An operation system performs autonomous operation by using an operation server for an autonomous driving vehicle. The operation server includes a memory unit containing three-dimensional map data. An autonomous driving vehicle connects to the operation server via a wireless network. A vehicle control unit creates a traveling route based on the map data received and, when an elevator of a building is to be used, creates elevator usage information and elevator control information, including the boarding and exiting floors. The elevator is equipped with an elevator control unit that is connected to the operation server to control ascending and descending of an elevator cage. A control unit of the autonomous driving vehicle transmits the elevator usage information and the elevator control information to the elevator control unit. The elevator control unit gives a voice announcement from a voice output unit in the elevator cage.
Provided is an operation system 10 that carries out autonomous driving using an operation server 30 which is for an autonomous driving vehicle provided with three-dimensional map data in a storage section 32 and an autonomous driving vehicle 20 which connects to the operation server via a wireless network 50, wherein: a vehicle control unit 61 receives map data, creates a travel route, and creates elevator control information 61e and elevator usage information 61d including a boarding floor and exit floor when an elevator 41 of a building 40 is to be used; the elevator is provided with an elevator control unit that is connected to the operation server and that controls ascending and descending of an elevator car; a control unit of the autonomous driving vehicle sends the elevator usage information and the elevator control information to the elevator control unit; and the elevator control unit outputs audio of an announcement from an audio output unit 43a in the elevator car.
G05D 1/02 - Control of position or course in two dimensions
B66B 1/14 - Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
B66B 3/00 - Applications of devices for indicating or signalling operating conditions of elevators
B66B 17/20 - Applications of loading or unloading equipment for loading or unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages
A shower bidet is provided. The shower bidet includes a plastic device operable for a user to sit upon. The plastic device includes a first seating surface disposed atop a first seating column, a second seating surface disposed atop a second seating column, and a bridge portion connecting the first seating column and the second seating column. The first seating surface and the first seating column are separated from the second seating surface and the second seating column such that a spray nozzle may be disposed between the first seating column and the second seating column.
Provided are an autonomous vehicle 100 traveling along a set route, a delivery system, and a program, the autonomous vehicle including a pair of display units 103 installed at left and right on the front face of the main body and a monitoring camera 104 for shooting the front, sides, and rear of the autonomous vehicle 100, wherein by displaying predetermined eye-shaped images on the display unit 103 based on the state of the autonomous vehicle 100 and the images shot by the monitoring camera 104, the eye-shaped images are changed depending on the state of obstacles to ensure friendliness to people in stores and at delivery destinations as well as surrounding people during travel.
B60Q 1/50 - 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
B60Q 1/38 - 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 change of drive direction using immovably-mounted light sources, e.g. fixed flashing lamps
B60Q 5/00 - Arrangement or adaptation of acoustic signal devices
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 1/02 - Control of position or course in two dimensions
G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 40/10 - Human or animal bodies, e.g. vehicle occupants or pedestriansBody parts, e.g. hands
G08G 1/005 - Traffic control systems for road vehicles including pedestrian guidance indicator
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
5.
Unmanned delivery system by unmanned delivery vehicle
An unmanned delivery system includes a merchandise collection point, vehicle waiting areas, a management center that manages the inventory status of individual pieces of goods in the merchandise collection points and the status of unmanned delivery vehicles at the vehicle waiting areas. A network connects the collection point, the vehicle waiting area, and the management center. The management center selects, based on product order information, the collection point and the vehicle waiting area in accordance with the inventory status of the ordered item and the location of the delivery address, selects an unmanned delivery vehicle, and transmits product delivery information to the unmanned delivery vehicle and the merchandise collection point. The unmanned delivery vehicle autonomously travels to the selected collection point, automatically delivers the ordered item to the delivery address, and autonomously travels to the vehicle waiting area after the settlement and the delivery are made.
A user carrying system 10 using an automatic driving vehicle comprises: an automatic driving vehicle 20 in which at least one person can ride and which performs unmanned automatic running in a facility; a management center 30 in which map data relating to an operation range of the automatic driving vehicle in the facility is registered; and a network 40 for connecting the automatic driving vehicle with the management center. The user carrying system 10 using the automatic driving vehicle is configured such that: riding information of a user is transmitted to the management center via the network; the management center performs remote monitoring and/or remote operating for the automatic driving vehicle on the basis of the received riding information, and, when operating the automatic driving vehicle from a current position or a waiting spot to a riding position of the user or from the riding position to a get-off position based on destination information, the management center creates running information relating to a running route, a running speed, and the like of the automatic driving vehicle on the basis of the map data from the riding information of the user; and the management center transmits the running information to the automatic driving vehicle via the network to cause the automatic driving vehicle to perform autonomous running in accordance with the running information.
The present invention provides an autonomous travel vehicle, a delivery system, and a program, the autonomous travel vehicle being an autonomous travel vehicle 100 that travels following a set route, wherein the autonomous travel vehicle 100 is provided with: a pair of right and left display parts 103 which are provided on a front surface of the main body of the autonomous travel vehicle 100; and monitoring cameras 104 that capture images of the front, lateral, and rear sides of the autonomous travel vehicle 100. Predetermined eye-shaped images are displayed on the display parts 103 on the basis of the state of the autonomous travel vehicle 100 and/or the images captured by the monitoring cameras 104, whereby the eye-shaped images are changed in response to the conditions of obstacles and appear friendly to surrounding persons during travel, and in stores and at delivery destinations.
