JP7196812B2 - 移動体 - Google Patents
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- JP7196812B2 JP7196812B2 JP2019187658A JP2019187658A JP7196812B2 JP 7196812 B2 JP7196812 B2 JP 7196812B2 JP 2019187658 A JP2019187658 A JP 2019187658A JP 2019187658 A JP2019187658 A JP 2019187658A JP 7196812 B2 JP7196812 B2 JP 7196812B2
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- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
- B60S3/042—Wheel cleaning devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Chemical & Material Sciences (AREA)
- Optics & Photonics (AREA)
- Public Health (AREA)
- Health & Medical Sciences (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図1(a)および図1(b)は、第1の実施の形態に係る荷物搬送ロボット10の斜視図を示す。荷物搬送ロボット10は、移動体とも呼べる。荷物搬送ロボット10の高さは、例えば1~1.5メートル程度であってよい。荷物搬送ロボット10は、自律走行機能を有する走行機構12と、走行機構12に支持されて、荷物等の物体を載せるための本体部14とを備える。走行機構12は、第1車輪体22および第2車輪体24を備え、第1車輪体22は、一対の前輪20aおよび一対の中輪20bを有し、第2車輪体24は、一対の後輪20cを備える。図1(a)および図1(b)には、前輪20a、中輪20b、後輪20cが、直線状に並んでいる状態を示す。
図4(a)は、枠体40の側壁を鉛直方向に対して傾斜させた状態を示す。枠体40は走行機構12に対して、左右方向に延在する連結軸により相対回転可能に支持され、前後方向のいずれにも傾斜できる。
通信部52は、サーバ装置60から荷物の集配先および第2エリアの情報を取得し、取得した情報を走行制御部120に供給する。
たとえば土足で入る住宅または会社の場合、車輪20が比較的きれいであれば、車輪20を清浄化せずに荷物搬送ロボット10が建物内に入ってもユーザは気にしないと考えられる。車輪20を清浄化しなければ、より短時間で集配が完了し、ユーザおよび集配サービスの提供者の両者にメリットがある。そこで第2の実施の形態では、制御部100は、所定の清浄化条件が満たされた場合に走行機構12に車輪20の清浄化動作を実行させ、清浄化条件が満たされない場合に清浄化動作を実行させない。以下、第1の実施の形態との相違点を中心に説明する。
第1の清浄化条件は、ユーザによる清浄化指示が入力されたことである。情報処理部126は、通信部52を介してユーザの端末装置62に走行経路の情報を通知する。たとえば走行経路の情報は、走行経路が示された地図画像と、走行中にカメラ50で撮像された走行経路の路面の画像の少なくとも一方を含む。走行経路の路面の画像は、動画または静止画である。地図画像の通知タイミングは、荷物搬送ロボット10が集配先へ移動開始した時または集配先の入り口前に一時停止した時であってよい。走行経路の路面の画像の通知タイミングは、荷物搬送ロボット10が集配先の入り口前に一時停止した時であってよい。荷物搬送ロボット10が入り口前で一時停止中、ディスプレイ48が走行経路の路面の画像を表示してもよい。端末装置62またはディスプレイ48は、「車輪をきれいにしますか?」という文字などの清浄化指示の入力を確認する情報も表示してもよい。ユーザは、これらの情報をもとに清浄化指示を入力するか否か決める。
第1の清浄化条件に替えて第2の清浄化条件を利用してもよい。第2の清浄化条件は、車輪20の画像から車輪20の汚れが検出されたことである。
第1の清浄化条件に替えて第3の清浄化条件を利用してもよい。第3の清浄化条件は、走行路の画像から走行路の汚れが検出されたことである。
第3の実施の形態では、第2エリアへの進入時に路面に接地する車輪20を変更することが第1の実施の形態と異なる。以下、第1の実施の形態との相違点を中心に説明する。
第4の実施の形態では、車輪20の清浄化動作を行わず、第1エリア内の荷物搬送ロボット10と第2エリア内の別の荷物搬送ロボット10との間で荷物を移動させることが第1の実施の形態と異なる。以下、第1の実施の形態との相違点を中心に説明する。
[項目1]
物体を収集または配達する搬送ロボットであって、
走行機能を有する走行機構と、
前記走行機構に支持され、前記物体を載せるための本体部と、を備え、
第1エリアにおいて、第2エリア内の別の搬送ロボットとの間で前記物体の受け渡しを行う、
ことを特徴とする搬送ロボット。
前記本体部は、内側が前記物体を収容する収容空間を構成する枠体を有し、
