Robot, robot control method, and program

Abstract

The robot includes a solar panel positioned to receive sunlight, a state control device for controlling the state of the solar panel, and a processor. The processor acquires object position information for an object located at a different location from the robot, acquires solar position information for the position of the sun, and acquires robot position information for the position of the robot. Based on the solar position information, object position information, and robot position information, the processor controls the state control device to suppress reflected light from the solar panel from being directed towards the object.

Description

Technical Field

[0001] The present disclosure relates to a robot, a method for controlling a robot, and a program.

Background Art

[0002] Conventionally, a device that automatically tracks the movement of the sun is known. For example, in Patent Document 1, there is a light-receiving surface that receives sunlight, the center of which is supported by a bearing whose direction can be freely changed, and is constrained by rods that lead to air cylinders that can push and pull three or four points equidistant from the bearing from the back surface of the light-receiving surface. The air cylinders together with the bearing at the center of the light-receiving surface are fixed to a pedestal installed below it. The other end of the air cylinder is connected via a tube to a heat collection tank installed on a pedestal located below the opposite side of the light-receiving surface with respect to the center of the light-receiving surface from the position where the air cylinder pushes and pulls the light-receiving surface. A sunlight automatic tracking device is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, in the technology described in Patent Document 1, glare caused by the reflected light of the solar panel is not considered. Therefore, when attempting to apply the technology described in Patent Document 1 to a robot equipped with a solar panel that travels in a predetermined area such as an airport, the glare may dazzle the vision of an aircraft pilot or air traffic controller.

[0005] Therefore, an object of the present disclosure is to provide a technology that makes it possible to suppress the reflected light from the solar panel from facing the target.

[0006] A robot according to one aspect of this disclosure includes a solar panel positioned on the robot to receive sunlight, a state control device for controlling the state of the solar panel, and a processor. The processor acquires object position information relating to an object located at a different location from the robot, acquires solar position information relating to the position of the sun, acquires robot position information relating to the position of the robot, and controls the state control device to suppress reflected light from the solar panel from being directed toward the object, based on the solar position information, object position information, and robot position information. [Effects of the Invention]

[0007] According to this disclosure, it is possible to suppress the direction of reflected light from solar panels towards an object. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example of the configuration of the information processing system according to this embodiment. [Figure 2] This figure shows an example of the appearance of the robot according to this embodiment. [Figure 3] This figure shows an example of the hardware configuration of the robot according to this embodiment. [Figure 4] This figure shows an example of an airfield according to this embodiment. [Figure 5] This figure shows another example of an airfield according to this embodiment. [Figure 6] This figure shows an example of the functional block configuration of the robot according to this embodiment. [Figure 7] This figure shows an example of a robot management information database according to this embodiment. [Figure 8] This figure shows an example of the functional block configuration of the terminal device according to this embodiment. [Figure 9] This flowchart shows an example of the processing procedure of the robot according to this embodiment. [Figure 10] This figure shows an example of a light-shielding device according to this embodiment. [Modes for carrying out the invention]

[0009] Embodiments of the present disclosure will be described with reference to the attached drawings. In each drawing, components with the same reference numerals have the same or similar configuration. In the following embodiments, the robot 10 will be described as operating in an airfield 50 as an example, but is not limited to this. The robot 10 may be placed in any area, such as an industrial environment (e.g., a factory, a power plant, a construction site), an educational environment (e.g., a park, a school), an infrastructure environment (e.g., a highway, a railway line, a transmission tower), or a natural environment (e.g., a high wave area on the coast, a dangerous area in the mountains), and may move within that area.

[0010] Furthermore, airfield 50 is a facility where aircraft can take off and land, and includes airport facilities. Aircraft also includes equipment that flies in the atmosphere. Specifically, this includes airplanes, rotary-wing aircraft, gliders, airships, and other equipment that can be used for aviation purposes and can carry people, as specified by government ordinance. Aircraft may also include unmanned equipment that can be used for aviation purposes, such as drones.

[0011] <Information Processing System 1> The following describes the information processing system 1 in the disclosed technology. Figure 1 is a diagram showing an example of the configuration of the information processing system according to this embodiment. The information processing system 1 shown in Figure 1 includes one or more robots 10 and one or more terminal devices 20. For example, the robots 10 and the terminal devices 20 are connected to each other so as to be able to communicate via a network N. The number of robots 10 and terminal devices 20 is not particularly limited.

[0012] Network N is a network for communication between robot 10 and terminal device 20. For example, network N may consist of a wireless network or a wired network. Examples of networks include mobile phone networks, PHS (Personal Handy-phone System) networks, wireless LAN (Local Area Network, including communication compliant with IEEE 802.11 (so-called Wi-Fi®)), 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), WiMAX®, infrared communication, visible light communication, Bluetooth®, wired LAN, telephone lines, power line communication networks, and networks compliant with IEEE 1394, etc. Network N may also be a network using satellite communication services such as Starlink.

[0013] <Robot 10> Robot 10 may be, for example, a work robot that is placed in any area within the airfield 50, moves around the area, and works to suppress the growth of weeds within the airfield 50. Robot 10 may autonomously move around and perform predetermined tasks, including grass trampling, grass cutting, cargo transport, patrol, cleaning, loading and unloading, snow removal, etc.

[0014] Figure 2 shows an example of the external appearance of the robot 10 according to this embodiment. The body of the robot 10 may be formed in a substantially box shape using, for example, steel. The robot 10 may also be equipped with four wheels 30 (30a to 30d).

[0015] The tire 30 is attached symmetrically, for example, to the front and rear of the main body. The robot 10 can step on and press weeds using the tire 30. Also, the robot 10 may include a driving device 34 (e.g., a motor, a gear-driven tilt mechanism, a pan mechanism) capable of driving the tire 30 independently. The robot 10 can drive the tire 30 by driving the driving device 34 and move forward, backward, stop, turn left and right, perform in-place turning, and perform over-turning, etc. Also, the robot 10 may move using an omni-wheel mechanism.

[0016] In front of the main body of the robot 10, for example, a working unit 33 may be provided. The working unit 33 may be, for example, a weed stepping board for stepping on weeds. When the robot 10 executes work using the working unit 33, the working unit 33 may be controlled to contact the ground. Also, when the robot 10 does not execute work using the working unit 33, the working unit 33 may be controlled to be lifted so as not to contact the ground.

[0017] The robot 10 can suppress the growth of weeds by stepping on the weeds with the working unit 33 attached while driving the tire 30 forward using the driving device 34 and stepping on the weeds with the tire 30.

[0018] <照 In addition, a camera 31 (31a to 31b) and a speaker 32 (32a to 32b) may be provided in front of the main body of the robot 10. Also, the robot 10 may include various sensors (GPS sensor, acceleration sensor, gyro sensor, temperature sensor, sound sensor, light sensor, magnetic sensor, wheel encoder, etc.).

[0019] The robot 10 captures the surrounding environment of the robot 10 using the camera 31 to grasp the weather, the position of the sun or an object, etc. Also, the robot 10 may perform sensing for terrain recognition based on the captured imaging information.

[0020] It should be noted that there is an incorrect tag "照0000093" in the original text which has been retained as is during translation.Furthermore, the robot 10 may perform anomaly detection at the airport (e.g., a hole in the fence) and security management (e.g., detection of a suspicious person) based on the captured image information. The robot 10 may also recognize predetermined objects such as obstacles using the camera 31, etc., and move to avoid obstacles. The robot 10 may also output sound through the speaker 32.

[0021] Furthermore, the robot 10 is equipped with a state control device for controlling the state of the solar panel. The state control device includes a device for controlling the state of the solar panel 19 and includes at least one of a solar panel control device 18 for controlling the orientation of the solar panel 19, a transmittance control device for controlling the transmittance of the solar panel 19, and a light-shielding device 190 for shielding the surface of the solar panel 19. The transmittance control device includes, for example, a voltage control device for a PDLC that can switch the transmittance by applying a voltage.

[0022] Furthermore, the state of the solar panel 19 includes attributes that affect the direction or intensity of reflected light from the solar panel 19. Specifically, the state of the solar panel 19 includes at least one of the following: orientation of the solar panel 19 (e.g., azimuth angle, tilt angle, slide width), transmittance (e.g., voltage applied to the PDLC), and shading state (e.g., whether or not shading is performed by the shading device 190).

