a of the third embodiment includes a protruding portion 243 and an insertion portion 244, and is fixed by inserting the protruding portion 243 into the insertion portion 244. This protruding portion 243 protrudes in a direction approximately perpendicular to the second direction. The third embodiment differs from the first embodiment only in these respects, and is otherwise the same as the first embodiment.

　以下、第３実施形態の第１実施形態と異なる点のみ説明する。第３実施形態において、第１実施形態等と同一・等価な構成、部位に対しては、第１実施形態等と同じ符号を付している。 Only the differences between the third embodiment and the first embodiment will be described below. In the third embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

　図５２に示すように、第３実施形態の係合部２３０は、アウターレール２３３、及び、インナーレール２３４を備えている。本実施形態では、アウターレール２３３は、走行体２００に設けられ、インナーレール２３４は、搭載体３００に設けられている。これに代えて、アウターレール２３３及びインナーレール２３４の配置関係が、逆であってもよい。 As shown in FIG. 52, the engagement portion 230 of the third embodiment includes an outer rail 233 and an inner rail 234. In this embodiment, the outer rail 233 is provided on the running body 200, and the inner rail 234 is provided on the mounting body 300. Alternatively, the positional relationship between the outer rail 233 and the inner rail 234 may be reversed.

　アウターレール２３３は、走行体２００の上端の搭載面２１０に２本設けられている。各アウターレール２３３は、車幅方向において離間して互いに平行となるよう設置されており、第１方向に沿ってそれぞれ伸長している。２本のアウターレール２３３は、車幅方向外側に向かってそれぞれ凹んでおり、断面形状がインナーレール２３４の凸部に対応している。アウターレール２３３の前端は開口端となっており、インナーレール２３４の後端が進入可能である。 Two outer rails 233 are provided on the mounting surface 210 at the upper end of the running body 200. The outer rails 233 are installed parallel to each other and spaced apart in the vehicle width direction, and each extends along the first direction. The two outer rails 233 are each concave toward the outside in the vehicle width direction, and their cross-sectional shapes correspond to the convex portions of the inner rails 234. The front end of the outer rails 233 is an open end, allowing the rear end of the inner rails 234 to enter.

　インナーレール２３４は、搭載体３００の下端の底面３３１に２本設けられている。各インナーレール２３４は、車幅方向において離間して互いに平行となるよう、且つ、２本のアウターレール２３３より内側に設置されており、第１方向に沿ってそれぞれ伸長している。２本のインナーレール２３４は、車幅方向外側に向かってそれぞれ凸んでおり、断面形状がアウターレール２３３の凹部に対応している。インナーレール２３４は、後端からアウターレール２３３に侵入すると、第１方向に沿って案内されるようになっている。 Two inner rails 234 are provided on the bottom surface 331 at the lower end of the mounting body 300. The inner rails 234 are installed parallel to each other and spaced apart in the vehicle width direction, and are located inside the two outer rails 233, and each extends along the first direction. The two inner rails 234 each protrude outward in the vehicle width direction, and their cross-sectional shapes correspond to the recesses of the outer rails 233. When the inner rails 234 enter the outer rails 233 from their rear ends, they are guided along the first direction.

　図５２、及び、図５３に示すように、２本のインナーレール２３４の凸部における外側面には、第１方向に沿って、複数の突出部位２４３が設けられている。各突出部位２４３は、第２方向に対し略垂直方向に向かって、即ち、車幅方向外側に向かって、突出可能となっている（図５３（ｂ）を参照）。 As shown in Figures 52 and 53, a number of protruding portions 243 are provided along the first direction on the outer surfaces of the convex portions of the two inner rails 234. Each protruding portion 243 can protrude in a direction substantially perpendicular to the second direction, i.e., toward the outside in the vehicle width direction (see Figure 53(b)).

　また、各突出部位２４３は、車幅方向内側に向かって、インナーレール２３４内部に収納可能となっている（図５３（ａ）を参照）。突出部位２３１の突出作動及び収納作動は、例えば、内蔵されたアクチュエータを介して、制御装置３８２により制御されてもよい。 Furthermore, each protruding portion 243 can be stored inside the inner rail 234 toward the inside in the vehicle width direction (see FIG. 53(a)). The protruding and storing operations of the protruding portions 231 may be controlled by the control device 382, for example, via a built-in actuator.

　２本のアウターレール２３３の側壁には、第１方向に沿って、複数の嵌入部位２４４が設けられている。各嵌入部位２４４は、複数の突出部位２４３の位置に対応するよう、配置されている。各嵌入部位２４４は、第２方向に対し略垂直な方向に向かって、即ち、車幅方向に向かって、アウターレール２３３の側壁を貫通するようになっている。貫通孔としての各嵌入部位２４４は、突出する各突出部位２３１が嵌入可能に構成されている（図５３（ｂ）を参照）。 The side walls of the two outer rails 233 are provided with multiple insertion portions 244 along the first direction. Each insertion portion 244 is arranged to correspond to the position of the multiple protruding portions 243. Each insertion portion 244 penetrates the side walls of the outer rails 233 in a direction approximately perpendicular to the second direction, i.e., in the vehicle width direction. Each insertion portion 244 as a through hole is configured so that each protruding protruding portion 231 can be inserted therein (see FIG. 53(b)).

　走行体２００に搭載体３００を装着させる場合、複数の突出部位２３１は、全てインナーレール２３４に収納されているものとする（図５３（ａ）を参照）。走行体２００が、保管庫５００の後端出入口から内部に侵入すると、走行体２００は搭載体３００の下側を走行しつつ、インナーレール２３４の後端が、アウターレール２３３の前端から進入していく。この状態で、インナーレール２３４は、アウターレール２３３に案内されて、第１方向にスライド移動しながら互いに係合していく。 When the carrier 300 is attached to the running body 200, all of the protruding portions 231 are stored in the inner rail 234 (see FIG. 53(a)). When the running body 200 enters the interior of the storage facility 500 from the rear entrance, the running body 200 travels underneath the carrier 300 while the rear end of the inner rail 234 enters the front end of the outer rail 233. In this state, the inner rail 234 is guided by the outer rail 233 and engages with each other while sliding in the first direction.

　上述したスライド移動が進行し、側面視にて突出部位２４３及び嵌入部位２４４の各位置が重なり合うと、走行体２００が、停止位置に達したとして停止する。次いで、走行体２００が停止位置にて停止している状態で、収納されていた突出部位２４３が、車幅方向外側に突出するよう制御される（図５３（ｂ）を参照）。これにより、係合及び固定が達成されて、搭載体３００が走行体２００に装着される。装着後、移動体１００は、後方を第１方向として走行し、保管庫５００の後端出入口から外部に走出していく。 When the above-mentioned sliding movement progresses and the protruding portion 243 and the fitting portion 244 overlap in a side view, the running body 200 reaches the stop position and stops. Next, while the running body 200 is stopped at the stop position, the stored protruding portion 243 is controlled to protrude outward in the vehicle width direction (see FIG. 53(b)). This achieves engagement and fixation, and the mounting body 300 is attached to the running body 200. After attachment, the moving body 100 travels with the rear as the first direction, and runs outside from the rear end entrance of the storage facility 500.

［第４実施形態］
　本発明の第４実施形態に係る移動体１００の保管庫５００（保管システム４００）は、走行体２００の電源、及び／又は、搭載体３００の電源３８０に対し、保管庫５００内部にて充電可能となっており、充電状態に対応する情報を外部に表示可能である点で、上述した第１実施形態と異なる。 [Fourth embodiment]
The storage facility 500 (storage system 400) for the moving body 100 according to the fourth embodiment of the present invention differs from the first embodiment described above in that the power source for the running body 200 and/or the power source 380 for the mounted body 300 can be charged inside the storage facility 500, and information corresponding to the charging status can be displayed externally.

　第１、第４実施形態においては、保管システム４００が、保管庫５００の内部における停止位置を決定する停止位置決定部２８３ｃを備え、保管庫５００が、脱離した搭載体３００を配置可能なように構成された配置部５６０を備えている。保管庫５００での搭載体３００の装着及び脱着の態様も含め、これらの点は、第１、第４実施形態で共通している。 In the first and fourth embodiments, the storage system 400 includes a stop position determination unit 283c that determines a stop position inside the storage facility 500, and the storage facility 500 includes a placement unit 560 that is configured to be able to place the detached mounting body 300. These points, including the manner in which the mounting body 300 is attached and detached in the storage facility 500, are common to the first and fourth embodiments.

　第１実施形態の保管庫５００における底面部５１０は、走行体２００が停止位置にて停止した際、走行体２００の車体２６０における底面と対向するようになっている。当該底面部５１０への機能付加は、任意である。第１実施形態の保管庫５００における配置部５６０は、搭載体３００が配置される際、搭載体３００の基部３３０における底面から、第２方向の上方に向かって支持するようになっている。当該配置部５６０への、搭載体３００の支持以外の機能付加は、任意である。 The bottom surface 510 in the storage 500 of the first embodiment is configured to face the bottom surface of the vehicle body 260 of the running body 200 when the running body 200 stops at the stopping position. Adding functions to the bottom surface 510 is optional. The placement section 560 in the storage 500 of the first embodiment is configured to support the mounting body 300 from the bottom surface of the base 330 of the mounting body 300 upward in the second direction when the mounting body 300 is placed. Adding functions to the placement section 560 other than supporting the mounting body 300 is optional.

　これに対し第４実施形態の保管庫５００は、給電部５７０ａ・給電部５７０ｂ、及び、表示部５８０を備えている。また、第４実施形態に係る移動体１００の電源２８０・電源３８０は、何れも充放電可能なバッテリ（２次電池）である。 In contrast, the storage facility 500 of the fourth embodiment includes power supply units 570a and 570b, and a display unit 580. In addition, the power sources 280 and 380 of the mobile body 100 of the fourth embodiment are both rechargeable batteries (secondary batteries).

　給電部５７０ａ・給電部５７０ｂは、走行体２００の電源２８０、及び、搭載体３００の電源３８０に対し、充電用の電気エネルギを供給可能に構成されている。表示部５８０は、電源２８０・電源３８０の充電状態に対応する情報を、外部に表示可能に構成されている。第４実施形態においては、これらの点のみ第１実施形態と異なり、他の点は第１実施形態と同じである。 Power supply unit 570a and power supply unit 570b are configured to be capable of supplying electrical energy for charging to power source 280 of running body 200 and power source 380 of mounted body 300. Display unit 580 is configured to be capable of externally displaying information corresponding to the charging state of power source 280 and power source 380. The fourth embodiment differs from the first embodiment only in these respects, and is the same as the first embodiment in other respects.

　以下、第４実施形態の第１実施形態と異なる点のみ説明する。第４実施形態において、第１実施形態等と同一・等価な構成、部位に対しては、第１実施形態等と同じ符号を付している。 Only the differences between the fourth embodiment and the first embodiment will be described below. In the fourth embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

　図５４に示すように、保管庫５００の底面部５１０には、給電部５７０ａが設けられている。給電部５７０ａは、平板形状を呈している。給電部５７０ａの上面と、後述する受電部２８５の下面とが、互いに重なりあった場合に、給電部５７０ａから、受電部２８５に向けて、電気エネルギが供給されるようになっている。 As shown in FIG. 54, a power supply unit 570a is provided on the bottom surface 510 of the storage unit 500. The power supply unit 570a has a flat plate shape. When the upper surface of the power supply unit 570a and the lower surface of the power receiving unit 285 described below overlap each other, electrical energy is supplied from the power supply unit 570a to the power receiving unit 285.

　保管庫５００の配置部５６０には、給電部５７０ｂが設けられている。給電部５７０ｂは、平板形状を呈している。給電部５７０ｂの上面と、後述する受電部３８５の下面とが、互いに重なりあった場合に、給電部５７０ｂから、受電部３８５に向けて、電気エネルギが供給されるようになっている。 The placement section 560 of the storage unit 500 is provided with a power supply section 570b. The power supply section 570b has a flat plate shape. When the upper surface of the power supply section 570b and the lower surface of the power receiving section 385 described below overlap each other, electrical energy is supplied from the power supply section 570b to the power receiving section 385.

　図５５に示すように、走行体２００の車体２６０における底面には、受電部２８５が設けられている。受電部２８５は、平板形状を呈している。受電部２８５の下面は、走行体２００が停止位置にて停止した場合に、給電部５７０ａの上面と重なりあうよう、配置されている。受電部２８５は、走行体２００の電源２８０と電気的に接続されている。受電部２８５は、充電用の電気エネルギを、電源２８０に送出可能となっている。 As shown in FIG. 55, a power receiving unit 285 is provided on the bottom surface of the vehicle body 260 of the running body 200. The power receiving unit 285 has a flat plate shape. The lower surface of the power receiving unit 285 is positioned so as to overlap with the upper surface of the power supply unit 570a when the running body 200 stops at the stop position. The power receiving unit 285 is electrically connected to the power source 280 of the running body 200. The power receiving unit 285 is capable of sending electrical energy for charging to the power source 280.

　搭載体３００の基部３３０における底面には、受電部３８５が設けられている。受電部３８５は、平板形状を呈している。受電部３８５の下面は、搭載体３００が配置部５６０に配置された場合に、給電部５７０ｂの上面と重なりあうよう、配置されている。受電部３８５は、搭載体３００の電源３８０と電気的に接続されている。受電部２８５は、充電用の電気エネルギを、電源２８０に送出可能となっている。 A power receiving unit 385 is provided on the bottom surface of the base 330 of the mounting body 300. The power receiving unit 385 has a flat plate shape. The lower surface of the power receiving unit 385 is arranged so as to overlap with the upper surface of the power supply unit 570b when the mounting body 300 is arranged in the arrangement section 560. The power receiving unit 385 is electrically connected to the power source 380 of the mounting body 300. The power receiving unit 285 is capable of sending electrical energy for charging to the power source 280.

　図５６、及び、図５７に示すように、表示部５８０は、例えば、保管庫５００のルーフ部５４０の外側に配置されている。表示部５８０は、通信装置、モニタ装置、電気・電子回路、ＣＰＵ等を備えた外部端末であってもよい。表示部５８０のモニタ装置は、保管庫５００の外部にて視認可能となっていてもよい。 As shown in Figures 56 and 57, the display unit 580 is disposed, for example, on the outside of the roof portion 540 of the storage facility 500. The display unit 580 may be an external terminal equipped with a communication device, a monitor device, an electric/electronic circuit, a CPU, etc. The monitor device of the display unit 580 may be visible from outside the storage facility 500.

　表示部５８０は、電源２８０・電源３８０が充電中であると判定された場合、それぞれのバッテリ残量の情報を、通信装置２８１・通信装置３８１から受信する。表示部５８０は、受信した情報に基づいて、充電状態に対応する情報を、モニタ装置を介して表示する。表示される情報としては、例えば、満量に対する残量の割合（パーセント等）を示す数値や、ステータス（充電中／充電完了等）に対応するロゴ等が、あげられる。 When it is determined that power source 280 or power source 380 is charging, display unit 580 receives information on the remaining battery charge from communication device 281 or communication device 381. Based on the received information, display unit 580 displays information corresponding to the charging state via the monitor device. Examples of information displayed include a numerical value indicating the ratio (percentage, etc.) of the remaining charge to the full charge, and a logo corresponding to the status (charging/charging complete, etc.).

　給電部５７０ａ・給電部５７０ｂは、例えば、図示しないワイヤ等を介して、昇圧等を経た充電用の電気エネルギが、保管庫５００の外部から供給されてもよい。給電部５７０ａ・給電部５７０ｂから、受電部２８５・受電部３８５に向けた給電の形式は、例えば、接触式又は非接触式の何れでもよい。給電形式は、給電部５７０ａ・給電部５７０ｂ、及び、給電部５７０ａ・給電部５７０ｂにおける電気的接続が可能であれば、任意である。 The power supply units 570a and 570b may be supplied with electrical energy for charging that has been boosted or otherwise processed via wires or the like (not shown) from outside the storage facility 500. The form of power supply from the power supply units 570a and 570b to the power receiving units 285 and 385 may be, for example, either contact or non-contact. The power supply form is arbitrary as long as electrical connection between the power supply units 570a and 570b and the power supply units 570a and 570b is possible.

　給電形式が接触式である場合、例えば、給電部５７０ａ・給電部５７０ｂ、及び、受電部２８５・受電部３８５は、接触式の端子を有していてもよい（例えば、第５実施形態の図６９を参照）。この場合、給電部５７０ａ・給電部５７０ｂの端子、及び、受電部２８５・受電部３８５の端子が、互いに接触することで、それぞれの通電が許容される。 When the power supply method is contact type, for example, the power supply unit 570a/power supply unit 570b and the power receiving unit 285/power receiving unit 385 may have contact type terminals (see, for example, FIG. 69 of the fifth embodiment). In this case, the terminals of the power supply unit 570a/power supply unit 570b and the terminals of the power receiving unit 285/power receiving unit 385 are in contact with each other, allowing current to flow between them.

　給電形式が非接触式である場合、例えば、給電部５７０ａ・給電部５７０ｂ、及び、受電部２８５・受電部３８５は、コイルを有していてもよい（例えば、第５実施形態の図７０を参照）。この場合、給電部５７０ａ・給電部５７０ｂのコイルは、電気を磁気に変換する。受電部２８５・受電部３８５のコイルは、磁気を電気に変換する。給電部５７０ａ・給電部５７０ｂ、及び、受電部２８５・受電部３８５は、磁気を介して、それぞれの通電が許容される。 When the power supply method is non-contact, for example, the power supply unit 570a/570b and the power receiving unit 285/385 may have coils (see, for example, FIG. 70 of the fifth embodiment). In this case, the coils of the power supply unit 570a/570b convert electricity into magnetism. The coils of the power receiving unit 285/385 convert magnetism into electricity. The power supply unit 570a/570b and the power receiving unit 285/385 are each allowed to pass electricity via magnetism.

　以下、保管庫５００にて電源２８０・電源３８０を充電する際の作動について、説明する。図５８に示すように、走行体２００から搭載体３００を脱離させるために、移動体１００が、保管庫５００に侵入してきたものとする。このとき、リフト部２２０にて搭載体３００が支持されつつ、走行体２００の搭載面２１０から、搭載体３００が上方に推移している状態で走行する。この状態では、給電部５７０ａ・給電部５７０ｂ、及び、受電部２８５・受電部３８５の間は、大きく離間している。このため、通電は許容されない。停止位置に向かって、走行体２００がさらに走行していくと、車体２６０の底面の受電部２８５は、底面部５１０の給電部５７０ａに近づいていく。 The operation when charging the power source 280 and the power source 380 in the storage facility 500 will be described below. As shown in FIG. 58, it is assumed that the moving body 100 has entered the storage facility 500 in order to detach the mounted body 300 from the running body 200. At this time, the mounted body 300 is supported by the lift unit 220 and travels in a state in which the mounted body 300 moves upward from the mounting surface 210 of the running body 200. In this state, there is a large distance between the power supply unit 570a and the power supply unit 570b and the power receiving unit 285 and the power receiving unit 385. For this reason, no electricity is allowed to flow. As the running body 200 travels further toward the stopping position, the power receiving unit 285 on the bottom surface of the vehicle body 260 approaches the power supply unit 570a on the bottom surface 510.

　図５９に示すように、走行体２００が、保管庫５００内の停止位置にて停止すると、給電部５７０ａの上面、及び、受電部２８５の下面が、互いに重なりあう。これにより、給電部５７０ａ、及び、受電部２８５の間における非接触での通電が許容され、電源２８０に充電用の電気エネルギが供給されていく。これと同時に、電源２８０のバッテリ残量の情報が、通信装置２８１から表示部５８０へ送信される。表示部５８０では、電源２８０の充電状態に対応する情報が、モニタ装置を介して表示される。 As shown in FIG. 59, when the running body 200 stops at a stopping position in the storage facility 500, the upper surface of the power supply unit 570a and the lower surface of the power receiving unit 285 overlap each other. This allows non-contact current to flow between the power supply unit 570a and the power receiving unit 285, and electrical energy for charging is supplied to the power source 280. At the same time, information on the remaining battery charge of the power source 280 is transmitted from the communication device 281 to the display unit 580. On the display unit 580, information corresponding to the charging state of the power source 280 is displayed via a monitor device.

　また、この状態では、基部３３０の底面の受電部３８５は、配置部５６０よりも上方に位置しており、給電部５７０ｂ、及び、受電部３８５の間は離間している。このため、通電は許容されない。リフト部２２０にて搭載体３００が支持されつつ、搭載体３００を下方へ移動させていくと、基部３３０の底面の受電部３８５は、配置部５６０の給電部５７０ｂに近づいていく。 In addition, in this state, the power receiving unit 385 on the bottom surface of the base 330 is located above the placement unit 560, and there is a distance between the power supply unit 570b and the power receiving unit 385. For this reason, no current is allowed. When the mounting body 300 is moved downward while being supported by the lift unit 220, the power receiving unit 385 on the bottom surface of the base 330 approaches the power supply unit 570b of the placement unit 560.

　図６０に示すように、搭載体３００が、保管庫５００内の配置部５６０に配置されると、給電部５７０ｂの上面、及び、受電部３８５の下面が、互いに重なりあう。これにより、給電部５７０ｂ、及び、受電部３８５の間における非接触での通電が許容され、電源３８０に充電用の電気エネルギが供給されていく。これと同時に、電源３８０のバッテリ残量の情報が、通信装置３８１から表示部５８０へ送信される。表示部５８０では、電源２８０・電源３８０のそれぞれの充電状態に対応する情報が、モニタ装置を介して表示される。 As shown in FIG. 60, when the carrier 300 is placed in the placement section 560 in the storage facility 500, the upper surface of the power supply section 570b and the lower surface of the power receiving section 385 overlap each other. This allows non-contact current to flow between the power supply section 570b and the power receiving section 385, and electrical energy for charging is supplied to the power source 380. At the same time, information on the remaining battery charge of the power source 380 is transmitted from the communication device 381 to the display section 580. On the display section 580, information corresponding to the respective charging states of the power sources 280 and 380 is displayed via a monitor device.

　なお、本実施形態においては、保管庫５００にて、電源２８０及び電源３８０の両方が充電可能となっているが、これに代えて、電源２８０及び電源３８０のうち、何れか一方が充電可能となっていてもよい。 In this embodiment, both power source 280 and power source 380 are rechargeable in storage 500, but alternatively, either power source 280 or power source 380 may be rechargeable.

［第５実施形態］
　本発明の第５実施形態に係る移動体１００においては、走行体２００が第１端部２８６を備え、搭載体３００が第２端部３８６を備えている。搭載体３００が搭載面２１０に装着された場合に、第１端部２８６と第２端部３８６での、接触又は非接触での通電が許容される。搭載体３００が搭載面２１０から脱離した場合に、第１端部２８６と第２端部３８６での、接触又は非接触での通電が規制される。第５実施形態は、この点で上述した第１実施形態と異なる。 [Fifth embodiment]
In the moving body 100 according to the fifth embodiment of the present invention, the running body 200 has a first end 286, and the mounting body 300 has a second end 386. When the mounting body 300 is attached to the mounting surface 210, electrical conduction is permitted between the first end 286 and the second end 386 in contact or without contact. When the mounting body 300 is detached from the mounting surface 210, electrical conduction between the first end 286 and the second end 386 in contact or without contact is restricted. The fifth embodiment differs from the first embodiment described above in this respect.

　第１、第５実施形態においては、走行体２００、及び、搭載体３００ともに、それぞれ電気機器を備えている。保管庫５００での搭載体３００の装着及び脱着の態様も含め、これらの点は、第１、第５実施形態で共通している。 In the first and fifth embodiments, both the running body 200 and the mounting body 300 are equipped with electrical equipment. These points, including the manner in which the mounting body 300 is attached and detached in the storage facility 500, are common to the first and fifth embodiments.

　第１実施形態においては、走行体２００の電気機器（第１電気機器に相当）と、搭載体３００の電気機器（第２電気機器に相当）との間には、走行体２００に搭載体３００が装着された場合であっても、電気的な接続は形成されない。 In the first embodiment, no electrical connection is formed between the electrical equipment of the running body 200 (corresponding to the first electrical equipment) and the electrical equipment of the mounted body 300 (corresponding to the second electrical equipment) even when the mounted body 300 is attached to the running body 200.

