Robot

Abstract

A robot according to an embodiment of the present application comprises: a robot body that can autonomously travel; a detection unit that detects conditions around the robot body; and a control unit that causes the robot body to autonomously travel according to the conditions detected by the detection unit. The robot body comprises: a trunk section; two legs that are movably attached to the trunk section; and rollers that move the robot body, one roller being provided on each of the two legs. A center part of each roller is provided at a substantially intermediate position between a knee part of each of the two legs and the ground surface.

Description

robot

[0001] The disclosed embodiments relate to a robot.

[0002] Conventionally, a system has been known in which, when a vehicle is threatened with harm, a drone is launched from the vehicle and photographs the vehicle and its surroundings using a camera mounted on the drone (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2020-93618

[0004] Conventional techniques have a problem in that, for example, if a suspicious object is detected and then escapes, it is not possible to track the suspicious object.

[0005] The present invention has been made in view of the above, and has an object to track a suspicious object.

[0006] According to one aspect of the embodiment, a robot includes a robot main body capable of autonomous travel, a detection unit that detects the situation around the robot main body, and a control unit that causes the robot main body to autonomously travel in accordance with the situation detected by the detection unit. The robot main body includes a trunk, two legs movably attached to the trunk, and rollers, one on each of the two legs, that move the robot main body. The centers of the rollers are located approximately midway between the knees of each of the two legs and the ground.

[0007] According to one aspect of the embodiment, a suspicious object can be tracked.

[0008] FIG. 1 is a diagram illustrating an overview of a tracking system according to a first embodiment. FIG. 2 is a diagram illustrating an overview of a tracked robot according to the first embodiment. FIG. 3 is a functional block diagram illustrating an overview of a control device for a tracked robot according to the first embodiment. FIG. 4 is a functional block diagram illustrating an overview of a management device according to the first embodiment. FIG. 5 is a flowchart illustrating a travel control process according to the first embodiment. FIG. 6 is a diagram illustrating an example of a computer hardware configuration functioning as a tracked robot or a management device. FIG. 7 is a diagram illustrating an overview of a tracked robot according to a second embodiment. FIG. 8 is a diagram illustrating an overview of a tracked robot according to the second embodiment. FIG. 9 is a diagram illustrating an overview of a tracked robot according to the second embodiment. FIG. 10 is a diagram illustrating an overview of a tracked robot according to a third embodiment. FIG. 11 is a functional block diagram illustrating an overview of a control device for a tracked robot according to the third embodiment. FIG. 12 is a flowchart illustrating a suspicious object detection process executed by a tracked robot according to the third embodiment. FIG. 13 is a flowchart illustrating a control process for a short-range drone according to the third embodiment. FIG. 14 is a flowchart illustrating a control process for a long-range drone according to the third embodiment. FIG. 15A is a diagram illustrating an example of flight of a long-range drone before a tracking mark is emitted. Fig. 15B is a diagram showing an example of flight of a long-range drone after a tracking mark has been attached to a suspicious target. Fig. 16 is a diagram showing an outline of a tracking robot according to a fourth embodiment. Fig. 17 is a functional block diagram showing an outline of a control device for a tracking robot according to the fourth embodiment. Fig. 18 is a flowchart explaining control processing of a countermeasure unit executed by a tracking robot according to the fourth embodiment. Fig. 19 is a diagram showing an outline of a tracking system according to a fifth embodiment. Fig. 20 is a diagram showing an outline of a tracking robot according to the fifth embodiment. Fig. 21 is a flowchart explaining travel control processing according to the fifth embodiment.

[0009] (First Embodiment) 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. Furthermore, 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 a first 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 first 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 may be 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 first embodiment.

[0014] 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 may be, for example, a person behaving suspiciously or the perpetrator of a crime. Furthermore, the suspicious object is not limited to a person, but may also be a vehicle carrying a person behaving suspiciously.

[0015] The robot main body 10 is a humanoid robot. For example, the robot main body 10 is approximately life-size of an average adult male. The robot main body 10 comprises a torso 10a, two legs 10b, arms 10c, and a head 10d. The legs 10b, arms 10c, and head 10d are movably attached to the torso 10a.

[0016] 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 move by moving the legs 10b.

[0017] The robot main body 10 also includes rollers 14. One roller 14 is provided on each of the two legs 10b. Specifically, the center 14a of the roller 14 is provided at a position approximately midway between the knee of each of the two legs 10b and the ground. One roller 14 is provided for each of the two legs 10b.

[0018] 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.

[0019] For example, the robot body 10 is approximately life-size as an average adult male, with a height of 160 cm to 180 cm, and each of the two legs 10b is equipped with a wheel, which is a roller 14, with a diameter of 20 cm to 60 cm.