A travel system 1 for a mobile vehicle, comprising: a mobile vehicle 10 containing a main body unit 11, a travel unit 12 for traveling on the ground, a drive control unit 13 for controlling driving of the travel unit 12, and a marker detection unit 30; and a marker 40 arranged along a travel path 2a to be traveled by the mobile vehicle 10. The marker detection unit 30 has: an imaging means 31 for capturing an area below the main body unit; an image processing unit 32 for carrying out image processing on a photographic image captured by the imaging means 31 and thus detecting a marker 40; and a marker control unit 33 for, on the basis of the marker 40 detected by the image processing unit 32, outputting travel information 50 that has been preset in the marker 40 to the drive control unit 13. The marker 40 is configured from one or more markers aligned in a horizontal direction or vertical direction intersecting the travel path 2a, and the drive control unit 13 controls driving of the travel unit 12 on the basis of the travel information 50 from the marker control unit 33, thereby enabling the mobile vehicle 10 to travel autonomously along the travel path 2a indicated by the marker 40.
Provided is an unmanned delivery system 10 comprising: a commodity accumulation location 20; a vehicle standby location 40; a management center 50 that manages the inventory state of individual commodities at the commodity accumulation location and manages the state of an unmanned delivery vehicle at the vehicle standby location; and a network 60 that connects the commodity accumulation location, the vehicle standby location, and the management center to each other, the unmanned delivery system being configured so that: the management center 50 selects, on the basis of commodity order information 71 from a user 70, a commodity accumulation location and a vehicle standby location in accordance with the inventory status and delivery destination position of an ordered commodity, selects an unmanned delivery vehicle 80 that is on standby at the selected vehicle standby location or is traveling, and transmits commodity delivery information to the unmanned delivery vehicle and the commodity accumulation location; and the unmanned delivery vehicle travels autonomously to the selected commodity accumulation location, autonomously brings a picked ordered commodity to the delivery destination, settles payment for and delivers the commodity ordered by the user, and then moves by autonomous travel to the vehicle standby location.
A work device 10 comprises: a traveling mobile body 20; a work mobile body 30; and a flexible wiring unit 50 composed of a plurality of conductors that mechanically and controllably connect the traveling mobile body 20 and the work mobile body. The traveling mobile body 20 comprises: a traveling unit 22 configured to travel inside a work area 11 or through a surrounding region; a travel control unit 23 that drives and controls the traveling unit; a processing unit 24; and a power source unit 27. The work mobile body 30 comprises: a work unit 34 that performs work on the work area 11; a moving unit 32; a movement control unit 33; and a power feeding unit 38 that feeds power to the work unit 34. The power feeding unit 38 is supplied with power from the power source unit 27 of the traveling mobile body 20 via the wiring unit 50, and the movement control unit 33 controls the moving unit 32 such that the work unit 34 performs work on the work area 11 while the work mobile body 30 moves autonomously along a prescribed path.
Provided are: an object detecting method for detecting an object with high precision by means of a stereo camera; and a device therefor. An object detecting device 20 includes: a stereo camera 21; a parallax calculating unit 22 that calculates parallax for each pixel on the basis of left and right images acquired by the stereo camera 21; a distance/3D information calculating unit 23 that calculates, from the parallax, a 3D distance image formed of 3D point group data; an OGM calculating unit 26 that nominates the 3D point group data onto a 2D map and calculates a first occupancy grid map (OGM); and an object detecting unit 28 that detects 3D information about an object by using the OGM. The OGM calculating unit 26 arranges a redundant cell such that the redundant cell overlaps across the vicinity of boundaries among multiple cells, and nominates the 3D point group data also onto the redundant cell, and thereby generates a redundant second occupancy grid map (ROGM).
A marking device includes a light-emitting unit configured to emit light, a housing configured to accommodate the light-emitting unit, and a support configured to support the housing. The housing can include a transmitting portion configured to transmit the light from the light-emitting unit through a circumferential portion of the housing, and a roof covering the light-emitting unit accommodated in the housing. The housing can include a side wall formed between every two adjacent windows of the plurality of windows.
F21S 8/08 - Lighting devices intended for fixed installation with a standard
F21V 15/01 - Housings, e.g. material or assembling of housing parts
G08B 5/36 - Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmissionVisible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electromagnetic transmission using visible light sources
G01S 1/70 - Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmittersReceivers co-operating therewith using electromagnetic waves other than radio waves
G05D 1/02 - Control of position or course in two dimensions
F21W 111/00 - Use or application of lighting devices or systems for signalling, marking or indicating, not provided for in groups
Provided is an interface that enables a slave device to communicate with an operator, in technology that saves labor in cargo transport by the combination of a master device operated by the operator and a slave device that automatically tracks the master device. The slave devices (β, γ) are each provided with: a drive unit for movement; a control device that has a beacon visual confirmation camera (IR camera) provided on the side facing the master device (α) for visually confirming a beacon of the master device (α) or the other slave device (β，γ), and that determines a tracking state from image data obtained by the beacon visual confirmation camera; and a speaker for conveying, by audio, a message to the operator. If it is determined, from the image data from the beacon visual confirmation camera of the slave devices (β, γ), that an abnormality has occurred in the transport state, then the control device causes the speakers to produce audio for conveying an abnormal situation to the operator.
