Tracking robot

Abstract

To improve driving performance.SOLUTION: A tracking robot according to an embodiment includes a drone, a robot body, a moving unit, a detection unit, and a control unit. The drone is configured to be capable of tracking a suspicious object. The robot body is configured to allow the drone to take off and land and to travel autonomously. The moving body is provided on the robot body and configured to be movable relative to the robot body. The detection unit detects the situation around the robot body. The control unit controls the drone and causes the robot body to travel autonomously according to the situation detected by the detection unit. When the robot body travels along a curved road, the control unit moves the moving unit to move the center of gravity of the robot body.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The disclosed embodiments relate to a tracked robot. [Background technology]

[0002] Conventionally, there is known a system in which, when a vehicle is harmed, a drone takes off from the vehicle and photographs the vehicle and its surroundings with a camera mounted on the drone (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-93618 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a suspicious object is detected and the suspicious object escapes, it is desirable to track the suspicious object. However, the conventional technology has room for improvement in terms of improving driving performance when driving, for example, to track a suspicious object.

[0005] The present invention has been made in view of the above, and has an object to improve driving performance. [Means for solving the problem]

[0006] A tracking robot according to one aspect of an embodiment includes a drone capable of tracking a suspicious target, a robot body capable of autonomously traveling and on which the drone can take off and land, a moving unit provided on the robot body and movable relative to the robot body, a detection unit that detects the situation around the robot body, and a control unit that controls the drone and causes the robot body to autonomously travel in response to the situation detected by the detection unit. The control unit moves the moving unit to move the center of gravity of the robot body when the robot body travels along a curved road. Effect of the Invention

[0007] According to one aspect of the embodiment, driving performance can be improved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an outline of a tracking system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an outline of a tracked robot according to an embodiment. [Diagram 3] FIG. 3 is a rear view of the tracked robot according to the embodiment. [Figure 4] FIG. 4 is a functional block diagram showing an outline of a control device of a tracked robot according to an embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of the movement information. [Figure 6] FIG. 6 is a functional block diagram illustrating an overview of a management device according to an embodiment. [Figure 7] FIG. 7 is a flowchart showing a control process procedure for the robot main body, which is executed by the control device. [Figure 8] FIG. 8 is a diagram illustrating an example of a computer hardware configuration that functions as a tracking robot or a management device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The present invention will be described below through embodiments, but the following embodiments do not limit the scope of the invention according to the claims. In addition, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0010] A tracking system 1 including a tracked robot 2 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an outline of the tracking system 1 according to the embodiment.

[0011] The tracking system 1 includes a tracking robot 2, a long-range drone 3, and a management device 4. The tracking robot 2, the long-range drone 3, and the management device 4 are connected via a network N. For example, a plurality of tracking robots 2 and a plurality of long-range drones 3 are provided.

[0012] The network N is, for example, a mobile communication network such as LTE (Long Term Evolution), 5G, etc. The tracked robot 2 and the long-range drone 3 may be connected via the network N.

[0013] Next, the tracked robot 2 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an outline of the tracked robot 2 according to the embodiment.

[0014] For ease of explanation, Fig. 2 and Fig. 3 (described later) show a three-dimensional Cartesian coordinate system in which mutually orthogonal X-axis, Y-axis, and Z-axis directions are defined, and the positive Z-axis direction is the vertically upward direction. In the following, the positive X-axis direction may be referred to as "right", the negative X-axis direction as "left", the positive Y-axis direction as "forward", and the negative Y-axis direction as "rear". For this reason, in the following explanation, the X-axis direction may be referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction (vertical direction).

[0015] As shown in Fig. 2, the tracking robot 2 includes a robot body 10, a short-range drone 11, a detection unit 12, and a control device 13. The tracking robot 2 is capable of autonomous driving, and when a suspicious object is detected, it tracks the suspicious object. The suspicious object includes, for example, a person who is behaving suspiciously and the perpetrator of a crime. In addition, the suspicious object is not limited to a person, and may be a vehicle carrying a person who is behaving suspiciously.

[0016] The robot body 10 is provided with a battery 100. The robot body 10 is driven by the battery 100. The battery 100 may be, for example, a secondary battery such as a lithium ion battery or a lead battery, but is not limited to this. The configuration of the battery 100 will be described in detail later with reference to FIG. 3.

[0017] The robot body 10 is a humanoid robot. The robot body 10 includes a torso 10a, legs 10b, arms 10c, and a head 10d. The legs 10b, arms 10c, and head 10d are movably attached to the torso 10a. The robot body 10 is provided with a driving mechanism such as a motor that moves each part of the robot, such as the legs 10b, arms 10c, and head 10d. The robot body 10 can run by moving the legs 10b.

[0018] The robot body 10 also includes rollers 14. The rollers 14 are provided on the legs 10b. Specifically, the rollers 14 are provided on the lower ends of the legs 10b. A plurality of rollers 14 are provided for each leg 10b. For example, four rollers 14 are provided for each leg 10b. However, the number of rollers 14 for each leg 10b is not limited to this.

[0019] The rollers 14 can rotate relative to the legs 10b. For example, the rollers 14 rotate when rotation generated by a motor is transmitted to the rollers 14. The rotation of the rollers 14 enables the robot body 10 to move.

[0020] The roller 14 may have a speed reducing mechanism such as a gear. A locking mechanism capable of locking the roller 14 so as not to rotate is provided on the leg 10b. For example, the locking mechanism locks the rotation shaft of the roller 14.