前記搬送ロボットは、前記別の搬送ロボットに前記物体を移動させる場合、前記走行機構を起立姿勢に制御し、前記別の搬送ロボット側に前記枠体を傾斜させる制御部を備える、ことを特徴とする項目1に記載の搬送ロボット。
Claims (5)
- 第1エリアから第2エリアに走行する移動体であって、
複数の車輪を有し、走行機能を有する走行機構と、
前記走行機構に車輪の清浄化動作を実行させてから前記移動体を前記第2エリアに進入させる制御部と、
を備え、
前記複数の車輪は、複数の第1車輪と、複数の第2車輪とを含み、
前記制御部は、第1エリアにおいて、前記走行機構に前記複数の第2車輪を路面から離れさせるとともに前記複数の第1車輪を路面に接触させ、前記複数の第1車輪により前記移動体を走行させ、
車輪の清浄化動作は、前記走行機構が前記複数の第1車輪を路面から離れさせるとともに前記複数の第2車輪を路面に接触させる動作である、
ことを特徴とする移動体。 - 前記制御部は、所定の清浄化条件が満たされた場合、前記走行機構に車輪の清浄化動作を実行させてから前記移動体を前記第2エリアに進入させる、
ことを特徴とする請求項1に記載の移動体。 - 前記制御部は、前記清浄化条件が満たされない場合、前記走行機構に車輪の清浄化動作を実行させずに前記移動体を前記第2エリアに進入させる、
ことを特徴とする請求項2に記載の移動体。 - カメラで撮像された車輪または走行路の画像にもとづいて、車輪または走行路の汚れを検出する検出部を備え、
前記清浄化条件は、前記検出部で車輪または走行路の汚れが検出されたことである、
ことを特徴とする請求項2または3に記載の移動体。 - 前記第2エリアは、ユーザにより指定される、
ことを特徴とする請求項1から4のいずれかに記載の移動体。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019187658A JP7196812B2 (ja) | 2019-10-11 | 2019-10-11 | 移動体 |
US17/015,221 US11703867B2 (en) | 2019-10-11 | 2020-09-09 | Vehicle |
CN202011040904.9A CN112644362B (zh) | 2019-10-11 | 2020-09-28 | 移动体 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019187658A JP7196812B2 (ja) | 2019-10-11 | 2019-10-11 | 移動体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021062694A JP2021062694A (ja) | 2021-04-22 |
JP7196812B2 true JP7196812B2 (ja) | 2022-12-27 |
Family
ID=75346511
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019187658A Active JP7196812B2 (ja) | 2019-10-11 | 2019-10-11 | 移動体 |
Country Status (3)
Country | Link |
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US (1) | US11703867B2 (ja) |
JP (1) | JP7196812B2 (ja) |
CN (1) | CN112644362B (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11097302B2 (en) * | 2017-05-10 | 2021-08-24 | Howco, Inc. | Tire dressing machine and application method |
JP2021062793A (ja) * | 2019-10-16 | 2021-04-22 | トヨタ自動車株式会社 | 走行体 |
US11993119B2 (en) * | 2021-08-26 | 2024-05-28 | Toyota Jidosha Kabushiki Kaisha | Robot having multiple wheel sets |
KR20240009768A (ko) * | 2022-07-14 | 2024-01-23 | 삼성전자주식회사 | 물품을 목표 테이블까지 전달하기 위한 로봇 장치 및 로봇 장치의 동작 방법 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040016070A1 (en) | 2002-07-25 | 2004-01-29 | Nemcek Enterprises, Inc. | Golf cart wheel cleaner |
JP2008213568A (ja) | 2007-03-01 | 2008-09-18 | Yaskawa Electric Corp | 移動機構 |
JP2016218733A (ja) | 2015-05-20 | 2016-12-22 | シャープ株式会社 | 自律走行装置の車輪清掃システム、自律走行装置の制御方法及び制御プログラム |
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