[0023] In the example shown in Figure 2, the robot 10 can move the solar panel 19 on the robot 10 within a predetermined range of degrees of freedom using a solar panel control device 18 (an example of a state control device) mounted on the top of the robot 10. Thus, in this embodiment, a solar panel control device 18 may be used as an example of a state control device, but the state control device is not limited to the solar panel control device 18, and may be at least one of a transmittance control device and a light shielding device 190, or a combination of at least one of the solar panel control device 18, a transmittance control device, and a light shielding device 190 may be provided.

[0024] Furthermore, the robot 10 may also be equipped with both a solar panel control device 18 and a light-shielding device 190. If the panel control unit 114 cannot suppress reflected light from being directed towards the target by changing the orientation of the solar panel 19 alone (for example, if the solar panel 19 cannot assume an appropriate orientation due to limitations in its range of motion), it may suppress reflected light by closing the light-shielding device 190. This allows for a more effective suppression of reflected light from being directed towards the target by combining orientation control by the solar panel control device 18 and light-shielding control by the light-shielding device 190.

[0025] Similarly, the robot 10 may be equipped with both a solar panel control device 18 and a transmittance control device. If changing the orientation of the solar panel 19 alone is insufficient to prevent reflected light from being directed toward the target, the panel control unit 114 may reduce specular reflection by setting the transmittance control device to an opaque state. This allows for a more effective suppression of reflected light being directed toward the target by combining orientation control by the solar panel control device 18 and transmittance control by the transmittance control device.

[0026] Furthermore, the robot 10 is equipped with a solar panel 19. The solar panel 19 is positioned on the robot so as to be able to receive sunlight. The solar panel 19 is controlled by a solar panel control device 18 and generates electricity when it receives sunlight.

[0027] The surface of the solar panel 19 reflects some of the incident sunlight. When this reflected light enters the field of view of a pilot or air traffic controller, it can cause a dazzling phenomenon called glare. Hereafter, the reflected light from the solar panel 19 will also be simply referred to as reflected light.

[0028] Furthermore, the surface of the solar panel 19 may be made of a reflection-reducing material, and may be coated with a reflection-reducing coating such as an anti-reflective film (e.g., AR coating).

[0029] Furthermore, the surface of the solar panel 19 may have a fine uneven surface structure. This reduces specular reflection and reduces the amount of reflected light per solid angle as diffuse reflection.

[0030] The solar panel 19 may include a PDLC (Polymer Dispersed Liquid Crystal) whose transmittance can be switched by applying a voltage. PDLC is a material in which liquid crystals are dispersed in a polymer, and its transmittance can be changed between an opaque state and a transparent state by switching the orientation of the liquid crystals. In the opaque state when no voltage is applied, the incident light is internally scattered, absorbing light energy, reducing specular reflection and becoming diffuse reflection, thus reducing the amount of reflected light per solid angle. In the transparent state when a voltage is applied, the liquid crystal molecules are oriented in the direction of the electric field, resulting in a transparent state. The solar panel control device 18 may also control the application and non-application of voltage to the PDLC, or the panel control unit 114 may control the application and non-application of voltage to the PDLC.

[0031] Furthermore, the robot 10 may also include, for example, a drive unit 34, a processor 11 that controls the driving of the tires 30, and a battery inside the robot body. The battery may have the power generation capacity necessary to drive the robot 10 and a power storage function that temporarily stores the amount of electricity generated by the solar panel 19.

[0032] The robot 10 is equipped with a solar power generation function, allowing it to use electricity generated by the solar panel 19 as its power source. Alternatively, the electricity generated by the solar panel 19 may be stored in a battery.

[0033] The appearance of the robot 10 described above is merely an example and is not limited to it. For example, if robot 10 is a transport robot, the work unit 33 may be an arm for unloading or loading cargo. Furthermore, robot 10 only needs to have an appearance that allows it to move autonomously.

[0034] <Hardware Configuration> Figure 3 shows an example of the hardware configuration of the robot 10 according to this embodiment. The robot 10 includes a processor 11 such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), memory (for example, RAM (Random Access Memory) or ROM (Read Only Memory)), and a storage device 12 such as an HDD (Hard Disk Drive) and / or SSD (Solid State Drive). The robot 10 also includes a communication IF 13 (Interface) for wired or wireless communication, an input device 14 for receiving input operations, and an output device 15 for outputting information.

[0035] The input device 14 is, for example, a camera 31, various sensors, etc. The various sensors may be, for example, at least one of a wheel encoder, acceleration sensor, gyro sensor, temperature sensor, sound sensor, light sensor, and magnetic sensor, and there may be multiple cameras 31. The output device 15 is, for example, a display and / or speaker 32, etc.

[0036] Although not shown in Figure 3, in this embodiment, the robot 10 includes a battery, a solar panel 19, a solar panel control device 18, and a drive device 34. The battery supplies power to the robot 10. The battery is, for example, a rechargeable secondary battery, such as a lithium-ion battery, a nickel-cadmium battery, or a lithium iron phosphate battery. It may also be a lead-acid battery, a nickel-metal hydride battery, or an alkaline dry cell battery.

[0037] Furthermore, the robot 10 may be equipped with multiple batteries. These batteries may include, for example, a main battery for normal use and a backup battery for emergency use. The batteries equipped in the robot 10 may also be removable. The administrator of the robot 10 may remove and attach the batteries from the robot 10, or the control unit 110 may control the robot 10 to remove and attach the batteries autonomously.

[0038] The solar panel 19 includes a device that converts solar light energy into electricity, positioned on the robot to receive sunlight. The solar panel control device 18 may include, for example, a movable mechanism that supports the solar panel 19 in a tiltable manner. The movable mechanism may be a two-axis drive mechanism having a horizontal rotation axis and a vertical tilt axis. This allows the solar panel control device 18 to control the orientation and angle of the solar panel 19 by horizontal rotation and vertical tilt. The movable mechanism may also be a mechanism that allows the solar panel to be slid in position.

[0039] The solar panel control device 18 may also include an actuator for controlling the orientation of the solar panel 19. The solar panel control device 18 may have, for example, a one-axis or two-axis solar tracking mechanism. The solar panel control device 18 can control the orientation of the solar panel 19 by adjusting the azimuth angle (horizontal orientation of the solar panel 19) and the tilt angle (vertical tilt of the solar panel 19).

[0040] Furthermore, the solar panel control device 18 may be configured to move the solar panel 19 in two directions, east-west and north-south, or it may be configured to move the solar panel 19 360°. The robot 10 may also have multiple control modes for controlling the solar panel control device 18. The solar panel control device 18 may also be a device for changing the orientation of the solar panel 19, which may be arbitrarily configured using existing technology.

[0041] Furthermore, the robot 10 is equipped with a drive unit 34. The drive unit 34 may include, for example, a motor and wheels such as tires 30 that contact the ground. The drive unit 34 may also include a steering mechanism.

[0042] The hardware configuration described above is merely an example. The robot 10 in the information processing system 1 may omit some of the hardware shown in Figure 3, or it may have hardware not shown in Figure 3. For example, the robot 10 may also have a work unit 33.

[0043] Furthermore, the hardware shown in Figure 3 may consist of one or more devices. Also, if the robot 10 consists of multiple devices, each device may include at least a part of this hardware.

[0044] <Terminal device 20> The terminal device 20 is, for example, a device used by the administrator of the robot 10 (hereinafter also referred to as the user), and is, for example, a mobile phone terminal (including a smartphone), a tablet, or a personal computer. The user can set predetermined content for the robot 10 by operating the terminal device 20. The terminal device 20 may also be a device that performs some of the information processing functions provided by the information processing system 1.

[0045] Furthermore, the terminal device 20 may have application programs (apps) installed for using various functions provided by the information processing system 1. These apps may be web browsing software. The apps may cause the terminal device 20 to execute at least a portion of the processing disclosed in this embodiment, as shown below, using the various functions provided by the information processing system 1. When these apps are executed, the terminal device 20 may send and receive information used for executing these apps to the robot 10.

[0046] For example, the user can configure the network N for communication with the robot 10, set the name of the robot 10, etc., by operating the terminal device 20.