　これに対し第５実施形態においては、走行体２００の第１端部２８６は、走行体２００の第１電気機器と電気的に接続されている。搭載体３００の第２端部３８６は、搭載体３００の第２電気機器と電気的に接続されている。上述のように、第１端部２８６と第２端部３８６の通電が許容されると、走行体２００の第１電気機器、及び、搭載体３００の第２電気機器の間における、電気的接続が達成される。 In contrast, in the fifth embodiment, the first end 286 of the running body 200 is electrically connected to the first electrical device of the running body 200. The second end 386 of the mounting body 300 is electrically connected to the second electrical device of the mounting body 300. As described above, when the first end 286 and the second end 386 are allowed to pass electricity, an electrical connection is established between the first electrical device of the running body 200 and the second electrical device of the mounting body 300.

　一方、上述のように、第１端部２８６と第２端部３８６の通電が規制されると、走行体２００の第１電気機器、及び、搭載体３００の第２電気機器の間における、電気的接続が解除される。第５実施形態においては、これらの点のみ第１実施形態と異なり、他の点は第１実施形態と同じである。 On the other hand, as described above, when the flow of electricity between the first end 286 and the second end 386 is restricted, the electrical connection between the first electrical device of the running body 200 and the second electrical device of the mounting body 300 is released. The fifth embodiment differs from the first embodiment in these respects only, and is otherwise the same as the first embodiment.

　以下、第５実施形態の第１実施形態と異なる点のみ説明する。第５実施形態において、第１実施形態等と同一・等価な構成、部位に対しては、第１実施形態等と同じ符号を付している。 Only the differences between the fifth embodiment and the first embodiment will be described below. In the fifth embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

　図６１、及び、図６３に示すように、走行体２００の上面（上端）には、３つの第１端部２８６ａ、第１端部２８６ｂ、第１端部２８６ｃが備えられている。第１端部２８６ａ、第１端部２８６ｂ、第１端部２８６ｃは、平面視において、車体２６０の車長方向における前方に、それぞれ配置されている。 As shown in Figures 61 and 63, the upper surface (upper end) of the running body 200 is provided with three first ends 286a, 286b, and 286c. In a plan view, the first ends 286a, 286b, and 286c are each located forward in the vehicle length direction of the vehicle body 260.

　より具体的には、第１端部２８６ａは、例えば、支持部２５０ｂ、及び、支持部２５０ｃの間に配置されてもよい。第１端部２８６ｂ、第１端部２８６ｃは、それらが支持部２５０ａを挟むように、それぞれ配置されてもよい。第１端部２８６は、車体２６０の前方に配置されていればよく、個数やそれぞれの位置関係は、任意である。 More specifically, the first end 286a may be disposed, for example, between the support portion 250b and the support portion 250c. The first end 286b and the first end 286c may be disposed so as to sandwich the support portion 250a. The first end portions 286 only need to be disposed in front of the vehicle body 260, and the number of first end portions 286 and their respective positional relationships are arbitrary.

　図６２、及び、図６４に示すように、搭載体３００の低面（下端）には、３つの第２端部３８６ａ、第２端部３８６ｂ、第２端部３８６ｃが備えられている。第２端部３８６ａ、第２端部３８６ｂ、第２端部３８６ｃは、底面視において、基部３３０の車長方向における前方に、それぞれ配置されている。 As shown in Figures 62 and 64, the lower surface (bottom end) of the mounting body 300 is provided with three second ends 386a, 386b, and 386c. Second ends 386a, 386b, and 386c are each located forward of the base 330 in the vehicle length direction when viewed from the bottom.

　より具体的には、第２端部３８６ａ、第２端部３８６ｂ、第２端部３８６ｃは、第１端部２８６ａ、第１端部２８６ｂ、第１端部２８６ｃに対応する位置に、それぞれ配置されている。走行体２００に搭載体３００が装着されたとき、第１端部２８６ａ、第１端部２８６ｂ、第１端部２８６ｃに、第２端部３８６ａ、第２端部３８６ｂ、第２端部３８６ｃが、それぞれ重なりあうよう、配置されている。第２端部３８６は、第１端部２８６に対応していればよく、個数やそれぞれの位置関係も、第１端部２８６と同じである。 More specifically, second end 386a, second end 386b, second end 386c are arranged at positions corresponding to first end 286a, first end 286b, first end 286c, respectively. When mounting body 300 is attached to running body 200, second end 386a, second end 386b, second end 386c are arranged so as to overlap first end 286a, first end 286b, first end 286c, respectively. Second end 386 only needs to correspond to first end 286, and the number and relative positions of second end 386 are the same as first end 286.

　図６５に示すように、第１端部２８６ａは、通信ネットワークＮ１を介して、走行体２００の制御装置２８３、通信装置２８１等と、電気的に接続されている。第２端部３８６ａは、通信ネットワークＮ２を介して、搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅ、電源３８０、バッテリセンサ等と、電気的に接続されている。 As shown in FIG. 65, the first end 286a is electrically connected to the control device 283, communication device 281, etc. of the running body 200 via the communication network N1. The second end 386a is electrically connected to the driving units 340a, 340b, 340c, 340d, 340e, power source 380, battery sensor, etc. of the mounting body 300 via the communication network N2.

　第１端部２８６ａと第２端部３８６ａの通電が許容されると、通信ネットワークＮ１と通信ネットワークＮ２とが接続される。このため、走行体２００の制御装置２８３からの制御信号を、搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅ、電源３８０等に送出可能となり、搭載体３００のバッテリセンサの情報を、走行体２００の通信装置２８１に送出可能となる。 When the first end 286a and the second end 386a are allowed to flow electricity, the communication network N1 and the communication network N2 are connected. This makes it possible to send a control signal from the control device 283 of the running body 200 to the driving units 340a, 340b, 340c, 340d, 340e, power source 380, etc. of the mounted body 300, and makes it possible to send information from the battery sensor of the mounted body 300 to the communication device 281 of the running body 200.

　なお、本実施形態の制御装置２８３は、さらに、可動具制御部２８３ｅ、及び、給電量調整部２８３ｆを備えている。搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅの制御は、第１端部２８６ａと第２端部３８６ａの通電が許容された状態で、可動具制御部２８３ｅにより実行される。搭載体３００の電源３８０、及び、走行体２００の電源２８０における給電量の調整は、給電量調整部２８３ｆにより実行される。 The control device 283 of this embodiment further includes a movable tool control unit 283e and a power supply adjustment unit 283f. The control of the drive units 340a, 340b, 340c, 340d, and 340e of the mounting body 300 is performed by the movable tool control unit 283e when the first end 286a and the second end 386a are allowed to be energized. The adjustment of the power supply amount in the power source 380 of the mounting body 300 and the power source 280 of the running body 200 is performed by the power supply adjustment unit 283f.

　第１端部２８６ｂは、走行体２００の電源２８０と電気的に接続されている。第２端部３８６ｂは、搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅと、電気的に接続されている。第１端部２８６ｂと第２端部３８６ｂの通電が許容されると、搭載体３００の電源３８０に加え、走行体２００の電源２８０からも、駆動用の電気エネルギを、搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅに送出可能となる。 The first end 286b is electrically connected to the power supply 280 of the running body 200. The second end 386b is electrically connected to the drive units 340a, 340b, 340c, 340d, and 340e of the mounting body 300. When the first end 286b and the second end 386b are allowed to pass electricity, in addition to the power supply 380 of the mounting body 300, the power supply 280 of the running body 200 can also send driving electrical energy to the drive units 340a, 340b, 340c, 340d, and 340e of the mounting body 300.

　第１端部２８６ｃは、走行体２００の走行装置２７０の駆動部と、電気的に接続されている。第２端部３８６ｃは、搭載体３００の電源３８０と、電気的に接続されている。第１端部２８６ｃと第２端部３８６ｃの通電が許容されると、走行体２００の電源２８０に加え、搭載体３００の電源３８０からも、駆動用の電気エネルギを、走行体２００の走行装置２７０に送出可能となる。 The first end 286c is electrically connected to the drive unit of the running device 270 of the running body 200. The second end 386c is electrically connected to the power source 380 of the mounting body 300. When the first end 286c and the second end 386c are allowed to be energized, electric energy for driving can be sent to the running device 270 of the running body 200 from the power source 380 of the mounting body 300 in addition to the power source 280 of the running body 200.

　第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃにおける通電の形式は、例えば、接触式又は非接触式の何れでもよい。通電形式は、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃにおける電気的接続が可能であれば、任意である。 The type of current flow between the first end 286a, the first end 286b, and the first end 286c and the second end 386a, the second end 386b, and the second end 386c may be, for example, contact type or non-contact type. The type of current flow may be any type as long as electrical connection between the first end 286a, the first end 286b, and the first end 286c and the second end 386a, the second end 386b, and the second end 386c is possible.

　通電形式が接触式である場合、例えば、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃは、接触式の端子であってもよい（例えば、図６９を参照）。この場合、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃの端子が、互いに接触することで、それぞれの通電が許容される。 When the current supply type is contact type, for example, the first end 286a, the first end 286b, the first end 286c, and the second end 386a, the second end 386b, the second end 386c may be contact type terminals (see, for example, FIG. 69). In this case, the terminals of the first end 286a, the first end 286b, the first end 286c, and the second end 386a, the second end 386b, the second end 386c are in contact with each other, thereby allowing current to flow between them.

　通電形式が非接触式である場合、例えば、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃは、コイルであってもよい（例えば、図７０を参照）。この場合、第１端部２８６ｂ・第２端部３８６ｃのコイルは、電気を磁気に変換する。第１端部２８６ｃ・第２端部３８６ｂのコイルは、磁気を電気に変換する。 When the current supply type is non-contact, for example, the first end 286a, the first end 286b, and the first end 286c and the second end 386a, the second end 386b, and the second end 386c may be coils (see, for example, FIG. 70). In this case, the coils at the first end 286b and the second end 386c convert electricity into magnetism. The coils at the first end 286c and the second end 386b convert magnetism into electricity.

　第１端部２８６ａ・第２端部３８６ａにおいては、第１端部２８６ａから第２端部３８６ａに向けて通電させる場合、第１端部２８６ａのコイルは、電気を磁気に変換し、第２端部３８６ａコイルは、磁気を電気に変換する。第２端部３８６ａから第１端部２８６ａに向けて通電させる場合、第２端部３８６ａのコイルは、電気を磁気に変換し、第１端部２８６ａコイルは、磁気を電気に変換する。 When electricity is passed from the first end 286a to the second end 386a, the coil at the first end 286a converts electricity into magnetism, and the coil at the second end 386a converts magnetism into electricity. When electricity is passed from the second end 386a to the first end 286a, the coil at the second end 386a converts electricity into magnetism, and the coil at the first end 286a converts magnetism into electricity.

　このように、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃは、磁気を介して、それぞれの通電が許容される。なお、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃのうち、一部の通電形式が接触式で、その他の通電形式が非接触式であってもよい。即ち、接触式、及び、非接触式が混在していてもよい。 In this way, the first end 286a, the first end 286b, the first end 286c, and the second end 386a, the second end 386b, the second end 386c are each allowed to pass electricity via magnetism. Note that among the first end 286a, the first end 286b, the first end 286c, and the second end 386a, the second end 386b, the second end 386c, some of the electricity passing through them may be of the contact type, and the other electricity passing through them may be of the non-contact type. In other words, the contact type and the non-contact type may be mixed.

　以下、保管庫５００の配置部５６０に配置された搭載体３００を、走行体２００に装着し、第１端部２８６及び第２端部３８６の間における、通電を許容させる際の作動について、説明する。本実施形態においては、走行体２００、及び、搭載体３００が、互いに離間している場合には、第１端部２８６及び第２端部３８６の間における通電が規制される。 Below, the operation of attaching the mounting body 300 arranged in the placement section 560 of the storage facility 500 to the running body 200 and allowing electrical current to flow between the first end 286 and the second end 386 will be described. In this embodiment, when the running body 200 and the mounting body 300 are separated from each other, electrical current is restricted between the first end 286 and the second end 386.

　上記「互いに離間している場合」としては、例えば、搭載体３００が、配置部５６０に配置されており、且つ、走行体２００が保管庫５００外部に位置している場合や、走行体２００が保管庫５００内部に位置し、走行体２００の搭載面２１０、及び、搭載体３００の底面が離間している場合等が、あげられる。より具体的には、搭載体３００が、走行体２００から脱離している状態においては、第１端部２８６及び第２端部３８６の間における通電が、規制されるようになっている。 The above-mentioned "case where they are separated from each other" includes, for example, a case where the mounting body 300 is placed in the placement section 560 and the running body 200 is located outside the storage facility 500, or a case where the running body 200 is located inside the storage facility 500 and the mounting surface 210 of the running body 200 and the bottom surface of the mounting body 300 are separated from each other. More specifically, when the mounting body 300 is detached from the running body 200, the flow of electricity between the first end 286 and the second end 386 is restricted.

　一方、配置部５６０配置されている搭載体３００に、搭載体３００が装着されていない走行体２００が近接した場合に、第１端部２８６及び第２端部３８６の間における通電が許容される。上記「走行体２００が近接した場合」としては、例えば、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃが、重なりあった場合等が、あげられる。より具体的には、搭載体３００が、走行体２００に装着されている状態においては、第１端部２８６及び第２端部３８６の間における通電が、許容されるようになっている。 On the other hand, when a running body 200 without a mounting body 300 attached thereto approaches the mounting body 300 arranged on the placement section 560, electrical conduction is permitted between the first end 286 and the second end 386. Examples of "when the running body 200 approaches" include when the first end 286a, the first end 286b, and the first end 286c and the second end 386a, the second end 386b, and the second end 386c overlap. More specifically, when the mounting body 300 is attached to the running body 200, electrical conduction is permitted between the first end 286 and the second end 386.

　図６６に示すように、搭載体３００が装着されていない走行体２００が、保管庫５００内部の停止位置にて停止し、リフト部２２０により、搭載体３００を支持しつつ、配置部５６０より第２方向の上方に移動させたものとする。次いで、図６７に示すように、搭載体３００を上方に推移させたまま、車体２６０の後方を第１方向として、走行体２００及び搭載体３００が一体的に、保管庫５００から走出していく。 As shown in FIG. 66, the running body 200 without the mounting body 300 attached stops at a stop position inside the storage facility 500, and while the lift unit 220 supports the mounting body 300, it is moved upward in the second direction from the placement unit 560. Next, as shown in FIG. 67, while the mounting body 300 is moving upward, the running body 200 and the mounting body 300 run out of the storage facility 500 together, with the rear of the vehicle body 260 as the first direction.

　このとき、走行体２００、及び、搭載体３００が、互いに離間している。第１端部２８６及び第２端部３８６の間における通電形式が、接触式である場合、図６９（ｂ）に示すように、各端子は接触していない状態が維持される。また、第１端部２８６及び第２端部３８６の間における通電形式が、非接触式である場合、図７０（ｂ）に示すように、一方のコイルから他方のコイルへ、磁場が到達しない状態が維持される。従って、第１端部２８６及び第２端部３８６の間における通電が、規制された状態となる。 At this time, the running body 200 and the mounting body 300 are separated from each other. If the type of current flow between the first end 286 and the second end 386 is contact type, the terminals are maintained in a non-contact state, as shown in FIG. 69(b). Also, if the type of current flow between the first end 286 and the second end 386 is non-contact type, a state in which a magnetic field does not reach from one coil to the other coil is maintained, as shown in FIG. 70(b). Therefore, the current flow between the first end 286 and the second end 386 is restricted.

　図６８に示すように、上方に推移していた搭載体３００を支持しつつ、リフト部２２０により、第３方向の下方へ移動させ、搭載体３００を搭載面２１０に装着させたものとする。このとき、第１端部２８６ａ・第１端部２８６ｂ・第１端部２８６ｃ、及び、第２端部３８６ａ・第２端部３８６ｂ・第２端部３８６ｃが、重なりあう状態となる。 As shown in FIG. 68, the mounting body 300, which had been moving upward, is supported and moved downward in the third direction by the lift unit 220, and the mounting body 300 is attached to the mounting surface 210. At this time, the first end 286a, first end 286b, first end 286c and the second end 386a, second end 386b, second end 386c are in an overlapping state.

　第１端部２８６及び第２端部３８６の間における通電形式が、接触式である場合、図６９（ａ）に示すように、各端子は接触した状態が維持される。また、第１端部２８６及び第２端部３８６の間における通電形式が、非接触式である場合、図７０（ａ）に示すように、一方のコイルから他方のコイルへ、磁場が到達する状態が維持される。従って、第１端部２８６及び第２端部３８６の間における通電が、許容された状態となる。 When the current flow between the first end 286 and the second end 386 is contact type, the terminals are maintained in contact as shown in FIG. 69(a). When the current flow between the first end 286 and the second end 386 is non-contact type, the magnetic field is maintained in a state in which it reaches from one coil to the other coil as shown in FIG. 70(a). Therefore, current flow between the first end 286 and the second end 386 is permitted.

　このように、搭載体３００が搭載面２１０に装着された場合に、第１端部２８６及び第２端部３８６の通電が許容されて、走行体２００の電気機器及び搭載体３００の電気機器の間における、電気的接続が達成される。より具体的には、第１端部２８６ａ及び第２端部３８６ａの通電が許容されて、走行体２００及び搭載体３００の間における、制御信号及び情報の通信が可能となる（図６５を参照）。 In this way, when the mounting body 300 is attached to the mounting surface 210, the first end 286 and the second end 386 are allowed to pass electricity, and an electrical connection is established between the electrical equipment of the running body 200 and the electrical equipment of the mounting body 300. More specifically, the first end 286a and the second end 386a are allowed to pass electricity, and communication of control signals and information is possible between the running body 200 and the mounting body 300 (see FIG. 65).

　また、第１端部２８６ｂ及び第２端部３８６ｂの通電が許容されて、走行体２００の電源２８０から、駆動用の電気エネルギを、搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅに送出可能となる。また、第１端部２８６ｃ及び第２端部３８６ｃの通電が許容されて、搭載体３００の電源３８０から、駆動用の電気エネルギを、走行体２００の走行装置２７０に送出可能となる（図６５を参照）。 Furthermore, the first end 286b and the second end 386b are allowed to flow, and the power source 280 of the running body 200 can send electric energy for driving to the driving units 340a, 340b, 340c, 340d, and 340e of the mounting body 300. Furthermore, the first end 286c and the second end 386c are allowed to flow, and the power source 380 of the mounting body 300 can send electric energy for driving to the running device 270 of the running body 200 (see FIG. 65).

　一方、搭載体３００が搭載面２１０から脱離した場合には、第１端部２８６及び第２端部３８６の通電が規制されて、走行体２００の電気機器及び搭載体３００の電気機器の間における、電気的接続が解除される。即ち、走行体２００及び搭載体３００の間における、制御信号及び情報の通信が規制され、
走行体２００の電源２８０から搭載体３００に向けての電気供給、及び、搭載体３００の電源３８０から走行体２００に向けての電気供給も、規制される。 On the other hand, when the mounted body 300 is detached from the mounting surface 210, the current flow between the first end 286 and the second end 386 is restricted, and the electrical connection between the electric devices of the running body 200 and the electric devices of the mounted body 300 is released. That is, the communication of control signals and information between the running body 200 and the mounted body 300 is restricted.
The supply of electricity from the power source 280 of the running body 200 to the mounted body 300 and the supply of electricity from the power source 380 of the mounted body 300 to the running body 200 are also regulated.

　本実施形態においては、電源２８０及び電源３８０のそれぞれからの電気供給量が、制御装置２８３の給電量調整部２８３ｆにて、調整されるようになっていてもよい（図６５を参照）。この場合、給電量調整部２８３ｆは、電源２８０及び電源３８０のバッテリ残量に基づいて、電源２８０及び電源３８０の何れか一方、又は、両方の給電量を調整する。例えば、電源２８０・電源３８０に、それぞれの給電量（電圧及び電流）を調整する機能や、スイッチングする機能を付与し、制御装置２８３（給電量調整部２８３ｆ）からの制御信号に応じて、調整・切替を実行するようにしてもよい。 In this embodiment, the amount of electricity supplied from each of the power sources 280 and 380 may be adjusted by the power supply amount adjustment unit 283f of the control device 283 (see FIG. 65). In this case, the power supply amount adjustment unit 283f adjusts the amount of power supplied from either or both of the power sources 280 and 380 based on the remaining battery power of the power sources 280 and 380. For example, the power sources 280 and 380 may be provided with a function for adjusting their respective power supply amounts (voltage and current) and a switching function, and adjustment and switching may be performed in response to a control signal from the control device 283 (power supply amount adjustment unit 283f).

　図７１に示すように、給電量調整部２８３ｆは、例えば、電源２８０・電源３８０の各バッテリ残量に基づいて、電源２８０・電源３８０の各給電量を調整してもよい。一例として、搭載体３００を装着済の移動体１００において、走行装置２７０の走行時の負荷が大きく、第１可動具３１０・第２可動具３２０の作動が軽微である状態を想定する。 As shown in FIG. 71, the power supply amount adjustment unit 283f may adjust the power supply amount of each of the power sources 280 and 380 based on, for example, the remaining battery charge of each of the power sources 280 and 380. As an example, assume that in the moving body 100 to which the mounting body 300 is already attached, the load on the traveling device 270 during traveling is large and the operation of the first movable device 310 and the second movable device 320 is minor.

　なお、時刻ｔ０から上述した状態が開始し、時刻ｔ０では、電源２８０・電源３８０のバッテリ残量は、満充電状態であるものとする。また、図７１において、実線のグラフは電源２８０のバッテリ残量の経時変化を示し、鎖線のグラフは電源３８０のバッテリ残量の経時変化を示すものとする。 Note that the above-mentioned state begins at time t0, and at time t0, the remaining battery charge of power source 280 and power source 380 is assumed to be in a fully charged state. In addition, in FIG. 71, the solid line graph indicates the change over time in the remaining battery charge of power source 280, and the dashed line graph indicates the change over time in the remaining battery charge of power source 380.

　この場合、給電量調整部２８３ｆは、以下の制御を行う。時刻ｔ０以降、走行体２００の電源２８０から走行装置２７０に、駆動用の電気エネルギが供給され、搭載体３００の電源３８０から第１可動具３１０・第２可動具３２０の駆動部に、駆動用の電気エネルギが供給されるよう、給電量調整部２８３ｆは各給電量を調整する。 In this case, the power supply amount adjustment unit 283f performs the following control. After time t0, the power supply amount adjustment unit 283f adjusts the amount of power supplied to each component so that the power source 280 of the running body 200 supplies driving electrical energy to the running device 270, and the power source 380 of the mounting body 300 supplies driving electrical energy to the driving units of the first movable device 310 and the second movable device 320.

　時刻ｔ０以降、電源２８０のバッテリ残量は大きく減少し、電源３８０のバッテリ残量は小さく減少していく。これにより、バッテリ残量の差ＤＢＬは、拡大していく。時刻ｔ１において、バッテリ残量の差ＤＢＬが、閾値ＤＢＬｔｈに到達したとする。このとき、給電量調整部２８３ｆは、電源２８０から走行装置２７０への給電量を絞り、その分だけ、電源３８０から走行装置２７０へ、駆動用の電気エネルギを供給するよう制御する。 After time t0, the remaining battery charge of power supply 280 decreases significantly, while the remaining battery charge of power supply 380 decreases slightly. As a result, the difference DBL in the remaining battery charges increases. At time t1, the difference DBL in the remaining battery charges reaches the threshold value DBLth. At this time, the power supply adjustment unit 283f reduces the amount of power supplied from the power supply 280 to the running device 270, and controls the power supply 380 to supply electric energy for driving to the running device 270 accordingly.

　時刻ｔ１以降、電源２８０のバッテリ残量は小さく減少し、電源３８０のバッテリ残量は大きく減少していく。これにより、バッテリ残量の差ＤＢＬは、縮小していく。やがて、電源２８０・電源３８０の各バッテリ残量が逆転した後、バッテリ残量の差ＤＢＬは、再び拡大していく。 After time t1, the remaining battery charge of power supply 280 decreases slightly, and the remaining battery charge of power supply 380 decreases significantly. As a result, the difference DBL in the remaining battery charges decreases. Eventually, the remaining battery charges of power supply 280 and power supply 380 are reversed, and the difference DBL in the remaining battery charges increases again.