[0021] The locking mechanism, for example, locks the roller 14 so that it does not rotate relative to the leg 10b by engaging a claw with a gear provided on the rotation shaft of the roller 14. When the engagement between the gear and the claw is released, the roller 14 can rotate relative to the leg 10b. Note that the above-mentioned locking mechanism is an example and is not limited to this.

[0022] The robot body 10 can run by a first running or a second running. The first running is a running method in which the legs 10b move. The second running is a running method in which the rollers 14 rotate.

[0023] In the first run, the rollers 14 are locked by the locking mechanism so as not to rotate relative to the leg 10b, and in the second run, the rollers 14 are released from the locking mechanism.

[0024] This enables the tracked robot 2 to stabilize its running during the first running.

[0025] The running speed in the second running is faster than the running speed in the first running. That is, the moving speed of the robot body 10 by the rollers 14 is faster than the running speed of the robot body 10 by the movement of the legs 10b.

[0026] As a result, when a suspicious object is detected, the tracking robot 2 can track the suspicious object by running in the second running mode. Therefore, the tracking robot 2 can catch up with the suspicious object early, for example. Therefore, the tracking robot 2 can improve the tracking ability of the suspicious object.

[0027] Fingers 10e are provided at the tip of the arm 10c. For example, five fingers 10e are provided at the tip of the arm 10c. Each finger 10e can be bent by a driving mechanism such as a motor.

[0028] A base unit 15 from which the short-range drone 11 can take off and land is provided on the back of the body unit 10a. The base unit 15 includes a charging device that charges the battery of the short-range drone 11. The base unit 15 may also include a replacement battery for the short-range drone 11.

[0029] The short-range drone 11 is an example of a moving object. The short-range drone 11 is a multicopter equipped with multiple (for example, four) rotor propellers, and performs unmanned autonomous flight. The short-range drone 11 is also powered by a battery.

[0030] The short-range drone 11 includes a camera 20 and a tracking mark 21. The tracking mark 21 is launched from the short-range drone 11. The short-range drone 11 includes a launching device that launches the tracking mark 21.

[0031] For example, when the tracking mark 21 is projected toward a suspicious target, it adheres to the suspicious target. For example, the tracking mark 21 is provided with a magnet. For example, when the suspicious target is a vehicle, the tracking mark 21 adheres to the suspicious target by magnetic force. The tracking mark 21 may have adhesive properties.

[0032] The tracking mark 21 has, for example, a positioning device. The positioning device is, for example, a Global Navigation Satellite System (GNSS), and can receive radio waves from navigation satellites orbiting in the sky to perform positioning and timing. The positioning device also includes a communication module that transmits its own detected position information. The position information of the tracking mark 21 detected by the positioning device is transmitted to the management device 4 via the network N. The position information of the tracking mark 21 detected by the positioning device is transmitted to the control device 13 via the network N. When the tracking mark 21 is attached to a suspicious object, the position of the suspicious object is detected based on the position information transmitted from the positioning device.

[0033] The tracking mark 21 may be a ball containing fluorescent paint. The ball containing fluorescent paint explodes when it hits a suspicious object, and the fluorescent paint adheres to the suspicious object. The short-range drone 11 may be provided with multiple types of tracking marks 21.

[0034] In this way, the short-range drone 11 can emit the tracking mark 21 toward the suspicious target. This allows the tracking robot 2 to track the suspicious target by tracking the tracking mark 21. Therefore, the tracking robot 2 can easily identify the suspicious target, making it easier to track the suspicious target and accurately identifying the suspicious target. Therefore, the tracking robot 2 can improve the tracking ability of the suspicious target.

[0035] The short-range drone 11 includes a communication module for performing wireless communication via the network N. The short-range drone 11 also includes various sensors such as an acceleration sensor, a gyro sensor, and an optical sensor.

[0036] The short-range drone 11 also has a positioning device 22 for measuring its own position. The positioning device 22 is, for example, a GNSS. Position information of the short-range drone 11 detected by the positioning device 22 may be transmitted to the management device 4 via the network N. Position information of the short-range drone 11 detected by the positioning device 22 may be transmitted to the control device 13 via the network N. The short-range drone 11 also has a computer (for example, a microcomputer) that executes a flight control function, an attitude control function for controlling the attitude, and the like.

[0037] The short-range drone 11 acquires information about the first flight route from the control device 13 via the communication module. The information about the first flight route includes position information (e.g., latitude, longitude, and altitude) of the first flight route. The first flight route is a flight route for tracking a suspicious target.

[0038] The short-range drone 11 transmits images captured by the camera 20 to the management device 4 via the communication module. The short-range drone 11 transmits images captured by the camera 20 to the control device 13 via the communication module. The short-range drone 11 acquires information about the emission signal of the tracking mark 21 from the control device 13 via the communication module.

[0039] When a suspicious target is detected, the short-range drone 11 launches from the base unit 15 of the robot body 10. The short-range drone 11 acquires information about the first flight path, and flies along the first flight path to track the suspicious target. The short-range drone 11 executes image processing based on an image captured by the camera 20, and flies along the first flight path while avoiding obstacles. When a signal to launch the tracking mark 21 is acquired, the short-range drone 11 launches the tracking mark 21. The short-range drone 11 launches the tracking mark 21 toward the suspicious target.

[0040] The detection unit 12 is provided, for example, in the head 10d of the robot body 10. The detection unit 12 may be provided in the torso 10a of the robot body 10, etc. The detection unit 12 detects the surrounding situation of the robot body 10. The detection unit 12 includes, for example, a high-sensitivity camera capable of 360-degree sensing, a LiDAR (light detection and ranging), a thermo camera, and a radar. The detection unit 12 may include sensors for vision recognition, fine sound, ultrasonic waves, vibration, infrared rays, ultraviolet rays, electromagnetic waves, etc. A plurality of detection units 12 may be provided. The detection unit 12 may be a plurality of types of sensors, etc.

