JP7266058B2 - 配送ロボットおよび報知方法 - Google Patents
配送ロボットおよび報知方法 Download PDFInfo
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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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
- G05D1/0246—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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- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
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Description
上記実施形態の配送ロボットは、建物内において、配送物を配送する配送ロボットであって、外部の環境情報を取得する第1取得手段(308、309、313)と、前記第1取得手段により取得された前記環境情報に基づいて、前記建物内の配送先までの前記配送ロボットの走行を制御する走行制御手段(300)と、前記配送ロボットの走行中、前記第1取得手段により取得された環境情報に基づいて、前記配送ロボットの進行方向に存在するドアの開動作が検知された場合、報知を行う報知手段(図8)と、を備え、前記報知手段は、前記ドアに向けて、光と音の少なくともいずれかにより報知を行う。
Claims (13)
- 建物内において、配送物を配送する配送ロボットであって、
外部の環境情報を取得する第1取得手段と、
前記第1取得手段により取得された前記環境情報に基づいて、前記建物内の配送先までの前記配送ロボットの走行を制御する走行制御手段と、
前記配送ロボットの走行中、前記第1取得手段により取得された環境情報に含まれる音情報に基づいて、前記配送ロボットの進行方向に存在するドアが開くことを検知する検知手段と、
前記検知手段により前記ドアが開くことが検知されたことに基づいて、当該ドアの下部の隙間周辺に向けて光を照射することにより報知を行う報知手段と、を備え、
前記検知手段により前記ドアが開くことが検知された状態は、当該ドアが開いていない状態を含む、
ことを特徴とする配送ロボット。 - 前記第1取得手段は、カメラとマイクを含み、
前記環境情報は、前記カメラにより撮影された画像情報を含む、
ことを特徴とする請求項1に記載の配送ロボット。 - 時刻情報を取得する第2取得手段、をさらに備え、
前記報知手段は、前記第2取得手段により取得された前記時刻情報に基づいて、前記光と音の少なくともいずれかにより報知を行う、
ことを特徴とする請求項1又は2に記載の配送ロボット。 - 前記報知手段は、前記時刻情報が所定の時間帯に含まれる場合、音による報知を行うことを特徴とする請求項3に記載の配送ロボット。
- 前記報知手段に用いられる光の種類を設定する第1設定手段、をさらに備え、
前記報知手段は、前記第1設定手段により設定された光の種類により報知を行う、
ことを特徴とする請求項1乃至4のいずれか1項に記載の配送ロボット。 - 前記第1設定手段は、前記光の種類として、光の色を設定することを特徴とする請求項5に記載の配送ロボット。
- 前記光の色は、前記配送ロボットが走行する環境の色と異なる色であることを特徴とする請求項6に記載の配送ロボット。
- 前記報知手段は、前記光と音の少なくともいずれかにより報知を行い、
前記配送ロボットは、前記報知手段に用いられる音の種類を設定する第2設定手段、をさらに備え、
前記報知手段は、前記第2設定手段により設定された音の種類により報知を行う、
ことを特徴とする請求項1乃至7のいずれか1項に記載の配送ロボット。 - 前記音の種類は、サイレン音、楽曲の少なくともいずれかを含むことを特徴とする請求項8に記載の配送ロボット。
- 前記検知手段により前記ドアが開くことが検知された場合、当該ドアまでの距離が閾値以上であるか否かを判定する判定手段、をさらに備え、
前記判定手段により前記ドアまでの距離が閾値以上であると判定された場合、前記報知手段は、前記検知手段により前記ドアが開くことが検知されたことに基づいて、当該ドアの下部の隙間周辺に向けて前記光を照射することにより報知を行う、
ことを特徴とする請求項1乃至9のいずれか1項に記載の配送ロボット。 - 前記ドアとの距離が前記閾値より短い場合、エアバッグを起動する緊急制御手段、をさらに備えることを特徴とする請求項10に記載の配送ロボット。
- 前記音情報は、前記ドアを開けるための開錠、サムターン、ドアノブ、の少なくともいずれかに関する音の情報であることを特徴とする請求項1乃至11のいずれか1項に記載の配送ロボット。
- 建物内において、配送物を配送する配送ロボットにおいて実行される報知方法であって、
外部の環境情報を取得する取得工程と、
前記取得工程において取得された前記環境情報に基づいて、前記建物内の配送先までの前記配送ロボットの走行を制御する走行制御工程と、
前記配送ロボットの走行中、前記取得工程において取得された環境情報に含まれる音情報に基づいて、前記配送ロボットの進行方向に存在するドアが開くことを検知する検知工程と、
前記検知工程において前記ドアが開くことが検知されたことに基づいて、当該ドアの下部の隙間周辺に向けて光を照射することにより報知を行う報知工程と、を有し、
前記検知工程において前記ドアが開くことが検知された状態は、当該ドアが開いていない状態を含む、
ことを特徴とする報知方法。
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JP2021055776A JP7266058B2 (ja) | 2021-03-29 | 2021-03-29 | 配送ロボットおよび報知方法 |
CN202210301251.8A CN115139320A (zh) | 2021-03-29 | 2022-03-24 | 配送机器人和通知方法 |
US17/703,333 US20220308556A1 (en) | 2021-03-29 | 2022-03-24 | Delivery robot and notification method |
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US20230019850A1 (en) * | 2021-07-15 | 2023-01-19 | Bear Robotics, Inc. | Method, system, and non-transitory computer-readable recording medium for supporting delivery using a robot |
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JP2018015396A (ja) | 2016-07-29 | 2018-02-01 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP2018078517A (ja) | 2016-11-11 | 2018-05-17 | 株式会社東芝 | 処理装置、撮像装置、及び自動制御システム |
JP2020184274A (ja) | 2019-05-09 | 2020-11-12 | ピクシーダストテクノロジーズ株式会社 | 制御装置、制御システム、制御方法及び制御プログラム |
US20210046655A1 (en) | 2019-08-18 | 2021-02-18 | Cobalt Robotics Inc. | Latency control in human operated mobile robot |
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- 2022-03-24 CN CN202210301251.8A patent/CN115139320A/zh active Pending
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US20150242806A1 (en) | 2014-02-25 | 2015-08-27 | Savioke, Inc. | Entryway Based Authentication System |
JP2018015396A (ja) | 2016-07-29 | 2018-02-01 | パナソニックIpマネジメント株式会社 | 自律走行型掃除機 |
JP2018078517A (ja) | 2016-11-11 | 2018-05-17 | 株式会社東芝 | 処理装置、撮像装置、及び自動制御システム |
JP2020184274A (ja) | 2019-05-09 | 2020-11-12 | ピクシーダストテクノロジーズ株式会社 | 制御装置、制御システム、制御方法及び制御プログラム |
US20210046655A1 (en) | 2019-08-18 | 2021-02-18 | Cobalt Robotics Inc. | Latency control in human operated mobile robot |
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US20220308556A1 (en) | 2022-09-29 |
CN115139320A (zh) | 2022-10-04 |
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