　時刻ｔ２において、バッテリ残量の差ＤＢＬが、再び閾値ＤＢＬｔｈに到達したとする。このとき、給電量調整部２８３ｆは、電源３８０から走行装置２７０への給電量を絞り、その分だけ、電源２８０から走行装置２７０へ、駆動用の電気エネルギを供給するよう制御する。 At time t2, the difference DBL in the remaining battery charge reaches the threshold DBLth again. At this time, the power supply amount adjustment unit 283f reduces the amount of power supplied from the power source 380 to the traveling device 270, and controls the power source 280 to supply an amount of driving electric energy to the traveling device 270 accordingly.

　このように電源２８０・電源３８０の給電量が調整されることで、複数電源の各バッテリ残量をバランスよく減少させることができる。このため、複数電源の一部のバッテリ残量が、早期にゼロとなる等で、充電回数が増大してしまう事態を抑制できる。従って、電源２８０・電源３８０が早期に劣化することを抑制できる。 By adjusting the power supply amount of power source 280 and power source 380 in this way, the remaining battery charge of each of the multiple power sources can be reduced in a balanced manner. This makes it possible to prevent the remaining battery charge of some of the multiple power sources from quickly reaching zero, which would result in an increase in the number of times charging is required. This makes it possible to prevent early deterioration of power source 280 and power source 380.

　一方、搭載体３００を装着済の移動体１００において、走行装置２７０の走行時の負荷が小さく、第１可動具３１０・第２可動具３２０の作動が過大である状態においては、給電量調整部２８３ｆは、上述した制御態様と逆の制御態様となるよう構成されてもよい。 On the other hand, in the mobile body 100 with the mounting body 300 attached, when the load on the traveling device 270 during traveling is small and the operation of the first movable device 310 and the second movable device 320 is excessive, the power supply adjustment unit 283f may be configured to have a control mode opposite to the control mode described above.

　なお、本実施形態においては、第１端部２８６ｂ・第２端部３８６ｂを介して、走行体２００の電源２８０から、搭載体３００に向けて電気供給が可能となっており、且つ、第１端部２８６ｃ・第２端部３８６ｃを介して、搭載体３００の電源３８０から、走行体２００に向けて電気供給が可能となっている。これに代えて、第１端部２８６ｂ・第２端部３８６ｂ、及び、第１端部２８６ｃ・第２端部３８６ｃのうち、何れか一方の組合せのみ、存在するようにしてもよい。 In this embodiment, electricity can be supplied from the power source 280 of the running body 200 to the mounting body 300 via the first end 286b and the second end 386b, and electricity can be supplied from the power source 380 of the mounting body 300 to the running body 200 via the first end 286c and the second end 386c. Alternatively, only one of the combinations of the first end 286b and the second end 386b, and the first end 286c and the second end 386c may be present.

　また、本実施形態においては、第１端部２８６及び第２端部３８６が、非接触式の通電形式であり、特に、磁気を介して通電が許容されるよう構成されている場合には、第１端部２８６・第２端部３８６、可動具、駆動部、及び、電気機器の配置関係が、以下のように規定されてもよい。 In addition, in this embodiment, when the first end 286 and the second end 386 are of a non-contact type and are configured to allow electrical current to flow through magnetism, the relative positions of the first end 286, the second end 386, the movable member, the drive unit, and the electrical equipment may be specified as follows.

　図６８に示すように、搭載体３００が走行体２００に装着された状態において、例えば、走行体２００の第１端部２８６は、走行体２００における第１方向の前方（車体２６０における前半部位）に、配置される。また、搭載体３００の第１可動具３１０、第２可動具３２０、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅ、及び、第２端部３８６は、搭載体３００における第１方向の前方（例えば、基部３３０における前半部位）に、配置される。 68, when the mounting body 300 is attached to the running body 200, for example, the first end 286 of the running body 200 is disposed in front of the running body 200 in the first direction (the front half of the vehicle body 260). Also, the first movable part 310, the second movable part 320, the driving unit 340a, the driving unit 340b, the driving unit 340c, the driving unit 340d, the driving unit 340e, and the second end 386 of the mounting body 300 are disposed in front of the mounting body 300 in the first direction (for example, the front half of the base 330).

　走行体２００の制御装置２８３、通信装置２８１を含む電子ユニット２８７は、走行体２００における第１方向の後方に配置（車体２６０における後半部位）に、配置される。搭載体３００の制御装置３８２、通信装置３８１を含む電子ユニット３８７は、搭載体３００における第１方向の後方に配置（基部３３０における後半部位）に、配置される。 The electronic unit 287 including the control device 283 and communication device 281 of the running body 200 is disposed rearward in the first direction of the running body 200 (the rear half of the vehicle body 260). The electronic unit 387 including the control device 382 and communication device 381 of the mounting body 300 is disposed rearward in the first direction of the mounting body 300 (the rear half of the base 330).

　より具体的には、第１端部２８６ａ、第１端部２８６ｂ、第１端部２８６ｃの何れかの位置から、電子ユニット２８７、電子ユニット３８７の何れかの位置までの距離（最短の直線距離）が、第１端部２８６ａ、第１端部２８６ｂ、第１端部２８６ｃの何れかの位置から、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅの何れかの位置までの距離（最短の直線距離）よりも、長くなるように、第１端部２８６が配置されてもよい。 More specifically, the first end 286 may be positioned so that the distance (shortest straight-line distance) from any one of the positions of the first end 286a, first end 286b, and first end 286c to any one of the positions of the electronic unit 287 and electronic unit 387 is longer than the distance (shortest straight-line distance) from any one of the positions of the first end 286a, first end 286b, and first end 286c to any one of the positions of the drive unit 340a, drive unit 340b, drive unit 340c, drive unit 340d, and drive unit 340e.

　これに加え、第２端部３８６ａ、第２端部３８６ｂ、第２端部３８６ｃの何れかの位置から、電子ユニット２８７、電子ユニット３８７の何れかの位置までの距離（最短の直線距離）が、第２端部３８６ａ、第２端部３８６ｂ、第２端部３８６ｃの何れかの位置から、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅの何れかの位置までの距離（最短の直線距離）よりも、長くなるように、第２端部３８６が配置されてもよい。 In addition, the second end 386 may be positioned such that the distance (shortest straight-line distance) from any one of the positions of the second end 386a, the second end 386b, and the second end 386c to any one of the positions of the electronic unit 287 and the electronic unit 387 is longer than the distance (shortest straight-line distance) from any one of the positions of the second end 386a, the second end 386b, and the second end 386c to any one of the positions of the drive unit 340a, the drive unit 340b, the drive unit 340c, the drive unit 340d, and the drive unit 340e.

　このように配置が規定されることで、磁気の発生源（例えば、コイル等）を、電子ユニット２８７、電子ユニット３８７から遠ざけることができる。このため、電子ユニット２８７、電子ユニット３８７に対し、電磁波を遮蔽するための機構・機能等を簡素化できる。従って、非接触の通電形式を採用しつつ、走行体２００及び搭載体３００の設計の自由度を拡大できる。 By defining the arrangement in this way, the magnetic source (e.g., a coil, etc.) can be kept away from electronic unit 287 and electronic unit 387. This allows the mechanisms and functions for shielding electromagnetic waves from electronic unit 287 and electronic unit 387 to be simplified. This allows for greater freedom in the design of running body 200 and mounting body 300 while still employing a non-contact current supply method.

［第６実施形態］
　本発明の第６実施形態に係る移動体１００においては、走行体２００のみが電源２８０を備え、搭載体３００は電源を備えていない。また、走行体２００には、伝達部２９０が備えられている。伝達部２９０は、搭載体３００における第１可動具３１０・第２可動具３２０の駆動部に向けて、走行体２００から駆動用のエネルギを伝達させるようになっている。第６実施形態は、この点で上述した第１実施形態と異なる。 Sixth Embodiment
In the moving body 100 according to the sixth embodiment of the present invention, only the running body 200 is provided with a power source 280, and the mounted body 300 is not provided with a power source. In addition, the running body 200 is provided with a transmission unit 290. The transmission unit 290 is configured to transmit driving energy from the running body 200 to the driving units of the first movable tool 310 and the second movable tool 320 in the mounted body 300. The sixth embodiment differs from the first embodiment described above in this respect.

　第１、第６実施形態においては、走行体２００が電源２８０を備え、電源２８０から走行体２００の走行装置２７０、リフト部２２０等に向けて、駆動用の電気エネルギが供給される。保管庫５００での搭載体３００の装着及び脱着の態様も含め、これらの点は、第１、第６実施形態で共通している。 In the first and sixth embodiments, the running body 200 is equipped with a power source 280, and electrical energy for driving is supplied from the power source 280 to the running device 270, lift unit 220, etc. of the running body 200. These points, including the manner in which the mounting body 300 is attached and detached in the storage facility 500, are common to the first and sixth embodiments.

　第１実施形態においては、搭載体３００も電源３８０を備え、電源３８０から搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、駆動部３４０ｅ等に向けて、駆動用の電気エネルギが供給される。走行体２００に搭載体３００が装着された場合であっても、走行体２００から搭載体３００に向けて、エネルギの伝達がなされない。 In the first embodiment, the mounting body 300 also includes a power source 380, and electrical energy for driving is supplied from the power source 380 to the drive units 340a, 340b, 340c, 340d, 340e, etc. of the mounting body 300. Even when the mounting body 300 is attached to the running body 200, no energy is transmitted from the running body 200 to the mounting body 300.

　これに対し第６実施形態においては、走行体２００の伝達部２９０は、走行体２００に搭載体３００が装着されると、搭載体３００における第１可動具３１０・第２可動具３２０の駆動部に向けて、走行体２００から駆動用のエネルギを伝達させるようになっている。また、走行体２００から搭載体３００への制御信号の送出が可能なように、第５実施形態の第１端部２８６ａ・第２端部３８６ａも、備えられている。第６実施形態においては、これらの点のみ第１実施形態と異なり、他の点は第１実施形態と同じである。 In contrast to this, in the sixth embodiment, when the mounted body 300 is attached to the running body 200, the transmission section 290 of the running body 200 transmits driving energy from the running body 200 to the driving sections of the first movable device 310 and the second movable device 320 in the mounted body 300. In addition, the first end 286a and the second end 386a of the fifth embodiment are also provided so that a control signal can be sent from the running body 200 to the mounted body 300. The sixth embodiment differs from the first embodiment only in these respects, and is the same as the first embodiment in other respects.

　以下、第６実施形態の第１実施形態と異なる点のみ説明する。第６実施形態において、第１実施形態等と同一・等価な構成、部位に対しては、第１実施形態等と同じ符号を付している。 Only the differences between the sixth embodiment and the first embodiment will be described below. In the sixth embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

　図７２に示すように、走行体２００は、伝達部２９０を備えている。伝達部２９０は、円柱形状のシャフト２９１等を有している。当該シャフト２９１は、車体２６０の上面（上端）かつ略中央部位に、設けられており、車体２６０から第２方向の上方に向けて突出している。シャフト２９１における上端部は、後述するスプラインギヤに嵌合可能となっている（図７５を参照）。 As shown in FIG. 72, the running body 200 is equipped with a transmission unit 290. The transmission unit 290 has a cylindrical shaft 291 and the like. The shaft 291 is provided on the upper surface (upper end) of the vehicle body 260, approximately in the center, and protrudes upward from the vehicle body 260 in the second direction. The upper end of the shaft 291 can be fitted into a spline gear, which will be described later (see FIG. 75).

　伝達部２９０のシャフト２９１における下端部は、車体２６０の内部に収容されている。当該下端部は、電源２８０の給電を受けて、アクチュエータ等の駆動に基づいて回転駆動する。なお、当該アクチュエータと伝達部２９０の下端部との間には、所定のギヤ機構等が介装されて、適宜減速されてもよい。これにより、伝達部２９０のシャフト２９１は、車体２６０に対して軸まわりに相対回転可能となっている。 The lower end of the shaft 291 of the transmission unit 290 is housed inside the vehicle body 260. The lower end receives power from the power source 280 and is driven to rotate based on the driving of an actuator or the like. Note that a specific gear mechanism or the like may be interposed between the actuator and the lower end of the transmission unit 290 to reduce the speed as appropriate. This allows the shaft 291 of the transmission unit 290 to rotate around the axis relative to the vehicle body 260.

　図７３に示すように、搭載体３００は、被伝達部３９０を備えている。被伝達部３９０は、円形断面の嵌合部３９１等を有している。当該嵌合部３９１は、基部３３０の底面（下端）かつ略中央部位に、シャフト２９１の位置に対応するよう設けられており、基部３３０の底面から第２方向の上方に向けて凹んでいる。 As shown in FIG. 73, the mounting body 300 has a transmission receiving portion 390. The transmission receiving portion 390 has a fitting portion 391 with a circular cross section. The fitting portion 391 is provided on the bottom surface (lower end) and approximately in the center of the base 330 so as to correspond to the position of the shaft 291, and is recessed upward from the bottom surface of the base 330 in the second direction.

　嵌合部３９１の内部には、スプラインギヤが同軸的に収容されており、嵌合部３９１を介してスプラインギヤに、シャフト２９１の上端部が嵌入可能となっている（図７５を参照）。基部３３０の内部には、所定のギヤ機構、ギヤシフタ等が収容されており、これらを介して、当該スプラインギヤから、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅへの、動力伝達が可能となっている。 A spline gear is coaxially housed inside fitting portion 391, and the upper end of shaft 291 can be fitted into the spline gear via fitting portion 391 (see FIG. 75). A specific gear mechanism, gear shifter, etc. are housed inside base 330, and power can be transmitted from the spline gear to drive units 340a, 340b, 340c, 340d, and 340e via these.

　図７４に示すように、伝達部２９０の駆動は、制御装置２８３の可動具制御部２８３ｅにより制御されるようになっている。また、第５実施形態と同様に、走行体２００及び搭載体３００の所定の位置に、第１端部２８６ａ及び第２端部３８６ａが、設けられている。 As shown in FIG. 74, the drive of the transmission unit 290 is controlled by the movable member control unit 283e of the control device 283. Also, as in the fifth embodiment, a first end 286a and a second end 386a are provided at predetermined positions of the running body 200 and the mounting body 300.

　第１端部２８６ａ及び第２端部３８６ａの通電が許容される場合、搭載体３００に向けて、制御装置２８３の制御信号が送出可能となる。例えば、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅの駆動を制御するために、制御装置２８３の可動具制御部２８３ｅにより、被伝達部３９０に付随するギヤシフタ等が、制御されるように構成されてもよい。 When the first end 286a and the second end 386a are allowed to be energized, a control signal from the control device 283 can be sent to the mounting body 300. For example, in order to control the driving of the driving units 340a, 340b, 340c, 340d, and 340e, a gear shifter or the like associated with the transmitting unit 390 may be controlled by the movable tool control unit 283e of the control device 283.

　図７５（ａ）に示すように、搭載体３００を支持するリフト部２２０が下降し、搭載体３００が走行体２００に装着されるものとする。このとき、伝達部２９０のシャフト２９１は、被伝達部３９０の嵌合部３９１に嵌入していき、シャフト２９１の先端部は、嵌合部３９１に同軸的に収容されたスプラインギヤに嵌合し噛合する。 As shown in FIG. 75(a), the lift unit 220 supporting the mounting body 300 is lowered, and the mounting body 300 is attached to the running body 200. At this time, the shaft 291 of the transmission unit 290 is fitted into the fitting portion 391 of the transmitted part 390, and the tip of the shaft 291 is fitted into and meshed with the spline gear housed coaxially in the fitting portion 391.

　これにより、伝達部２９０のシャフト２９１が回転すると、シャフト２９１と一体的にスプラインギヤも回転する。この回転動力は、搭載体３００の基部３３０に内蔵されたギヤ機構、ギヤシフタ等を介して、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けて、伝達される。 As a result, when shaft 291 of transmission unit 290 rotates, the spline gear also rotates integrally with shaft 291. This rotational power is transmitted to drive units 340a, 340b, 340c, 340d, and 340e via a gear mechanism, gear shifter, and the like built into base 330 of mounting body 300.

　図７５（ｂ）に示すように、搭載体３００を支持するリフト部２２０が上昇し、搭載体３００が走行体２００から脱離されるものとする。このとき、伝達部２９０のシャフト２９１は、被伝達部３９０の嵌合部３９１から抜去されていき、シャフト２９１の先端部と、スプラインギヤとの嵌合及び噛合が、解除される。これにより、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けた、駆動力の伝達も解除される。 As shown in FIG. 75(b), the lift unit 220 supporting the mounting body 300 rises, and the mounting body 300 is detached from the running body 200. At this time, the shaft 291 of the transmission unit 290 is removed from the engagement unit 391 of the transmitted unit 390, and the engagement and meshing between the tip of the shaft 291 and the spline gear is released. This also releases the transmission of driving force to the drive units 340a, 340b, 340c, 340d, and 340e.

＜伝達部の変形例＞
　本実施形態においては、伝達部２９０は、シャフト２９１、各種ギヤ等の機構を介して、第１可動具３１０・第２可動具３２０の駆動部に向けて、エネルギを伝達するようになっている。これに代えて、例えば、伝達部２９０は、流体を介して、第１可動具３１０・第２可動具３２０の駆動部に向けて、エネルギを伝達するようになっていてもよい。当該流体としては、例えば、油圧用のオイル等を用い、走行体２００から搭載体３００に向かう油圧回路が、形成されるようにしてもよい。 <Modifications of the Transmission Section>
In this embodiment, the transmission unit 290 transmits energy to the drive units of the first movable tool 310 and the second movable tool 320 via mechanisms such as the shaft 291 and various gears. Alternatively, for example, the transmission unit 290 may transmit energy to the drive units of the first movable tool 310 and the second movable tool 320 via a fluid. For example, hydraulic oil may be used as the fluid, and a hydraulic circuit may be formed from the traveling body 200 to the mounting body 300.

　この場合、図７６に示すように、例えば、伝達部２９０は、シャフト２９１に代えて、配管部２９２を備え、被伝達部３９０は、スプラインギヤ等の機構に代えて、流路部３９２を備えていてもよい。配管部２９２は、被伝達部３９０の嵌合部３９１に嵌入可能となっている。また、配管部２９２・流路部３９２は、それぞれ油圧用のオイルが連通可能となっている。 In this case, as shown in FIG. 76, for example, the transmitting part 290 may have a piping part 292 instead of the shaft 291, and the transmitted part 390 may have a flow path part 392 instead of a mechanism such as a spline gear. The piping part 292 can be fitted into a fitting part 391 of the transmitted part 390. Furthermore, the piping part 292 and the flow path part 392 can each communicate with hydraulic oil.

　配管部２９２は、円筒形状を呈しており、第２方向の上方に向かって突出している。配管部２９２の側面には、オイルの出入口となる開口端が、設けられている。走行体２００には、油圧ポンプ、電磁バルブを有する油圧回路が設けられ、その端部が配管部２９２の開口端となるよう、構成されていてもよい。 The piping section 292 has a cylindrical shape and protrudes upward in the second direction. An open end that serves as an inlet and outlet for oil is provided on the side of the piping section 292. The running body 200 may be provided with a hydraulic circuit having a hydraulic pump and an electromagnetic valve, and the end of the hydraulic circuit may be configured to serve as the open end of the piping section 292.

　流路部３９２は、基部３３０の内部に形成されている。被伝達部３９０の嵌合部３９１における内壁面には、流路部３９２の開口端が設けられている。配管部２９２が嵌合部３９１に嵌入された場合には、それぞれの開口端が重なり合うよう、各開口端の位置が調整されている。また、搭載体３００の駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅは、それぞれ油圧シリンダとなっており、流路部３９２は、切替用のスプール等を介して、各油圧シリンダと接続されていてもよい。 The flow path section 392 is formed inside the base section 330. An open end of the flow path section 392 is provided on the inner wall surface of the fitting section 391 of the transmission receiving section 390. When the piping section 292 is fitted into the fitting section 391, the positions of the respective open ends are adjusted so that the respective open ends overlap. In addition, the driving section 340a, the driving section 340b, the driving section 340c, the driving section 340d, and the driving section 340e of the mounting body 300 are each a hydraulic cylinder, and the flow path section 392 may be connected to each hydraulic cylinder via a switching spool or the like.

　図７６（ａ）に示すように、搭載体３００を支持するリフト部２２０が下降し、搭載体３００が走行体２００に装着されるものとする。このとき、伝達部２９０の配管部２９２は、被伝達部３９０の嵌合部３９１に嵌入していき、配管部２９２の開口端は、流路部３９２の開口端と重なりあう。配管部２９２及び流路部３９２の間における、オイルの流通が許容されるようになる。 As shown in FIG. 76(a), the lift section 220 supporting the mounting body 300 is lowered, and the mounting body 300 is attached to the running body 200. At this time, the piping section 292 of the transmitting section 290 fits into the fitting section 391 of the transmitted section 390, and the open end of the piping section 292 overlaps with the open end of the flow path section 392. Oil is allowed to flow between the piping section 292 and the flow path section 392.

　これにより、油圧用ポンプが駆動すると、加圧されたオイルが、配管部２９２及び流路部３９２を流通する。この圧力は、配管部２９２及び流路部３９２を含む油圧回路を介して、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けて、伝達される。 As a result, when the hydraulic pump is driven, pressurized oil flows through piping section 292 and flow path section 392. This pressure is transmitted to driving section 340a, driving section 340b, driving section 340c, driving section 340d, and driving section 340e via the hydraulic circuit including piping section 292 and flow path section 392.

　図７６（ｂ）に示すように、搭載体３００を支持するリフト部２２０が上昇し、搭載体３００が走行体２００から脱離されるものとする。このとき、伝達部２９０の配管部２９２は、被伝達部３９０の嵌合部３９１から抜去されていき、配管部２９２及び流路部３９２のオイルの流通が遮断される。これにより、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けた、圧力の伝達も解除される。 As shown in FIG. 76(b), the lift section 220 supporting the mounting body 300 rises, and the mounting body 300 is detached from the running body 200. At this time, the piping section 292 of the transmission section 290 is removed from the fitting section 391 of the transmission receiving section 390, and the flow of oil through the piping section 292 and the flow path section 392 is cut off. This also stops the transmission of pressure to the drive section 340a, the drive section 340b, the drive section 340c, the drive section 340d, and the drive section 340e.

　また、これに代えて、例えば、伝達部２９０は、電気又は磁気を介して、第１可動具３１０・第２可動具３２０の駆動部に向けて、エネルギを伝達するようになっていてもよい。この場合、図７７に示すように、例えば、伝達部２９０は、シャフト２９１に代えて、第５実施形態の第１端部２８６ｂを備え、被伝達部３９０は、嵌合部３９１に代えて、第５実施形態の第２端部３８６ｂを備えてもよい（図６９、及び、図７０を参照）。 Alternatively, for example, the transmission unit 290 may transmit energy to the drive units of the first movable device 310 and the second movable device 320 via electricity or magnetism. In this case, as shown in FIG. 77, for example, the transmission unit 290 may include the first end 286b of the fifth embodiment instead of the shaft 291, and the transmitted unit 390 may include the second end 386b of the fifth embodiment instead of the engagement unit 391 (see FIG. 69 and FIG. 70).

　第１端部２８６ｂ及び第２端部３８６ｂの間において、電気を介してエネルギが伝達される場合、図６９（ａ）に示すように、搭載体３００の装着時には、各端子が接触している状態が維持される。これにより、駆動用の電気エネルギが、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けて、伝達される。 When energy is transmitted between the first end 286b and the second end 386b via electricity, as shown in FIG. 69(a), when the mounting body 300 is attached, the terminals are maintained in contact. This allows the electrical energy for driving to be transmitted to the driving units 340a, 340b, 340c, 340d, and 340e.

　図６９（ｂ）に示すように、搭載体３００の脱離時には、各端子は接触していない状態が維持される。これにより、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けた、電気エネルギの伝達が解除される。 As shown in FIG. 69(b), when the mounting body 300 is detached, the terminals are maintained in a non-contact state. This stops the transmission of electrical energy to the drive units 340a, 340b, 340c, 340d, and 340e.

