JP2019521720A - トランスポータのためのユーザ制御デバイス - Google Patents
トランスポータのためのユーザ制御デバイス Download PDFInfo
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Abstract
Description
本願は、2016年4月14日に出願され、USER CONTROL DEVICE FOR A TRANSPORTERと題された米国仮出願第62/322,522号(代理人管理番号第R52)の利益を主張するものであり、該米国仮出願は、その全体が参照により本明細書中に援用される。
Claims (20)
- トランスポータを操縦しながら少なくとも1つの障害物に反応するための方法であって、
少なくとも1つの移動コマンドおよびユーザ情報を受信するステップと、
障害物データを受信し、セグメント化するステップと、
前記セグメント化された障害物データ内の少なくとも1つの平面を識別するステップと、
前記少なくとも1つの平面内の前記少なくとも1つの障害物を識別するステップと、
少なくとも、前記少なくとも1つの障害物、前記ユーザ情報、および前記少なくとも1つの移動コマンドに基づいて、少なくとも1つの状況識別子を判定するステップと、
少なくとも、前記少なくとも1つの状況識別子に基づいて、前記トランスポータと前記少なくとも1つの障害物との間の距離を判定するステップと、
前記距離、前記少なくとも1つの障害物、および前記少なくとも1つの状況識別子に関連する、少なくとも1つの許可コマンドにアクセスするステップと、
前記少なくとも1つの移動コマンドに対する少なくとも1つの自動応答にアクセスするステップと、
前記少なくとも1つの移動コマンドと前記少なくとも1つの許可コマンドのうちの1つをマッピングするステップと、
少なくとも、前記少なくとも1つの移動コマンドおよび前記マッピングされた許可コマンドと関連付けられた前記少なくとも1つの自動応答に基づいて、前記トランスポータを移動させるステップと
を含む、方法。 - 前記少なくとも1つの障害物は、少なくとも1つの移動物体を含む、請求項1に記載の方法。
- 前記距離は、動的に変動する量を含む、請求項1に記載の方法。
- 前記少なくとも1つの移動コマンドは、少なくとも1つの障害物通過コマンドを含む、請求項1に記載の方法。
- 点群ライブラリ(PCL)を使用して、前記障害物データを分析するステップをさらに含む、請求項1に記載の方法。
- 前記トランスポータの場所に基づく移動物体の検出および追跡(DATMO)を伴う、同時位置特定およびマッピング(SLAM)を使用して、前記少なくとも1つの移動物体を追跡するステップをさらに含む、請求項2に記載の方法。
- トランスポータであって、前記トランスポータは、前記トランスポータを操縦しながら遭遇する少なくとも1つの障害物に自動的に反応し、前記トランスポータは、
少なくとも1つの移動コマンドおよびユーザ情報を受信するナビ/PCLプロセッサであって、前記ナビ/PCLプロセッサは、PCLプロセッサからPCLデータを受信し、セグメント化し、前記ナビ/PCLプロセッサは、前記セグメント化されたPCLデータ内の平面を識別し、前記ナビ/PCLプロセッサは、前記平面内の少なくとも1つの障害物を識別する、ナビ/PCLプロセッサと、
少なくとも、前記ユーザ情報、前記少なくとも1つの移動コマンド、および前記少なくとも1つの障害物に基づいて、状況識別子を判定する、距離プロセッサであって、前記距離プロセッサは、少なくとも、前記状況識別子に基づいて、前記トランスポータと前記少なくとも1つの障害物との間の距離を判定する、距離プロセッサと、
前記距離、前記少なくとも1つの障害物、および前記状況識別子に関連する、許可コマンドにアクセスする、物体プロセッサであって、前記物体プロセッサは、前記許可コマンドと関連付けられた自動応答にアクセスし、前記物体プロセッサは、前記少なくとも1つの移動コマンドにアクセスし、前記少なくとも1つの移動コマンドと前記許可コマンドのうちの少なくとも1つをマッピングする、物体プロセッサと、