[0047] Furthermore, the user can, for example, set the operating time of the robot 10 and remotely control the robot 10 (e.g., stop the robot 10) by operating the terminal device 20. The user can also obtain information such as the robot 10's location and battery status. If the robot 10 is equipped with a camera 31, the user can view the image information captured by the robot 10 via the terminal device 20.

[0048] <Airfield 50> Figure 4 shows an example of an airfield 50 according to this embodiment. The airfield 50 may be an airport, and may include areas such as a parking area 50A, a taxiway 50B, a runway 51, a first area 52, and a second area 53. The manager of the airfield 50 is responsible for maintaining airport facilities such as the runway 51, the first area 52, the parking area 50A, and the taxiway 50B in order to ensure that aircraft operations are conducted safely and smoothly.

[0049] Parking area 50A is where aircraft are parked for purposes such as passenger and crew boarding and disembarking, cargo loading and unloading, refueling, and simple inspections and maintenance. Taxiway 50B is a pathway for aircraft to move from parking area 50A, etc., to their designated position on runway 51 for takeoff, or to move from runway 51 to parking area 50A, etc., after landing.

[0050] The first area 52 includes, for example, a landing strip adjacent to runway 51. The landing strip is the area surrounding runway 51 to ensure the safety of aircraft landings and includes areas where plants such as grass and weeds grow. The landing strip may also be equipped with markers such as guidance lights to guide aircraft landings.

[0051] The second area 53 includes an area adjacent to the first area 52. The second area 53 may be, for example, an area adjacent to a landing strip. The second area 53 may also be called an evacuation area.

[0052] At least one of the first area 52 and the second area 53 may be an area set by the user or the administrator of the airfield 50.

[0053] Figure 5 shows another example of the airfield 50 according to this embodiment. The airfield 50 may be a helipad. The runway 51 may include a place for helicopters to take off and land. In the example shown in Figure 5, the first area 52 and the second area 53 are areas set by the user. The user can deploy the robot 10 to any area of ​​the airfield 50, and the robot 10 can then begin to move.

[0054] <Functional Block Configuration> (Robot 10) Figure 6 shows an example of the functional block configuration of the robot 10 according to this embodiment. The robot 10 includes a storage unit 100 and a control unit 110. The control unit 110 includes a target position information acquisition unit 111, a sun position information acquisition unit 112, a robot position information acquisition unit 113, and a panel control unit 114. The control unit 110 may further include a determination unit 115 and a drive control unit 116.

[0055] The memory unit 100 can be implemented using the memory device 12 provided by the robot 10. The control unit 110 can be implemented by the robot 10's processor 11 executing a program stored in the memory device 12.

[0056] Furthermore, the program can be stored on a storage medium. The storage medium on which the program is stored may be a computer-readable, non-transitory computer-readable medium. The non-transitory storage medium is not particularly limited, but may be, for example, a USB (Universal Serial Bus) memory or a CD-ROM (Compact Disc Read-Only Memory).

[0057] The storage unit 100 stores data necessary for the robot 10 to perform information processing. The storage unit 100 includes a robot management information database 100a. It is possible to add or delete data items to each database as needed. Furthermore, information regarding the date and time when various types of information were acquired may be stored in association with the acquired information.

[0058] Figure 7 shows an example of the robot management information DB100a according to this embodiment. The robot management information DB100a manages various types of information related to the robot. The robot management information DB100a may store the airport ID, robot ID, target information, sun information, and robot information in association with each other.

[0059] The airfield ID includes information that identifies airfield 50. The robot ID includes information that identifies robot 10.

[0060] The target information includes information about the target (e.g., an aircraft (which may include the pilot operating the aircraft), or an air traffic control tower (which may include the employees present in the control tower)). The target information includes target location information for targets located at a different location from robot 10. If the target is an aircraft, the target location information may include the aircraft's current position, altitude, speed, direction of travel, and aircraft type. If the target is an air traffic control tower, the target location information may also include the location of the control tower.

[0061] Furthermore, if the subject is an aircraft, the subject location information may include the aircraft's takeoff and landing paths. The takeoff and landing paths may be the flight paths the aircraft takes when approaching the runway, and may include information regarding the runway's direction, descent angle, and distance.

[0062] Furthermore, if the subject is an aircraft, the subject location information may include schedule information relating to the aircraft's takeoff and landing schedule. The schedule information may be information obtained from external devices (e.g., airport air traffic control systems, flight scheduling systems) and may include the scheduled takeoff and landing times, runways used, and flight paths for each aircraft.

[0063] Solar information includes information about the sun. Solar information includes solar position information about the sun's location. Solar position information may include the sun's azimuth and altitude. The sun's azimuth may be the horizontal angle of the sun relative to north, and the sun's altitude may be the angle of elevation of the sun from the horizon.

[0064] Furthermore, solar position information may include solar radiation intensity. Solar radiation intensity may be information measured using a pyranometer or camera, or information acquired from an external device.

[0065] The robot information includes information about robot 10. The robot information includes robot position information regarding the position of robot 10. The robot position information may include the current position of robot 10, the orientation of robot 10 (orientation information regarding robot orientation), and the current orientation of the solar panel 19 (panel angle). The orientation information includes information indicating which direction robot 10 is facing. The robot information may also include the battery level of robot 10, etc.

[0066] Furthermore, the robot management information DB 100a may also store prohibited area information. The prohibited area information includes information about prohibited areas from which reflected light must not be directed. The prohibited area information may be information pre-set by the user based on location information such as runways, aircraft takeoff and landing paths, and control towers. The prohibited area information may also be set for each runway based on the location information of the runway.

[0067] Furthermore, the robot management information DB 100a may also store control tower information. The control tower information includes control tower location information regarding the location of the control tower.

[0068] The memory unit 100 may also store various information related to the map, including a map of at least a portion of the airfield 50 and the surrounding environment of the airfield 50. Furthermore, the memory unit 100 may store identification information of the terminal device 20 used by the user, and setting information such as information set by the user for the robot 10. The memory unit 100 may also store information relating to the work area worked by the robot 10, information relating to the work results, and date and time information. Returning to Figure 6, the explanation continues.

[0069] The target location information acquisition unit 111 acquires target location information. The target location information acquisition unit 111 may acquire target location information using, for example, at least one of an ADS-B receiver, a wireless communication module, an acoustic sensor, and a radar. Alternatively, the target location information acquisition unit 111 may acquire target location information from an air traffic control system.

[0070] The solar position information acquisition unit 112 acquires solar position information. The solar position information acquisition unit 112 may acquire solar position information measured by, for example, a camera or weather sensor equipped on the robot 10. Alternatively, the solar position information acquisition unit 112 may acquire solar position information based on the current time and robot position information, or it may acquire solar position information by cooperating with an external device.

[0071] Furthermore, the solar position information acquisition unit 112 may acquire weather information relating to the weather at the location where the robot 10 is operating as solar information.

[0072] The robot position information acquisition unit 113 acquires robot position information. The robot position information acquisition unit 113 may acquire robot position information using, for example, at least one of the GPS, LiDAR, and camera provided by the robot 10. Alternatively, the robot position information acquisition unit 113 may acquire robot position information using an angle encoder or gyro sensor provided by the robot 10.

[0073] The specific processing details of the robot position information acquisition unit 113 are described below. The robot position information acquisition unit 113 may acquire GPS information, which is a signal including radio waves transmitted from GPS satellites received by the robot 10, as robot position information.

[0074] Furthermore, the robot position information acquisition unit 113 may acquire position information (e.g., latitude and longitude) indicating the current position of the robot 10 based on the acquired GPS information. Note that GPS is an example of GNSS (Global Navigation Satellite System), and position information may also be acquired using RTK-GNSS.

[0075] Furthermore, the robot position information acquisition unit 113 may acquire position information relative to a reference position of the airfield 50 as robot position information, or it may acquire position information indicated by information such as latitude and longitude.

[0076] Furthermore, the robot location information is not limited to GPS information; the robot location information acquisition unit 113 may also acquire location information by obtaining Wi-Fi information received by the robot 10 or radio waves received from a base station.