　第１端部２８６ｂ及び第２端部３８６ｂの間において、磁気を介してエネルギが伝達される場合、図７０（ａ）に示すように、搭載体３００の装着時には、一方のコイルから他方のコイルへ、磁場が到達する状態が維持される。これにより、駆動用の電気エネルギが、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けて、磁気を介して伝達される。 When energy is transmitted between first end 286b and second end 386b via magnetism, as shown in FIG. 70(a), when mounting body 300 is attached, a state in which a magnetic field reaches from one coil to the other coil is maintained. This allows electric energy for driving to be transmitted via magnetism to drive units 340a, 340b, 340c, 340d, and 340e.

　図７０（ｂ）に示すように、搭載体３００の脱離時には、一方のコイルから他方のコイルへ、磁場が到達しない状態が維持される。これにより、駆動部３４０ａ、駆動部３４０ｂ、駆動部３４０ｃ、駆動部３４０ｄ、及び、駆動部３４０ｅに向けた、電気エネルギの磁気を介した伝達が解除される。 As shown in FIG. 70(b), when the mounting body 300 is detached, a state in which the magnetic field does not reach from one coil to the other coil is maintained. This causes the magnetic transmission of electrical energy to the driving units 340a, 340b, 340c, 340d, and 340e to be terminated.

＜アタッチメントの変形例＞
　本実施形態においては、走行体２００に搭載体３００が装着されるようになっており、搭載体３００としては、装着時にバックホーとして機能するアタッチメント３００が用いられる。これに代えて、例えば、装着時に人を運ぶモビリティとして機能するアタッチメント３００を、用いてもよい。 <Modifications of Attachment>
In this embodiment, the carrier 300 is attached to the traveling body 200, and an attachment 300 that functions as a backhoe when attached is used as the carrier 300. Alternatively, for example, an attachment 300 that functions as a mobility for carrying people when attached may be used.

　図７８、及び、図７９に示すように、アタッチメント３００は、筐体部３５０、座席部３５１、及び、ハンドル３５２を備えている。なお、当該アタッチメント３００は、電源を備えていない。筐体部３５０は、略直方体形状を呈している。筐体部３５０は、平面視において、長辺が車長方向に沿い、且つ、短辺が車幅方向に沿うよう、構成されている。 As shown in Figures 78 and 79, the attachment 300 includes a housing 350, a seat 351, and a handle 352. The attachment 300 does not include a power source. The housing 350 has a generally rectangular parallelepiped shape. In a plan view, the housing 350 is configured so that its long sides run along the vehicle length direction and its short sides run along the vehicle width direction.

　筐体部３５０の上側は解放されており、筐体部３５０の内部に、座席部３５１が設けられている。座席部３５１は、背もたれの傾斜が調整可能に構成されている。このため、乗員は、座位又は臥位にて、座席部３５１に乗り込むことができる。座席部３５１の車幅方向の両側において、筐体部３５０の凹部３５３が形成されている。乗員は、凹部３５３をステップとして、両側の各凹部３５３に各足を付けつつ、座席部３５１を跨いで乗り込むことができる。 The upper side of the housing part 350 is open, and a seat part 351 is provided inside the housing part 350. The seat part 351 is configured so that the inclination of the backrest can be adjusted. Therefore, the occupant can get into the seat part 351 in a seated or lying position. Recesses 353 are formed in the housing part 350 on both sides of the seat part 351 in the vehicle width direction. The occupant can straddle the seat part 351, using the recesses 353 as steps, and place their feet on each recess 353 on both sides to get into the vehicle.

　筐体部３５０の前端上側には、ハンドル３５２が設けられている。乗員は、走行中に、ハンドル３５２を把持できるようになっている。ハンドル３５２、及び、座席部３５１の間には、床部３５４が形成されている。乗員は、床部３５４に両足を付けつつ、立位にて乗り込むことができる。 A handle 352 is provided on the upper front end of the housing 350. The occupant can grip the handle 352 while driving. A floor 354 is formed between the handle 352 and the seat 351. The occupant can get in while standing, with both feet on the floor 354.

　筐体部３５０の下端の底面は、走行体２００の搭載面２１０に対向する。当該底面への支持、リフト作動、係合、及び、固定の態様は、上述したものと同様である。即ち、アタッチメント３００の着脱の態様は、上述したものと同様である。当該アタッチメント３００は、走行体２００の搭載面２１０に装着された状態において、人が、座位、立位、臥位、及び、跨った状態の何れかで、搭載可能に構成される。 The bottom surface of the lower end of the housing 350 faces the mounting surface 210 of the running body 200. The manner of support, lift operation, engagement, and fixation to the bottom surface are the same as those described above. In other words, the manner of attachment and detachment of the attachment 300 is the same as those described above. When the attachment 300 is mounted on the mounting surface 210 of the running body 200, it is configured so that it can be mounted by a person in any of the following positions: sitting, standing, lying down, and straddling.

　搭載面２１０に装着されたアタッチメント３００に、人が乗員として搭載された状態で、走行体２００がアタッチメント３００と一体的に走行することで、人も移動可能となる。即ち、このように構成されたアタッチメント３００を用いることで、移動体１００が、人を運ぶモビリティとして機能する。 When a person is mounted as a passenger on the attachment 300 mounted on the mounting surface 210, the running body 200 runs together with the attachment 300, allowing the person to move. In other words, by using the attachment 300 configured in this way, the moving body 100 functions as a mobility that transports people.

［第７実施形態］
　本発明の第７実施形態に係る移動体１００においては、搭載体３００として、装着時に移動式の温冷庫として機能するアタッチメント３００が用いられる。第７実施形態は、この点で上述した第１実施形態と異なる。 [Seventh embodiment]
In the movable body 100 according to the seventh embodiment of the present invention, an attachment 300 that functions as a movable hot/cold box when attached is used as the mounting body 300. The seventh embodiment differs from the above-described first embodiment in this respect.

　第１、第７実施形態においては、アタッチメント３００が、走行体２００に対して着脱可能となっている。保管庫５００での搭載体３００の装着及び脱着の態様も含め、これらの点は、第１、第７実施形態で共通している。 In the first and seventh embodiments, the attachment 300 is detachable from the running body 200. These points, including the manner in which the mounting body 300 is attached and detached in the storage facility 500, are common to the first and seventh embodiments.

　第１実施形態においては、搭載体３００として、装着時にバックホーとして機能するアタッチメント３００が用いられる。当該アタッチメント３００の外郭の構造や、当該外郭と車体２６０の外端との位置関係、収容機能等は、任意である。 In the first embodiment, an attachment 300 that functions as a backhoe when attached is used as the mounting body 300. The structure of the outer shell of the attachment 300, the positional relationship between the outer shell and the outer end of the vehicle body 260, the storage function, etc. are arbitrary.

　これに対し第７実施形態においては、アタッチメント３００が、外郭部３６０、及び、収容部３６１を、備えている。外郭部３６０は、アタッチメント３００の装着時に、平面視において車体２６０の外端よりも外側に位置するよう構成されている。収容部３６１は、外郭部３６０よりも内側に物資を収容可能に構成されている。第７実施形態においては、これらの点のみ第１実施形態と異なり、他の点は第１実施形態と同じである。 In contrast, in the seventh embodiment, the attachment 300 has an outer shell 360 and a storage section 361. The outer shell 360 is configured to be located outside the outer end of the vehicle body 260 in a plan view when the attachment 300 is attached. The storage section 361 is configured to be able to store materials inside the outer shell 360. The seventh embodiment differs from the first embodiment in these respects only, and is the same as the first embodiment in other respects.

　以下、第７実施形態の第１実施形態と異なる点のみ説明する。第７実施形態において、第１実施形態等と同一・等価な構成、部位に対しては、第１実施形態等と同じ符号を付している。 Only the differences between the seventh embodiment and the first embodiment will be described below. In the seventh embodiment, the same components and parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment.

　図８０、図８１、図８２、及び、図８３に示すように、本実施形態のアタッチメント３００は、直方体形状の筐体となるよう構成されている。当該筐体は、前壁部３６０ａ、側壁部３６０ｂ、後壁部３６０ｃ、及び、底部３６０ｄを備えている。底部３６０ｄは、矩形の板状を呈しており、その四辺に対応するよう、前壁部３６０ａ、側壁部３６０ｂ、及び、後壁部３６０ｃに囲まれている。これら筐体を構成する部位は、断熱性の材料で構成されてもよい。 As shown in Figures 80, 81, 82, and 83, the attachment 300 of this embodiment is configured to have a rectangular parallelepiped housing. The housing has a front wall 360a, a side wall 360b, a rear wall 360c, and a bottom 360d. The bottom 360d has a rectangular plate shape, and is surrounded by the front wall 360a, the side wall 360b, and the rear wall 360c so as to correspond to its four sides. These parts that make up the housing may be made of a heat-insulating material.

　底部３６０ｄは、アタッチメント３００全体において、若干底上げされている。アタッチメント３００は、底部３６０ｄを境にして、下側及び上側が区画されるようになっている。アタッチメント３００の下側においては、底部３６０ｄよりも下方に向かって、前壁部３６０ａ、側壁部３６０ｂ、及び、後壁部３６０ｃが、伸長している。 The bottom 360d is slightly raised across the entire attachment 300. The bottom 360d is used as a boundary to divide the attachment 300 into a lower side and an upper side. On the lower side of the attachment 300, the front wall 360a, the side wall 360b, and the rear wall 360c extend downward from the bottom 360d.

　アタッチメント３００を走行体２００に装着する場合、底部３６０ｄの下面と、走行体２００の上端における搭載面２１０と、が対向する。底部３６０ｄの下面においては、リフト部２２０に対応する位置に、嵌入部位２３２が設けられている（図８３を参照）。装着時には、リフト部２２０及び嵌入部位２３２を係合させて、底部３６０ｄを搭載面２１０に近接させる。これにより、走行体２００は、アタッチメント３００の下側に固定されるようになっている。 When the attachment 300 is attached to the running body 200, the underside of the bottom 360d faces the mounting surface 210 at the upper end of the running body 200. An insertion portion 232 is provided on the underside of the bottom 360d at a position corresponding to the lift portion 220 (see FIG. 83). When attaching, the lift portion 220 and the insertion portion 232 are engaged to bring the bottom 360d close to the mounting surface 210. This allows the running body 200 to be fixed to the underside of the attachment 300.

　アタッチメント３００が装着された状態においては、走行体２００の大部分は、底部３６０ｄ、前壁部３６０ａ、側壁部３６０ｂ、及び、後壁部３６０ｃにて覆われるようになっている。より具体的には、車体２６０の車長方向における前端・後端は、前壁部３６０ａ・後壁部３６０ｃの内側に、それぞれ対向する。車体２６０の車幅方向における両端、及び、前後の走行装置２７０の両端は、両側の側壁部３６０ｂの内側に、それぞれ対向する（図８４を参照）。なお、底部３６０ｄの下面は、車体２６０の上面全体、及び、前後の走行装置２７０の上側に、それぞれ対向する。 When the attachment 300 is attached, most of the running body 200 is covered by the bottom 360d, the front wall 360a, the side wall 360b, and the rear wall 360c. More specifically, the front and rear ends of the body 260 in the vehicle length direction face the inside of the front wall 360a and the rear wall 360c, respectively. Both ends of the body 260 in the vehicle width direction and both ends of the front and rear running devices 270 face the inside of the side wall 360b on both sides, respectively (see Figure 84). The lower surface of the bottom 360d faces the entire upper surface of the body 260 and the upper sides of the front and rear running devices 270, respectively.

　図８４に示すように、アタッチメント３００（搭載体３００）が、搭載面２１０に装着された場合に、アタッチメント３００、及び、車体２６０の位置関係は、以下のようになる。前壁部３６０ａ、側壁部３６０ｂ、及び、後壁部３６０ｃは、車体２６０の外端よりも外側に位置する。底部３６０ｄは、走行装置２７０の第２方向における上方に位置する。即ち、本実施形態においては、前壁部３６０ａ、側壁部３６０ｂ、後壁部３６０ｃ、及び、底部３６０ｄが、外郭部３６０に相当する。 As shown in FIG. 84, when the attachment 300 (mounting body 300) is mounted on the mounting surface 210, the positional relationship between the attachment 300 and the vehicle body 260 is as follows. The front wall portion 360a, the side wall portion 360b, and the rear wall portion 360c are located outside the outer end of the vehicle body 260. The bottom portion 360d is located above the traveling device 270 in the second direction. That is, in this embodiment, the front wall portion 360a, the side wall portion 360b, the rear wall portion 360c, and the bottom portion 360d correspond to the outer shell portion 360.

　このように外郭部３６０を構成することで、走行体２００を全体的に保護することができる。外郭部３６０そのものが、アタッチメント３００の外側を兼ねることができるため、別途、走行装置２７０に対して、ガードやフェンダーを付加する必要がなくなる。このため、移動体１００の全体として、まとまりのある意匠を実現できる。 By configuring the outer shell 360 in this manner, the running body 200 can be protected as a whole. Because the outer shell 360 itself can also serve as the outside of the attachment 300, there is no need to add separate guards or fenders to the running device 270. This allows the mobile body 100 to have a cohesive design as a whole.

　走行体２００における車体２６０の前端には、ビームを外側に向けて発する電気機器が、設けられている。本実施形態においては、当該電気機器は、上述したセンサ２８２であるが、検知用のビームを外側に向けて発する測域センサ又は距離センサ（測距センサ）、視認用のビームを外側に向けて発する光源の何れかであってもよい。 An electrical device that emits a beam outward is provided at the front end of the vehicle body 260 of the running body 200. In this embodiment, the electrical device is the sensor 282 described above, but it may also be a range sensor or distance sensor (distance measurement sensor) that emits a detection beam outward, or a light source that emits a visibility beam outward.

　図８３、図８４、及び、図８５に示すように、外郭部３６０は、透過部３６２を備えている。透過部３６２は、アタッチメント３００（搭載体３００）が、搭載面２１０に装着された場合に、平面視においてセンサ２８２よりも外側に位置し、且つ、センサ２８２から発せられたビームの外側への透過を許容するよう、構成されている。 As shown in Figures 83, 84, and 85, the outer shell 360 has a transparent portion 362. The transparent portion 362 is positioned outside the sensor 282 in a plan view when the attachment 300 (mounting body 300) is mounted on the mounting surface 210, and is configured to allow the beam emitted from the sensor 282 to pass outside.

　より具体的には、透過部３６２は、前壁部３６０ａに設けられ、その内側が、センサ２８２及び車体２６０の前端に対向するようになっている。透過部３６２は、前壁部３６０ａの全体に対して、車幅方向中央かつ下側に、配置されていてもよい。透過部３６２の前壁部３６０ａに対して占める領域は、センサ２８２のビーム投射影の断面積よりも、大きくなるよう調整されてもよい。 More specifically, the transparent portion 362 is provided on the front wall portion 360a, and its inner side faces the sensor 282 and the front end of the vehicle body 260. The transparent portion 362 may be disposed at the center and lower side in the vehicle width direction with respect to the entire front wall portion 360a. The area that the transparent portion 362 occupies on the front wall portion 360a may be adjusted to be larger than the cross-sectional area of the beam projection shadow of the sensor 282.

　透過部３６２を構成する材料は、当該ビームが透過可能なものであればよく、ビーム強度や波長に応じて、変更可能である。また、透過部３６２は、前壁部３６０ａにおける貫通孔であって、当該ビームが貫通することで透過可能となっていてもよい。 The material constituting the transparent portion 362 may be any material that allows the beam to pass through, and may be changed depending on the beam intensity and wavelength. The transparent portion 362 may also be a through hole in the front wall portion 360a, and may be transparent when the beam passes through it.

　図８０、図８２、及び、図８５に示すように、アタッチメント３００において、底部３６０ｄを境に区画される上側に、収容部３６１が備えられている。収容部３６１は、底部３６０ｄを下端として、前壁部３６０ａ、側壁部３６０ｂ、及び、後壁部３６０ｃに囲まれており、筐体の内部空間として構成されている。即ち、収容部３６１は、外郭部３６０よりも内側に、物資を収容可能に構成されている。 As shown in Figures 80, 82, and 85, the attachment 300 is provided with a storage section 361 on the upper side, which is partitioned by the bottom 360d. The storage section 361 is surrounded by the front wall 360a, the side wall 360b, and the rear wall 360c, with the bottom 360d as its lower end, and is configured as the internal space of the housing. In other words, the storage section 361 is configured to be able to store materials inside the outer shell 360.

　収容部３６１においては、アタッチメント３００の上端に形成された矩形開口を介して、収容部３６１での物資の収容が可能となっている。また、当該矩形開口を介して、収容部３６１にて収容されている物資の取り出しが可能となっている。なお、当該矩形開口は、図示しない蓋等により閉塞可能となっていてもよい。 In the storage section 361, materials can be stored through a rectangular opening formed at the upper end of the attachment 300. In addition, the materials stored in the storage section 361 can be removed through this rectangular opening. Note that this rectangular opening may be capable of being closed by a lid or the like (not shown).

　また、収容部３６１は、収容された物資を冷却又は加熱可能に構成されている。より具体的には、アタッチメント３００に、温調装置３７０が内蔵されていてもよい。温調装置３７０は、例えば、ペルチェ素子、電気ヒータ、ヒートポンプ、ファン等で構成されてもよく、収容部３６１の物資に対し、温冷風の供給が可能となっていてもよい。 Furthermore, the storage section 361 is configured to be able to cool or heat the stored material. More specifically, the attachment 300 may have a built-in temperature adjustment device 370. The temperature adjustment device 370 may be configured, for example, with a Peltier element, an electric heater, a heat pump, a fan, etc., and may be capable of supplying hot or cold air to the material in the storage section 361.

　図８６に示すように、走行体２００の制御装置２８３は、更に、温度制御部２８３ｇを備えている。温度制御部２８３ｇは、温調装置３７０にて供給される温冷風の温度、風量等を調整するよう、温調装置３７０を制御する。なお、本実施形態においては、アタッチメント３００に、電源が備えられていない。この場合、上述した第６実施形態の変形例と同様に、走行体２００に、第１端部２８６ａ・第１端部２８６ｂが備えられ、アタッチメント３００に、第２端部３８６ａ・第２端部３８６ｂが備えられていてもよい（図７７を参照）。 As shown in FIG. 86, the control device 283 of the running body 200 further includes a temperature control unit 283g. The temperature control unit 283g controls the temperature control device 370 to adjust the temperature and air volume of the hot and cold air supplied by the temperature control device 370. In this embodiment, the attachment 300 does not include a power source. In this case, as in the modified example of the sixth embodiment described above, the running body 200 may be provided with the first end 286a and the first end 286b, and the attachment 300 may be provided with the second end 386a and the second end 386b (see FIG. 77).

　走行体２００にアタッチメント３００が装着されている場合に、走行体２００の制御装置２８３から、第１端部２８６ａ・第２端部３８６ａを介して、温調装置３７０に向けて、制御信号が送出されるようになっている。走行体２００の電源２８０から、第１端部２８６ｂ・第２端部３８６ｂを介して、温調装置３７０に向けて、温冷風の供給用の電気エネルギが供給されるようになっている。 When the attachment 300 is attached to the running body 200, a control signal is sent from the control device 283 of the running body 200 to the temperature adjustment device 370 via the first end 286a and the second end 386a. Electrical energy for supplying hot and cold air is supplied from the power source 280 of the running body 200 to the temperature adjustment device 370 via the first end 286b and the second end 386b.

　搭載面２１０に装着されたアタッチメント３００に、物資が収容部３６１に収容された状態で、走行体２００がアタッチメント３００と一体的に走行することで、物資を温調しつつ移動可能となる。即ち、このように構成されたアタッチメント３００を用いることで、移動体１００が、移動式の温冷庫として機能する。 When the attachment 300 is mounted on the mounting surface 210 and supplies are stored in the storage section 361, the running body 200 runs together with the attachment 300, allowing the supplies to be moved while controlling their temperature. In other words, by using the attachment 300 configured in this way, the moving body 100 functions as a mobile hot/cold storage unit.

＜外郭部の変形例＞
　本実施形態においては、搭載体３００として、装着時に移動式の温冷庫として機能するアタッチメント３００が用いられ、当該アタッチメントに外郭部３６０が備えられている。これに代えて、搭載体３００として、バックホーとして機能するアタッチメント３００が用いられ、当該アタッチメントに外郭部３６０が備えられてもよい。 <Modifications of Outer Shell>
In this embodiment, an attachment 300 that functions as a mobile hot/cold storage unit when attached is used as the mounting body 300, and the attachment is provided with an outer casing 360. Alternatively, an attachment 300 that functions as a backhoe may be used as the mounting body 300, and the attachment may be provided with an outer casing 360.

　図８７、及び、図８８に示すように、外郭部３６０は、第１実施形態の搭載体３００の構成に、追加されている。搭載体３００が走行体に装着された場合、外郭部３６０は、平面視において車体２６０の外端よりも外側に位置し、且つ、走行装置２７０の第２方向の上方に位置するようになっている。 As shown in Figures 87 and 88, the outer casing 360 is added to the configuration of the mounted body 300 of the first embodiment. When the mounted body 300 is attached to the running body, the outer casing 360 is located outside the outer end of the vehicle body 260 in a plan view, and is located above the running device 270 in the second direction.

　より具体的には、外郭部３６０は、４つに分割されており、搭載体３００の基部３３０において、前輪２７１及び後輪２７２に対応する位置に、１つずつ配置されている。外郭部３６０は、前輪２７１及び後輪２７２の円周にそれぞれ沿うように、湾曲していてもよい。 More specifically, the outer shell 360 is divided into four parts, and each part is disposed at a position corresponding to the front wheel 271 and the rear wheel 272 on the base 330 of the mounting body 300. The outer shell 360 may be curved so as to follow the circumference of the front wheel 271 and the rear wheel 272, respectively.

　搭載体３００が装着されると、外郭部３６０は、前輪２７１及び後輪２７２の上側を覆うように位置する。このとき、外郭部３６０は、平面視において、車体２６０の車幅方向の両側端よりも外側に位置する。また、平面視において、外郭部３６０が占める領域は、前輪２７１及び後輪２７２の領域を、それぞれ包含している。 When the mounting body 300 is attached, the outer shell 360 is positioned so as to cover the upper sides of the front wheels 271 and the rear wheels 272. At this time, the outer shell 360 is positioned outboard of both side ends of the vehicle body 260 in the vehicle width direction in a plan view. Also, in a plan view, the area occupied by the outer shell 360 includes the areas of the front wheels 271 and the rear wheels 272, respectively.

　このように外郭部３６０を構成することで、前輪２７１及び後輪２７２に対して、外郭部３６０をフェンダーとして機能させることができる。走行装置２７０の車輪ごとに、外郭部３６０が配置されるため、外郭部３６０の領域を必要最低限とすることができる。このため、搭載体３００の可動具等の作動を阻害することなく、コンポの配置や設計の自由度を大きくすることができる。 By configuring the outer casing 360 in this manner, it is possible to make the outer casing 360 function as a fender for the front wheels 271 and the rear wheels 272. Since the outer casing 360 is arranged for each wheel of the running device 270, the area of the outer casing 360 can be reduced to the minimum necessary. This allows for greater freedom in component placement and design without impeding the operation of the movable parts of the mounting body 300, etc.

［搭載体の変形例］
　上記各実施形態においては、各搭載体３００が上述したようにそれぞれ構成されているが、これらに代えて、各搭載体３００の構成として、種々の態様が採られてもよい。例えば、図８９、及び、図９０に示すように、搭載体３００が、サーチライトＳＬを備えていてもよい。この場合、サーチライトＳＬは、搭載体３００における上部に位置し、第１方向の前方に向けて、ライトを照射するようになっていてもよい。移動体１００が、自動運転により巡回している場合に、サーチライトＳＬは、前方の対象物を検知した際、ライトの照射が実行されるようにしてもよい。 [Modification of the mounting body]
In each of the above-mentioned embodiments, each mounted body 300 is configured as described above, but instead of these, various aspects may be adopted as the configuration of each mounted body 300. For example, as shown in Fig. 89 and Fig. 90, the mounted body 300 may be equipped with a search light SL. In this case, the search light SL may be located at the upper part of the mounted body 300 and may be configured to irradiate light toward the front in the first direction. When the moving body 100 is patrolling by automatic driving, the search light SL may be configured to irradiate light when it detects an object in front.

