JP2020529375A - 専門製品およびサービスの配達のためのロボット車両のフリート - Google Patents
専門製品およびサービスの配達のためのロボット車両のフリート Download PDFInfo
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- JP2020529375A JP2020529375A JP2020504119A JP2020504119A JP2020529375A JP 2020529375 A JP2020529375 A JP 2020529375A JP 2020504119 A JP2020504119 A JP 2020504119A JP 2020504119 A JP2020504119 A JP 2020504119A JP 2020529375 A JP2020529375 A JP 2020529375A
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- G07C2009/0092—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses for cargo, freight or shipping containers and applications therefore in general
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Abstract
Description
本願は、2017年7月28日出願の米国仮出願第62/538,538号、2018年7月27日出願の米国出願第16/047,598号、2018年7月27日出願の米国出願第16/047,640号、2018年7月27日出願の米国出願第16/047,659号、2018年7月27日出願の米国出願第16/047,894号、2018年7月30日出願の米国出願第16/048,669号、2018年7月30日出願の米国出願第16/048,737号、および、2018年7月30日出願の米国出願第16/048,797号に基づく優先権を主張する。上述の出願の各々の全内容は、参照によって本明細書に組み込まれる。
本明細書で言及するすべての出版物、特許、および、特許出願は、各出版物、特許、または、特許出願が、参照によって組み込まれることを具体的かつ個々に示された場合と同じ程度まで、参照によって本明細書に組み込まれる。
本明細書では、図1に示すようなロボットフリート100が提供されており、ロボットフリート100は、ロボット車両101を有しており、各ロボット車両101は、完全自律的または半自律的に動作する。
いくつかの実施形態において、非構造化開放環境は、通行可能な経路によってアクセス可能な閉ざされていない地理的領域であり、例えば、公道、私道、自転車専用道路、野原、開けた公有地、開けた私有地、歩道、湖、河川、または、水路を含む。
ロボットフリート100のいくつかの実施形態において、フリートは、ロボットフリート100の調整およびフリート内の各ロボット101へのタスクの割り当てのために(中央サーバに関連する)フリート管理モジュール120を備える。フリート管理モジュールは、フリート内の各ロボットの活動および配置を調整する。ロボットフリート、フリート所有者/オペレータ、および/または、ユーザとの通信に加えて、フリート管理モジュールは、システム全体の挙動を最適化するために、提供者/販売業者/企業および顧客とも通信する。
フリート内の各ロボット車両101は、輸送システム130(例えば、推進エンジン、車輪、無限軌道、翼、ロータ、ブロワ、ロケット、プロペラ、ブレーキなどを備えた駆動システム)を備える。
いくつかの実施形態において、ロボットフリートの各ロボットは、1または複数の電源を備えるよう構成され、電源は、電力システム135(例えば、バッテリ、ソーラ、ガソリン、プロパンなど)を含む。
フリート内の各ロボットは、さらに、非構造化開放環境または閉鎖環境内でのナビゲーションのためのナビゲーションモジュール140(例えば、デジタルマップ、HDマップ、GPSなど)を備える。いくつかの実施形態において、フリート100は、ユーザ、オペレータ、または、フリートオペレータによって生成された、具体手には、ロボットがそこで動作するよう構成されている意図した環境を網羅するように作成されたマップに頼る。そうして、これらのマップは、フリート内の各ロボットの全般的な誘導に用いられ、ロボットは、様々なオンボードセンサ(カメラ、LiDAR、高度計、または、レーダなど)を用いて、その相対地理位置および高度を確認することによって、この環境の理解を補う。
上述のように、各ロボットは、どこに安全に進むことができるのか、どのような他の物体が各ロボットの周りにあるのか、および、すぐ周辺の範囲内で何をしてもよいのか、を常に決定するために、最低限の数のオンボードセンサ(例えば、カメラ(例えば、ビデオと同様に、高フレームレートで動作するカメラ)、LiDAR、レーダ、超音波センサ、マイクなど)を含むセンサシステム170と、内部計算処理125と、を備える。
フリート内の各ロボットは、さらに、フリート管理モジュールに対して、ユーザに対して、フリート管理モジュール120との間で、フリート100内のロボットとの間で、データを受信、格納、および、送信するよう構成可能な通信モジュール160を備える。いくつかの実施形態において、データは、例えば、スケジュールされた要求または注文、オンデマンドの要求または注文、もしくは、非構造化開放または閉鎖環境内で予測される需要に基づいたロボットフリートの自己ポジショニングの必要性など、少なくともユーザのやりとり(相互作用)およびロボットフリートのやりとり(相互作用)に関連する。