[0077] Furthermore, the robot position information acquisition unit 113 may acquire robot position information using at least one of the following: an inertial measurement unit, a vision sensor, map matching, and a wheel encoder. If the robot 10 is equipped with a camera 31 and an inertial measurement unit, robot position information may be acquired by relative positioning and odometry.

[0078] The robot 10 may include, for example, each tire (e.g., four tires 30 (30a to 30d)) connected to a drive unit 34, and each wheel encoder connected to each tire 30. Each wheel encoder may be installed on the wheel of each tire 30. The number of wheel encoders that the robot 10 has is not particularly limited, and at least one of the tires indirectly connected to the drive unit 34 may have a wheel encoder.

[0079] The robot position information acquisition unit 113 may acquire motion information related to the movement of the tires 30 from each wheel encoder. The robot position information acquisition unit 113 may then acquire the position information of the robot 10 based on the motion information related to the movement of the tires 30 acquired from each wheel encoder. The robot position information acquisition unit 113 may acquire motion information from all four wheel encoders and integrate this motion information to acquire the robot position information.

[0080] The wheel encoder may detect the distance traveled in a predetermined direction by detecting the rotation speed of the tire 30 connected to the wheel encoder as motion information, or it may detect the travel speed, etc. The robot position information acquisition unit 113 may acquire movement information of the robot 10 (time information, speed information, acceleration information, travel distance information, etc.) based on the motion information, and may acquire robot position information based on the acquired movement information and the initial position. The robot position information acquisition unit 113 may acquire robot position information by estimating the travel distance, travel speed, etc. from the rotation speed, rotation speed, rotation angle, rotation difference, etc. of the tire.

[0081] Furthermore, if the robot 10 is offline (e.g., not connected to network N), the robot position information acquisition unit 113 may acquire robot position information based on motion information related to tire motion acquired from the wheel encoder. Also, if the robot 10 is online (e.g., connected to network N and communicating with GNSS), the robot position information acquisition unit 113 may acquire robot position information based on GPS information acquired from a GNSS system (e.g., positioning satellites).

[0082] In this way, the robot position information acquisition unit 113 can continuously acquire robot position information by changing the method of acquiring robot position information depending on the communication status of the robot 10 (online state, offline state).

[0083] Furthermore, if the battery level does not meet a predetermined remaining charge condition (e.g., 30% or more), the robot position information acquisition unit 113 may acquire robot position information based on motion information related to tire motion obtained from the wheel encoder. Alternatively, if the battery level meets a predetermined remaining charge condition (e.g., 30% or more), the robot position information acquisition unit 113 may acquire robot position information based on GPS information obtained from a GNSS system (e.g., positioning satellites). The user can change the remaining charge condition as appropriate by operating the terminal device 20.

[0084] In this way, the robot position information acquisition unit 113 can acquire robot position information while appropriately suppressing power consumption by changing the method of acquiring robot position information based on predetermined conditions.

[0085] Furthermore, the robot position information acquisition unit 113 may acquire robot position information based on map information stored in the memory unit 100 and imaging information (e.g., video) captured by the camera 31. The memory unit 100 may also store surrounding images and predetermined objects (e.g., landmark targets) included in the imaging information captured by the camera 31. The robot position information acquisition unit 113 may also acquire robot position information based on the direction, angle, distance, etc., of a predetermined object from the imaging information captured by the camera 31 during travel.

[0086] Furthermore, the robot location information acquisition unit 113 may acquire robot location information using RFID. RFID may be a wireless tag that has a built-in battery, emits radio waves, and can communicate over long distances. The robot location information acquisition unit 113 may use RFID to acquire ID information to identify the current location, and then acquire robot location information based on the ID information.

[0087] Furthermore, the robot position information acquisition unit 113 may acquire robot position information using Bluetooth. For example, the robot position information acquisition unit 113 can acquire robot position information by connecting to a beacon transmitter connected via Bluetooth. Alternatively, the robot position information acquisition unit 113 may acquire robot position information based on a pre-measured magnetic pattern of a structure and, for example, a magnetic sensor.

[0088] Furthermore, the robot 10 does not necessarily have to possess functions such as various sensors, RFID, and Bluetooth. For example, an information processing device that works in conjunction with the robot 10 may have such functions, acquire the location information of the information processing device, and the robot location information acquisition unit 113 may consider the location information of the information processing device as the robot's location information.

[0089] The robot position information acquisition unit 113 may acquire robot position information using one or a combination of the position information acquisition methods described above, as needed. In addition, the robot position information acquisition unit 113 may use one or a combination of the position information acquisition methods described above as an auxiliary means for position correction, etc., in addition to GPS information. This makes it possible to appropriately acquire robot position information within restricted areas such as the runway 51, taxiway 50B, and parking area 50A of the airport 50.

[0090] Furthermore, the robot position information acquisition unit 113 may acquire information regarding the current orientation of the solar panel 19 in addition to the robot position information.

[0091] The panel control unit 114 controls the state control device to suppress reflected light from the solar panel from being directed towards the target, based on the sun's position information, the target's position information, and the robot's position information.

[0092] The panel control unit 114 controls the solar panel control device 18 to position the solar panel 19 such that reflected light from the solar panel 19 is suppressed from being directed toward the target, based, for example, on solar position information, target position information, and robot position information. The panel control unit 114 may also calculate the position of the solar panel 19 that suppresses reflected light from the solar panel 19 from being directed toward the target, and control the solar panel control device 18 to achieve the calculated position.

[0093] The panel control unit 114 may, for example, control the attitude of the solar panel control device 18 so that the solar panel 19 is positioned in a way that suppresses reflected light from the solar panel 19 from being directed toward the target. The panel control unit 114 may also change the attitude of the solar panel 19 by changing at least one of the tilt angle and azimuth angle of the solar panel control device 18. Furthermore, if the solar panel control device 18 is equipped with a slider, the panel control unit 114 may change the position of the solar panel 19 by controlling the slider to slide the solar panel 19. This changes the attitude of the solar panel 19 and diverts the direction of the reflected light vector out of the aircraft's field of view.

[0094] Furthermore, the orientation of the solar panel 19 that suppresses reflected light from the solar panel 19 from being directed towards a target may be such that the light is deflected upwards or towards the ground from the line of sight of the target (e.g., an aircraft pilot). This orientation can be achieved by controlling the solar panel control device 18 to tilt the solar panel 19 up or down.

[0095] Furthermore, the panel control unit 114 may control the transmittance control device to suppress reflected light from the solar panel 19 from being directed toward the target, based on, for example, the sun's position information, the target's position information, and the robot's position information. The panel control unit 114 may also control the transmittance control device to suppress reflected light from the solar panel 19 from being directed toward the target, based on the sun's position information, the target's position information, the robot's position information, and the current orientation of the solar panel.

[0096] The panel control unit 114 may control the solar panel control device 18 to de-apply voltage to the PDLC if it determines that reflected light from the solar panel 19 is directed toward the aircraft. Alternatively, the panel control unit 114 may control the solar panel control device 18 to apply voltage to the PDLC if it determines that reflected light from the solar panel 19 is not directed toward the aircraft.

[0097] As a result, the panel control unit 114 can make the solar panel 19 opaque when blocking light and transparent when generating power. Furthermore, when the panel control unit 114 controls the application and deapplication of voltage to the PDLC, it may achieve the above processing by controlling a device that controls the application and deapplication of voltage to the PDLC, instead of controlling the solar panel control device 18.

[0098] Furthermore, the panel control unit 114 may control the shading device 190 to suppress reflected light from the solar panel 19 towards the target, based on, for example, the sun's position information, the target's position information, and the robot's position information.

[0099] The panel control unit 114 may control the solar panel control device 18 so that the shading device 190 blocks the solar panel 19 if it determines that reflected light from the solar panel 19 is directed towards the aircraft. Alternatively, the panel control unit 114 may control the solar panel control device 18 so that the shading device 190 does not block the solar panel 19 if it determines that reflected light from the solar panel 19 is not directed towards the aircraft.

[0100] As a result, the panel control unit 114 can control the shading device 190 to close when shading the solar panel 19, and to open when generating electricity. In addition, when the panel control unit 114 controls the shading device 190, the panel control unit 114 may achieve the above processing by controlling the shading device 190 instead of controlling the solar panel control device 18.