　図８９に示すように、例えば、本変形例の移動体１００が、居住地周辺の予め規定された経路を巡回するように、夜間に自動運転させておいてもよい。この場合、不審者等を検知すると、サーチライトＳＬから不審者等に向けてライトが照射される。図９０に示すように、例えば、本変形例の移動体１００が、農地周辺の予め規定された経路を巡回するように、夜間に自動運転させておいてもよい。この場合、害獣者等を検知すると、サーチライトＳＬから害獣者等に向けてライトが照射される。このように、サーチライトＳＬのライト照射により、移動体１００に防犯、監視等の機能を持たせることができる。 As shown in FIG. 89, for example, the mobile body 100 of this modified example may be operated automatically at night to patrol a predefined route around a residential area. In this case, if a suspicious person or the like is detected, a light is shone from the searchlight SL towards the suspicious person or the like. As shown in FIG. 90, for example, the mobile body 100 of this modified example may be operated automatically at night to patrol a predefined route around farmland. In this case, if a pest or the like is detected, a light is shone from the searchlight SL towards the pest or the like. In this way, the light from the searchlight SL can be used to give the mobile body 100 functions such as crime prevention and surveillance.

［まとめ：出願１］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００と、前記走行体２００及び前記搭載体３００のうち何れか一方に設けられ、前記搭載体３００を支持しつつ、前記搭載面２１０に対し、前記第２方向又は前記第２方向と反対の第３方向へ前記搭載体３００を移動可能に構成されたリフト部２２０と、を備える（請求項１）。 [Summary: Application 1]
The moving body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, a mounting body 300 configured to be attached and detached to the mounting surface 210 and moving integrally with the running body when attached to the mounting surface 210 and mounted on the running body 200, and arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and a lift section 220 provided on either the running body 200 or the mounting body 300 and configured to support the mounting body 300 and move the mounting body 300 relative to the mounting surface 210 in the second direction or a third direction opposite to the second direction (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、リフト部２２０により、搭載体３００を、走行体２００に対し上下移動させて、脱離・装着させることができる。即ち、リフト部２２０による単純な作動により、脱離・装着を容易に実行できる。 Furthermore, the lift unit 220 allows the mounting body 300 to be moved up and down relative to the running body 200 for detachment and attachment. In other words, detachment and attachment can be easily performed by the simple operation of the lift unit 220.

　移動体１００は、前記走行体２００及び前記搭載体３００を互いに係合可能に構成され、係合して前記搭載体３００が装着され、係合が解除されることで前記搭載体３００が脱離する係合部２３０を備える（請求項２）。 The moving body 100 is configured so that the running body 200 and the mounting body 300 can be engaged with each other, and is provided with an engagement portion 230 that engages to attach the mounting body 300 and disengages to detach the mounting body 300 (Claim 2).

　これによれば、装着作動（例えば、リフト部２２０による搭載体３００の上下移動など）が実行される際、係合部２３０の係合により、搭載体３００が移動軌道からずれることを抑制できる。従って、
搭載体３００を、走行体２００の搭載面２１０により確実に装着させることができる。また、装着完了以降においても、係合部２３０の係合により、装着された搭載体３００が搭載面２１０からずれることを抑制できる。 According to this, when the mounting operation (for example, the vertical movement of the mounting body 300 by the lift unit 220) is performed, the engagement of the engagement unit 230 can prevent the mounting body 300 from deviating from the movement trajectory.
The mounting body 300 can be more reliably mounted on the mounting surface 210 of the running body 200. Even after mounting is complete, the engagement of the engaging portion 230 can prevent the mounted body 300 from shifting from the mounting surface 210.

　前記リフト部２２０は、前記係合部２３０の嵌入部位２３２に向かって突出し、前記係合部２３０の嵌入部位２３２は、前記走行体２００及び前記搭載体３００のうち何れか他方の前記リフト部２２０に対応する箇所に設けられ、前記突出する前記リフト部２２０が嵌入可能な凹み形状であって、前記リフト部２２０が嵌入する方向に沿って縮径する部位を有する形状を呈しており、前記リフト部２２０に嵌入されることで係合する（請求項３）。 The lift portion 220 protrudes toward the fitting portion 232 of the engagement portion 230, and the fitting portion 232 of the engagement portion 230 is provided at a location corresponding to the lift portion 220 of the other of the running body 200 and the mounting body 300, and has a recessed shape into which the protruding lift portion 220 can fit, and has a shape having a portion whose diameter decreases along the direction in which the lift portion 220 fits, and is engaged by being fitted into the lift portion 220 (Claim 3).

　これによれば、嵌入部位２３２へリフト部２２０を嵌入させる際、仮に、嵌入部位２３２・リフト部２２０のそれぞれの軸がずれている場合であっても、特有の縮径形状にてリフト部２２０が案内されて、自動的に各軸が一致するよう、リフト部２２０を嵌入させることができる。従って、より確実に、係合を達成できる。 As a result, when the lift portion 220 is inserted into the insertion portion 232, even if the axes of the insertion portion 232 and the lift portion 220 are misaligned, the lift portion 220 is guided by the unique reduced diameter shape, and the lift portion 220 can be inserted so that the axes are automatically aligned. This makes it possible to achieve a more reliable engagement.

　移動体１００は、前記搭載体３００を前記走行体２００に固定可能に構成され、固定して前記搭載体３００の前記走行体２００に対する相対移動が規制され、固定が解除されることで前記相対移動が許容される固定部２４０ａ・固定部２４０ｂを備えている（請求項４）。 The moving body 100 is configured so that the mounting body 300 can be fixed to the running body 200, and includes fixing parts 240a and 240b that restrict the relative movement of the mounting body 300 with respect to the running body 200 when fixed, and allow the relative movement when released (Claim 4).

　これによれば、装着した搭載体３００を搭載面２１０に固定でき、移動体１００の走行や作業に伴って、搭載体３００に力が作用した場合であっても、搭載体３００が搭載面２１０からずれたり、搭載体３００が意図せず脱離することを抑制できる。 This allows the mounted body 300 to be fixed to the mounting surface 210, and even if a force acts on the mounted body 300 as the mobile body 100 travels or operates, it is possible to prevent the mounted body 300 from shifting from the mounting surface 210 or becoming unintentionally detached.

　前記固定部２４０ｂは、前記リフト部２２０の設置箇所とは異なる箇所に設けられ、前記走行体２００、及び、前記搭載体３００の間において磁気に基づく吸着力を発生可能に構成され、前記吸着力の作用にて、前記搭載体３００を前記走行体２００に固定する（請求項５）。 The fixing portion 240b is provided at a location different from the location where the lift portion 220 is installed, and is configured to be capable of generating an adhesive force based on magnetism between the running body 200 and the mounting body 300, and the mounting body 300 is fixed to the running body 200 by the action of the adhesive force (claim 5).

　これによれば、固定部２４０ｂの固定作用は、磁気に基づいているため、固定のための機構や可動部等が不要となる。このため、固定部２４０ｂを自在に設置することができる。従って、搭載体３００の固定にあたり、固定部２４０ｂを有効な場所に設置できる。また、リフト部２２０による係合・固定の機能と相乗させることができる。以上より、搭載体３００をより確実に固定できる。 As a result, the fixing action of the fixing part 240b is based on magnetism, so no fixing mechanism or movable part is required. This allows the fixing part 240b to be installed freely. Therefore, when fixing the mounting body 300, the fixing part 240b can be installed in an effective location. This can also be used in conjunction with the engagement and fixing function of the lift part 220. As a result, the mounting body 300 can be fixed more reliably.

　前記走行体２００は、第１電気機器と、前記第１電気機器と電気的に接続された第１端部２８６と、を備え、前記搭載体３００は、第２電気機器と、前記第２電気機器と電気的に接続され、前記搭載体３００が前記搭載面２１０に装着された場合に、前記第１端部２８６との接触又は非接触での通電が許容されて、前記第１，第２電気機器間の電気的接続を達成し、前記搭載体３００が前記搭載面２１０から脱離した場合に、前記第１端部２８６との接触又は非接触での通電が規制されて、前記第１，第２電気機器間の電気的接続を解除する第２端部３８６と、を備えている（請求項６）。 The running body 200 includes a first electrical device and a first end 286 electrically connected to the first electrical device, and the mounting body 300 includes a second electrical device and a second end 386 electrically connected to the second electrical device, and when the mounting body 300 is attached to the mounting surface 210, electrical current is allowed to flow through the first end 286 with or without contact, thereby achieving electrical connection between the first and second electrical devices, and when the mounting body 300 is detached from the mounting surface 210, electrical current is restricted to flow through the first end 286 with or without contact, thereby releasing the electrical connection between the first and second electrical devices (Claim 6).

　これによれば、搭載体３００を装着させた状態において、第１端部２８６・第２端部３８６を介して、走行体２００から搭載体３００に向けた（又は、搭載体３００から走行体２００に向けた）電気エネルギの供給や、制御信号の送出、センサ信号の送出等が可能となる。このため、電源２８０、制御装置２８３、センサ２８２等を、走行体２００及び搭載体３００の何れかに片寄せして搭載できる。また、例えば、電源２８０・電源３８０を走行体２００及び搭載体３００の両方に搭載し、それぞれの電源２８０・電源３８０からの給電量を、融通し合うことができる。このため、電気機器の搭載や、使い方のバリエーションを、大きく拡げることができる。 With this, when the mounting body 300 is attached, it is possible to supply electrical energy from the running body 200 to the mounting body 300 (or from the mounting body 300 to the running body 200), send control signals, send sensor signals, etc., via the first end 286 and the second end 386. Therefore, the power source 280, the control device 283, the sensor 282, etc. can be mounted on either the running body 200 or the mounting body 300. Also, for example, the power source 280 and the power source 380 can be mounted on both the running body 200 and the mounting body 300, and the power supply from each of the power sources 280 and the power source 380 can be shared. This greatly expands the variety of electrical equipment that can be mounted and how it can be used.

　移動体１００は、前記搭載体３００が装着されていない前記走行体２００に、前記搭載面２１０よりも前記第２方向における上方の配置位置に配置されている前記搭載体３００を装着させる場合、前記搭載面２１０に対向している前記搭載体３００を、支持しつつ、前記第２方向における前記配置位置よりも上方へ移動させるように、前記リフト部２２０を制御し、前記搭載体３００を前記配置位置よりも上方へ推移させた状態で、前記搭載体３００と一体的に、前記第１方向へ走行するように前記走行体２００を制御し、前記上方へ推移していた前記搭載体３００を、支持しつつ、前記第３方向に移動させるように前記リフト部２２０を制御する装着制御部２８３ａを備えている（請求項７）。 When mounting the mounting body 300, which is located at a position above the mounting surface 210 in the second direction, to the running body 200 on which the mounting body 300 is not mounted, the moving body 100 controls the lift unit 220 to support the mounting body 300 facing the mounting surface 210 and move it above the position in the second direction, controls the running body 200 to run in the first direction together with the mounting body 300 while the mounting body 300 is moved above the position, and controls the lift unit 220 to support the mounting body 300 that has moved upward in the third direction (claim 7).

　これによれば、リフト部２２０を制御することにより、搭載体３００を、自動的に走行体２００に装着させることができる。即ち、搭載体３００の装着を、容易かつ確実に実行できる。 In this way, the mounting body 300 can be automatically attached to the running body 200 by controlling the lift unit 220. In other words, the mounting body 300 can be easily and reliably attached.

　移動体１００は、前記搭載体３００が装着されている前記走行体２００から前記搭載体３００を脱離させ、前記搭載面２１０よりも前記第２方向における上方の配置位置に配置する場合、前記搭載面２１０に装着されている前記搭載体３００を、支持しつつ、前記第２方向における前記配置位置よりも上方へ移動させるように、前記リフト部２２０を制御し、前記搭載体３００を前記配置位置よりも上方へ推移させた状態で、前記搭載体３００と一体的に、前記搭載体３００を配置するための位置まで走行するよう前記走行体２００を制御し、前記上方へ推移していた前記搭載体３００を、支持しつつ、前記第３方向に移動させるように前記リフト部２２０を制御する脱離制御部２８３ｂを備えている（請求項８）。 When the moving body 100 detaches the mounting body 300 from the running body 200 to which the mounting body 300 is attached and places it in a position above the mounting surface 210 in the second direction, the moving body 100 controls the lift unit 220 to support and move the mounting body 300 attached to the mounting surface 210 above the position in the second direction, controls the running body 200 to run together with the mounting body 300 to a position for placing the mounting body 300 in a state where the mounting body 300 has been shifted above the position, and is equipped with a detachment control unit 283b that controls the lift unit 220 to move the mounting body 300 that has been shifted upward in the third direction while supporting it (claim 8).

　これによれば、リフト部２２０を制御することにより、搭載体３００を、自動的に走行体２００から脱離させることができる。即ち、搭載体３００の脱離を、容易かつ確実に実行できる。 In this way, the mounting body 300 can be automatically detached from the running body 200 by controlling the lift unit 220. In other words, the mounting body 300 can be detached easily and reliably.

［まとめ：出願２］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００と、前記走行体２００及び前記搭載体３００を互いに係合可能に構成され、係合して前記搭載体３００が装着され、係合が解除されることで前記搭載体３００が脱離する係合部２３０と、を備えている（請求項１）。 [Summary: Application 2]
The moving body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, a mounting body 300 configured to be attachable and detachable to the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and an engagement portion 230 configured to enable the running body 200 and the mounting body 300 to engage with each other, engaging with each other to attach the mounting body 300 and disengaging to detach the mounting body 300 (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、装着作動（例えば、リフト部２２０による搭載体３００の上下移動や、レールを利用したスライド移動など）が実行される際、係合部２３０の係合により、搭載体３００が移動軌道からずれることを抑制できる。従って、搭載体３００を、走行体２００の搭載面２１０により確実に装着させることができる。また、装着完了以降においても、係合部２３０の係合により、装着された搭載体３００が搭載面２１０からずれることを抑制できる。 In addition, when the mounting operation (for example, vertical movement of the mounting body 300 by the lift unit 220, or sliding movement using a rail, etc.) is performed, the engagement of the engagement unit 230 can prevent the mounting body 300 from deviating from the movement trajectory. Therefore, the mounting body 300 can be more reliably mounted on the mounting surface 210 of the running body 200. Furthermore, even after mounting is complete, the engagement of the engagement unit 230 can prevent the mounted mounting body 300 from deviating from the mounting surface 210.

　前記係合部２３０は、突出部位２３１と、前記突出する前記突出部位２３１が嵌入可能に構成され、前記突出部位２３１に嵌入されることで係合する嵌入部位２３２と、を備えている（請求項２）。 The engaging portion 230 includes a protruding portion 231 and an insertion portion 232 into which the protruding protruding portion 231 can be inserted and which engages with the protruding portion 231 by being inserted therein (Claim 2).

　これによれば、突出部位２３１、及び、嵌入部位２３２の簡易な構成で、確実に係合を達成することができる。 This allows for reliable engagement with the simple configuration of the protruding portion 231 and the fitting portion 232.

　前記係合部２３０は、前記第２方向、又は、前記第２方向と反対の第３方向に向かって突出する突出部位２３１と、前記突出する前記突出部位２３１が嵌入可能な凹み形状であって、前記突出部位２３１が嵌入する方向に沿って縮径する部位を有する形状を呈しており、前記突出部位２３１に嵌入されることで係合する嵌入部位２３２と、を備えている（請求項３）。 The engaging portion 230 includes a protruding portion 231 that protrudes in the second direction or in a third direction opposite to the second direction, and an insertion portion 232 that is recessed into which the protruding portion 231 can be inserted and has a shape that has a portion that reduces in diameter along the direction in which the protruding portion 231 is inserted, and that engages with the protruding portion 231 by being inserted therein (Claim 3).

　これによれば、嵌入部位２３２へ突出部位２３１を嵌入させる際、仮に、嵌入部位２３２・突出部位２３１のそれぞれの軸がずれている場合であっても、特有の縮径形状にて突出部位２３１が案内されて、自動的に各軸が一致するよう、突出部位２３１を嵌入させることができる。従って、より確実に、係合を達成できる。 As a result, when fitting the protruding portion 231 into the fitting portion 232, even if the axes of the fitting portion 232 and the protruding portion 231 are misaligned, the protruding portion 231 is guided by its unique reduced diameter shape, and the protruding portion 231 can be fitted so that the axes automatically align. Therefore, engagement can be achieved more reliably.

　前記係合部２３０は、前記第２方向、又は、前記第２方向と反対の第３方向に向かって突出する突出部位２３１と、前記突出する前記突出部位２３１が嵌入可能な凹み形状であって、前記突出部位２３１が嵌入する際に螺合する部位を有する形状を呈しており、前記突出部位２３１に嵌入されることで係合する嵌入部位２３２と、を備えている（請求項４）。 The engaging portion 230 includes a protruding portion 231 that protrudes in the second direction or in a third direction opposite to the second direction, and an insertion portion 232 that is recessed into which the protruding portion 231 can be inserted and has a shape that includes a portion that screws into the protruding portion 231 when the protruding portion 231 is inserted, and that engages with the protruding portion 231 by being inserted into the protruding portion 231 (Claim 4).

　これによれば、嵌入部位２３２へ突出部位２３１を嵌入させる際、螺合にて嵌入部位２３２及び突出部位２３１が互いに噛み合う。このため、係合の達成とともに、搭載体３００を走行体２００に固定することができる。また、螺合に伴って、搭載体３００を、走行体２００に対して上下方向に移動させることができ、脱離・装着の作動を援助することができる。 As a result, when the protruding portion 231 is fitted into the fitting portion 232, the fitting portion 232 and the protruding portion 231 are engaged with each other by screwing. Therefore, when the engagement is achieved, the mounting body 300 can be fixed to the running body 200. In addition, as the mounting body 300 is screwed, the mounting body 300 can be moved in the vertical direction relative to the running body 200, which assists in the detachment and attachment operations.

　前記係合部２３０は、前記走行体２００が走行している状態で係合して、前記搭載体３００が装着されるように構成されている（請求項５）。 The engaging portion 230 is configured to engage with the running body 200 while the running body 200 is running, and the mounting body 300 is attached (Claim 5).

　これによれば、走行体２００が走行している状態で、係合部２３０による係合を経て、搭載体３００を走行体２００に装着できる。このため、搭載体３００の装着を迅速に実行できる。 With this, while the running body 200 is running, the mounting body 300 can be attached to the running body 200 via engagement by the engagement portion 230. This allows the mounting body 300 to be attached quickly.

　前記係合部２３０は、前記第１方向に沿って伸長するアウターレール２３３と、前記アウターレール２３３の内側にて係合可能に構成され、前記走行体２００が走行している状態で、前記アウターレール２３３に案内されて前記第１方向に移動しながら係合するインナーレール２３４と、を備えている（請求項６）。 The engaging portion 230 includes an outer rail 233 extending along the first direction, and an inner rail 234 configured to be engageable with the inside of the outer rail 233 and engaged while moving in the first direction while being guided by the outer rail 233 when the running body 200 is running (Claim 6).

　これによれば、走行体２００が走行している状態であっても、アウターレール２３３、及び、インナーレール２３４の簡易な構成で、確実に係合を達成することができる。 As a result, even when the running body 200 is running, the simple configuration of the outer rail 233 and the inner rail 234 can reliably achieve engagement.

　前記係合部２３０は、前記第２方向、又は、前記第２方向と反対の第３方向に向かって立設され、前記第１方向に対向する面を有する立設部位２３３ａと、前記立設部位２３３ａの前記面に当接可能に構成され、前記走行体２００が走行している状態で、前記面と当接されて係合する当接部位２３４ａと、を備えている（請求項７）。 The engaging portion 230 is provided with an erected portion 233a that is erected toward the second direction or a third direction opposite to the second direction and has a surface facing the first direction, and an abutment portion 234a that is configured to be able to abut against the surface of the erected portion 233a and that abuts against and engages with the surface when the running body 200 is running (Claim 7).

　これによれば、走行体２００が走行している状態であっても、立設部位２３３ａ、及び、当接部位２３４ａの簡易な構成で、確実に係合を達成することができる。 As a result, even when the running body 200 is running, the simple configuration of the erected portion 233a and the abutment portion 234a can reliably achieve engagement.

［まとめ：出願３］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００と、前記搭載体３００を前記走行体２００に固定可能に構成され、固定して前記搭載体３００の前記走行体２００に対する相対移動が規制され、固定が解除されることで前記相対移動が許容される固定部２４０ａ・固定部２４０ｂと、を備えている（請求項１）。 [Summary: Application 3]
The moving body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface facing a second direction that faces upward relative to the first direction, a mounting body 300 configured to be detachable from the mounting surface 210 and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and fixing parts 240a and 240b configured to be able to fix the mounting body 300 to the running body 200, and when fixed, the relative movement of the mounting body 300 with respect to the running body 200 is restricted, and when the fixation is released, the relative movement is allowed (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、固定部２４０ａ・固定部２４０ｂにより、装着した搭載体３００を搭載面２１０に固定でき、移動体１００の走行や作業に伴って、搭載体３００に力が作用した場合であっても、搭載体３００が搭載面２１０からずれたり、搭載体３００が意図せず脱離することを抑制できる。 Furthermore, the fixing parts 240a and 240b allow the mounted body 300 to be fixed to the mounting surface 210, and even if a force acts on the mounted body 300 as the mobile body 100 travels or operates, the mounted body 300 can be prevented from shifting from the mounting surface 210 or from becoming unintentionally detached.

　前記固定部２４０ａは、前記第２方向、又は、前記第２方向と反対の第３方向に向かって突出する突出部位２４１と、前記突出する前記突出部位２４１が嵌入可能に構成され、前記突出部位２４１に嵌入されることで、前記搭載体３００を前記走行体２００に固定する嵌入部位２４２と、を備えている（請求項２）。 The fixing portion 240a includes a protruding portion 241 that protrudes in the second direction or in a third direction opposite to the second direction, and an insertion portion 242 into which the protruding protruding portion 241 can be inserted, and which fixes the mounting body 300 to the running body 200 by being inserted into the protruding portion 241 (Claim 2).

　これによれば、突出部位２４１、及び、嵌入部位２４２の簡易な構成で、確実に固定を達成することができる。 This allows for reliable fixation with a simple configuration of the protruding portion 241 and the fitting portion 242.

　前記固定部２４０ａは、前記第２方向に対し略垂直方向に向かって突出する突出部位２４１と、前記突出する前記突出部位２４１が嵌入可能に構成され、前記突出部位２４１に嵌入されることで、前記搭載体３００を前記走行体２００に固定する嵌入部位２４２と、を備えている（請求項３）。 The fixing portion 240a includes a protruding portion 241 that protrudes in a direction substantially perpendicular to the second direction, and an insertion portion 242 into which the protruding protruding portion 241 can be inserted, and which fixes the mounting body 300 to the running body 200 by being inserted into the protruding portion 241 (Claim 3).

　これによれば、突出部位２４１、及び、嵌入部位２４２の簡易な構成で、確実に固定を達成することができる。 This allows for reliable fixation with a simple configuration of the protruding portion 241 and the insertion portion 242.

　前記固定部２４０ｂは、前記走行体２００、及び、前記搭載体３００の間において磁気に基づく吸着力を発生可能に構成され、前記吸着力の作用にて、前記搭載体３００を前記走行体２００に固定する（請求項４）。 The fixing portion 240b is configured to generate an adhesive force based on magnetism between the running body 200 and the mounting body 300, and the adhesive force fixes the mounting body 300 to the running body 200 (Claim 4).

　これによれば、固定部２４０ｂの固定作用は、磁気に基づいているため、固定のための機構や可動部等が不要となる。このため、固定部２４０ｂを自在に設置することができる。従って、搭載体３００の固定にあたり、固定部２４０ｂを有効な場所に設置できる。 As a result, the fixing action of the fixing part 240b is based on magnetism, so there is no need for a fixing mechanism or movable parts. This allows the fixing part 240b to be installed freely. Therefore, when fixing the mounting body 300, the fixing part 240b can be installed in an effective location.