[0041] The detection unit 12 also includes a positioning device. The positioning device is, for example, a GNSS. The positioning device detects the position of the robot main body 10. Information on the detected position of the robot main body 10 is transmitted to the management device 4 via the network N.

[0042] Here, the configuration of the battery 100 will be described in detail with reference to Fig. 3. Fig. 3 is a rear view of the tracked robot 2 according to the embodiment when viewed from the rear. Note that in Fig. 3, for simplification of the illustration, the short-range drone 11, the arm unit 10c, and the like are omitted. Also, for ease of understanding, Fig. 3 shows the inside of the base unit 15 in a see-through manner.

[0043] 3, the battery 100 is housed (stored) inside the base unit 15. That is, the base unit 15 functions as a storage unit (storage section) that stores the battery 100. Note that, although an example in which the base unit 15 stores the battery 100 is shown here, the present invention is not limited to this, and for example, a configuration may be adopted in which a storage section for the battery 100 is provided separately from the base unit 15.

[0044] The battery 100 is configured to be movable relative to the robot body 10. For example, the battery 100 is attached to a mounting base 110. The mounting base 110 is fixed inside the base unit 15. The mounting base 110 is provided with a movement mechanism (not shown) for moving the battery 100. This movement mechanism allows the battery 100 to move freely on the mounting base 110, specifically, to move freely along the left-right direction (X-axis direction).

[0045] As the movement mechanism, a rack-and-pinion mechanism driven by the driving force of a motor, or a ball screw mechanism driven by the driving force of a motor, etc. can be used, but these are merely examples and are not limiting.

[0046] 3, a position at or near the center in the left-right direction of the robot body 10 is set as a reference position, and the battery 100 at the reference position is shown by a solid line. The battery 100 moved leftward from the reference position is shown by a dashed line (see arrow A1). The battery 100 moved rightward from the reference position is shown by a two-dot chain line (see arrow A2).

[0047] In this way, the tracked robot 2 according to the embodiment can move the center of gravity B of the robot body 10 by moving the battery 100 relative to the robot body 10. Specifically, since the battery 100 is relatively heavy, the center of gravity B of the robot body 10 can be moved to the left by moving the battery 100 to the left from the reference position (see arrow C1). Also, the center of gravity B of the robot body 10 can be moved to the right by moving the battery 100 to the right from the reference position (see arrow C2). The movement control for moving the battery 100 described above is executed when the robot body 10 is running, which will be described later.

[0048] The battery 100 is an example of a moving part that moves relative to the robot body 10. Here, an example in which the moving part is the battery 100 is shown, but the moving part is not limited to this, and may be something else, such as a weight, as long as it can move the center of gravity B. Also, in FIG. 3, an example in which the center of gravity B of the robot body 10 is located near the lower part of the trunk 10a is shown, but this is merely an example and is not limiting.

[0049] Next, the control device 13 (see FIG. 2) will be described with reference to FIG. 4. FIG. 4 is a functional block diagram showing an outline of the control device 13 of the tracked robot 2 according to the embodiment. As shown in FIG. 4, the control device 13 includes a communication unit 30, a storage unit 31, and a control unit 32.

[0050] The communication unit 30 is wirelessly connected to the network N. The communication unit 30 transmits and receives information to and from the management device 4 via the network N. The communication unit 30 transmits various information detected by the detection unit 12 to the management device 4. The communication unit 30 receives images captured by the camera 20 of the short-range drone 11. The communication unit 30 receives position information of the tracking mark 21 from the positioning device of the tracking mark 21.

[0051] The storage unit 31 is realized by, for example, a semiconductor memory element such as a random access memory (RAM) or a flash memory, or a storage device such as a hard disk drive (HDD), a solid state drive (SSD), an optical disk, etc. The storage unit 31 stores various programs and various data. The storage unit 31 stores curve information 31a and movement information 31b.

[0052] The curve information 31a is information about a curved road included in the travel route along which the robot body 10 travels. The curve information 31a includes, for example, information about the shape of the curved road, position information of the curved road, etc. The information about the shape of the curved road includes, for example, the curvature of the curved road, which indicates the degree of the curve in the curved road.

[0053] The movement information 31b is information related to the movement of the battery 100 described above. The movement information 31b will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the movement information 31b. As shown in Fig. 5, the movement information 31b includes information such as "curvature of a curved road" and "movement distance".

[0054] "Curve road curvature" is information indicating the curvature of a curved road. "Large" "Curve road curvature" indicates, for example, that the curve is relatively sharp on the curved road and the curvature is greater than a specified range. "Medium" "Curve road curvature" indicates, for example, that the curve is moderate on the curved road and the curvature is within a specified range. "Small" "Curve road curvature" indicates, for example, that the curve is relatively gentle on the curved road and the curvature is smaller than the specified range. The above-mentioned specified range is set to a range indicating that the curve is moderate.

[0055] "Movement distance" is information indicating the distance traveled by the battery 100 from the reference position. "Long" "Movement distance" indicates that the distance traveled by the battery 100 from the reference position is relatively long, in other words, that the battery 100 moves a relatively long distance from the reference position. "Medium" "Movement distance" indicates that the distance traveled by the battery 100 from the reference position is medium, in other words, that the battery 100 moves a medium distance from the reference position. "Short" "Movement distance" indicates that the distance traveled by the battery 100 from the reference position is relatively short, in other words, that the battery 100 moves a relatively short distance from the reference position.