[0101] Furthermore, the panel control unit 114 can deflect reflected light upwards by controlling the solar panel control device 18 to raise the solar panel 19 to a predetermined height when the sun's altitude is lower than a predetermined altitude. For example, when the sun is low in the sky near the horizon, the panel control unit 114 may control the solar panel control device 18 to raise the solar panel 19 to about 45 to 60 degrees, deflecting the reflected light above the horizontal plane.

[0102] Through the above process, the robot 10 can suppress reflected light from the solar panel 19 from being directed towards the target. Furthermore, by dynamically changing the direction of the reflected light, the robot 10 can perform solar power generation while avoiding glare on the target (e.g., pilots, employees). In addition, by suppressing reflected light from being directed towards the target, the robot 10 can operate appropriately within the airport.

[0103] The determination unit 115 determines whether reflected light from the solar panel 19 is directed towards the target based on the sun's position information, the target's position information, and the robot's position information. The determination unit 115 may also determine in real time whether reflected light is directed towards the target (e.g., an aircraft pilot) based on the current time and the sun's position at the location of the robot 10 and the positions of surrounding aircraft.

[0104] The determination unit 115 may, for example, determine whether the angle at which the reflected light from the solar panel 19 is directed toward the aircraft (hereinafter also referred to as the glare risk angle). The glare risk angle includes the angle at which the normal direction of the solar panel 19 coincides with the direction that bisects the sun direction vector and the aircraft direction vector.

[0105] The determination unit 115 may, for example, determine that reflected light is directed towards the aircraft when the normal direction of the solar panel 19 is oriented in the direction that bisects the solar direction vector and the aircraft direction vector, based on the law of specular reflection. Alternatively, the determination unit 115 may calculate the solar direction vector S from the azimuth angle and altitude angle of the sun, and calculate the aircraft direction vector O from the position of the robot 10 and the position of the aircraft.

[0106] The determination unit 115 then calculates a normal vector N from the current orientation of the solar panel 19 and determines whether the normal vector N is closer than a predetermined value in the direction of vector (S+O). If the determination unit 115 determines that the reflected light is directed toward the aircraft, it may determine that the reflected light is directed toward the aircraft. The user can arbitrarily change the predetermined value by operating the terminal device 20. Note that the aircraft is just one example of an object, and the object direction vector O may be calculated for each object.

[0107] Furthermore, the user may set tolerances according to the distance to the aircraft. The user of robot 10 may set a larger tolerance when the distance to the aircraft is greater, as even slight angular deviations will reduce the glare intensity. Conversely, when the distance to the aircraft is close, the user of robot 10 may set a smaller tolerance to adequately avoid glare.

[0108] Furthermore, the determination unit 115 may utilize existing solar glare analysis tools to determine whether reflected light from the solar panel 19 is directed towards the aircraft based on solar position information, target position information, and robot position information. The user may also arbitrarily set the conditions of the solar glare analysis tool (e.g., glare generation conditions (visually unacceptable brightness, radiant irradiance to the observer's retina, duration)) and have the determination process executed under those set conditions.

[0109] Furthermore, the determination unit 115 may determine that reflected light from the solar panels 19 does not head towards the aircraft if the solar radiation intensity is below a predetermined value. For example, the determination unit 115 may determine that reflected light from the solar panels 19 does not head towards the aircraft if the weather is rainy, cloudy, etc. and the solar radiation intensity is below a predetermined value. This allows the robot 10 to efficiently perform the determination process when the glare risk is reduced.

[0110] Furthermore, if the panel control unit 114 determines that reflected light is not directed towards the target, it may control the solar panel control device 18 to increase the power generation efficiency of the solar panel 19. The panel control unit 114 may also control the solar panel control device 18 to increase power generation efficiency by, for example, continuously tracking the sun (e.g., controlling the solar panel control device 18 so that the solar panel 19 is perpendicular to the sun). Alternatively, the panel control unit 114 may control the solar panel control device 18 to maximize the power generation efficiency of the solar panel 19.

[0111] Through the above process, when the robot 10 determines that reflected light is not directed towards the target, it controls the solar panel control device 18 to increase power generation efficiency, thereby enabling it to perform solar power generation appropriately while avoiding glare.

[0112] The target location information may include information regarding the aircraft's takeoff and landing paths. For example, the target location information acquisition unit 111 may acquire location information indicating the aircraft's takeoff and landing paths from a management system that manages the aircraft as the target location information.

[0113] Furthermore, users may identify areas where reflected light should be prevented (e.g., maintenance areas) through interviews with aircraft management companies, and the target location information may include information related to those areas.

[0114] The panel control unit 114 may control the solar panel control device 18 to position the solar panel 19 such that reflected light from the solar panel 19 is suppressed from being directed towards a predetermined range on the takeoff and landing path, based on the sun position information, target position information, and robot position information. The user may set the predetermined range by operating the terminal device 20 to set the altitude and position information to include the takeoff and landing path. The predetermined range on the takeoff and landing path may be the entire path or a specific part of the path.

[0115] Furthermore, the panel control unit 114 can deflect reflected light to the airspace opposite the runway or towards the safe ground by controlling the solar panel control device 18 to swing the solar panel 19 from side to side. In addition, if the sun and the runway approach path are aligned in a nearly straight line, the panel control unit 114 can deflect reflected light away from the approach path by controlling the solar panel control device 18 to orient the solar panel 19 sideways.

[0116] Furthermore, the determination unit 115 may determine whether the reflected light from the solar panel 19 is directed towards a predetermined range on the takeoff and landing path. The user may, for example, set the predetermined range to be within 2 statue miles from the runway end, and from an altitude of 50 feet to several hundred feet. If the determination unit 115 determines that the reflected light from the solar panel 19 is directed towards a predetermined range on the takeoff and landing path, the panel control unit 114 may control the solar panel control device 18 so that the direction of the reflected light is directed towards the airspace opposite to the takeoff and landing path, or towards the ground, etc.

[0117] Furthermore, when multiple aircraft are flying around the airfield 50 simultaneously, the panel control unit 114 may control the solar panel control device 18 based on the position information of each aircraft so that the attitude of the solar panels 19 is such that reflected light from the solar panels 19 is suppressed from being directed towards each aircraft.

[0118] Furthermore, the panel control unit 114 may control the solar panel control device 18 based on the priority of the aircraft when multiple aircraft are flying around the airfield 50 simultaneously. The panel control unit 114 may determine that aircraft with a higher risk (e.g., aircraft that are close, aircraft at a lower altitude) have a higher priority, and based on the position information of the aircraft with the higher priority, it may control the solar panel control device 18 so that the attitude of the solar panels 19 is such that reflected light from the solar panels 19 is suppressed from being directed towards each aircraft.

[0119] The user may also operate the terminal device 20 to set the priority calculation method as appropriate. For example, the system may be set so that aircraft approaching the takeoff or landing path have the highest priority, or so that aircraft that are close to the runway or at a low altitude have the highest priority.

[0120] The target location information acquisition unit 111 may acquire type information regarding the aircraft in addition to the aircraft's location information. The type information may include large passenger aircraft, small propeller aircraft (including training aircraft), helicopters, etc.

[0121] The panel control unit 114 may, when the aircraft type information is a large passenger aircraft, control the solar panel control device 18 so that the attitude of the solar panel 19 is such that reflected light is suppressed from being directed towards a predetermined area on the takeoff and landing path when the aircraft approaches within a predetermined range (e.g., 3 kilometers) from the leading edge of the takeoff and landing path.

[0122] Furthermore, if the aircraft type information is a small propeller aircraft, the panel control unit 114 may control the solar panel control device 18 so that when the aircraft enters within a predetermined range surrounding the entire takeoff and landing path (e.g., 0.5 kilometers from the outer frame of the takeoff and landing path), the attitude of the solar panel 19 is such that reflected light is suppressed from being directed towards a predetermined range on the takeoff and landing path.

[0123] Furthermore, if the type information is a helicopter, the panel control unit 114 may control the solar panel control device 18 so that when the helicopter approaches within a predetermined range surrounding the entire takeoff and landing path (e.g., 3 kilometers from the outer edge of the takeoff and landing path), the orientation of the solar panel 19 is such that reflected light is suppressed from being directed towards a predetermined range on the takeoff and landing path. This reduces the risk of glare for approach paths from all directions around the helipad.

