| CPC G05D 1/0221 (2013.01) [B25J 9/162 (2013.01); B25J 9/163 (2013.01); B25J 9/1679 (2013.01); B25J 9/1694 (2013.01); B25J 13/08 (2013.01); B25J 19/023 (2013.01); G05D 1/0223 (2013.01); G05D 1/0246 (2013.01)] | 5 Claims |
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1. A transportation system including the following elements each connected communicatively through an electric communication line: an autonomous traveling transporter; an electric communication apparatus; and a map server, the autonomous traveling transporter configured to transport a load, and the electric communication apparatus owned by a carrier, wherein
the autonomous traveling transporter includes a transporter processor and a memory,
in the memory, traveling performance including a weight and a position of a center of gravity of the autonomous traveling transporter when the load is mounted on the autonomous traveling transporter is stored,
the transporter processor:
stores map information including travel road additional information about travel roads on which the autonomous traveling transporter autonomously travels and an inclination of the travel roads;
acquires collected information collected through the autonomous traveling of the autonomous traveling transporter on the travel roads;
updates the travel road additional information, of the map information corresponding to the travel roads that the autonomous traveling transporter autonomously travels, based on the collected information;
identifies a travel plan of the autonomous traveling transporter, the travel plan including a travel route that the autonomous traveling transporter autonomously travels to transport the load, and an autonomous traveling state of the autonomous traveling transporter on the travel route, based on the map information distributed from the map server including the travel road additional information, a travel tolerance that is obtained from the electric communication apparatus indicating a tolerance of the load with respect to the autonomous traveling of the autonomous traveling transporter, and the traveling performance stored in the memory;
generates the collected information including a photographed image of a road surface of the travel road collected through the autonomous traveling of the autonomous traveling transporter and traveling state detection information collected through the autonomous traveling of the autonomous traveling transporter, the traveling state detection information indicating a detection result associated with at least one of acceleration in a translational direction of the autonomous traveling transporter during traveling, angular velocity around the center of gravity of the autonomous traveling transporter, and vibration of the autonomous traveling transporter;
transmits the collected information to the map server; and
identifies the travel state on the travel route identified, and executes autonomous traveling control of the autonomous traveling transporter according to the travel state identified,
the map server includes a server processor that analyzes the collected information transmitted from the autonomous traveling transporter and generates the travel road additional information, and
the travel road additional information includes road surface information and traveling index information, the road surface information is generated by analyzing the photographed image of the road surface of the travel road and includes a structural or physical element of the road surface causing the vibration and the inclination during the autonomous traveling of the autonomous traveling transporter, and the traveling index information indicates a correspondence between the autonomous traveling state and a magnitude of the vibration of the autonomous traveling transporter specified from the traveling state detection information.
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