　前記固定部２４０ａは、前記第２方向、又は、前記第２方向と反対の第３方向に向かって突出する突出部位２４１と、前記突出する前記突出部位２４１が嵌入可能に構成され、前記突出部位２４１に嵌入されることで、前記搭載体を前記走行体に固定する嵌入部位２４２と、を備え、固定部２４０ｂは、前記走行体、及び、前記搭載体の間において磁気に基づく吸着力を発生可能に構成され、前記吸着力の作用にて、前記搭載体を前記走行体に固定する吸着部位２４１ａと、を備えている（請求項５）。 The fixing part 240a includes a protruding portion 241 that protrudes in the second direction or in a third direction opposite to the second direction, and an insertion portion 242 into which the protruding protruding portion 241 can be inserted and which fixes the mounting body to the running body by being inserted into the protruding portion 241. The fixing part 240b includes an adhesion portion 241a that is configured to generate an adhesive force based on magnetism between the running body and the mounting body and which fixes the mounting body to the running body by the action of the adhesive force (claim 5).

　これによれば、搭載体３００の固定にあたり、固定部２４０ｂの吸着部位２４１ａを有効な場所に設置できる。また、突出部位２４１及び嵌入部位２４２による固定の機能と相乗させることができる。以上より、搭載体３００をより確実に固定できる。 This allows the suction portion 241a of the fixing portion 240b to be placed in an effective location when fixing the mounting body 300. This can also be used in conjunction with the fixing function provided by the protruding portion 241 and the fitting portion 242. As a result, the mounting body 300 can be fixed more reliably.

［まとめ：出願４］
　保管庫５００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００と、を備えた移動体１００を保管する保管庫である。保管庫５００は、前記走行体２００に対して前記第１方向、および、前記第１方向及び前記第２方向のそれぞれに直行する第４方向に離間して位置し、脱離した前記搭載体３００を配置可能なように構成された配置部５６０を備えている（請求項１）。 [Summary: Application 4]
The storage 500 is a storage for storing a moving body 100 including a running body 200 capable of traveling in a first direction and having a mounting surface 210 facing a second direction facing upward with respect to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210, which moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and which is disposed separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200. The storage 500 includes a placement unit 560 that is positioned apart from the running body 200 in the first direction and in a fourth direction perpendicular to each of the first direction and the second direction, and is configured to be able to place the detached mounting body 300 (claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、保管庫５００の配置部５６０を利用して、脱離させた搭載体３００を、例えば、搭載体３００の底面が略水平となるよう、適切な姿勢で配置でき、且つ、保管することもできる。また、配置部５６０に配置された搭載体３００を、そのままの状態で、次回の装着に向けて待機させることができる。 Furthermore, by utilizing the placement section 560 of the storage facility 500, the detached mounting body 300 can be placed in an appropriate position, for example so that the bottom surface of the mounting body 300 is approximately horizontal, and can also be stored. Furthermore, the mounting body 300 placed in the placement section 560 can be left in that state waiting for the next attachment.

　前記配置部５６０は、前記第２方向に向かって前記搭載体３００を支持することで前記搭載体３００が配置されるよう構成されている（請求項２）。 The placement section 560 is configured to place the mounting body 300 by supporting the mounting body 300 in the second direction (Claim 2).

　これによれば、搭載体３００の重量が大きい場合であっても、搭載体３００を配置部５６０に安定的に配置できる。 This allows the mounting body 300 to be stably placed on the placement section 560 even if the mounting body 300 is heavy.

　前記配置部５６０は、配置される前記搭載体３００の底面を支持可能な平面形状であって、前記搭載体３００の底面に対向し且つ前記第１方向に伸びる形状を呈している（請求項３）。 The placement portion 560 has a planar shape capable of supporting the bottom surface of the mounting body 300 to be placed thereon, faces the bottom surface of the mounting body 300, and has a shape that extends in the first direction (Claim 3).

　これによれば、配置部５６０の領域を平面形状に沿って大きくすることができ、配置部５６０に配置の余裕を持たせることができる。従って、搭載体３００の体格が大きい場合や、搭載体３００の重量が大きい場合であっても、搭載体３００を配置部５６０に安定的に配置できる。 This allows the area of the placement section 560 to be enlarged along the planar shape, providing the placement section 560 with ample room for placement. Therefore, even if the size or weight of the mounting body 300 is large, the mounting body 300 can be stably placed on the placement section 560.

　保管庫５００は、前記走行体２００及び前記搭載体３００の、何れか一方又は両方に備えられたバッテリに対し、充電用の電気エネルギを供給可能に構成された給電部５７０ａを備えている（請求項４）。 The storage facility 500 is equipped with a power supply unit 570a configured to supply electrical energy for charging the batteries provided in either or both of the running body 200 and the mounting body 300 (Claim 4).

　これによれば、保管庫５００にて保管する機会を利用して、走行体２００の電源２８０、及び、搭載体３００の電源３８０の、何れか一方又は両方を充電することができる。バッテリ交換等の作業が不要となり、電源２８０・電源３８０を、容易に満充電の状態とすることができる。 This allows the opportunity to store the vehicle in the storage facility 500 to charge either or both of the power source 280 of the vehicle 200 and the power source 380 of the mounted vehicle 300. This eliminates the need for battery replacement and other tasks, and the power sources 280 and 380 can be easily brought to a fully charged state.

　保管庫５００は、前記バッテリの充電状態に対応する情報を外部に表示する表示部５８０を備えている（請求項５）。 The storage unit 500 is equipped with a display unit 580 that displays information corresponding to the charging state of the battery to the outside (Claim 5).

　これによれば、電源２８０・電源３８０の充電状態を、容易に確認することができる。充電状態に応じて、保管していた移動体１００を保管庫５００から走出させるタイミングを、決めることができる。 This allows the charging status of power sources 280 and 380 to be easily checked. Depending on the charging status, the timing for moving object 100 stored away from storage facility 500 can be determined.

［まとめ：出願５］
　移動体１００の保管システム４００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００と、を備えた移動体１００を保管する保管庫５００と、走行する前記走行体２００の停止位置であって、前記保管庫５００の内部における停止位置を決定する停止位置決定部２８３ｃと、を備えている（請求項１）。 [Summary: Application 5]
The storage system 400 for a moving body 100 includes a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being positioned separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and a storage facility 500 for storing the moving body 100, and a stop position determination unit 283c that determines the stopping position of the running body 200 within the storage facility 500 (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、停止位置決定部２８３ｃにて、保管庫５００の内部における停止位置が決定されるため、保管庫５００の外部の走行体２００を、保管庫５００へ適切に導くことができる。 In addition, the stopping position determination unit 283c determines the stopping position inside the storage facility 500, so that the running body 200 outside the storage facility 500 can be appropriately guided to the storage facility 500.

　前記保管庫５００は、前記停止位置との位置関係が規定された部位に対応する被検知部５３１を備え、前記停止位置決定部２８３ｃは、前記被検知部５３１の検知結果に基づいて、前記停止位置を決定する（請求項２）。 The storage facility 500 is provided with a detectable part 531 that corresponds to a part whose positional relationship with the stop position is specified, and the stop position determination part 283c determines the stop position based on the detection result of the detectable part 531 (claim 2).

　これによれば、被検知部５３１の検知結果に基づくことで、所望の停止位置を精度よく決定できる。例えば、保管庫５００の内部における所定位置にて、搭載体３００を脱離させたときに被検知部５３１を検知しておき、検知結果に基づいて、次回の装着時における停止位置を、精度よく決定することができる。 In this way, the desired stopping position can be determined with high precision based on the detection result of the detectable part 531. For example, the detectable part 531 is detected when the mounting body 300 is detached at a predetermined position inside the storage facility 500, and the stopping position for the next time it is attached can be determined with high precision based on the detection result.

　移動体１００の保管システム４００は、前記走行体２００を、前記決定された停止位置にて停止するよう自動運転にて走行させる自動運転制御部２８３ｄを備えている（請求項３）。 The storage system 400 for the moving body 100 is equipped with an automatic driving control unit 283d that automatically drives the moving body 200 so that it stops at the determined stopping position (Claim 3).

　これによれば、自動運転により走行体２００を停止位置まで走行させることができる。このため、容易かつ確実に、走行体２００を停止位置まで導き、当該停止位置にて停止させることができる。 This allows the running body 200 to travel to a stopping position by automatic driving. Therefore, the running body 200 can be easily and reliably guided to a stopping position and stopped at the stopping position.

　前記保管庫５００は、前記走行体２００よりも前記第２方向における上側に位置し、脱離した前記搭載体３００を配置可能なように構成された配置部５６０を備え、前記停止位置は、前記配置部５６０よりも下側に位置し、前記搭載体３００が装着されていない前記走行体２００に、前記配置部５６０に配置されている前記搭載体３００を装着させるための位置であって、前記搭載体３００が装着されている前記走行体２００から前記搭載体３００を脱離させ、前記配置部５６０に配置するための位置である（請求項４）。 The storage facility 500 is located above the running body 200 in the second direction and includes a placement section 560 configured to be able to place the detached mounting body 300, and the stop position is located below the placement section 560 and is a position for attaching the mounting body 300 placed on the placement section 560 to the running body 200 to which the mounting body 300 is not attached, and is a position for detaching the mounting body 300 from the running body 200 to which the mounting body 300 is attached and placing it on the placement section 560 (Claim 4).

　これによれば、保管庫５００の配置部５６０を利用して、脱離させた搭載体３００を、例えば、搭載体３００の底面が略水平となるよう、適切な姿勢で配置でき、且つ、保管することもできる。また、配置部５６０に配置された搭載体３００を、そのままの状態で、次回の装着に向けて待機させることができる。また、保管庫５００の配置部５６０を利用して、搭載体３００の着脱を実行できるよう、走行体２００を停止位置にて停止させることができる。 By using the positioning section 560 of the storage facility 500, the detached mounting body 300 can be positioned in an appropriate position, for example so that the bottom surface of the mounting body 300 is approximately horizontal, and can also be stored. Furthermore, the mounting body 300 placed in the positioning section 560 can be left in that state waiting for the next attachment. Furthermore, the positioning section 560 of the storage facility 500 can be used to stop the running body 200 at a stop position so that the mounting body 300 can be attached or detached.

　移動体１００の保管システム４００は、前記走行体２００が前記停止位置にて停止している状態において、前記搭載体３００が装着されていない前記走行体２００に、前記配置部５６０に配置されている前記搭載体３００を装着させる制御を行う装着制御部２８３ａを備えている（請求項５）。 The storage system 400 for the moving body 100 includes an attachment control unit 283a that performs control to attach the mounting body 300 arranged in the placement unit 560 to the running body 200 to which the mounting body 300 is not attached when the running body 200 is stopped at the stopping position (Claim 5).

　これによれば、保管庫５００の内部における停止位置にて、走行体２００が停止しているときに、搭載体３００を、自動的に走行体２００に装着させることができる。即ち、搭載体３００の装着を、容易かつ確実に実行できる。 As a result, when the running body 200 is stopped at a stopping position inside the storage facility 500, the mounting body 300 can be automatically attached to the running body 200. In other words, the mounting body 300 can be easily and reliably attached.

　移動体１００の保管システム４００は、前記走行体２００が前記停止位置にて停止している状態において、前記搭載体３００が装着されている前記走行体２００から前記搭載体３００を脱離させ、前記配置部５６０に配置する制御を行う脱離制御部２８３ｂを備えている（請求項６）。 The storage system 400 for the moving body 100 includes a detachment control unit 283b that performs control to detach the mounting body 300 from the running body 200 to which it is attached and place it in the placement unit 560 when the running body 200 is stopped at the stop position (Claim 6).

　これによれば、保管庫５００の内部における停止位置にて、走行体２００が停止しているときに、搭載体３００を、自動的に走行体２００から脱離させることができる。即ち、搭載体３００の脱離を、容易かつ確実に実行できる。 As a result, when the running body 200 is stopped at a stopping position inside the storage facility 500, the mounting body 300 can be automatically detached from the running body 200. In other words, the mounting body 300 can be detached easily and reliably.

　移動体１００の保管システム４００は、前記走行体２００が前記停止位置にて停止している状態において、前記搭載体３００が装着されていない前記走行体２００に、前記配置部５６０に配置されている前記搭載体３００を装着させる制御を行う装着制御部２８３ａと、前記走行体２００が前記停止位置にて停止している状態において、前記搭載体３００が装着されている前記走行体２００から前記搭載体３００を脱離させ、前記配置部５６０に配置する制御を行う脱離制御部２８３ｂと、を備えている。 The storage system 400 for the moving body 100 includes an attachment control unit 283a that controls the attachment of the mounting body 300 placed on the placement unit 560 to the running body 200 to which the mounting body 300 is not attached when the running body 200 is stopped at the stopping position, and a detachment control unit 283b that controls the detachment of the mounting body 300 from the running body 200 to which the mounting body 300 is attached and the placement of the mounting body 300 on the placement unit 560 when the running body 200 is stopped at the stopping position.

　これによれば、保管庫５００の内部における停止位置にて、走行体２００が停止しているときに、搭載体３００を、自動的に走行体２００に装着させることができ、また、搭載体３００を、自動的に走行体２００から脱離させることができる。即ち、搭載体３００の装着及び脱離の両方を、容易かつ確実に実行できる。 With this, when the running body 200 is stopped at a stopping position inside the storage facility 500, the mounting body 300 can be automatically attached to the running body 200, and the mounting body 300 can be automatically detached from the running body 200. In other words, both the attachment and detachment of the mounting body 300 can be easily and reliably performed.

　前記保管庫５００は、前記走行体２００及び前記搭載体３００の、何れか一方又は両方に備えられたバッテリに対し、充電用の電気エネルギを供給可能に構成された給電部５７０ａを備えている（請求項８）。 The storage facility 500 is equipped with a power supply unit 570a configured to supply electrical energy for charging the batteries provided in either or both of the running body 200 and the mounting body 300 (claim 8).

　これによれば、保管庫５００にて保管する機会を利用して、走行体２００の電源２８０、及び、搭載体３００の電源３８０の、何れか一方又は両方を充電することができる。バッテリ交換等の作業が不要となり、電源２８０・電源３８０を、容易に満充電の状態とすることができる。 This allows the opportunity to store the vehicle in the storage facility 500 to charge either or both of the power source 280 of the vehicle 200 and the power source 380 of the mounted vehicle 300. This eliminates the need for battery replacement and other tasks, and the power sources 280 and 380 can be easily brought to a fully charged state.

　前記保管庫５００は、前記バッテリの充電状態に対応する情報を外部に表示する表示部５８０を備えている（請求項９）。 The storage unit 500 is equipped with a display unit 580 that displays information corresponding to the charging state of the battery to the outside (Claim 9).

　これによれば、電源２８０・電源３８０の充電状態を、容易に確認することができる。充電状態に応じて、保管していた移動体１００を保管庫５００から走出させるタイミングを、決めることができる。 This allows the charging status of power sources 280 and 380 to be easily checked. Depending on the charging status, the timing for moving object 100 stored away from storage facility 500 can be determined.

［まとめ：出願６］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００であって、前記搭載面２１０に対して着脱可能な基部３３０、及び、長尺状に構成され、前記基部３３０に対し相対回転可能となるよう一端が前記基部３３０に支持されて、前記基部３３０から前記第１方向に向かって伸長する他端にて作業可能となっており、収容される場合には、前記一端を支点として前記基部３３０に近づくように相対回転する第１可動具３１０を有する搭載体３００と、を備えている（請求項１）。 [Summary: Application 6]
The mobile body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, the mounting body 300 having a base 330 that is detachable from the mounting surface 210, and a first movable device 310 that is configured in an elongated shape, one end of which is supported by the base 330 so as to be rotatable relative to the base 330, the other end of which extends from the base 330 toward the first direction and is operable, and which, when stored, rotates relatively to the base 330 with the one end as a fulcrum (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、搭載体３００の第１可動具３１０を、作業に適するよう長尺状に構成した場合であっても、収容時には、一端を支点として第１可動具３１０を基部３３０に近づけることで、収容姿勢の形態をとることができる。例えば、移動体１００を保管庫５００等に収容する場合、収容姿勢を維持した状態で保管できるため、省スペースでの保管が可能となる。 In addition, even if the first movable part 310 of the mounting body 300 is configured to be long so as to be suitable for work, when it is stored, it can be brought closer to the base 330 with one end as a fulcrum, so that it can assume a stored posture. For example, when the moving body 100 is stored in a storage facility 500 or the like, it can be stored in a state in which the stored posture is maintained, making it possible to store it in a space-saving manner.

　前記搭載体３００は、前記一端を支点として、前記第１可動具３１０を前記第１方向と反対側に引張ることで、前記第１可動具３１０を前記基部３３０に近づくように相対回転させる第１駆動部３４０ｄを有する（請求項２）。 The mounting body 300 has a first drive unit 340d that rotates the first movable part 310 relative to the base part 330 by pulling the first movable part 310 in the direction opposite to the first direction, using the one end as a fulcrum (Claim 2).

　これによれば、駆動部３４０ｄを、例えば、伸縮作動が可能な簡易なアクチュエータとすることができる。従って、容易かつ確実に、収容姿勢の形態をとることができる。 As a result, the drive unit 340d can be, for example, a simple actuator capable of expanding and contracting. Therefore, the storage position can be easily and reliably adopted.

　前記搭載体３００は、板状に構成され、前記基部３３０に対し相対移動可能となるよう前記基部３３０に支持されて、前記走行体２００よりも前側に配置されて前記第１方向に向かう面にて作業する第２可動具３２０を有する（請求項３）。 The mounting body 300 is configured in a plate shape, is supported by the base 330 so as to be movable relative to the base 330, and has a second movable tool 320 that is positioned forward of the running body 200 and operates on a surface facing the first direction (Claim 3).

　これによれば、第２可動具３２０を、例えば、ドーザとして機能させることができる。第１可動具３１０、及び、第２可動具３２０での作業が可能となり、移動体１００を、いわゆるバックホーとして機能させることができる。 This allows the second movable tool 320 to function, for example, as a dozer. Work can be performed with the first movable tool 310 and the second movable tool 320, allowing the mobile body 100 to function as a so-called backhoe.

　前記搭載体３００は、前記第２可動具３２０よりも前記第２方向における上側に設けられ、自身が駆動することで、前記第２可動具３２０を相対移動させる第２駆動部３４０ｅを有する（請求項４）。 The mounting body 300 is provided above the second movable device 320 in the second direction and has a second drive unit 340e that moves the second movable device 320 relative to the mounting body 300 when driven by the mounting body 300 (claim 4).

　これによれば、第２可動具３２０の駆動部３４０ｅが、第２可動具３２０よりも第２方向における上側に配置されているため、第２可動具３２０の第３方向における下側は、駆動部３４０ｅに干渉されない。従って、第２可動具３２０の下側を接地面に対して伸長させて、ドーザとしての作業面を拡張したり、第２可動具３２０の下端を有効に活用する等、設計の自由度を大きくすることができる。 As a result, since the driving part 340e of the second movable part 320 is disposed above the second movable part 320 in the second direction, the lower side of the second movable part 320 in the third direction is not interfered with by the driving part 340e. Therefore, the lower side of the second movable part 320 can be extended toward the ground surface to expand the working surface as a dozer, or the lower end of the second movable part 320 can be effectively utilized, thereby increasing the degree of freedom in design.

　前記第２可動具３２０は、前記搭載体３００が前記走行体２００に装着されている状態において、前記第１可動具３１０による作業が実行されるときに、前記走行体２００の接地面へ接地可能に構成されている（請求項５）。 The second movable device 320 is configured to be able to contact the ground surface of the running body 200 when the mounting body 300 is attached to the running body 200 and the first movable device 310 is performing an operation (Claim 5).

　これによれば、第２可動具３２０を、アウトリガーとして機能させることができる。従って、搭載体３００の傾倒を抑制しつつ、第１可動具３１０による作業を、安定して実行できる。 This allows the second movable tool 320 to function as an outrigger. Therefore, tilting of the mounting body 300 can be suppressed, and work can be stably performed by the first movable tool 310.

［まとめ：出願７］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００であって、第１電源３８０、及び、前記第１電源３８０からの給電を消費する第１消費部を有する搭載体３００と、を備えている（請求項１）。 [Summary: Application 7]
The moving body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, and a mounting body 300 configured to be detachable from the mounting surface 210, moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, the mounting body 300 having a first power source 380 and a first consumption unit that consumes power supplied from the first power source 380 (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、搭載体３００の可動具を駆動する駆動部３４０、制御装置３８２、通信装置３８１等に、搭載体３００の電源３８０から給電できるため、走行体２００から独立して、搭載体３００の各要素を作動させることができる。 In addition, the drive unit 340, which drives the movable parts of the mounted body 300, the control device 382, the communication device 381, etc. can be powered from the power source 380 of the mounted body 300, so each element of the mounted body 300 can be operated independently of the running body 200.

　前記走行体２００は、前記第１電源３８０と異なる第２電源２８０と、前記第２電源２８０からの給電を消費する第２消費部と、を備えている（請求項２）。 The running body 200 is equipped with a second power source 280 different from the first power source 380, and a second consumption unit that consumes the power supplied from the second power source 280 (Claim 2).

　これによれば、走行体２００の走行装置２７０、リフト部２２０、吸着部位２４１ａ、制御装置２８３、通信装置２８１等に、走行体２００の電源２８０から給電できるため、搭載体３００から独立して、走行体２００の各要素を作動させることができる。 As a result, the running device 270, lift section 220, suction portion 241a, control device 283, communication device 281, etc. of the running body 200 can be powered from the power source 280 of the running body 200, so each element of the running body 200 can be operated independently of the mounting body 300.

　前記走行体２００の前記第２消費部は、前記搭載体３００の前記第１電源３８０からの給電を消費する（請求項３）。 The second consumption unit of the traveling body 200 consumes the power supplied from the first power source 380 of the mounting body 300 (Claim 3).

　これによれば、走行体２００の走行装置２７０、リフト部２２０、吸着部位２４１ａ、制御装置２８３、通信装置２８１等に、搭載体３００の電源３８０から給電できる。このため、走行体２００の電源２８０からの給電に加えて、又は、当該給電に代えて、搭載体３００の電源３８０からの給電にて、走行体２００の各要素を作動させることができる。 This allows power to be supplied from the power source 380 of the mounting body 300 to the running device 270, lift section 220, suction portion 241a, control device 283, communication device 281, etc. of the running body 200. Therefore, in addition to or instead of the power supply from the power source 280 of the running body 200, each element of the running body 200 can be operated by power supply from the power source 380 of the mounting body 300.

　前記搭載体３００の前記第１消費部は、前記走行体２００の前記第２電源２８０からの給電を消費する（請求項４）。 The first consumption unit of the mounted body 300 consumes the power supplied from the second power source 280 of the running body 200 (Claim 4).

　これによれば、搭載体３００の可動具を駆動する駆動部３４０、制御装置３８２、通信装置３８１等に、走行体２００の電源２８０から給電できる。このため、搭載体３００の電源３８０からの給電に加えて、又は、当該給電に代えて、走行体２００の電源２８０からの給電にて、搭載体３００の各要素を作動させることができる。 This allows power to be supplied from the power source 280 of the running body 200 to the drive unit 340, which drives the movable parts of the mounting body 300, the control device 382, the communication device 381, etc. Therefore, in addition to or instead of the power supply from the power source 380 of the mounting body 300, each element of the mounting body 300 can be operated by power supply from the power source 280 of the running body 200.

　前記走行体２００の前記第２消費部は、前記搭載体３００の前記第１電源３８０からの給電を消費し、前記搭載体３００の前記第１消費部は、前記走行体２００の前記第２電源２８０からの給電を消費する（請求項５）。 The second consumption unit of the running body 200 consumes the power supplied from the first power source 380 of the mounted body 300, and the first consumption unit of the mounted body 300 consumes the power supplied from the second power source 280 of the running body 200 (claim 5).

　これによれば、走行体２００の走行装置２７０、リフト部２２０、吸着部位２４１ａ、制御装置２８３、通信装置２８１等に、搭載体３００の電源３８０から給電できる。このため、走行体２００の電源２８０からの給電に加えて、又は、当該給電に代えて、搭載体３００の電源３８０からの給電にて、走行体２００の各要素を作動させることができる。 This allows power to be supplied from the power source 380 of the mounting body 300 to the running device 270, lift section 220, suction portion 241a, control device 283, communication device 281, etc. of the running body 200. Therefore, in addition to or instead of the power supply from the power source 280 of the running body 200, each element of the running body 200 can be operated by power supply from the power source 380 of the mounting body 300.