[0020] Furthermore, the axles, which are the centers of the wheels, are not located at a position on the ground that corresponds to the heels of the human ankles, but are located approximately midway between the knees of each of the two legs 10b (about 40 cm from the ground) and the ground that corresponds to the ankles of a human (about 20 cm from the ground). In this case, the robot body 10 has the ability to run on roads at speeds of 40 km / h to 100 km / h.

[0021] The robot main body 10 is also provided with a drive mechanism that drives each of the rollers 14. For example, a main motor 15 of the drive mechanism is provided in the buttocks of each of the two legs 10b. The main motor 15 is also connected to the rollers 14 by a shaft 16. The drive mechanism that drives each of the rollers 14 may be provided in the calf of each of the two legs 10b, or may be an in-wheel motor.

[0022] The roller 14 may have a speed reduction mechanism such as a gear. The leg 10b is provided with a locking mechanism that can lock the roller 14 so that it does not rotate. For example, the locking mechanism locks the rotation axis of the roller 14.

[0023] The locking mechanism locks the roller 14 so that it does not rotate relative to the leg 10b, for example, 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-described locking mechanism is an example and is not limited to this.

[0024] The robot body 10 can move by a first movement or a second movement. The first movement is a movement method in which the legs 10b move. The second movement is a movement method in which the rollers 14 rotate.

[0025] In the first travel, the roller 14 is locked by the locking mechanism so as not to rotate relative to the leg 10b, and in the second travel, the roller 14 is released from the locking mechanism.

[0026] The traveling speed in the second traveling mode is faster than the traveling speed in the first traveling mode. That is, the moving speed of the robot body 10 by the rollers 14 is faster than the traveling speed of the robot body 10 by the movement of the legs 10b.

[0027] The arm 10c has fingers 10e at its tip. 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 17 is provided on the back of the body unit 10a, from which the short-range drone 11 can take off and land. The base unit 17 is equipped with a charging device that charges the battery of the short-range drone 11. The base unit 17 may also be equipped with 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 (e.g., four) rotary 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 emitted from the short-range drone 11. The short-range drone 11 includes a launcher that launches the tracking mark 21.

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

[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 determine position and time. The positioning device also has 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 also be a ball or the like 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 equipped with multiple types of tracking marks 21.

[0034] The short-range drone 11 includes a communication module for 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.

[0035] 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. The 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. The 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 its attitude, and the like.

[0036] The short-range drone 11 acquires information about the first flight path from the control device 13 via the communication module. The information about the first flight path includes position information (e.g., latitude, longitude, and altitude) about the first flight path. The first flight path is a flight path for tracking a suspicious target.

[0037] 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 regarding the launch signal of the tracking mark 21 from the control device 13 via the communication module.

[0038] When a suspicious object is detected, the short-range drone 11 launches from the base unit 17 of the robot main body 10. The short-range drone 11 acquires information about a first flight path and flies along the first flight path to track the suspicious object. The short-range drone 11 performs image processing based on images captured by the camera 20 and flies along the first flight path while avoiding obstacles. When a signal to launch a 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 object.

[0039] The detection unit 12 is provided, for example, on the head 10d of the robot main body 10. The detection unit 12 may also be provided on the torso 10a, fingers 10e, etc. of the robot main body 10. The detection unit 12 detects the situation around the robot main body 10. The detection unit 12 includes, for example, a high-sensitivity camera capable of 360-degree sensing, LiDAR (light detection and ranging), a thermal camera, radar, a microphone, etc. The detection unit 12 may include sensors for vision recognition, fine sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, etc. Multiple detection units 12 may be provided. The detection unit 12 may include multiple types of sensors, etc. The detection unit 12 may include a gyroscope. The gyroscope is provided, for example, on the shoulders and waist of the torso 10a of the robot main body 10, the knees of the legs 10b, or positions corresponding to the ankles of a human.

[0040] 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 about the detected position of the robot main body 10 is transmitted to the management device 4 via the network N.

[0041] 3, the control device 13 includes a communication unit 30, a storage unit 31, and a control unit 32. Fig. 3 is a functional block diagram showing an outline of the control device 13 of the tracked robot 2 according to the first embodiment.

[0042] 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 pieces of 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.

[0043] 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.

[0044] The control unit 32 is a controller and includes, for example, a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM, input / output ports, etc., 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 35, a drone control unit 36, and a robot control unit 37.

[0045] The suspicious object detection unit 35 detects a suspicious object. The suspicious object detection unit 35 detects a suspicious object based on various information detected by the detection unit 12. For example, the suspicious object detection unit 35 performs predetermined image processing on an image captured by a high-sensitivity camera provided on the tracked robot 2 to detect a suspicious object. For example, the suspicious object detection unit 35 may detect a suspicious object based on the detection result of an infrared sensor. The suspicious object detection unit 35 may detect a suspicious object using a suspicious object detection model in AI (Artificial Intelligence).