[0056] In the example of Fig. 5, when the curvature of the curved road is "large", it indicates that the travel distance of the battery 100 is "long". When the curvature of the curved road is "medium", it indicates that the travel distance of the battery 100 is "medium". When the curvature of the curved road is "small", it indicates that the travel distance of the battery 100 is "short".

[0057] 5 shows an example in which the curvature of the curved road in the travel information 31b is divided into three stages, but the curvature is not limited to this and may be divided into, for example, two stages or four or more stages. Also, the travel distance in the travel information 31b may be constant regardless of the curvature of the curved road.

[0058] Returning to the explanation of Fig. 4, the control unit 32 is a controller and includes, for example, a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM, an input / output port, and various other circuits. The control unit 32 may also be configured with hardware such as an integrated circuit, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control unit 32 includes a suspicious object detection unit 32a, a drone control unit 32b, and a robot control unit 32c.

[0059] The suspicious target detection unit 32a detects a suspicious target. The suspicious target detection unit 32a detects a suspicious target based on various information detected by the detection unit 12. For example, the suspicious target detection unit 32a performs a predetermined image processing on an image captured by a high-sensitivity camera provided on the tracking robot 2 to detect a suspicious target. For example, the suspicious target detection unit 32a may detect a suspicious target according to a detection result by an infrared sensor. The suspicious target detection unit 32a may detect a suspicious target using a suspicious target detection model in AI (Artificial Intelligence).

[0060] The drone control unit 32b controls the short-range drone 11 and the long-range drone 3. The drone control unit 32b sets a first flight path for the short-range drone 11. The drone control unit 32b sets a first flight path for tracking a detected suspicious target. The drone control unit 32b sets the first flight path based on the current position information of the tracking robot 2 and the position information in which the suspicious target was detected. For example, the drone control unit 32b sets the first flight path based on the current position information of the tracking robot 2, the direction in which the suspicious target was detected relative to the tracking robot 2, and the distance from the tracking robot 2 to the suspicious target.

[0061] The drone control unit 32b sets a second flight path for the long-range drone 3. The drone control unit 32b sets a second flight path for tracking a detected suspicious target. The drone control unit 32b sets the second flight path based on position information of the station where the long-range drone 3 is waiting and position information of the tracking mark 21. The drone control unit 32b may set the second flight path based on position information of the long-range drone 3 and position information of the tracking mark 21.

[0062] The drone control unit 32b may set the first flight path and the second flight path based on the predicted escape route of the suspicious target. The predicted escape route is generated by, for example, an escape route prediction model. The escape route prediction model predicts the escape route of the suspicious target from the position information of the tracking robot 2, the position information of the tracking mark 21, map information, traffic information, and the like when the suspicious target is detected. The position information of the tracking mark 21 includes, for example, historical information on the position of the tracking mark 21.

[0063] For example, the escape route prediction model can use MapGPT. For example, the escape route prediction model is a text generation model (so-called AI chat engine), and may be interpreted as an algorithm and calculation for automatic dialogue processing by text. The text generation model is, for example, described in JP 2018-081444 A and chatGPT (Internet search engine).<URL: https: / / openai.com / blog / chatgpt> ) and thus detailed description thereof will be omitted. Such a sentence generation model is configured using a large language model (LLM).

[0064] For example, the drone control unit 32b generates a sentence such as "The suspicious person is fleeing from east to west at the intersection of ABC town DD. What escape route is possible?" by using a language generation model based on the position information of the tracking mark 21. Then, the generated sentence is input to an escape route prediction model, whereby a sentence such as "The suspicious person is likely to head to EF in ABC town" is generated. In this case, the drone control unit 32b sets a first flight route and a second flight route toward "EF in ABC town".

[0065] By setting the first flight path and the second flight path based on the predicted escape route of the suspicious target, the short-range drone 11 and the long-range drone 3 can get to the destination of the suspicious target beforehand. The predicted escape route may be set by the management device 4.

[0066] The set first flight path is transmitted to the short-range drone 11. The short-range drone 11 that receives the first flight path takes off from the base unit 15, flies along the first flight path, and tracks the suspicious target.

[0067] The set second flight path is transmitted to the long-range drone 3. The long-range drone 3 that receives the second flight path departs from the waiting station, flies along the second flight path, and tracks the suspicious target.

[0068] The drone control unit 32b generates a launch signal for the tracking mark 21 of the short-range drone 11. For example, the drone control unit 32b calculates the distance to the suspicious target from an image captured by the camera 20 of the short-range drone 11. Then, when the distance to the suspicious target is equal to or less than a predetermined distance set in advance, the drone control unit 32b generates a launch signal for launching the tracking mark 21 toward the suspicious target. The generated launch signal is transmitted to the short-range drone 11. As a result, the tracking mark 21 is launched toward the suspicious target.

[0069] The robot control unit 32c sets a travel route for the robot body 10. The travel route includes a preset security route. The robot control unit 32c makes the robot body 10 travel autonomously along the travel route. The robot control unit 32c makes the robot body 10 travel autonomously according to the situation detected by the detection unit 12. The robot control unit 32c makes the robot body 10 travel autonomously by controlling the drive of the legs 10b, rollers 14, and arms 10c of the robot body 10. The robot control unit 32c controls the drive of the legs 10b, rollers 14, and arms 10c of the robot body 10 based on various information detected by the detection unit 12, for example, so that the robot body 10 travels while avoiding obstacles.

[0070] Also, for example, when a suspicious object is detected, the robot control unit 32c sets a travel route to track the suspicious object. The robot control unit 32c sets a travel route to track the suspicious object, for example, based on the position information of the robot main body 10 and the position information where the suspicious object was detected. For example, the robot control unit 32c sets a travel route to track the suspicious object, based on the current position information of the robot main body 10, the direction in which the suspicious object was detected relative to the robot main body 10, and the distance from the robot main body 10 to the suspicious object.