This distance sensor is equipped with a distance detection unit and an obstacle information generation unit into which distance data output from the distance detection unit is input. The distance detection unit includes: a plurality of pulsed semiconductor light-emitting elements; a drive unit for the plurality of pulsed semiconductor light-emitting elements; a line image sensor that detects reflected light generated from an obstacle in front of the plurality of pulsed semiconductor light-emitting elements; and a distance detection control unit that controls the drive unit and the line image sensor. The distance detection control unit controls the drive unit such that the plurality of pulsed semiconductor light-emitting elements oscillate synchronously at a prescribed pulse width, calculates from the reflected light the delay time in the pixels of the line image sensor by means of phase difference measurement using electric charge distribution, and calculates data pertaining to the distance between the pulsed semiconductor light-emitting elements and the obstacle from the delay time and the pulse width. Thus, a low-cost distance sensor that obtains obstacle information with high sensitivity and at a high frame rate without using a mobile component, and a conveying robot using the distance sensor are provided.
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/93 - Lidar systems, specially adapted for specific applications for anti-collision purposes
G01S 1/70 - Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmittersReceivers co-operating therewith using electromagnetic waves other than radio waves
G05D 1/02 - Control of position or course in two dimensions
15.
ON-BOARD INFORMATION COMMUNICATION APPARATUS, AND ON-BOARD INFORMATION UTILIZING NETWORK SYSTEM
Provided is an on-board information communication apparatus that enables transmission of various on-board information carried in an on-board network to an external computer in real-time, transferring of on-board data in an on-board network system to an external communication terminal device, and, charging of the external communication terminal device. The on-board information communication apparatus is provided with: a first connection unit (21) connected to an on-board network system (11); a second connection unit (22) connected to a system (12) for inspecting a vehicle and/or passenger state; a communication unit (23) including a plurality of channels for performing communications with the outside; and a control unit (24) that attaches time information to information successively inputted from the first connection unit (21) and the second connection unit (22), and outputs the inputted information allocated to the channels of the communication unit (23). Meanwhile, the on-board information communication apparatus is provided with: a data processing unit that performs data processing in response to the reception of on-board information from the on-board network system via the first connection unit; an adjustment unit that adjusts electric power supplied from a battery in the on-board network system via the first connection unit; and a second connection unit connected to the external communication terminal device by a cable.
B60R 16/02 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided forArrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric
16.
REPRODUCTION LOG ANALYSIS PROGRAM, TERMINAL DEVICE, AND AUTONOMOUSLY MOVING TYPE ROBOT
Provided is a technique for selecting and reproducing a musical composition file appropriate for user's need according to 'TPO'. A reproduction log analysis program analyzes the reproduction log reproduced by an autonomously moving type robot capable of reproducing a musical composition file and generates a recommendation list based on the user's preference according to the analysis result. The program acquires reproduction log reproduced by the autonomously moving type robot and stores it in a reproduction log database. According to the reproduction log, the user preference is analyzed to create a unique recommendation list for the user. Moreover, when the terminal device is connected to the musical composition file providing site, musical composition file information is acquired in accordance with the recommendation list. Here, the acquired musical composition file information is displayed. When the user selects a desired musical composition file, the selected musical composition file is downloaded.
A sound reproducing robot, which controls a driving mechanism in accordance with an output sound corresponding to a user's personality or taste, is provided with a genre analyzing unit (36) for analyzing an output sound data sequence; an action pattern data storing unit (15) for storing data with respect to a plurality of action patterns to be realized by a driving mechanism (11); a buffer processing unit (34) for sequentially storing the output sound data sequence; a sound analyzing unit (35) for extracting a characteristic amount in connection with a sound including a tempo and/or a peak from the sound data sequence stored in the buffer processing unit (34); and a driving mechanism control unit (12) which, on the one hand, controls the driving mechanism (11) in accordance with action pattern data acquired from the action pattern data storing unit (15) on the basis of a genre analyzing result of the genre analyzing unit (36) and, on the other, changes the control of the driving mechanism (11) in accordance with the data in response to the character amount extracted by the sound analyzing unit (35), so that the driving mechanism (11) acts in synchronism with an output sound.
An autonomously moving robot includes an information input unit (20) for receiving input of position information and movement destination information from a user and a position information storage unit (21) for storing the position information inputted from the information input unit (20) and a position estimated by a position estimation unit (14) while correlating them to each other. When movement destination information is inputted to the information input unit (20), a movement route planning unit (15) correlates the inputted movement destination information with a table stored in the position information storage unit (21) and references map data as obstacle information in the robot movement space, so as to obtain a movement route from the position estimated by the position estimation unit (14).
patents