前記少なくとも1つの移動コマンドおよび前記マッピングされた許可コマンドと関連付けられた自動応答を受信する少なくとも1つのモード依存プロセッサであって、前記少なくとも1つのモード依存プロセッサは、モード特有の処理を有効にする、少なくとも1つのモード依存プロセッサと
を備える、トランスポータ。 - 前記ナビ/PCLプロセッサは、前記少なくとも1つの障害物を記憶クラウド内に記憶するステップと、前記トランスポータの外部システムが前記少なくとも1つの記憶された障害物にアクセスすることを可能にするステップとを含む、請求項7に記載のトランスポータ。
- トランスポータが階段をナビゲートすることを可能にするための方法であって、
少なくとも1つの階段コマンドを受信するステップと、
前記トランスポータ上に搭載されるセンサから環境情報を受信するステップと、
前記環境情報に基づいて、少なくとも1つの階段構造を位置特定するステップと、
前記少なくとも1つの階段構造から選択された階段構造の選択を受信するステップと、
前記環境情報に基づいて、前記選択された階段構造の少なくとも1つの特性を測定するステップと、
前記環境情報に基づいて、該当する場合、前記選択された階段構造上の少なくとも1つの障害物を位置特定するステップと、
前記環境情報に基づいて、前記選択された階段構造の最後の階段を位置特定するステップと、
少なくとも、前記測定された少なくとも1つの特性、前記最後の階段、および該当する場合、前記障害物に基づいて、前記少なくとも1つの移動コマンドを提供し、前記選択された階段構造上で前記トランスポータを移動させるステップと
を含む、方法。 - GPSデータに基づいて、前記少なくとも1つの階段構造を位置特定するステップをさらに含む、請求項9に記載の方法。
- SLAMを使用して、前記選択された階段構造のマップを構築するステップをさらに含む、請求項9に記載の方法。
- 前記少なくとも1つの特性は、前記少なくとも1つの蹴込の表面テクスチャを含む、請求項9に記載の方法。
- 階段をナビゲートするためのトランスポータであって、
ユーザ情報内に含まれる少なくとも1つの階段コマンドを受信する階段構造プロセッサと、
前記トランスポータ上に搭載されるセンサから環境情報を受信する階段構造ロケータであって、前記階段構造ロケータは、前記環境情報内の前記階段構造を位置特定し、選択された階段構造の選択肢を受信する、階段構造ロケータと、
前記選択された階段構造の少なくとも1つの特性を測定する階段特性プロセッサであって、前記階段特性プロセッサは、前記環境情報に基づいて、該当する場合、前記選択された階段構造上の障害物を位置特定する、階段特性プロセッサと、
前記環境情報に基づいて、前記選択された階段構造の最後の階段を位置特定する階段移動プロセッサであって、前記階段移動プロセッサは、前記少なくとも1つの特性、前記最後の階段、および該当する場合、前記障害物に基づいて、少なくとも1つの移動コマンドを提供し、前記トランスポータに前記選択された階段構造上を移動するように命令する、階段移動プロセッサと、
を備える、トランスポータ。 - トランスポータ内において、少なくとも1つの取手、ドアスイング、および戸口を含むドアとネゴシエートするための方法であって、前記方法は、
前記トランスポータ上に搭載されるセンサから環境情報を受信し、セグメント化するステップであって、前記環境情報は、前記トランスポータの幾何学形状を含む、ステップと、
前記セグメント化された環境情報内の少なくとも1つの平面を識別するステップと、
前記少なくとも1つの平面内のドアを識別するステップと、
前記セグメント化された環境情報に基づいて、前記ドアを測定するステップと、
前記少なくとも1つの取手へのアクセスのために、前記少なくとも1つの移動コマンドの第1のものを提供し、前記トランスポータを移動させるステップと、
前記ドアスイングが前記トランスポータに向かっている場合、前記ドアが開放するにつれて、前記少なくとも1つの移動コマンドの第2のものを提供し、前記測定されたドアに基づく距離だけ、前記ドアから離れるように前記トランスポータを移動させるステップと、