[0071] In addition, after the short-range drone 11 takes off, the robot control unit 32c sets a travel route to track the suspicious target based on the position information of the robot body 10 and the position information of the tracking mark 21.

[0072] When a suspicious target is detected, the robot control unit 32c may set a travel route to track the suspicious target based on the above-mentioned predicted escape route of the suspicious target. By setting the travel route of the robot body 10 based on the predicted escape route of the suspicious target, the robot body 10 can get to the destination of the suspicious target in advance.

[0073] The robot control unit 32c switches the running method of the robot body 10. The robot control unit 32c switches the running method of the robot body 10 between a first running method using movable legs 10b and a second running method using rotation of rollers 14.

[0074] This allows the tracking robot 2 to track a suspicious object while switching the running method, thereby improving the tracking ability of the tracking robot 2 to track a suspicious object.

[0075] For example, when no suspicious object is detected, the robot control unit 32c sets the traveling method of the robot body 10 to the first traveling. When the robot control unit 32c causes the robot body 10 to travel in the first traveling mode, the robot control unit 32c locks the rollers 14 by the locking mechanism so that they do not rotate.

[0076] When it is necessary to make the robot body 10 travel at a speed faster than the first travel, the robot control unit 32c sets the travel method of the robot body 10 to the second travel. For example, when a suspicious object is detected and the suspicious object is tracked, the robot control unit 32c sets the travel method of the robot body 10 to the second travel.

[0077] When the robot body 10 is made to travel by the second travel, the robot control unit 32c stops the movement of the leg 10b. For example, the robot control unit 32c sets the leg 10b to a predetermined position. The predetermined position is a position set in advance, and is a position where the robot body 10 is in a posture suitable for travel during the second travel by the rotation of the rollers 14. For example, the predetermined position is a position where the center of gravity of the robot body 10 is at a height equal to or less than half the total length of the tracked robot 2. For example, the predetermined position is a position where the robot body 10 is in a crouching posture. In addition, the robot control unit 32c releases the lock by the locking mechanism and rotates the rollers 14.

[0078] Even when the robot control unit 32c starts tracking a suspicious object, for example, when the robot body 10 goes up and down stairs or overcomes a step, the robot control unit 32c sets the running method of the robot body 10 to the first running mode.

[0079] Here, an example has been described in which the running method of the robot body 10 is switched to the first running or the second running depending on whether a suspicious object is detected, but the present invention is not limited to this. For example, the robot body 10 may mainly run in the second running mode, and run in the first running mode when ascending or descending stairs, climbing over a step, etc. The condition for switching the running method of the robot may be configurable.

[0080] The travel route of the robot body 10 described above may include a curved road. When the robot body 10 travels on a curved road, the robot control unit 32c according to the embodiment moves the battery (movement unit) 100 to move the center of gravity B (see FIG. 3) of the robot body 10. This can improve the travel performance of the robot body 10.

[0081] Specifically, when the robot control unit 32c sets a travel route, it determines whether or not the travel route includes a curved road. If the robot control unit 32c determines that the travel route includes a curved road, it acquires curve information on the curved road from map information or the like, and stores the acquired information as curve information 31a in the storage unit 31. The robot control unit 32c may acquire the map information and curve information from an external server, or may acquire information that has been previously stored in the storage unit 31.

[0082] Next, the robot control unit 32c reads out the curve information 31a and the movement information 31b from the storage unit 31, and determines the movement distance of the battery 100 when the robot body 10 travels along a curved road.

[0083] For example, when the curvature of the curve road indicating the shape of the curve road in the curve information 31a is larger than a predetermined range (when the curvature is "large" in the movement information 31b), the robot control unit 32c determines the travel distance of the battery 100 to be a relatively long value (when the curvature is "long" in the movement information 31b). When the curvature of the curve road is within a predetermined range (when the curvature is "medium" in the movement information 31b), the robot control unit 32c determines the travel distance of the battery 100 to be a medium value (when the curvature is "medium" in the movement information 31b). When the curvature of the curve road is smaller than a predetermined range (when the curvature is "small" in the movement information 31b), the robot control unit 32c determines the travel distance of the battery 100 to be a relatively short value (when the curvature is "short" in the movement information 31b).

[0084] Then, when the robot body 10 travels along a curved road, the robot control unit 32c moves the battery 100 to move the center of gravity position B of the robot body 10. In detail, when the robot body 10 travels along a curved road, the robot control unit 32c moves the battery 100 from the reference position toward the inside of the curved road by the determined movement distance, thereby moving the center of gravity position B of the robot body 10.

[0085] Specifically, the robot control unit 32c moves the battery 100 to the left from the reference position when the robot body 10 is traveling on a curved road that turns left, and moves the battery 100 to the right from the reference position when the robot body 10 is traveling on a curved road that turns right.

[0086] In this embodiment, the movement control of the battery 100 as described above enables the robot body 10 to turn while moving the center of gravity B to the inside of the curved road. Therefore, the posture of the robot body 10 when traveling on a curved road can be stabilized, and as a result, the traveling performance of the robot body 10 can be improved.

[0087] Furthermore, when the robot body 10 travels along a curved road in the first and second travel states, the robot control unit 32c moves the battery 100 to move the center of gravity position B of the robot body 10, but is not limited to this. For example, the robot control unit 32c may control the movement of the battery 100 only when the robot body 10 travels along a curved road in the first travel state, or may control the movement of the battery 100 only when the robot body 10 travels along a curved road in the second travel state. That is, the robot control unit 32c may control the movement of the battery 100 when the robot body 10 travels along a curved road in at least one of the first and second travel states.