[0124] Through the above process, the robot 10 can suppress reflected light from the solar panel 19 from being directed towards a predetermined range on the takeoff and landing path, and can control the robot so that the reflection from the solar panel 19 does not enter the field of view of the pilot of an aircraft operating within the predetermined range on the takeoff and landing path.

[0125] The target location information may include the location information of the control tower. The target location information acquisition unit 111 may, for example, acquire the location information of the control tower of an airport.

[0126] The panel control unit 114 may control the solar panel control device 18 to position the solar panel 19 such that reflected light from the solar panel 19 is suppressed from being directed towards the control tower, based on the position information of the sun, the position information of the control tower, and the position information of the robot.

[0127] Furthermore, the determination unit 115 may determine whether or not the reflected light is directed toward the control tower based on the position information of the sun, the position information of the control tower, and the position information of the robot. The determination unit 115 may also calculate a control tower direction vector from the position of the robot 10 and the position of the control tower and determine whether or not the reflected light is directed toward the control tower. If the determination unit 115 determines that the reflected light from the solar panel 19 is directed toward the control tower, the panel control unit 114 may control the solar panel control device 18 so that the orientation of the solar panel 19 is such that the reflected light is directed toward the control tower. The panel control unit 114 may also control the solar panel control device 18 so that the direction of the reflected light is directed toward the airspace opposite to the control tower, or toward the ground, etc.

[0128] Furthermore, if the panel control unit 114 determines that the reflected light is directed toward at least one of the aircraft and / or the control tower, it may control the solar panel control device 18 so that the reflected light is directed toward a safety area related to a predetermined area where reflected light may be directed.

[0129] Furthermore, the panel control unit 114 may control the solar panel control device 18 to assume a safe posture if an abnormality occurs in the robot 10 (e.g., if a sensor malfunction or lack of real-time aircraft information is detected). A safe posture includes a posture in which the solar panel 19 is horizontally facing downwards, and a posture set by the user in advance so that the reflected light does not point towards the runway or approach path. This prevents the reflected light from pointing towards the aircraft even if an abnormality occurs in the robot 10. The panel control unit 114 may also control the solar panel control device 18 so that the reflected light does not point towards a prohibited area.

[0130] Through the above process, the robot 10 can suppress reflected light from the solar panels 19 from heading towards the control tower, and can control the robot so that the reflection from the solar panels 19 does not enter the field of view seen by air traffic controllers inside the control tower.

[0131] The target location information may include schedule information relating to the aircraft's takeoff and landing schedule. The target location information acquisition unit 111 may acquire schedule information as target location information from, for example, the airport's air traffic control system, ADS-B receiver, terminal device 20, etc. Furthermore, the schedule information may include not only information relating to the aircraft's takeoff, landing, approach, etc., but also operational information relating to the aircraft's flight schedule at the airport 50, and ground taxiing status.

[0132] The determination unit 115 may determine whether an aircraft is scheduled to take off or land based on the current time and target location information including schedule information (e.g., information regarding the aircraft's approach path, approach time, and current position). Alternatively, the determination unit 115 may identify the runway that each aircraft is scheduled to use and determine whether the target aircraft will take off or land on that runway.

[0133] If the panel control unit 114 determines that an aircraft is scheduled to take off or land, it may control the solar panel control device 18 so that the solar panel 19 is positioned in a manner that suppresses reflected light from the solar panel 19 from being directed towards a predetermined range on the takeoff and landing path during the scheduled takeoff and landing time.

[0134] The panel control unit 114 may, for example, control the solar panel control device 18 so that, during a predetermined time period including 15:00 when an aircraft is scheduled to approach from the south, the reflected light from the solar panels 19 is suppressed from being directed towards a predetermined range on the approach path from the south. This can be done by the user operating the terminal device 20 to change the predetermined time period as they see fit.

[0135] Furthermore, the memory unit 100 may store the relationship between the first area 52 and the runway 51. The panel control unit 114 may control the solar panel control device 18 so that, when the robot 10 is operating in the first area 52 and the aircraft is scheduled to use the runway 51 corresponding to the first area 52, the orientation of the solar panel 19 is such that reflected light from the solar panel 19 is suppressed from being directed towards a predetermined range on the takeoff and landing path during that time period.

[0136] Through the above process, the robot 10 can control the solar panel control device 18 based on the schedule information, thereby suppressing reflected light from the solar panels 19 from being directed towards a predetermined range on the takeoff and landing path during the time period when aircraft takeoffs and landings are scheduled.

[0137] The robot position information acquisition unit 113 may acquire the remaining battery level of the robot 10. The robot position information acquisition unit 113 may acquire the remaining battery level based on the battery voltage and charge status. In addition, the robot position information acquisition unit 113 may acquire status information related to the battery status.

[0138] Status information includes information regarding at least one of the following: battery level, battery temperature, whether the battery is charged or not, and abnormality information regarding the presence or absence of abnormalities related to the battery. The battery level may vary between 0 and 100%, and may be indicated by indicators such as "sufficient," "normal," or "almost full." The robot position information acquisition unit 113 may, for example, acquire battery level information (e.g., 50% remaining) as status information. In addition to the battery level, it may also acquire the battery temperature as status information.

[0139] If the panel control unit 114 determines that reflected light from the solar panel 19 is not directed towards the aircraft, it may switch the control mode for controlling the solar panel control device 18 based on the remaining battery level. This makes it possible to increase power generation efficiency while extending the operating time of the robot 10.

[0140] The control modes include, for example, a normal mode and a power-saving mode. The normal mode is the mode under normal conditions, and is a control mode that changes the orientation (e.g., angle) of the solar panel 19 while continuously monitoring the position of the sun. In normal mode, the panel control unit 114 may continuously monitor the position of the sun and, based on the sun position information, control the orientation of the solar panel 19 (an orientation such that the solar panel 19 receives sunlight perpendicularly) every few seconds to tens of seconds.

[0141] The power-saving mode is a mode that consumes less power than the normal mode, and is a control mode in which the robot 10 limits the frequency of changing the orientation of the solar panel. The power-saving mode reduces power consumption compared to the normal mode by limiting the frequency of controlling the solar panel control device 18, etc. Furthermore, by changing the orientation of the solar panel 19 only when the robot 10 changes direction, the relative positional relationship between the solar panel 19 and the sun can be effectively adjusted.

[0142] Furthermore, in power-saving mode, the robot 10 may control the solar panel control device 18 to change the orientation of the solar panels 19 at predetermined intervals (e.g., every 5 minutes, every 10 minutes), or it may control the solar panel control device 18 to change the orientation of the solar panels 19 at regular time intervals without continuously monitoring the position of the sun.

[0143] The panel control unit 114 may control the solar panel control device 18 in power-saving mode when the battery level is less than 30%, and in normal mode when the battery level is 30% or more. The system may also be configured to allow the user to switch between control modes by operating the terminal device 20.

[0144] Furthermore, the panel control unit 114 may dynamically change the time interval according to the remaining battery level. For example, the panel control unit 114 may control the solar panel control device 18 to change the angle of the solar panel 19 at 10-minute intervals when the remaining battery level is less than 30%, and at 5-minute intervals when the remaining battery level is 30% or more but less than 50%.

[0145] Furthermore, the panel control unit 114 may control the solar panel control device 18 in normal mode if it determines that the reflected light from the solar panel 19 is not directed towards the aircraft and the battery level is above a predetermined level. If the battery level is above a predetermined level, the panel control unit 114 can control the solar panel control device 18 in high-frequency tracking mode to orient the solar panel 19 to an angle that maximizes power generation efficiency.

[0146] The panel control unit 114 may control the solar panel control device 18 in power-saving mode if it determines that the reflected light from the solar panel 19 is not directed towards the aircraft and the battery level is below a predetermined level. If the battery level is above the predetermined level, the panel control unit 114 can control the solar panel control device 18 in high-frequency tracking mode to orient the solar panel 19 to an angle that maximizes power generation efficiency (e.g., to face the sun directly).