　また、搭載体３００の可動具を駆動する駆動部３４０、制御装置３８２、通信装置３８１等に、走行体２００の電源２８０から給電できる。このため、搭載体３００の電源３８０からの給電に加えて、又は、当該給電に代えて、走行体２００の電源２８０からの給電にて、搭載体３００の各要素を作動させることができる。このように、走行体２００、及び、搭載体３００の間で、一方から他方に向けて給電できるため、給電を適宜融通し合うことができる。 Furthermore, the drive unit 340, which drives the movable parts of the mounted body 300, the control device 382, the communication device 381, etc. can be supplied with power from the power source 280 of the running body 200. Therefore, in addition to or instead of the power supply from the power source 380 of the mounted body 300, each element of the mounted body 300 can be operated by power supply from the power source 280 of the running body 200. In this way, power can be supplied from one side to the other between the running body 200 and the mounted body 300, so that the power supply can be shared appropriately.

　前記搭載体３００は、第１可動具３１０・第２可動具３２０を備え、前記搭載体３００の前記第１消費部は、給電を消費して動力を発生し、前記第１可動具３１０・第２可動具３２０を駆動する駆動部３４０である（請求項６）。 The mounting body 300 includes a first movable part 310 and a second movable part 320, and the first consumption part of the mounting body 300 is a drive part 340 that consumes power to generate power and drives the first movable part 310 and the second movable part 320 (Claim 6).

　これによれば、搭載体３００において、特に負荷が大きい駆動部３４０に対し、搭載体３００の電源３８０からの給電に加え、走行体２００の電源２８０からの給電も実行できる。例えば、搭載体３００の電源３８０におけるバッテリ残量が少なく、駆動部３４０の負荷が大きい場合には、走行体２００の電源２８０からの給電にてアシストが可能となり、滞りなく第１可動具３１０・第２可動具３２０での作業を継続できる。 As a result, in the mounted body 300, the drive unit 340, which is subject to a particularly large load, can be powered from the power supply 380 of the mounted body 300 as well as from the power supply 280 of the running body 200. For example, when the battery level remaining in the power supply 380 of the mounted body 300 is low and the load on the drive unit 340 is large, assistance can be provided by the power supply 280 of the running body 200, and work can be continued smoothly with the first movable tool 310 and the second movable tool 320.

　前記走行体２００は、走行装置２７０を備え、前記走行体２００の前記第２消費部は、給電を消費して動力を発生し、前記走行装置２７０を駆動する駆動部である（請求項７）。 The running body 200 is equipped with a running device 270, and the second consumption unit of the running body 200 is a drive unit that consumes the power supply to generate power and drives the running device 270 (claim 7).

　これによれば、走行体２００において、特に負荷が大きい走行装置２７０のモータに対し、走行体２００の電源２８０からの給電に加え、搭載体３００の電源３８０からの給電も実行できる。例えば、走行体２００の電源２８０におけるバッテリ残量が少なく、走行装置２７０の負荷が大きい場合には、搭載体３００の電源３８０からの給電にてアシストが可能となり、滞りなく走行装置２７０での走行を継続できる。 As a result, in the running body 200, the motor of the running device 270, which is subject to a particularly high load, can be powered from the power supply 280 of the running body 200 as well as from the power supply 380 of the mounted body 300. For example, when the battery level remaining in the power supply 280 of the running body 200 is low and the load on the running device 270 is high, assistance can be provided by the power supply 380 of the mounted body 300, allowing the running device 270 to continue running smoothly.

　前記第１電源３８０、及び、前記第２電源２８０は、それぞれバッテリであり、移動体１００は、前記バッテリの残量に基づいて、前記第１電源３８０及び前記第２電源２８０の何れか一方、又は、両方の給電量を調整する給電量調整部２８３ｆを備えている（請求項８）。 The first power source 380 and the second power source 280 are each a battery, and the mobile body 100 is equipped with a power supply adjustment unit 283f that adjusts the power supply of either or both of the first power source 380 and the second power source 280 based on the remaining charge of the battery (Claim 8).

　これによれば、給電量調整部２８３ｆにより、電源２８０・電源３８０の給電量が調整されることで、複数電源の各バッテリ残量をバランスよく減少させることができる。このため、複数電源の一部のバッテリ残量が、早期にゼロとなる等で、充電回数が増大してしまう事態を抑制できる。従って、電源２８０・電源３８０が早期に劣化することを抑制できる。 As a result, the power supply amount adjustment unit 283f adjusts the power supply amount of the power sources 280 and 380, so that the remaining battery power of each of the multiple power sources can be reduced in a balanced manner. This makes it possible to prevent the remaining battery power of some of the multiple power sources from quickly reaching zero, which would result in an increase in the number of times the power is charged. This makes it possible to prevent the power sources 280 and 380 from quickly deteriorating.

［まとめ：出願８］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置され、かつ、電源を備えない搭載体３００と、を備えている（請求項１）。 [Summary: Application 8]
The moving body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, and a mounting body 300 that is configured to be detachable from the mounting surface 210, moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and is positioned separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and does not have a power source (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、搭載体３００が電源を備えないことから、電源を備える場合に比して、搭載体３００を軽量化できる。また、搭載体３００として、電源からの給電を不要とする態様をとることができ、搭載体３００の構成を簡素化でき、搭載体３００の低コスト化が可能となる。 In addition, since the mounting body 300 does not have a power supply, the mounting body 300 can be made lighter than if it had a power supply. In addition, the mounting body 300 can be configured in a way that does not require power supply from a power supply, which simplifies the configuration of the mounting body 300 and enables the mounting body 300 to be manufactured at a low cost.

　前記搭載体３００は、第１可動具３１０・第２可動具３２０と、エネルギが供給されて前記第１可動具３１０・第２可動具３２０を駆動する駆動部３４０と、を備え、前記走行体２００は、前記駆動部３４０に向けてエネルギを伝達させる伝達部２９０を備えている（請求項２）。 The mounting body 300 includes a first movable part 310, a second movable part 320, and a drive unit 340 that receives energy and drives the first movable part 310 and the second movable part 320, and the running body 200 includes a transmission unit 290 that transmits energy to the drive unit 340 (Claim 2).

　これによれば、伝達部２９０により、搭載体３００の駆動部３４０に向けてエネルギを供給できる。このため、搭載体３００が電源を備えていない場合であっても、搭載体３００の第１可動具３１０・第２可動具３２０を、作動させることができる。 As a result, the transmission unit 290 can supply energy to the drive unit 340 of the mounting body 300. Therefore, even if the mounting body 300 does not have a power source, the first movable device 310 and the second movable device 320 of the mounting body 300 can be operated.

　前記伝達部２９０は、前記エネルギが機構を介して伝達されるよう構成される（請求項３）。 The transmission section 290 is configured so that the energy is transmitted through a mechanism (Claim 3).

　これによれば、搭載体３００が、例えば、伝達部２９０から動力を受け入れ可能なギヤ等を備えることで、確実にエネルギの伝達が実行できる。 In this way, the mounting body 300 can reliably transmit energy by, for example, equipping it with gears or the like that can receive power from the transmission unit 290.

　前記伝達部２９０は、前記エネルギが電気又は磁気を介して伝達されるよう構成される（請求項４）。 The transmission unit 290 is configured so that the energy is transmitted via electricity or magnetism (Claim 4).

　これによれば、搭載体３００が、例えば、伝達部２９０から電気又は磁気を受け入れ可能な端子又はコイル等を備えることで、確実にエネルギの伝達が実行できる。 Accordingly, by providing the mounting body 300 with, for example, a terminal or coil capable of receiving electricity or magnetism from the transmission unit 290, energy transmission can be performed reliably.

　前記伝達部２９０は、前記エネルギが流体を介して伝達されるよう構成される（請求項５）。 The transmission section 290 is configured so that the energy is transmitted via a fluid (Claim 5).

　これによれば、搭載体３００が、例えば、伝達部２９０からオイルを受け入れ可能な油圧回路等を備えることで、確実にエネルギの伝達が実行できる。 As a result, the mounting body 300 can reliably transmit energy by, for example, equipping it with a hydraulic circuit capable of receiving oil from the transmission unit 290.

　前記搭載体３００は、人が、座位、立位、臥位、及び、跨った状態の何れかで搭載可能に構成される（請求項６）。 The carrier 300 is configured so that a person can ride it in any of the following positions (Claim 6).

　これによれば、搭載体３００を走行体２００に装着させることで、移動体１００を、人を運ぶモビリティとして機能させることができる。 Accordingly, by attaching the mounted body 300 to the running body 200, the moving body 100 can function as a mobility for transporting people.

［まとめ：出願９］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０、及び、前記搭載面２１０が設けられた車体２６０を有する走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００であって、前記搭載体３００が前記搭載面２１０に装着された場合に、平面視において前記車体２６０の外端よりも外側に位置する外郭部３６０を有する搭載体３００と、を備えている（請求項１）。 [Summary: Application 9]
The mobile body 100 comprises a running body 200 capable of running in a first direction, having a mounting surface 210 facing a second direction facing upward relative to the first direction, and a vehicle body 260 on which the mounting surface 210 is provided, and a mounting body 300 configured to be detachable from the mounting surface 210, moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and being positioned separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, the mounting body 300 having an outer casing 360 that is positioned outside the outer end of the vehicle body 260 in a planar view when the mounting body 300 is attached to the mounting surface 210 (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、外郭部３６０が車体２６０の外側に位置しているため、外郭部３６０により、走行体２００を保護することができる。外郭部３６０そのものが、搭載体３００の外側を兼ねることもできる。このため、別途、走行体２００に対して、ガードやフェンダーを付加する必要がなくなる。このため、移動体１００の全体として、まとまりのある意匠を実現できる。 Also, because the outer casing 360 is located on the outside of the vehicle body 260, the running body 200 can be protected by the outer casing 360. The outer casing 360 itself can also serve as the outside of the mounting body 300. This eliminates the need to add separate guards or fenders to the running body 200. This allows the mobile body 100 to have a cohesive design as a whole.

　前記走行体２００は、前記車体２６０を支持するように前記車体２６０に配置された走行装置２７０を備え、前記外郭部３６０は、前記搭載体３００が前記搭載面２１０に装着された場合に、平面視において前記車体２６０の外端よりも外側に位置し、且つ、前記走行装置２７０の前記第２方向における上方に位置する（請求項２）。 The running body 200 is equipped with a running device 270 arranged on the vehicle body 260 so as to support the vehicle body 260, and the outer casing 360 is located outside the outer end of the vehicle body 260 in a plan view when the mounting body 300 is attached to the mounting surface 210, and is located above the running device 270 in the second direction (Claim 2).

　これによれば、走行装置２７０に対して、外郭部３６０をフェンダーとして機能させることができる。例えば、走行装置２７０の車輪ごとに外郭部３６０を配置して、外郭部３６０の領域を必要最低限とすることができる。 This allows the outer shell 360 to function as a fender for the running gear 270. For example, the outer shell 360 can be arranged for each wheel of the running gear 270, making it possible to reduce the area of the outer shell 360 to the minimum necessary.

　前記走行体２００は、ビームを外側に向けて発する電気機器を備え、前記外郭部３６０は、前記搭載体３００が前記搭載面２１０に装着された場合に、平面視において前記電気機器よりも外側に位置し、且つ、前記電気機器から発せられた前記ビームの外側への透過を許容する透過部３６２を備えている（請求項３）。 The vehicle 200 is equipped with an electrical device that emits a beam outward, and the outer casing 360 is positioned outward of the electrical device in a plan view when the mounting body 300 is attached to the mounting surface 210, and is equipped with a transparent portion 362 that allows the beam emitted from the electrical device to pass outward (Claim 3).

　これによれば、移動体１００の全体としてまとまりのある意匠を保持しつつ、電気機器にて発せられるビームが、外郭部３６０を介して減衰することを、透過部３６２により抑制できる。 This allows the beam emitted by the electrical device to be prevented from being attenuated through the outer casing 360 by the transparent portion 362, while maintaining a cohesive design for the mobile body 100 as a whole.

　前記電気機器は、検知用のビームを外側に向けて発する測域センサ又は距離センサ、視認用のビームを外側に向けて発する光源の何れかである（請求項４）。 The electrical device is either a range sensor or distance sensor that emits a detection beam outward, or a light source that emits a visibility beam outward (Claim 4).

　これによれば、移動体１００において、測域センサ、距離センサ、光源等が備えられる場合であっても、移動体１００の全体としてまとまりのある意匠を保持しつつ、それらの機能が低下することを抑制できる。 As a result, even if the moving body 100 is equipped with a range sensor, distance sensor, light source, etc., it is possible to prevent a decrease in the functions of these sensors while maintaining a cohesive design of the moving body 100 as a whole.

　前記搭載体３００は、前記外郭部３６０よりも内側に物資を収容可能に構成された収容部３６１を備えている（請求項５）。 The carrier 300 has a storage section 361 configured to store materials inside the outer shell 360 (Claim 5).

　これによれば、搭載体３００に収容部３６１を設けた場合であっても、外郭部３６０により内側に収容された物資を保護することができる。 As a result, even if the carrier 300 is provided with a storage section 361, the outer shell 360 can protect the materials stored inside.

　前記収容部３６１は、収容された前記物資を冷却又は加熱可能に構成されている（請求項６）。 The storage section 361 is configured to be able to cool or heat the stored material (Claim 6).

　これによれば、搭載体３００を走行体２００に装着させることで、移動体１００を、移動式の温冷庫として機能させることができる。 Accordingly, by attaching the mounting body 300 to the running body 200, the moving body 100 can function as a mobile hot and cold storage.

［まとめ：出願１０］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備えた走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００と、前記走行体２００に設けられ、前記搭載体３００が前記搭載面２１０に装着された場合に前記搭載体３００を支持し、平面視において多角形の各頂点に対応する位置にそれぞれ配設された支持部２５０と、を備えている（請求項１）。 [Summary: Application 10]
The mobile body 100 comprises a running body 200 capable of running in a first direction and having a mounting surface 210 facing a second direction facing upward relative to the first direction, a mounting body 300 configured to be detachable from the mounting surface 210, and moving integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and support parts 250 provided on the running body 200, supporting the mounting body 300 when the mounting body 300 is attached to the mounting surface 210, and arranged at positions corresponding to each vertex of a polygon in a planar view (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、支持部２５０にて装着された搭載体３００を支持するにあたり、多角形の各頂点に対応する位置に、支持部２５０が配設されることで、安定した支持を実現できる。このため、走行体２００に装着された搭載体３００が、走行体２００からずれたり、脱離することを抑制できる。 Furthermore, when supporting the mounted body 300 attached to the support portion 250, the support portion 250 is disposed at positions corresponding to each vertex of a polygon, thereby realizing stable support. Therefore, the mounted body 300 attached to the running body 200 can be prevented from shifting or detaching from the running body 200.

　前記支持部２５０は、平面視において前記各頂点で規定される前記多角形の領域が複数存在するように配設されている（請求項２）。 The support portion 250 is arranged so that there are multiple polygonal regions defined by the vertices in a plan view (Claim 2).

　これによれば、支持部２５０にて装着された搭載体３００を支持するにあたり、支持部２５０が頂点となる多角形の領域を、複数存在させることができる。このため、より安定した支持を実現できる。 As a result, when supporting the mounting body 300 attached to the support part 250, it is possible to have multiple polygonal regions with the support part 250 as vertices. This allows for more stable support.

　前記支持部２５０は、平面視において複数存在する前記多角形の領域がそれぞれ対称に位置するように配設されている（請求項３）。 The support portion 250 is arranged so that the multiple polygonal regions are symmetrically positioned when viewed in a plane (Claim 3).

　これによれば、支持部２５０にて装着された搭載体３００を支持するにあたり、支持部２５０が頂点となる多角形の複数の領域を、対象配置させることができる。このため、バランスよく安定した支持を実現できる。 As a result, when supporting the mounting body 300 attached to the support part 250, multiple areas of a polygon whose vertices are the support part 250 can be arranged symmetrically. This makes it possible to achieve well-balanced and stable support.

　前記走行体２００は、前記搭載面２１０が設けられた車体２６０と、前記車体２６０の車幅方向に向かって張り出でている張出部２６１と、を備え、前記支持部は、前記張出部２６１に配設されている（請求項４）。 The running body 200 comprises a vehicle body 260 on which the mounting surface 210 is provided, and a protruding portion 261 that protrudes in the vehicle width direction of the vehicle body 260, and the support portion is disposed on the protruding portion 261 (claim 4).

　これによれば、走行体２００に張出部２６１が設けられている場合、前記張出部２６１の領域を活用して支持部２５０を配置することができる。このため、車幅方向の外側にて、安定した支持を実現できる。 As a result, if the running body 200 is provided with a protruding portion 261, the support portion 250 can be positioned by utilizing the area of the protruding portion 261. This allows stable support to be achieved on the outer side in the vehicle width direction.

　前記走行体２００は、前記搭載面２１０が設けられた車体２６０と、前記車体２６０を支持するように、前記車体２６０の車幅方向における両端にそれぞれ配置された走行装置２７０と、前記車体２６０の車幅方向における両端の前記走行装置２７０の間に配置された電源２８０と、を備え、前記支持部２５０は、前記車体２６０の車幅方向において前記電源２８０よりも外側に配設されている（請求項５）。 The running body 200 comprises a vehicle body 260 on which the mounting surface 210 is provided, running devices 270 arranged at both ends of the vehicle body 260 in the vehicle width direction to support the vehicle body 260, and a power source 280 arranged between the running devices 270 at both ends of the vehicle body 260 in the vehicle width direction, and the support part 250 is arranged outside the power source 280 in the vehicle width direction of the vehicle body 260 (claim 5).

　これによれば、比較的重い電源２８０を内側に配置し、当該電源２８０の外側にて、支持部２５０により搭載体３００を支持できる。このため、重心を適切に調整しつつ、安定した支持を実現できる。 This allows the relatively heavy power source 280 to be placed inside, and the support part 250 to support the mounting body 300 on the outside of the power source 280. This allows stable support to be achieved while appropriately adjusting the center of gravity.

　前記走行装置２７０は、前記車体２６０の車長方向における前後方にそれぞれ配置され、回転駆動することで走行可能とし、回転中心の軸となる車輪軸がそれぞれ規定されるホイールを備え、前記電源２８０は、前記車体２６０の車長方向における前後方の前記車輪軸の間に配置され、前記支持部２５０は、前記車体２６０の車長方向において前記電源２８０よりも外側に配設されている（請求項６）。 The running devices 270 are disposed at the front and rear of the vehicle body 260 in the vehicle length direction, and are capable of running by being driven to rotate, and each wheel has a wheel axle that serves as the axis of rotation. The power source 280 is disposed between the wheel axles at the front and rear of the vehicle body 260 in the vehicle length direction, and the support portion 250 is disposed outside the power source 280 in the vehicle length direction of the vehicle body 260 (Claim 6).

　これによれば、比較的重い電源２８０を前後方の車輪軸内側に配置でき、走行体２００として、安定した走行を実現できる。また、当該電源２８０の外側にて、支持部２５０により搭載体３００を支持できる。このため、安定した走行及び支持を実現できる。 This allows the relatively heavy power source 280 to be placed inside the front and rear wheel axles, enabling the running body 200 to achieve stable running. In addition, the support part 250 can support the mounting body 300 on the outside of the power source 280. This allows stable running and support to be achieved.

　前記支持部２５０は、平面視において、前記車体２６０の車幅方向における両端に配置された前記ホイールの前記車輪軸を同軸的に通る仮想線上に配設されている（請求項７）。 In a plan view, the support portion 250 is disposed on an imaginary line that passes coaxially through the wheel axles of the wheels disposed at both ends of the vehicle body 260 in the vehicle width direction (Claim 7).

　これによれば、搭載体３００からの荷重が、支持部２５０を介して走行体２００へ加わるところ、支持部２５０を上記仮想線上に配置することで、当該荷重を車輪軸へ逃がすことができる。このため、車体２６０への荷重の影響を緩和しつつ、安定した支持を実現できる。 According to this, the load from the mounting body 300 is applied to the running body 200 via the support part 250, but by arranging the support part 250 on the above virtual line, the load can be released to the wheel axle. Therefore, it is possible to realize stable support while mitigating the effect of the load on the vehicle body 260.

　前記電源２８０は、側面視において、前記電源２８０の重心が前記車輪軸よりも前記第２方向における上方に位置するよう配置されている（請求項８）。 The power source 280 is positioned such that the center of gravity of the power source 280 is located above the wheel axle in the second direction in a side view (Claim 8).

　これによれば、走行装置２７０の接地面から電源２８０までの間隔を、大きくすることができる。このため、走行体２００が、傾斜路や悪路等を走行する場合であっても、電源２８０が接地面に接触することを抑制できる。 This allows the distance between the ground surface of the running device 270 and the power source 280 to be increased. Therefore, even when the running body 200 runs on a slope or rough road, the power source 280 can be prevented from coming into contact with the ground surface.

　前記走行体２００は、前記搭載面２１０が設けられた車体２６０と、前記車体２６０を支持するように、前記車体２６０の車幅方向における両端にそれぞれ配置された走行装置２７０と、前記車体２６０の車幅方向における両端の前記走行装置２７０の間に配置された電源２８０と、前記車体の車幅方向に向かって張り出でている張出部２６１と、を備え、前記張出部２６１に、モータ及び／又は前記モータの駆動に関連する電気機器、及び、前記支持部２５０が設けられている（請求項９）。 The running body 200 comprises a body 260 on which the mounting surface 210 is provided, running devices 270 arranged at both ends of the body 260 in the vehicle width direction to support the body 260, a power source 280 arranged between the running devices 270 at both ends of the body 260 in the vehicle width direction, and a protruding portion 261 protruding toward the vehicle width direction of the body, and a motor and/or electrical equipment related to driving the motor and the support portion 250 are provided on the protruding portion 261 (claim 9).

　これによれば、走行体２００に張出部２６１が設けられている場合、前記張出部２６１の領域を活用して、モータ及び／又は前記モータの駆動に関連する電気機器、及び、支持部２５０を配置することができる。このため、車体２６０において、例えば、電源２８０以外の追加の電源等を、搭載する余地を設けることができる。また、車幅方向の外側にて、安定した支持を実現できる。 Therefore, when the running body 200 is provided with the protruding portion 261, the area of the protruding portion 261 can be utilized to arrange the motor and/or electrical equipment related to driving the motor, and the support portion 250. This allows the vehicle body 260 to have room to mount, for example, an additional power source other than the power source 280. In addition, stable support can be achieved on the outside in the vehicle width direction.

　前記搭載体３００は、前記車体２６０に備えられた電源２８０とは別体の電源３８０を備えている（請求項１０）。 The vehicle body 300 is equipped with a power source 380 that is separate from the power source 280 provided in the vehicle body 260 (Claim 10).

　これによれば、搭載体３００に、車体２６０の電源２８０とは別体の電源３８０を積み増しできる。このため、積み増した分だけ、移動体１００を長く稼働させることができる。 This allows the on-board body 300 to be equipped with a power source 380 separate from the power source 280 of the vehicle body 260. This allows the mobile body 100 to operate for a longer period of time by the additional power source.

　前記走行体２００は、測域センサ又は距離センサを備えている（請求項１１）。 The vehicle 200 is equipped with a range sensor or distance sensor (Claim 11).

　これによれば、測域センサ又は距離センサにより得られた情報を、例えば、走行体２００の制御に用いることができる。 In this way, the information obtained by the range sensor or distance sensor can be used, for example, to control the running object 200.

　前記走行体２００は、前記走行体の外側を撮像するカメラを備えている（請求項１２）。 The vehicle 200 is equipped with a camera that captures images of the outside of the vehicle (Claim 12).

　これによれば、カメラにより得られた情報を、例えば、外部の端末に送信し、当該端末にて映像表示させることができる。 With this, the information obtained by the camera can be transmitted to an external terminal, for example, and the image can be displayed on that terminal.

　前記走行体２００は、前記搭載面２１０が設けられた車体２６０と、前記車体２６０を支持するように前記車体２６０の車幅方向における両端にそれぞれ配置され、平面視にて全方向に走行可能となるよう構成された走行装置２７０と、を備えている（請求項１３）。 The running body 200 includes a vehicle body 260 on which the mounting surface 210 is provided, and running devices 270 arranged at both ends of the vehicle body 260 in the vehicle width direction to support the vehicle body 260 and configured to be capable of running in all directions in a plan view (Claim 13).