いくつかの実施形態において、ユーザは、フリート管理者、下請け販売業者、サービス提供者、顧客、企業体、個人、または、サードパーティを含む。
図2に示すように、フリート内のロボットは各々、商品またはサービスを輸送、配達、または、回収するために構成され、非構造化開放環境または閉鎖環境内で動作できる。いくつかの実施形態において、車両101は、小型の全地形対応車が陸上で移動できるどのような場所でも実際的に移動するよう構成される一方で、少なくとも1つ、好ましくは2つの大きい収納コンパートメント102を提供し、より好ましくは、少なくとも1つの大きいコンパートメント102は、配達されるまたは顧客から回収する必要のある個々の物品を運ぶために、可変構成の小さい内部セキュリティ保護可能なコンパートメント104を備えるよう構成される。
1.顧客は、最初の要求/注文をする時に、PIN(例えば、4桁の数字)を与えられうる。そうして、顧客は、ロボットのタッチスクリーンまたはキーパッドを用いてロボットにこのpinを入力できる。
2.顧客は、携帯電話およびロボット上のRFIDリーダを用いて本人確認を行うことができる。
3.顧客は、ロボットに話しかける声と個人のキーワードまたはキーフレーズとを用いて本人確認を行うことができる。
4.顧客は、ロボット上のカメラおよび顔認証もしくは磁気リーダを用いて、顔、政府ID、または、ビジネスIDバッチを通して本人確認を行うことができる。
5.顧客は、電話上のボタンまたは所定のコードを押すことで、携帯電話を用いて本人確認を行うことができる。(そして、システムは、電話からのGPS位置を用いて、顧客がロボットの近くにいることを任意選択的に検出できる)。
いくつかの実施形態において、ロボットフリート内の各ロボットは、処理のための高レベルの計算およびハードウェアを制御するための低レベルのセーフティクリティカルな計算能力の両方が可能な1または複数のプロセッサ125を備えられる。少なくとも1つのプロセッサは、輸送システム、ナビゲーションモジュール、センサシステム、フリート管理モジュールからの命令、通信モジュール、および、コントローラを管理するよう構成される。
いくつかの実施形態において、ロボットフリートは、さらに、以下を含む精選されたコンテンツのためのデジタルディスプレイを有する少なくとも1つのロボットを備える。提供サービス、マーケティング/販売促進、サービス提供エリアの地域/場所、顧客の詳細、地域環境を含む、広告(すなわち、特定ユーザおよび一般大衆の両方のための広告)、迷い人、尋ね人、または、発見された人、公共広告、日付、時刻、もしくは、気象。
Claims (21)
- ロボットフリートであって、
自律的に動作する複数のロボット車両と、
前記ロボットフリートの調整のためのフリート管理モジュールと、
を備え、
前記フリート管理モジュールは、前記フリート内の各ロボットの活動および位置を調整するよう構成され、前記フリートは、商品またはサービスを輸送、配達、または、回収するよう構成され、非構造化開放環境内または閉鎖環境内で動作可能であり、前記フリート内の各ロボットは、
a)電力システムと、
b)輸送システムと、
c)前記非構造化開放環境内または閉鎖環境内におけるナビゲーションのためのナビゲーションモジュールと、
d)データを受信、格納、および、前記フリート管理モジュールへ送信するように構成可能な通信モジュールと、前記データは、スケジュールされた要求または注文、オンデマンドの要求または注文、もしくは、非構造化開放環境内または閉鎖環境内で予測される需要に基づいたロボットフリートの自己ポジショニングの必要性を含み、
e)センサシステムと、
f)前記商品、または、前記サービスに関連する物品を保持するための少なくとも1つのセキュリティ保護可能なコンパートメントと、
g)割り当て可能な顧客、顧客グループ、または、提供者に、前記少なくとも1つのセキュリティ保護可能なコンパートメントを割り当て、許可された時にエントリを許すよう構成可能なコントローラと、
h)前記輸送システム、前記ナビゲーションモジュール、前記センサシステム、前記フリート管理モジュールからの命令、前記通信モジュール、および、前記コントローラを管理するよう構成されている少なくとも1つのプロセッサと、
を備える、ロボットフリート。 - 請求項1に記載のロボットフリートであって、
前記非構造化開放環境は、通行可能な経路によってアクセス可能な閉ざされていない地理的領域であり、公道、私道、自転車専用道路、野原、公開公有地、公開私有地、歩道、湖、河川、または、水路を含み、
前記非構造化閉鎖環境は、通行可能な経路によってアクセス可能な閉じられた、閉鎖的、または、半閉鎖的な構造であり、構造または障害物が存在しまたは存在しない商業施設内の開放的な領域または部屋、構造または障害物が存在しまたは存在しない商業施設内の開放的な領域または部屋の中の空間、公的または専用通路、廊下、トンネル、ランプ、エレベータ、コンベヤ、または、歩道を含む、ロボットフリート。 - 請求項1に記載のロボットフリートであって、前記ナビゲーションモジュールは、前記非構造化開放環境または閉鎖環境において前記フリート内の前記ロボットの前記輸送システムのルーティングを制御する、ロボットフリート。