[0147] Furthermore, the panel control unit 114 may control the solar panel control device 18 in a power-saving mode when the battery level is below a predetermined level. When the battery level is below a predetermined level, the panel control unit 114 can appropriately save power by controlling the solar panel control device 18 in a power-saving mode, such as changing the angle of the solar panel 19 only when the robot 10 changes direction.

[0148] Furthermore, if the state control device is a light-shielding device 190, the control mode may be a control mode that changes the frequency of light shading of the solar panel 19. Also, if the state control device is a transmittance control device, the control mode may be a control mode that changes the frequency of transmittance switching.

[0149] If the state control device is a light-shielding device 190, the normal mode may be a control mode that continuously determines whether reflected light from the solar panel 19 is directed towards the target, closes the light-shielding device 190 when it is determined that the reflected light is directed towards the target, and opens the light-shielding device 190 when it is determined that the reflected light is not directed towards the target. Alternatively, the power-saving mode may be a control mode that limits the frequency of the determination process and determines whether reflected light is directed towards the target at predetermined intervals (e.g., every 5 minutes, every 10 minutes).

[0150] Furthermore, if the state control device is a transmittance control device, the normal mode may be a control mode that continuously determines whether reflected light from the solar panel 19 is directed toward the target, sets the transmittance control device to an opaque state when it is determined that the reflected light is directed toward the target, and sets the transmittance control device to a transparent state when it is determined that the reflected light is not directed toward the target. In addition, the power saving mode may be a control mode that limits the frequency of the determination process and determines whether reflected light is directed toward the target at predetermined intervals (e.g., every 5 minutes, every 10 minutes).

[0151] Furthermore, if the state control device is a light-shielding device 190, the panel control unit 114 may control the device to open the light-shielding device 190 when it determines that reflected light is not directed toward the target, thereby increasing the power generation efficiency of the solar panel 19.

[0152] Furthermore, if the state control device is a transmittance control device, the panel control unit 114 may control the transmittance control device to a transparent state when it determines that reflected light is not directed toward the target, thereby increasing the power generation efficiency of the solar panel 19.

[0153] Furthermore, if the state control device is a light-shielding device 190, the panel control unit 114 can close the light-shielding device 190 to shield the surface of the solar panel 19, thereby suppressing reflected light from the solar panel 19 from being directed towards the target. In this embodiment, the shielding by the light-shielding device 190 does not change the direction of the reflected light, but rather suppresses the generation of the reflected light itself.

[0154] Furthermore, if the state control device is a transmittance control device, the panel control unit 114 can make the transmittance control device opaque, thereby causing the incident light to scatter internally, reducing specular reflection and converting it into diffuse reflection. This reduces the amount of reflected light per solid angle, suppressing the reflected light from the solar panel 19 from being directed towards the target. In this embodiment, the suppression of reflected light by the transmittance control device does not change the direction of the reflected light, but rather reduces the intensity of specular reflection.

[0155] The panel control unit 114 may calculate an index relating to the amount of power generated by the solar panels 19 and an index relating to the risk of reflected light being directed toward the target. For example, the panel control unit 114 may calculate an index relating to the amount of power generated by the solar panels 19 and an index relating to the risk of reflected light being directed toward the target during a predetermined time period, based on a predetermined prediction model.

[0156] Furthermore, the control unit 110 may, for example, construct an evaluation model that learns the orientation of the solar panel 19 corresponding to previously calculated indicators of power generation and risk of reflected light being directed toward an object, using previously calculated indicators of power generation and risk of reflected light being directed toward an object as explanatory variables and the orientation of the solar panel 19 as the dependent variable. In other words, the evaluation model is a model that appropriately learns the relationship between the input indicators of power generation and risk of reflected light being directed toward an object and the orientation of the solar panel 19. The evaluation model may be stored in the memory unit 100.

[0157] Furthermore, the panel control unit 114 may input the calculated power generation indicators and risk indicators into a predetermined evaluation model and control the solar panel control device 18 based on the results output from the evaluation model.

[0158] Furthermore, the evaluation model may be defined, for example, as "power generation loss rate + weighting coefficient × glare risk index," and the panel control unit 114 may calculate the orientation of the solar panel 19 that minimizes the evaluation model and control the panel control device based on the calculation result. The glare risk index may be defined using at least one of the probability that reflected light is directed towards the aircraft, the intensity of the reflected light, and the duration of the reflected light, and may be set appropriately by the user based on guidelines such as those for the airport. As a result, the panel control unit 114 can control the panel control device not only by simple rule-based switching, but also based on the amount of power generated by the solar panel 19 and the risk of reflected light generation.

[0159] The panel control unit 114 may control the panel control device using model predictive control (MPC). For example, the panel control unit 114 may use MPC to predict changes in the position of the sun and the aircraft up to a predetermined time in advance, calculate an attitude path that minimizes the evaluation model, and control the panel control device based on the calculation result. The panel control unit 114 may also control the panel control device by prioritizing power generation, prioritizing safety, or searching for an intermediate optimal point depending on weather conditions and operational status.

[0160] Through the above process, the robot 10 can achieve both power generation performance and safety by controlling the solar panel control device 18 using indicators related to the amount of power generated by the solar panel 19 and indicators related to the risk of reflected light being directed towards the target.

[0161] Furthermore, if the state control device is a light-shielding device 190, the evaluation model may learn the open / closed state of the light-shielding device 190 as the target variable. The panel control unit 114 may control the light-shielding device 190 based on the open / closed state of the light-shielding device 190 output from the evaluation model.

[0162] Furthermore, if the state control device is a transmittance control device, the evaluation model may learn the transmittance state (transparent or opaque state) of the transmittance control device as the target variable. The panel control unit 114 may control the transmittance control device based on the transmittance state output from the evaluation model.

[0163] Based on the sun's position information, the target's position information, and the robot's position information, the drive control unit 116 controls the drive unit 34 so that the solar panel 19 is positioned in a way that suppresses reflected light from the solar panel 19 from being directed towards the target.

[0164] The drive control unit 116 may, for example, control the drive unit 34 to move the robot 10 into the shade if the sun's altitude is lower than a predetermined position and the reflected light is directed near horizontal even when the solar panel 19 is tilted to its maximum angle. Alternatively, the drive control unit 116 may control the drive unit 34 to move the robot 10 to a position away from the runway so that the reflected light does not directly reach the runway.

[0165] Furthermore, the drive control unit 116 may execute a pre-configured fail-safe process if an abnormality occurs in the robot. For example, if a sensor malfunction occurs or if information such as target position information cannot be acquired for a predetermined period of time, the drive control unit 116 may move the robot 10 to a position away from the runway and control the drive unit 34 so that reflected light does not directly reach the runway.

[0166] Through the above process, the robot 10 can suppress reflected light from being directed towards the target even in situations that cannot be addressed by controlling the panel's orientation alone, by moving the robot 10's own position.

[0167] (Terminal device 20) Figure 8 shows an example of the functional block configuration of the terminal device 20 according to this embodiment. The terminal device 20 includes a storage unit 200 and a control unit 210. The storage unit 200 can be implemented using a storage device 12 provided in the terminal device 20.

[0168] Furthermore, the control unit 210 can be realized by the processor 11 of the terminal device 20 executing a program stored in the storage device 12. This program can be stored in a storage medium. The storage medium containing the program may be a non-transitory computer-readable medium. The non-transitory storage medium is not particularly limited, but may be, for example, a USB memory stick or a CD-ROM.

[0169] The control unit 210, in cooperation with the robot 10, provides various functions necessary for, for example, receiving information output from the robot 10 and displaying it on the screen of the terminal device 20. For example, the control unit 210 provides functions such as acquiring various information (image data, text data, etc.) from the robot 10 for drawing on the screen of the terminal device 20. The control unit 210 includes, for example, a communication unit 211 and a UI (User Interface) unit 212.

[0170] The memory unit 200 stores various programs and data necessary for the control unit 210 to perform this information processing.

[0171] The communication unit 211 has the function of performing various types of communication with the robot 10 using the communication IF 13.

[0172] The UI unit 212 has, for example, a function to receive various inputs from the user and a function to display the screen output by the robot 10 on the display.