[0088] The travel distance of the battery 100 may be set to be different between the first and second travels. Specifically, as described above, the travel speed in the second travel is faster than the travel speed in the first travel. Therefore, for example, even when the robot body 10 travels on the same curved road, the travel distance of the battery 100 in the second travel may be set to be longer than the travel distance of the battery 100 in the first travel, and the center of gravity position B in the second travel may be moved further than in the first travel. This makes it possible to make the posture of the robot body 10 when traveling on a curved road more stable depending on the travel state (here, the first travel or the second travel), and as a result, the travel performance of the robot body 10 can be further improved.

[0089] Returning to FIG. 1, the long-range drone 3 is an example of a moving object. The long-range drone 3 is, for example, a multicopter equipped with multiple rotor propellers, similar to the short-range drone 11, and performs unmanned autonomous flight. The long-range drone 3 is also powered by a battery.

[0090] The long-range drone 3 has a longer flight distance than the short-range drone 11. The flight distance is the distance that the drone can fly on a single charge. The long-range drone 3 waits at a preset station. For example, the long-range drone 3 has a large battery to have a longer flight distance than the short-range drone 11. For example, the long-range drone 3 is larger than the short-range drone 11. The long-range drone 3 may be, for example, an airplane type.

[0091] The long-range drone 3 is equipped with a camera, similar to the short-range drone 11. Unlike the short-range drone 11, the long-range drone 3 is not equipped with a tracking mark, for example. Note that the long-range drone 3 may be equipped with a tracking mark, similar to the short-range drone 11.

[0092] The long-range drone 3 includes a communication module for performing wireless communication via the network N. The long-range drone 3 also includes various sensors such as an acceleration sensor, a gyro sensor, and an optical sensor.

[0093] The long-range drone 3 also has a positioning device 39 (see FIG. 1) for measuring its own position. The positioning device 39 is, for example, a GNSS. Position information of the long-range drone 3 detected by the positioning device 39 may be transmitted to the management device 4 via the network N. Position information of the long-range drone 3 detected by the positioning device 39 may be transmitted to the control device 13 via the network N. The long-range drone 3 also has a computer (for example, a microcomputer) that executes a flight control function, an attitude control function for controlling the attitude, and the like.

[0094] The long-range drone 3 acquires information about the second flight route from the control device 13 via the communication module. The information about the second flight route includes position information (e.g., latitude, longitude, and altitude) of the second flight route.

[0095] The long-range drone 3 may fly so as to take over the tracking of the suspicious target by the short-range drone 11. The long-range drone 3 may track the suspicious target simultaneously with the short-range drone 11.

[0096] The long-range drone 3 transmits images captured by the camera to the management device 4 via the communication module. The long-range drone 3 transmits images captured by the camera to the control device 13 via the communication module.

[0097] When a suspicious object is detected, the long-range drone 3 takes off from the waiting station. The long-range drone 3 acquires information about the second flight path, and flies along the second flight path to track the suspicious object. The long-range drone 3 performs image processing based on the image captured by the camera, and flies along the second flight path while avoiding obstacles.

[0098] The ability to track a suspicious target can be improved by tracking the suspicious target using the short-range drone 11 and the long-range drone 3. For example, indoors, tracking can be performed using the short-range drone 11, which is smaller than the long-range drone 3, and if the suspicious target escapes outdoors, tracking can be performed using the long-range drone 3.

[0099] The management device 4 is, for example, a server device. The management device 4 may be a cloud server. The management device 4 will be described with reference to FIG. 6. FIG. 6 is a functional block diagram showing an outline of the management device 4 according to the embodiment. As shown in FIG. 6, the management device 4 includes a communication unit 40, a storage unit 41, and a control unit 42.

[0100] The management device 4 collects various information detected by the detection unit 12 of the tracking robot 2 from the tracking robot 2 that detected the suspicious target. The management device 4 also collects various information detected by the detection unit 12 from a tracking robot 2 different from the tracking robot 2 that detected the suspicious target. The management device 4 also collects position information of each long-range drone 3 from multiple long-range drones 3.

[0101] The management device 4 may generate information regarding the travel path of the tracked robot 2. The management device 4 may also generate information regarding the first flight path of the short-range drone 11. The management device 4 may also generate information regarding the second flight path of the long-range drone 3.

[0102] The communication unit 40 is connected to the network N by wire or wirelessly. The communication unit 40 transmits and receives information between the control device 13 of the tracked robot 2, the short-range drone 11, and the long-range drone 3 via the network N.

[0103] The communication unit 40 receives various information detected by the detection unit 12 from the control device 13 of the tracked robot 2. The communication unit 40 receives images captured by the camera 20 from the short-range drone 11. The communication unit 40 receives position information from the short-range drone 11, the tracking mark 21, and the long-range drone 3. The communication unit 40 receives images captured by the camera from the long-range drone 3.

[0104] The storage unit 41 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a HDD, an SSD, an optical disk, etc. The storage unit 41 stores various programs and various data, etc. For example, the storage unit 41 stores various information detected by the detection unit 12 of each tracked robot 2, etc.

[0105] The control unit 42 is a controller and includes, for example, a microcomputer and various circuits having a CPU, a ROM, a RAM, an input / output port, etc. The control unit 42 may also be configured with hardware such as an integrated circuit, for example, an ASIC or an FPGA.

[0106] The control unit 42 may generate information regarding the travel route of the robot body 10. For example, the control unit 42 generates information regarding the travel route of the robot body 10 by a sentence generation model (a so-called AI chat engine). The sentence generation model may be interpreted as an algorithm and calculation for automatic dialogue processing by text, as described above.