- 請求項1に記載のロボットフリートであって、ユーザおよび前記フリート内の前記ロボットへの、前記フリートの前記ロボット間の、ならびに、前記ユーザと前記フリート内の前記ロボットとの間の通信は、無線伝送で行われる、ロボットフリート。
- 請求項4に記載のロボットフリートであって、前記ユーザは、フリート管理者、下請け販売業者、サービス提供者、顧客、企業体、個人、または、サードパーティを含む、ロボットフリート。
- 請求項4に記載のロボットフリートであって、前記ユーザの無線伝送相互作用および前記ロボットフリート無線伝送相互作用は、モバイルアプリケーションを介して行われ、電子デバイスによって送信されて、中央サーバ、フリート管理モジュール、および、メッシュネットワークの内の1または複数を介して前記通信モジュールに転送される、ロボットフリート。
- 請求項6に記載のロボットフリートであって、前記電子デバイスは、スマートフォン、個人用モバイルデバイス、パーソナルデジタルアシスタント(PDA)、デスクトップコンピュータ、ラップトップコンピュータ、タブレットコンピュータ、および、ウェアラブルコンピュータデバイス、の内の1または複数を含む、ロボットフリート。
- 請求項1に記載のロボットフリートであって、各ロボットフリートは、1.0mph(1.6km/h)〜90.0mph(144.8km/h)の最高速度範囲を持つよう構成されている、ロボットフリート。
- 請求項1に記載のロボットフリートであって、前記複数のセキュリティ保護可能なコンパートメントは、温かい商品、冷たい商品、湿った商品、乾いた商品、の内の1または複数のために湿度および温度が制御される、ロボットフリート。
- 請求項1に記載のロボットフリートであって、前記少なくとも1つまたは前記複数のセキュリティ保護可能なコンパートメントは、複数の商品のために構成可能であり、前記少なくとも1つまたは前記複数のセキュリティ保護可能なコンパートメントならびに商品は、書籍のための本棚、文書のための薄い引き出し、顧客によって選択および購入可能な様々な物品を保持するよう設計された棚またはコンパートメント、小包のための大型の箱状の引き出し、ならびに、ベンディングマシン、コーヒーメーカー、ピザオーブン、および、ディスペンサにサイズを合わせたコンパートメントを含む、ロボットフリート。
- 請求項1に記載のロボットフリートであって、前記複数のセキュリティ保護可能なコンパートメントは、予測される需要、行動のパターン、サービスエリア、および、輸送される商品のタイプ、の内の1または複数に基づいて、可変的に構成可能である、ロボットフリート。
- 請求項1に記載のロボットフリートであって、前記サービスは、定期購入サービス、処方サービス、マーケティングサービス、広告サービス、通知サービス、ドライクリーニング、物品のレンタル、靴や衣類を含む物品の共有または貸し出し、商品の修理、物品の配送、もしくは、スケジュールされた配達サービス、を含む、ロボットフリート。
- 請求項12に記載のロボットフリートであって、前記サービスは、さらに、
a)前記ユーザが、同じ相互作用の範囲内で同じまたは類似の商品を受け取って返品すること、
b)前記ユーザが、同じ相互作用の範囲内で1セットの商品を受け取り、別のセットの商品を返すこと、もしくは、
c)サードパーティユーザが、別の位置の原理ユーザへの商品を準備、輸送、配達、および/または、回収するように、商品またはサービスの提供者に指示および/または許可を与えること、を含む、ロボットフリート。 - 請求項1に記載のロボットフリートであって、少なくとも1つのロボットは、さらに、商品を処理または加工するよう構成されている、ロボットフリート。
- 請求項14に記載のロボットフリートであって、前記処理または加工される商品は、調味料を入れるまたは入れない飲料、複数のファストフード、および、電子レンジ食品、の内の1または複数を含む、ロボットフリート。
- 請求項1に記載のロボットフリートであって、さらに、広告、迷い人、尋ね人、または、発見された人、公共広告、日付、時刻、ならびに、気象、を含む精選されたコンテンツのためのデジタルディスプレイを有する少なくとも1つのロボットを備える、ロボットフリート。
- 請求項1から請求項16のいずれか一項に記載のロボットフリートであって、前記ロボットの配置は、利用予測、行動履歴のパターン、および、運ばれている具体的な商品、の内の1または複数に基づいてカスタマイズ可能である、ロボットフリート。
- 請求項1から請求項17のいずれか一項に記載のロボットフリートであって、前記ロボットフリートは、半自律型または完全自律型である、ロボットフリート。
- 請求項1から請求項18のいずれか一項に記載のロボットフリートであって、前記ロボットフリートは、前記ユーザによって直接制御される、ロボットフリート。
- 請求項1から請求項19のいずれか一項記載のロボットフリートであって、前記フリート内の複数の前記自律ロボットは、サードパーティ販売業者/サービス提供者のために運転される、ロボットフリート。
- 請求項1から請求項20のいずれか一項に記載のロボットフリートであって、前記フリート内の複数の前記自律ロボットは、さらに、複数の自律ロボットの一部を含むサブフリートの一部であるように構成され、各サブフリートは、独立的に、または、2以上のサブフリート含む複数のサブフリートとタンデムで動作するよう構成される、ロボットフリート。
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