　これによれば、走行体２００が全方向に走行できるため、移動体１００全体としての作動の自由度を大きくできる。 This allows the running body 200 to run in all directions, increasing the freedom of operation of the moving body 100 as a whole.

　前記走行装置２７０は、前記車体２６０の車長方向における前後方にそれぞれ配置され、回転駆動することで走行可能とし、回転中心の軸となる車輪軸がそれぞれ規定されるホイールと、接地した状態で前記ホイールと一体的に回転可能に構成され、中実部位を有するタイヤと、を備えている（請求項１４）。 The running devices 270 are arranged at the front and rear of the vehicle body 260 in the vehicle length direction, and are capable of running by being driven to rotate. They each have a wheel axis that defines the center of rotation, and a tire that has a solid portion and is configured to rotate integrally with the wheel when in contact with the ground (Claim 14).

　これによれば、走行装置２７０を、例えば、メカナムホイール等として構成でき、メカナムホイール特有の走行態様を、移動体１００の作動に活用できる。 As a result, the running device 270 can be configured as, for example, a Mecanum wheel, and the unique running characteristics of the Mecanum wheel can be utilized in the operation of the moving body 100.

　前記ホイールは、モータの動力に基づいて回転駆動し、前記モータ及び／又は前記モータの駆動に関連する電気機器が設けられている（請求項１５）。 The wheel is driven to rotate based on the power of a motor, and the motor and/or electrical equipment related to the driving of the motor are provided (Claim 15).

　これによれば、ホイールを、例えば、インホイールモータ等として構成でき、車体２６０において、電源２８０等の搭載余地を大きくすることができる。 This allows the wheel to be configured as, for example, an in-wheel motor, and increases the space available in the vehicle body 260 to accommodate the power source 280, etc.

　前記走行装置２７０は、前記車体２６０に対して着脱可能に配置され、前記車体２６０は、装着されていた前記走行装置２７０が脱離された場合に、脱離されたものと異なる態様の前記走行装置２７０を装着可能となるように構成されている（請求項１６）。 The traveling device 270 is arranged so as to be detachable from the vehicle body 260, and the vehicle body 260 is configured so that when the attached traveling device 270 is detached, a traveling device 270 of a different configuration from the detached one can be attached (Claim 16).

　これによれば、搭載体３００の用途や走行条件に応じて、ホイール、クローラ等をつけ換えることができ、最適な態様の走行装置２７０を選択した上で、走行体２００を構成できる。 This allows the wheels, crawlers, etc. to be changed depending on the application and running conditions of the mounted body 300, and the running body 200 can be configured after selecting the optimal running device 270.

［まとめ：出願１１］
　移動体１００は、第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面２１０を備え、第１電気機器、及び、前記第１電気機器と電気的に接続された第１端部２８６を有する走行体２００と、前記搭載面２１０に対して着脱可能に構成され、前記搭載面２１０に装着され前記走行体２００に搭載されている場合には前記走行体２００と一体的に移動し、前記搭載面２１０から脱離され前記走行体２００に搭載されていない場合には前記走行体２００とは別体的に配置される搭載体３００であって、第２電気機器、及び、前記第２電気機器と電気的に接続され、前記第１端部との非接触での通電を許容する第２端部３８６を有する搭載体３００と、を備えている（請求項１）。 [Summary: Application 11]
The mobile body 100 is capable of traveling in a first direction and has a mounting surface 210 facing a second direction facing upward relative to the first direction, and is equipped with a running body 200 having a first electrical device and a first end 286 electrically connected to the first electrical device, and a mounting body 300 that is configured to be detachable from the mounting surface 210 and moves integrally with the running body 200 when attached to the mounting surface 210 and mounted on the running body 200, and is arranged separately from the running body 200 when detached from the mounting surface 210 and not mounted on the running body 200, and has a second electrical device and a second end 386 that is electrically connected to the second electrical device and allows electricity to flow without contacting the first end (Claim 1).

　これによれば、搭載面２１０を、搭載体３００の装着に適した走行体２００の部位とすることができる。例えば、搭載面２１０を、搭載体３００の基部３３０の底面と、略平行になるよう対向させ、当該底面と近接・接面可能に構成することができる。従って、配置されている搭載体３００を、走行体２００の搭載面２１０に、確実に装着できる。また、走行体２００から脱離させた搭載体３００を、所望の配置位置に配置することができる。例えば、搭載体３００の配置位置を、次回の搭載体３００の装着が円滑に実行できるよう、走行体２００よりも上方の位置であって、搭載体３００の底面が略水平を維持可能となる位置、とすることができる。従って、搭載体３００の装着、及び、搭載体３００の脱離の両方を、適切に実行できる。 This allows the mounting surface 210 to be a portion of the running body 200 suitable for mounting the mounting body 300. For example, the mounting surface 210 can be configured to face the bottom surface of the base 330 of the mounting body 300 so as to be approximately parallel to the bottom surface, and to be able to approach and make contact with the bottom surface. Therefore, the mounted body 300 that has been placed can be reliably attached to the mounting surface 210 of the running body 200. In addition, the mounted body 300 that has been detached from the running body 200 can be placed in a desired placement position. For example, the placement position of the mounted body 300 can be set to a position above the running body 200 so that the next mounting of the mounted body 300 can be performed smoothly, and at a position where the bottom surface of the mounted body 300 can be maintained approximately horizontal. Therefore, both the mounting of the mounted body 300 and the detachment of the mounted body 300 can be performed appropriately.

　また、搭載体３００を装着させた状態において、第１端部２８６・第２端部３８６を介して、走行体２００から搭載体３００に向けた（又は、搭載体３００から走行体２００に向けた）電気エネルギの供給や、制御信号の送出、センサ信号の送出等が可能となる。このため、電源２８０、制御装置２８３、センサ２８２等を、走行体２００及び搭載体３００の何れかに片寄せして搭載できる。また、例えば、電源２８０・電源３８０を走行体２００及び搭載体３００の両方に搭載し、それぞれの電源２８０・電源３８０からの給電量を、融通し合うことができる。このため、電気機器の搭載や、使い方のバリエーションを、大きく拡げることができる。 Furthermore, when the mounting body 300 is attached, it is possible to supply electrical energy from the running body 200 to the mounting body 300 (or from the mounting body 300 to the running body 200), send control signals, send sensor signals, etc., via the first end 286 and the second end 386. Therefore, the power source 280, the control device 283, the sensor 282, etc. can be mounted on either the running body 200 or the mounting body 300. Also, for example, the power source 280 and the power source 380 can be mounted on both the running body 200 and the mounting body 300, and the power supply from each of the power sources 280 and the power source 380 can be shared. This greatly expands the variety of electrical equipment that can be mounted and how it can be used.

　また、第１端部２８６・第２端部３８６は、互いに非接触での通電を許容するため、例えば、接触式の電極や端子等が用いられる場合に比して、厳密な位置合わせが不要となる。従って、走行体２００及び搭載体３００の間で、容易に通電させることができる。 In addition, since the first end 286 and the second end 386 allow electrical current to flow without contacting each other, precise alignment is not required compared to, for example, when contact-type electrodes or terminals are used. Therefore, electrical current can be easily passed between the running body 200 and the mounting body 300.

　前記第２端部３８６は、配置されている前記搭載体３００に、前記搭載体３００が装着されていない前記走行体２００が近接した場合に、前記第１端部２８６との非接触での通電が許容されて、前記第１，第２電気機器間の電気的接続を達成する（請求項２）。 When the running body 200, to which the mounting body 300 is not attached, approaches the mounting body 300 in place, the second end 386 is allowed to pass electricity without contact with the first end 286, thereby achieving an electrical connection between the first and second electrical devices (Claim 2).

　これによれば、走行体２００及び搭載体３００が互いに近接することで、第１端部２８６・第２端部３８６における通電が許容されるため、走行体２００及び搭載体３００の間で、より容易に通電させることができる。一方、走行体２００及び搭載体３００を互いに離間させることで、通電を容易に規制することができる。 As a result, since the running body 200 and the mounting body 300 are close to each other, electricity can flow between the first end 286 and the second end 386, making it easier to pass electricity between the running body 200 and the mounting body 300. On the other hand, by separating the running body 200 and the mounting body 300 from each other, it is easier to restrict the passage of electricity.

　前記第２端部３８６は、前記搭載体３００が前記搭載面２１０に装着された場合に、前記第１端部２８６との非接触での通電が許容されて、前記第１，第２電気機器間の電気的接続を達成し、前記搭載体３００が前記搭載面２１０から脱離した場合に、前記第１端部２８６との非接触での通電が規制されて、前記第１，第２電気機器間の電気的接続を解除する（請求項３）。 When the mounting body 300 is attached to the mounting surface 210, the second end 386 allows non-contact current to flow with the first end 286, achieving electrical connection between the first and second electrical devices, and when the mounting body 300 is detached from the mounting surface 210, non-contact current to the first end 286 is restricted, releasing the electrical connection between the first and second electrical devices (Claim 3).

　これによれば、走行体２００への搭載体３００の装着により、第１端部２８６・第２端部３８６における通電が許容されるため、装着の機会を活用して、走行体２００及び搭載体３００の間で、容易かつ確実に通電させることができる。一方、走行体２００からの搭載体３００の脱離により、第１端部２８６・第２端部における通電が規制されるため、脱離の機会を活用して、走行体２００及び搭載体３００の間で、容易かつ確実に通電を規制することができる。即ち、走行体２００及び搭載体３００の間の電気的接続が必要な装着時に、第１端部２８６・第２端部３８６における通電を許容でき、走行体２００及び搭載体３００の間の電気的接続が不必要な脱離時に、第１端部２８６・第２端部３８６における通電を規制できる。 Accordingly, since attachment of the mounting body 300 to the running body 200 allows current to flow through the first end 286 and the second end 386, the opportunity of attachment can be used to easily and reliably allow current to flow between the running body 200 and the mounting body 300. On the other hand, detachment of the mounting body 300 from the running body 200 restricts current to flow through the first end 286 and the second end, so the opportunity of detachment can be used to easily and reliably restrict current to flow between the running body 200 and the mounting body 300. In other words, when attachment is required for electrical connection between the running body 200 and the mounting body 300, current can be allowed through the first end 286 and the second end 386, and when detachment is required for electrical connection between the running body 200 and the mounting body 300, current can be restricted through the first end 286 and the second end 386.

　前記第１電気機器及び前記第２電気機器のうち、一方が電源２８０・電源３８０であり、他方が前記電源２８０・電源３８０からの給電を消費するように構成され、前記第１端部２８６及び前記第２端部３８６は、磁気を介して通電が許容されるように構成されている（請求項４）。 One of the first electrical device and the second electrical device is a power source 280/power source 380, and the other is configured to consume power supplied from the power source 280/power source 380, and the first end 286 and the second end 386 are configured to allow current to flow via magnetism (Claim 4).

　これによれば、給電の消費先が、多量のエネルギを消費し易い機器であっても、第１端部２８６・第２端部３８６の間において、コイルを用いた磁気結合、磁気共鳴等を活用できる。このため、電源２８０・電源３８０から多量の電気エネルギを確実かつ容易に供給できる。 As a result, even if the power consumer is a device that tends to consume large amounts of energy, magnetic coupling using a coil, magnetic resonance, etc. can be utilized between the first end 286 and the second end 386. As a result, a large amount of electrical energy can be reliably and easily supplied from the power sources 280 and 380.

　前記走行体２００の前記第１電気機器は、前記電源２８０であり、前記搭載体３００は、第１可動具３１０・第２可動具３２０を備え、前記搭載体３００の前記第２電気機器は、給電を消費して動力を発生し、第１可動具３１０・第２可動具３２０を駆動する駆動部３４０である（請求項５）。 The first electrical device of the traveling body 200 is the power source 280, the mounted body 300 is equipped with a first movable device 310 and a second movable device 320, and the second electrical device of the mounted body 300 is a drive unit 340 that consumes power supply to generate power and drives the first movable device 310 and the second movable device 320 (Claim 5).

　これによれば、動力負荷が大きく、多量のエネルギを消費し易い駆動部３４０（例えば、モータ、アクチュエータ等）に対し、走行体２００の電源２８０から多量の電気エネルギを確実かつ容易に供給できる。 This allows a large amount of electrical energy to be reliably and easily supplied from the power source 280 of the running body 200 to the drive unit 340 (e.g., a motor, actuator, etc.), which has a large power load and is prone to consuming large amounts of energy.

　前記走行体２００の前記第１端部２８６は、前記走行体２００における前記第１方向の前方に配置され、前記搭載体３００の前記第１可動具３１０・第２可動具３２０、前記駆動部３４０、及び、前記第２端部３８６は、前記搭載体３００における前記第１方向の前方に配置されている（請求項６）。 The first end 286 of the running body 200 is disposed forward in the first direction on the running body 200, and the first movable part 310, the second movable part 320, the drive unit 340, and the second end 386 of the mounting body 300 are disposed forward in the first direction on the mounting body 300 (Claim 6).

　これによれば、搭載体３００の前方において、給電の供給元となる第２端部３８６から、給電の供給先の第１可動具３１０・第２可動具３２０、及び、駆動部３４０までを近づけることができる。このため、搭載体３００の前方で、効率的な設計が実現できるとともに、搭載体３００の後方において、他の電気機器の搭載余地を大きくすることができる。 This allows the second end 386, which is the power supply source, to be closer to the first movable device 310, the second movable device 320, and the drive unit 340, which are the power supply destinations, at the front of the mounting body 300. This allows for an efficient design at the front of the mounting body 300, and also allows for more room to mount other electrical equipment at the rear of the mounting body 300.

　制御装置又は通信装置を含む電子ユニット２８７・電子ユニット３８７が、前記走行体２００及び前記搭載体３００の何れかに設けられ、前記第１端部２８６及び前記第２端部３８６は、前記第１端部２８６から前記電子ユニット２８７・電子ユニット３８７までの距離が、前記第１端部２８６から前記駆動部３４０までの距離よりも長くなるように、且つ、前記第２端部３８６から前記電子ユニット２８７・電子ユニット３８７までの距離が、前記第２端部３８６から前記駆動部３４０までの距離よりも長くなるように配置されている（請求項７）。 An electronic unit 287/electronic unit 387 including a control device or a communication device is provided on either the running body 200 or the mounting body 300, and the first end 286 and the second end 386 are arranged so that the distance from the first end 286 to the electronic unit 287/electronic unit 387 is longer than the distance from the first end 286 to the drive unit 340, and the distance from the second end 386 to the electronic unit 287/electronic unit 387 is longer than the distance from the second end 386 to the drive unit 340 (claim 7).

　これによれば、上述のように配置が規定されることで、磁気の発生源（例えば、コイル等）としての第１端部２８６・第２端部３８６を、電子ユニット２８７・電子ユニット３８７から遠ざけることができる。このため、電子ユニット２８７・電子ユニット３８７に対し、電磁波を遮蔽するための機構・機能等を簡素化できる。従って、非接触式である磁気を用いた通電形式を採用しつつ、走行体２００及び搭載体３００の設計の自由度を拡大できる。 By defining the arrangement as described above, the first end 286 and the second end 386, which are magnetic sources (e.g., coils, etc.), can be placed away from the electronic units 287 and 387. This simplifies the mechanisms and functions for shielding the electronic units 287 and 387 from electromagnetic waves. This allows for greater freedom in designing the running body 200 and the mounting body 300 while still adopting a non-contact magnetic current-carrying method.

　今回開示された上記各実施形態は、すべての点で例示であって、制限的なものではないと考えられるべきである。本発明の範囲は、上記した説明ではなく、特許請求の範囲によって示され、特許請求の範囲と均等の意味及び範囲内でのすべての変更が含まれることが、意図される。 The above-described embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is indicated by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

１００　　：移動体
２００　　：走行体
２１０　　：搭載面
２２０　　：リフト部
２３０　　：係合部
２４０　　：固定部
２５０　　：支持部
２６０　　：車体
２７０　　：走行装置
２８０　　：電源
２８３　　：制御装置
２９０　　：伝達部
３００　　：搭載体（アタッチメント）
３１０　　：基部
３２０　　：第１可動具
３３０　　：第２可動具
３４０　　：駆動部
３６０　　：外郭部
３８０　　：電源
３８３　　：制御装置
３９０　　：被伝達部
４００　　：保管システム
５００　　：保管庫
５６０　　：配置部
 
  100: Mobile body 200: Running body 210: Mounting surface 220: Lifting section 230: Engagement section 240: Fixed section 250: Support section 260: Vehicle body 270: Running device 280: Power source 283: Control device 290: Transmission section 300: Mounting body (attachment)
310: Base 320: First movable part 330: Second movable part 340: Driving part 360: Outer part 380: Power source 383: Control device 390: Receiving part 400: Storage system 500: Storage 560: Placement part

Claims (8)

　第１方向に走行可能であり、前記第１方向に対して上方を向く第２方向に向かう搭載面を備えた走行体と、
　前記搭載面に対して着脱可能に構成され、前記搭載面に装着され前記走行体に搭載されている場合には前記走行体と一体的に移動し、前記搭載面から脱離され前記走行体に搭載されていない場合には前記走行体とは別体的に配置される搭載体であって、
　前記搭載面に対して着脱可能な基部、及び、
　長尺状に構成され、前記基部に対し相対回転可能となるよう一端が前記基部に支持されて、前記基部から前記第１方向に向かって伸長する他端にて作業可能となっており、収容される場合には、前記一端を支点として前記基部に近づくように相対回転する第１可動具
　を有する搭載体と、
　を備えた
移動体。 A traveling body capable of traveling in a first direction and having a mounting surface facing a second direction that faces upward with respect to the first direction;
A mounting body that is configured to be detachable from the mounting surface, moves integrally with the running body when attached to the mounting surface and mounted on the running body, and is disposed separately from the running body when detached from the mounting surface and not mounted on the running body,
A base that is detachable from the mounting surface; and
a mounting body having a first movable tool, the first movable tool being configured in an elongated shape, one end of the first movable tool being supported by the base so as to be rotatable relative to the base, the other end of the first movable tool being operable at the other end extending from the base in the first direction, and the first movable tool being rotated relative to the base around the one end as a fulcrum when the first movable tool is housed;
A mobile body equipped with the above. 　請求項１に記載の移動体において、
　前記搭載体は、
　前記一端を支点として、前記第１可動具を前記第１方向と反対側に引張ることで、前記第１可動具を前記基部に近づくように相対回転させる第１駆動部
　を有する
移動体。 2. The moving body according to claim 1,
The mounting body is
a first drive unit that pulls the first movable device in the direction opposite to the first direction, using the one end as a fulcrum, to rotate the first movable device relatively toward the base. 　請求項１又は請求項２に記載の移動体において、
　前記搭載体は、
　板状に構成され、前記基部に対し相対移動可能となるよう前記基部に支持されて、前記走行体よりも前側に配置されて前記第１方向に向かう面にて作業する第２可動具
　を有する
移動体。 3. The moving body according to claim 1,
The mounting body is
a movable body having a second movable tool configured in a plate shape, supported on the base so as to be movable relative to the base, and disposed forward of the running body and performing work on a surface facing the first direction. 　請求項３に記載の移動体において、
　前記搭載体は、
　前記第２可動具よりも前記第２方向における上側に設けられ、自身が駆動することで、前記第２可動具を相対移動させる第２駆動部
　を有する
移動体。 4. The moving body according to claim 3,
The mounting body is
a moving body having a second drive unit that is provided above the second movable tool in the second direction and drives the second movable tool to move the second movable tool relatively. 　請求項４に記載の移動体において、
　前記第２可動具は、
　前記搭載体が前記走行体に装着されている状態において、前記第１可動具による作業が実行されるときに、前記走行体の接地面へ接地可能に構成された
移動体。 The moving body according to claim 4,
The second movable tool is
A moving body configured to be able to come into contact with a ground surface of the traveling body when work is performed by the first movable tool with the mounting body attached to the traveling body. 　走行体と、
　前記走行体に搭載されている場合には前記走行体と一体的に移動し、前記走行体から脱離された場合には前記走行体とは別体的に配置可能な搭載体と、
　を備え、
　前記搭載体は、
　前記走行体に対して着脱可能な基部、及び、
　長尺状に構成され、前記基部に対し相対回転可能となるよう一端が前記基部に支持されて、前記基部から前記走行体の前後方向に向かって伸長する他端にて作業可能となっており、収容される場合には、前記一端を支点として前記基部に近づくように相対回転する第１可動具を含んでいる
移動体。 A running body,
a mounting body that moves integrally with the running body when mounted on the running body and that can be disposed separately from the running body when detached from the running body;
Equipped with
The mounting body is
A base that is detachable from the running body; and
The movable body is configured in an elongated shape, has one end supported on the base so as to be rotatable relative to the base, and the other end extending from the base in the fore-and-aft direction of the running body is operable, and includes a first movable device that, when stored, rotates relatively to the base using the one end as a fulcrum so as to approach the base. 　請求項６に記載の移動体において、
　前記搭載体は、
　前記一端を支点として、前記第１可動具を前記第１方向と反対側に引張ることで、前記第１可動具を前記基部に近づくように相対回転させる第１駆動部
　を有する
移動体。 7. The moving body according to claim 6,
The mounting body is
a first drive unit that pulls the first movable device in the direction opposite to the first direction, using the one end as a fulcrum, to rotate the first movable device relatively toward the base. 　請求項６又は請求項７に記載の移動体において、
　前記搭載体は、
　板状に構成され、前記基部に対し相対移動可能となるよう前記基部に支持されて、前記走行体よりも前側に配置されて前記前後方向に向かう面にて作業する第２可動具
　を有する
移動体。 The moving body according to claim 6 or 7,
The mounting body is
a movable body having a second movable tool configured in a plate shape, supported on the base so as to be movable relative to the base, and disposed forward of the running body and performing work on a surface facing the front-rear direction.
PCT/JP2024/037290 2023-12-27 2024-10-20 Mobile body, storage for mobile body, and storage system for mobile body Pending WO2025142049A1 (en)

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JP2023-220162 2023-12-27

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JPS516413B2 (en) * 1971-12-27 1976-02-27
JPS56154462U (en) * 1980-04-17 1981-11-18
JPS594596A (en) * 1982-06-30 1984-01-11 株式会社神戸製鋼所 Coupler for upper and lower section of crane
JPH07277689A (en) * 1994-04-07 1995-10-24 Nippon Sharyo Seizo Kaisha Ltd Construction machine
JPH11222071A (en) * 1998-02-04 1999-08-17 Chuutoku Kenki Kk Multifunctional work machine
JP2013108247A (en) * 2011-11-18 2013-06-06 Hitachi Constr Mach Co Ltd Apparatus for connecting/disconnecting upper and lower connecting pins of work machine and method for assembling/disassembling the work machine
JP2013532085A (en) * 2010-04-13 2013-08-15 アグリテクニック エンジニアリング リミテッド Operating platform
JP2018001963A (en) * 2016-07-01 2018-01-11 株式会社タグチ工業 Unmanned work vehicle
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KR102440650B1 (en) * 2022-05-30 2022-09-06 한국해양과학기술원 Rover lower carriage suspension
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Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS516413B2 (en) * 1971-12-27 1976-02-27
JPS56154462U (en) * 1980-04-17 1981-11-18
JPS594596A (en) * 1982-06-30 1984-01-11 株式会社神戸製鋼所 Coupler for upper and lower section of crane
JPH07277689A (en) * 1994-04-07 1995-10-24 Nippon Sharyo Seizo Kaisha Ltd Construction machine
JPH11222071A (en) * 1998-02-04 1999-08-17 Chuutoku Kenki Kk Multifunctional work machine
JP2013532085A (en) * 2010-04-13 2013-08-15 アグリテクニック エンジニアリング リミテッド Operating platform
JP2013108247A (en) * 2011-11-18 2013-06-06 Hitachi Constr Mach Co Ltd Apparatus for connecting/disconnecting upper and lower connecting pins of work machine and method for assembling/disassembling the work machine
JP2018001963A (en) * 2016-07-01 2018-01-11 株式会社タグチ工業 Unmanned work vehicle
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KR20220165088A (en) * 2021-06-07 2022-12-14 주식회사 이스쿠스 Small construction equipment of which length can be adjusted in the forward and backward directions
KR102440650B1 (en) * 2022-05-30 2022-09-06 한국해양과학기술원 Rover lower carriage suspension

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