[0107] The control unit 42 generates a question about the suspicious target from various pieces of information detected by the detection unit 12 of the tracked robot 2. First, the control unit 42 generates a question by, for example, a language generation model.

[0108] For example, if movement is detected by the infrared sensor of the tracked robot 2, the following question is generated: "The infrared sensor has detected this movement. Is this a suspicious person? From a criminal's perspective, what action do you think they will take next?"

[0109] By inputting such a question into the sentence generation model, the control unit 42 generates a sentence such as, for example, "This person is likely to be a suspicious person. If he senses the presence of a person, he will take action to run away." The generated sentence is transmitted to the tracking robot 2 as information regarding the travel route, and the tracking robot 2 sets a travel route so as to approach the person presumed to be a suspicious person at a low speed.

[0110] Also, for example, when sound is detected by a sensor for detecting minute sounds in the tracked robot 2, a question such as "I can hear a beep from 2 meters away. What sound is this?" is generated.

[0111] By inputting such a question into the sentence generation model, the control unit 42 generates a sentence such as, for example, "An alarm is sounding." The generated sentence is transmitted to the tracking robot 2 as information regarding the travel route, and the tracking robot 2 recognizes the target as suspicious, and sets a travel route to approach the suspicious target via, for example, the shortest route.

[0112] The control unit 42 may similarly generate information regarding the travel route of the tracked robot 2 based on other information detected by the detection unit 12 of the tracked robot 2. The control unit 42 may generate information regarding the travel route of the tracked robot 2 based on information obtained by a high-sensitivity camera capable of 360-degree sensing, a LiDAR, a thermal camera, a radar, and the like. The control unit 42 may generate information regarding the travel route of the tracked robot 2 based on information obtained by sensors such as vision recognition, ultrasonic waves, vibrations, ultraviolet rays, and electromagnetic waves.

[0113] Similarly, information regarding the travel route of the tracking robot 2 may be generated based on a plurality of pieces of information detected by the detection unit 12 of the tracking robot 2. The control unit 42 may set the travel route of the tracking robot 2.

[0114] By generating information on the travel route of the tracking robot 2 by the document generation model, the tracking robot 2 can, for example, accurately determine a suspicious object and can move the tracking robot 2 closer to the suspicious object without being noticed by the suspicious object. Therefore, for example, the tracking robot 2 can improve the hit rate of the tracking mark 21 emitted from the short-range drone 11. In this way, by generating information on the travel route of the tracking robot 2 by the document generation model, the tracking ability of the tracking robot 2 and the like to track the suspicious object can be improved.

[0115] The control unit 42 may also generate information about at least one of the first flight path of the short-range drone 11 and the second flight path of the long-range drone 3. For example, the control unit 42 generates information about the first flight path by a sentence generation model.

[0116] For example, when a suspicious object is detected by the tracking robot 2, the suspicious object is a car, and "AA-BB" is detected as the license plate number of the suspicious object, the control unit 42 creates a sentence such as "Take a picture of the car with the license plate number AA-BB" by the language generation model. Then, the control unit 42 generates information on the first flight path by inputting the generated sentence into the sentence generation model. For example, the control unit 42 generates a flight program for the short-range drone 11 to take a picture of the car with the license plate number "AA-BB" by the camera of the short-range drone 11 and track the car with the license plate number "AA-BB". Then, the control unit 42 generates the generated flight program as information on the first flight path. The generated information on the first flight path is transmitted to the short-range drone 11, so that the short-range drone 11 flies to track the car with the license plate number "AA-BB". The image captured by the camera of the short-range drone 11 is transmitted to the management device 4.

[0117] For example, by generating information regarding the first flight path of the short-range drone 11 using a document generation model, the ability of the short-range drone 11 to track suspicious targets can be improved.

[0118] The generation of information regarding the travel path of the tracked robot 2 using the sentence generation model may be executed by the tracked robot 2.

[0119] Next, a control process procedure for the robot body 10 executed by the control device 13 of the tracked robot 2 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing a control process procedure for the robot body 10 executed by the control device 13.

[0120] 7, the control unit 32 of the control device 13 acquires various information detected by the detection unit 12 (step S100). The control unit 32 determines whether or not a suspicious object has been detected based on the acquired various information (step S101). For example, the control unit 32 detects a suspicious object by performing a predetermined image processing on an image captured by a high-sensitivity camera.

[0121] When no suspicious object is detected (step S101: No), the control unit 32 sets the traveling method of the robot body 10 to the first traveling (step S102).

[0122] When a suspicious object is detected (step S101: Yes), the control unit 32 sets the traveling method of the robot body 10 to the second traveling (step S103).

[0123] Next, the control unit 32 sets a travel route for the robot body 10 (step S104). When a suspicious object is detected, the control unit 32 sets a travel route so as to track the suspicious object.

[0124] Next, the control unit 32 determines whether or not the set driving route includes a curved road (step S105). If the control unit 32 determines that the driving route does not include a curved road (step S105: No), the control unit 32 skips the subsequent processing.

[0125] On the other hand, when the control unit 32 determines that the travel route includes a curved road (step S105: Yes), the control unit 32 acquires curve information of the curved road (step S106). Next, the control unit 32 determines the travel distance of the battery 100 based on the shape of the curved road in the curve information (step S107).