[0173] Regarding the functional block configuration described above, it is also possible to configure the terminal device 20 to provide all or part of the storage unit 100 and control unit 110 included in the robot 10. In other words, the various processes according to this embodiment may be executed by the processor of the robot 10, by the processor of the terminal device 20, or by the processors of the robot 10 and the terminal device 20 working together.

[0174] <Processing Procedure> Next, the operation of the robot 10 according to this embodiment will be described. Figure 9 is a flowchart showing an example of the processing procedure of the robot according to this embodiment. In this embodiment, it is assumed that before the processing in Figure 9 is started, various data, including map information relating to the first area 52 and the second area 53, is stored in the storage unit 100.

[0175] In step S101, the target location information acquisition unit 111 acquires target location information. The target location information acquisition unit 111 may acquire the target location information using, for example, at least one of an ADS-B receiver, a wireless communication module, an acoustic sensor, and a radar. Alternatively, the target location information acquisition unit 111 may acquire the target location information from an air traffic control system.

[0176] In step S102, the solar position information acquisition unit 112 acquires solar position information. The solar position information acquisition unit 112 may acquire solar position information measured by, for example, a camera or weather sensor equipped on the robot 10. Alternatively, the solar position information acquisition unit 112 may acquire solar position information based on the current time and robot position information, or it may acquire solar position information by cooperating with an external device.

[0177] In step S103, the robot position information acquisition unit 113 acquires robot position information. The robot position information acquisition unit 113 may acquire robot position information using, for example, at least one of the GPS, LiDAR, and camera provided by the robot 10. Alternatively, the robot position information acquisition unit 113 may acquire robot position information using an angle encoder or gyro sensor provided by the robot 10.

[0178] In step S104, the panel control unit 114 controls the solar panel control device 18. Based on the sun position information, target position information, and robot position information, the panel control unit 114 controls the solar panel control device 18 so that the solar panel 19 is positioned in a way that suppresses reflected light from the solar panel 19 from being directed toward the target. The panel control unit 114 may also calculate the position of the solar panel 19 that suppresses reflected light from the solar panel 19 from being directed toward the target, and control the solar panel control device 18 to achieve the calculated position.

[0179] Through the above process, the robot 10 can suppress reflected light from the solar panel 19 from being directed towards the target. Furthermore, by dynamically changing the direction of the reflected light, the robot 10 can perform solar power generation while avoiding glare on the target. As a result, when the robot 10 is operated at an airport 50 or the like, glare from reflected light can be suppressed from visually affecting aircraft pilots or air traffic controllers operating in the control tower.

[0180] The embodiments described above are provided to facilitate understanding of the disclosure and are not intended to limit it. The flowcharts, sequences, elements, and their arrangement, materials, conditions, shapes, and sizes described in these embodiments are not limited to those described and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined.

[0181] Hereinafter, an example of a solar panel 19 equipped with a light-shielding device 190 that shields the surface of the solar panel 19 will be specifically described. Figure 10 is a diagram showing an example of a light-shielding device 190 according to this embodiment. The light-shielding device 190 includes a light-shielding tool (e.g., a curtain, shutter, blind) and a mechanism for housing the light-shielding tool. The panel control unit 114 can shield the solar panel 19 by controlling the light-shielding device 190 to close, and can generate electricity using the solar panel 19 by controlling the light-shielding device 190 to open.

[0182] The light-shielding device 190 may be provided, for example, at the tip of the solar panel 19. The light-shielding device 190 (light-shielding device 190A) may be a parallel-movement type that shields the solar panel 19 from light by moving parallel to the surface of the solar panel 19. The light-shielding device 190 (light-shielding device 190B) may be stored in a winding type.

[0183] Furthermore, the light-shielding device 190 (light-shielding device 190C) may be of a folding type, where it is stored by folding it back from the front surface to the back surface of the solar panel 19. Also, the solar panel control device 18 may control the light-shielding device 190, or the panel control unit 114 may control the light-shielding device 190.

Claims

1. A solar panel positioned to receive sunlight in a robot, A state control device for controlling the state of the solar panel, Equipped with a processor, The processor acquires object location information relating to an object located at a different location from the robot. The aforementioned processor acquires solar position information regarding the position of the sun, The processor acquires robot position information relating to the position of the robot, The processor controls the state control device to suppress reflected light from the solar panel from being directed toward the target, based on the solar position information, the target position information, and the robot position information. robot.

2. The state control device is a solar panel control device that controls the orientation of the solar panel, The processor controls the solar panel control device to position the solar panel such that reflected light from the solar panel is suppressed from being directed toward the target, based on the solar position information, the target position information, and the robot position information. The robot according to claim 1.

3. The state control device is a transmittance control device that controls the transmittance of the solar panel, The processor controls the transmittance control device to suppress reflected light from the solar panel from being directed toward the target, based on the solar position information, the target position information, and the robot position information. The robot according to claim 1.

4. The state control device is a light-shielding device that shields the surface of the solar panel from light, The processor controls the light-shielding device to suppress reflected light from the solar panel from being directed toward the target, based on the solar position information, the target position information, and the robot position information. The robot according to claim 1.

5. The subject of the aforementioned subject is an aircraft, The aforementioned target location information includes location information indicating the aircraft's takeoff and landing path. The processor controls the state control device to suppress reflected light from the solar panel from being directed towards a predetermined range on the takeoff and landing path, based on the solar position information, the target position information, and the robot position information. The robot according to claim 1.

6. The aforementioned object is the control tower, The aforementioned target location information includes the location information of the control tower, The robot according to claim 1.

7. The processor determines, based on the solar position information, the target position information, and the robot position information, whether or not reflected light from the solar panel is directed towards the target. If the processor determines that the reflected light is not directed toward the target, it controls the state control device so that the power generation efficiency of the solar panel is increased. The robot according to claim 1.

8. The aforementioned target location information includes schedule information relating to the aircraft's takeoff and landing schedule. The processor determines whether or not the aircraft is scheduled to take off or land based on the schedule information. If the processor determines that the aircraft is scheduled to take off or land, it controls the state control device to suppress reflected light from the solar panels from being directed towards a predetermined range on the takeoff and landing path during the scheduled time period. The robot according to claim 5.

9. The robot has a plurality of control modes for controlling the state control device, The processor obtains the remaining battery level of the robot, The processor determines, based on the solar position information, the target position information, and the robot position information, whether or not reflected light from the solar panel is directed towards the target. If the processor determines that reflected light from the solar panel is not directed towards the target, it switches the control mode for controlling the state control device based on the remaining battery level. The robot according to claim 1.

10. The processor controls the state control device in a control mode that changes the state of the solar panel while continuously monitoring the position of the sun, when the battery level is above a predetermined level. The robot according to claim 9.

11. The processor controls the state control device in a control mode that limits the frequency of changing the state of the solar panel when the battery level is below a predetermined level. The robot according to claim 9.

12. The processor calculates an index relating to the amount of power generated by the solar panel and an index relating to the risk of the reflected light being directed toward the target. The processor inputs the calculated power generation indicator and risk indicator into a predetermined evaluation model, and controls the state control device based on the results output from the evaluation model. The robot according to claim 1.

13. The robot is further equipped with a drive device for moving the robot, The processor controls the drive device so that the solar panel is positioned such that reflected light from the solar panel is suppressed from being directed toward the target, based on the solar position information, the target position information, and the robot position information. The robot according to claim 1.

14. A solar panel positioned to receive sunlight in a robot, A state control device for controlling the state of the solar panel, A method for controlling a robot comprising a processor, The processor acquires object location information relating to an object located at a different location from the robot. The aforementioned processor acquires solar position information regarding the position of the sun. The processor acquires robot position information relating to the position of the robot. The processor controls the state control device to suppress reflected light from the solar panel from being directed toward the target, based on the solar position information, the target position information, and the robot position information. Robot control methods.

15. A solar panel positioned to receive sunlight in a robot, A state control device for controlling the state of the solar panel, A program for controlling a robot equipped with a processor, The processor includes a process for acquiring target location information for an object located at a different location from the robot, The aforementioned processor performs a process to acquire solar position information regarding the position of the sun, The processor includes a process for acquiring robot position information relating to the position of the robot, The processor is made to perform a process to control the state control device so as to suppress reflected light from the solar panel from being directed toward the target, based on the solar position information, the target position information, and the robot position information. program.

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