[0046] The drone control unit 36 ​​controls the short-range drone 11 and the long-range drone 3. The drone control unit 36 ​​sets a first flight path for the short-range drone 11. The drone control unit 36 ​​sets a first flight path for tracking a detected suspicious target. The drone control unit 36 ​​sets the first flight path based on the current position information of the tracked robot 2 and the position information where the suspicious target was detected. For example, the drone control unit 36 ​​sets the first flight path based on the current position information of the tracked robot 2, the direction in which the suspicious target was detected relative to the tracked robot 2, and the distance from the tracked robot 2 to the suspicious target.

[0047] The drone control unit 36 ​​sets a second flight path for the long-range drone 3. The drone control unit 36 ​​sets a second flight path for tracking the detected suspicious object. The drone control unit 36 ​​sets the second flight path based on the position information of the station where the long-range drone 3 is waiting and the position information of the tracking mark 21. The drone control unit 36 ​​may set the second flight path based on the position information of the long-range drone 3 and the position information of the tracking mark 21.

[0048] The drone control unit 36 ​​may set the first flight path and the second flight path based on the predicted escape path of the suspicious subject. The predicted escape path is generated, for example, by an escape path prediction model. The escape path prediction model predicts the escape path of the suspicious subject based on the position information of the tracking robot 2 at the time the suspicious subject is detected, the position information of the tracking mark 21, map information, traffic information, etc. The escape path prediction model includes the position information of the tracking mark 21, for example, historical information about the position of the tracking mark 21.

[0049] For example, the escape route prediction model may be a text generation model (a so-called AI chat engine) and may be interpreted as an algorithm and calculation for automatic text-based dialogue processing. Text generation models are publicly known, as disclosed in, for example, Japanese Patent Application Laid-Open No. 2018-081444 and chatGPT (Internet search <URL: https: / / openai.com / blog / chatgpt>), and therefore a detailed description thereof will be omitted. Such a text generation model is configured using a large language model (LLM).

[0050] For example, the drone control unit 36 ​​generates a sentence such as "A suspicious person is fleeing from east to west at the intersection of ABC Town DD. What escape route is possible?" using a language generation model based on the position information of the tracking mark 21. Then, by inputting the generated sentence into an escape route prediction model, a sentence such as "The suspicious person is likely to head to ABC Town EF" is generated. In this case, the drone control unit 36 ​​sets a first flight route and a second flight route toward "ABC Town EF."

[0051] By setting the first flight path and the second flight path based on the predicted escape route of the suspicious subject, the short-range drone 11 and the long-range drone 3 can get to the destination of the suspicious subject in advance. The predicted escape route may be set by the management device 4.

[0052] The set first flight path is transmitted to the short-range drone 11. Upon receiving the first flight path, the short-range drone 11 takes off from the base unit 17, flies along the first flight path, and tracks the suspicious object.

[0053] The set second flight path is transmitted to the long-range drone 3. Upon receiving the second flight path, the long-range drone 3 takes off from the waiting station, flies along the second flight path, and tracks the suspicious object.

[0054] The drone control unit 36 ​​generates a launch signal for the tracking mark 21 of the short-range drone 11. The drone control unit 36 ​​calculates the distance to the suspicious target, for example, from an image captured by the camera 20 of the short-range drone 11. Then, if the distance to the suspicious target is equal to or less than a predetermined distance, the drone control unit 36 ​​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.

[0055] The robot control unit 37 sets a travel route for the robot body 10. The travel route includes a preset security route. The robot control unit 37 causes the robot body 10 to travel autonomously along the travel route. The robot control unit 37 causes the robot body 10 to travel autonomously in accordance with the situation detected by the detection unit 12. The robot control unit 37 causes the robot body 10 to travel autonomously by controlling the drive of the legs 10b, rollers 14, and arms 10c of the robot body 10. The robot control unit 37 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.

[0056] For example, the robot control unit 37 inputs the situation detected by the detection unit 12 into a learned model that outputs movement information regarding the movement of each of the two legs 10b in response to input of the situation around the robot main body 10, and uses the results obtained to cause the robot main body 10 to move autonomously.

[0057] The trained model is, for example, a generation AI such as a sentence generation model, such as chatGPT, which performs automatic dialogue processing using text. The movement information includes, for example, at least one of the thigh lift, knee bend, and rotation speed of each of the rollers 14 provided on each of the two legs 10b.

[0058] Furthermore, for example, when a suspicious object is detected, the robot control unit 37 sets a travel route to track the suspicious object. The robot control unit 37 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 37 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.

[0059] In addition, after the short-range drone 11 takes off, the robot control unit 37 sets a travel route to track the suspicious object based on the position information of the robot body 10 and the position information of the tracking mark 21.