[0126] Next, the control unit 32 judges whether or not the robot body 10 is traveling on a curved road (step S108). When the control unit 32 judges that the robot body 10 is not traveling on a curved road (step S108: No), the control unit 32 repeats the process of step S108. When the control unit 32 judges that the robot body 10 is traveling on a curved road (step S108: Yes), the control unit 32 executes movement control of the battery 100 (step S109). For example, the control unit 32 executes control to move the battery 100 from the reference position toward the inside of the curved road by the movement distance determined in step S107, thereby moving the center of gravity position B of the robot body 10.

[0127] As described above, the tracking robot 2 according to the embodiment includes a short-range drone 11 (an example of a drone), a robot body 10, a battery (an example of a moving unit) 100, a detection unit 12, and a control unit 32. The short-range drone 11 is configured to be able to track a suspicious object. The robot body 10 is configured to be able to launch and land the short-range drone 11 and to be able to run autonomously. The battery 100 is provided in the robot body 10 and is configured to be able to move relative to the robot body 10. The detection unit 12 detects the situation around the robot body 10. The control unit 32 controls the short-range drone 11 and makes the robot body 10 run autonomously according to the situation detected by the detection unit 12. When the robot body 10 runs on a curved road, the control unit 32 moves the battery 100 to move the center of gravity B of the robot body 10. This can improve the running performance of the robot body 10 running on a curved road.

[0128] The moving part is the battery 100. With this, even with a simple configuration using the battery 100 provided in the robot body 10, it is possible to move the center of gravity of the robot body 10 by moving the battery 100.

[0129] The robot body 10 also includes a trunk 10a, legs 10b, and rollers 14. The legs 10b are movably attached to the trunk 10a. The rollers 14 are provided on the legs 10b and move the robot body 10. The control unit 32 can switch between a first running mode by moving the legs 10b and a second running mode by the rollers 14, and when the robot body 10 runs on a curved road in at least one of the first running mode and the second running mode, the control unit 32 moves the battery 100 to move the center of gravity of the robot body 10. This makes it possible to stabilize the posture of the robot body 10 when running on a curved road according to the running mode (e.g., first running mode, second running mode), and as a result, the running performance of the robot body 10 can be further improved.

[0130] Furthermore, the control unit 32 acquires curve information relating to the shape of a curved road included in the travel route of the robot body 10, and determines the travel distance of the battery 100 based on the shape of the curved road in the acquired curve information. This makes it possible to determine the travel distance of the battery 100 in accordance with the shape of the curved road, thereby making it possible to further stabilize the posture of the robot body 10 when traveling on a curved road, and further improving the travel performance of the robot body 10.

[0131] In addition, the tracing route of the suspicious object is generated by a sentence generation model, which makes it possible to generate, for example, a driving route including the tracing route with high accuracy.

[0132] 8 is a diagram showing an example of a computer hardware configuration that functions as the tracked robot 2 or the management device 4. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or to execute operations or one or more "parts" associated with the device according to the present embodiment, and / or to execute a process or steps of the process according to the present embodiment. Such a program can be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

[0133] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which are connected to each other by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive, a solid state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0134] The CPU 1212 operates according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into itself, and causes the image data to be displayed on the display device 1218.

[0135] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0136] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or a program that depends on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

[0137] The programs are provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by implementing operations or processing of information according to the use of the computer 1200.

[0138] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded in the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, the storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer area or the like provided on the recording medium.

[0139] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0140] Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium and undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequence of the program, and write back the results to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0141] The above-mentioned programs or software modules may be stored in a computer-readable storage medium on the computer 1200 or in the vicinity of the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0142] The blocks in the flowcharts and block diagrams in the present embodiment may represent stages of a process in which an operation is performed or "parts" of an apparatus responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer readable instructions stored on a computer readable storage medium, and / or a processor provided with computer readable instructions stored on a computer readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like, including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0143] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

[0144] The computer readable instructions may include either assembler instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0145] Computer readable instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, either locally or over a local area network (LAN), a wide area network (WAN), such as the Internet, etc., to cause the processor of the general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, to execute the computer readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0146] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is clear from the claims that such modifications or improvements can also be included in the technical scope of the present invention.

[0147] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before" or "prior to," and that the process may be performed in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, it does not mean that the process must be performed in this order. [Explanation of symbols]

[0148] 1. Tracking System 2 Tracking Robot 3. Long-range drone 4 Management device 10 Robot body 10a Body 10b Legs 11 Short-range drones 12 Detection section 13 Control device 14 Roller 20 Camera 21 Tracking Mark 32 Control section 32a Suspicious object detection unit 32b Drone control unit 32c Robot control unit 100 Battery

Claims

1. A drone capable of tracking suspicious objects, A robot body capable of autonomous travel and capable of launching and landing the drone; a moving unit provided on the robot body and movable relative to the robot body; A detection unit that detects a situation around the robot body; a control unit that controls the drone and causes the robot body to autonomously travel in accordance with the situation detected by the detection unit; Equipped with the control unit moves the moving unit to move a center of gravity of the robot body when the robot body travels along a curved road. Tracking robot.

2. The moving part is a battery. The tracked robot of claim 1 .

3. The robot body includes: A body portion and A leg portion movably attached to the torso portion; a roller provided on the leg portion for moving the robot body; Equipped with the control unit is capable of switching between a first running state caused by the movement of the legs and a second running state caused by the rollers, and when the robot body runs along the curved road in at least one of the first running state and the second running state, moves the moving unit to move a center of gravity position of the robot body. The tracked robot of claim 1 .

4. the control unit acquires curve information regarding a shape of the curved road included in the travel route of the robot body, and determines a travel distance of the moving unit based on the shape of the curved road of the acquired curve information. The tracked robot of claim 1 .

5. The tracing path of the suspicious object is generated by a sentence generation model. The tracked robot of claim 1 .

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