前記少なくとも1つの移動コマンドの第3のものを提供し、前記戸口を通して前方に前記トランスポータを移動させるステップと
を含む、方法。 - 前記センサは、飛行時間センサを含む、請求項14に記載の方法。
- ドアとネゴシエートするためのトランスポータであって、前記ドアは、少なくとも1つの取手、ドアスイング、および戸口を含み、前記トランスポータは、
センサデータから、前記ドアのヒンジ側および前記ドアの方向および角度を判定する、センサプロセッサと、
少なくとも1つの移動コマンドを生成し、前記トランスポータを移動させる、移動プロセッサと、
前記ドアの特性を判定するドアプロセッサであって、前記ドアプロセッサは、前記トランスポータから前記ドアまでの距離を判定し、前記ドアプロセッサは、前記ドアの幅を判定し、前記ドアプロセッサは、少なくとも1つの移動コマンドを生成し、前記ドアスイングおよび前記ドアの幅に基づいて、前記ドアを通して前記トランスポータを移動させる、ドアプロセッサと
を備える、トランスポータ。 - トランスポータを車両内に格納するための方法であって、前記車両は、格納コンパートメントを有し、前記格納コンパートメントは、ドアを有し、前記方法は、
前記トランスポータ上に搭載されるセンサからセンサデータを受信し、セグメント化するステップと、
前記セグメント化されたセンサデータ内の少なくとも1つの平面を識別するステップと、
前記少なくとも1つの平面内のドアを識別するステップと、
前記ドアの幅を含む前記ドアを測定するステップと、
前記ドアが前記トランスポータのサイズに関連する事前に選択されたサイズより小さい場合、アラートを生成するステップと、
前記ドアへのアクセスのために、前記トランスポータを位置付けるステップであって、前記位置付けるステップは、前記ドアの幅に基づく、ステップと、
前記ドアを開放するための信号を生成するステップと、
前記戸口を通して前方に前記トランスポータを移動させるステップと、
信号を生成し、前記ドアを閉鎖するステップと
を含む、方法。 - 信号を生成し、前記トランスポータを前記車両内にロックするステップをさらに含む、請求項17に記載の方法。
- トランスポータを格納するための方法であって、前記トランスポータは、センサを含み、前記方法は、
前記センサからのセンサデータを処理することによって、少なくとも1つの格納/充電エリアを位置特定するステップと、
少なくとも1つの移動コマンドを提供し、前記事前に選択された場所から前記位置特定された少なくとも1つの格納/充電エリアに前記トランスポータを移動させるステップと、
前記センサデータを処理することによって、前記格納/充電エリア内の充電ドックを位置特定するステップと、
少なくとも1つの移動コマンドを提供し、前記トランスポータと前記充電ドックを結合するステップと
を含む、方法。 - トランスポータを操縦しながらエレベータとネゴシエートするための方法であって、前記トランスポータは、センサを含み、前記エレベータは、エレベータ敷居およびエレベータドアを含み、前記方法は、
前記センサからのセンサデータを処理することによって、前記エレベータを位置特定するステップと、
第1の少なくとも1つの移動コマンドを提供し、前記エレベータドアを通して、前記エレベータ敷居を乗り越え、前記エレベータの中に前記トランスポータを移動させるステップと、
前記センサデータを処理することによって、前記エレベータの幾何学形状を判定するステップと、
第2の少なくとも1つの移動コマンドを提供し、前記エレベータ敷居に対して階選択/退出場所に前記トランスポータを移動させるステップと、
前記エレベータドアが開放すると、第3の少なくとも1つの移動コマンドを提供し、前記エレベータドアを通して、前記エレベータ敷居を横断して前記トランスポータを移動させ、前記エレベータから完全に退出させるステップと
を含む、方法。
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