[0060] When a suspicious target is detected, the robot control unit 37 may set a travel route to track the suspicious target based on the predicted escape route of the suspicious target. By setting the travel route of the robot main body 10 based on the predicted escape route of the suspicious target, the robot main body 10 can get to the destination of the suspicious target in advance.

[0061] The robot control unit 37 switches the running method of the robot body 10. The robot control unit 37 switches the running method of the robot body 10 between a first running method using the movement of the legs 10b and a second running method using the rotation of the rollers 14.

[0062] For example, when no suspicious object is detected, the robot control unit 37 sets the travel method of the robot body 10 to the first travel. When the robot control unit 37 causes the robot body 10 to travel in the first travel mode, the robot control unit 37 locks the rollers 14 by the locking mechanism so that they do not rotate.

[0063] When it is necessary to make the robot body 10 travel at a speed faster than the first travel, the robot control unit 37 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 to be tracked, the robot control unit 37 sets the travel method of the robot body 10 to the second travel.

[0064] When the robot main body 10 is caused to travel in the second traveling mode, the robot control unit 37 stops the movement of the leg 10b. For example, the robot control unit 37 sets the leg 10b to a predetermined position. The predetermined position is a position set in advance, and is a position where the robot main body 10 assumes a posture suitable for traveling in the second traveling mode caused by the rotation of the rollers 14. For example, the predetermined position is a position where the center of gravity of the robot main body 10 is at a height that is less than half the total length of the tracked robot 2. For example, the predetermined position is a position where the robot main body 10 assumes a crouching posture. In addition, the robot control unit 37 releases the lock provided by the locking mechanism and rotates the rollers 14.

[0065] Even when the robot control unit 37 starts tracking a suspicious object, for example, when the robot main body 10 goes up and down stairs or overcomes a step, the robot control unit 37 sets the running method of the robot main body 10 to the first running.

[0066] Here, an example has been described in which the running mode of the robot body 10 is switched between the first running mode and the second running mode 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 using the second running mode, and may run using the first running mode when ascending or descending stairs, climbing over steps, etc. The conditions for switching the running mode of the robot may be configurable.

[0067] Returning to Figure 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 rotary propellers, similar to the short-range drone 11, and performs unmanned autonomous flight. The short-range drone 11 is powered by a battery.

[0068] The long-range drone 3 has a longer flight distance than the short-range drone 11. The flight distance is the distance that can be flown on a single charge. The long-range drone 3 waits at a preset station. For example, the long-range drone 3 is equipped with 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 drone.

[0069] The long-range drone 3 is equipped with a camera, similar to the short-range drone 11. The long-range drone 3 is not equipped with a tracking mark, unlike the short-range drone 11. Note that the long-range drone 3 may be equipped with a tracking mark, similar to the short-range drone 11.

[0070] The long-range drone 3 includes a communication module for 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.

[0071] 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. The 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. The 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 its attitude, and the like.

[0072] The long-range drone 3 acquires information about the second flight path from the control device 13 via the communication module. The information about the second flight path includes position information (e.g., latitude, longitude, and altitude) of the second flight path.

[0073] 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.

[0074] The long-range drone 3 transmits images taken by the camera to the management device 4 via the communication module. The long-range drone 3 transmits images taken by the camera to the control device 13 via the communication module.

[0075] 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 images captured by the camera and flies along the second flight path while avoiding obstacles.

[0076] 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.

[0077] The management device 4 is, for example, a server device. The management device 4 may also be a cloud server. As shown in Fig. 4, the management device 4 includes a communication unit 40, a storage unit 41, and a control unit 42. Fig. 4 is a functional block diagram showing an outline of the management device 4 according to the first embodiment.

[0078] The management device 4 collects, from the tracked robot 2 that detected the suspicious object, various types of information detected by the detection unit 12 of the tracked robot 2. The management device 4 also collects, from tracked robots 2 different from the tracked robot 2 that detected the suspicious object, various types of information detected by the detection unit 12. The management device 4 also collects, from multiple long-range drones 3, position information of each long-range drone 3.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 an HDD, an SSD, an optical disk, etc. Various programs and various data are stored in the storage unit 41. For example, the storage unit 41 stores various information detected by the detection unit 12 of each tracked robot 2.

[0083] The control unit 42 is a controller and includes, for example, a microcomputer having a CPU, ROM, RAM, input / output ports, etc., and various circuits. The control unit 42 may also be configured with hardware such as an integrated circuit, for example, an ASIC, an FPGA, etc.

[0084] The control unit 42 may generate information regarding the travel route of the robot main body 10. For example, the control unit 42 generates information regarding the travel route of the robot main body 10 using a sentence generation model (a so-called AI chat engine). As described above, the sentence generation model may be interpreted as an algorithm and calculation for automatic dialogue processing using text.

[0085] The control unit 42 generates a question about the suspicious object from various pieces of information detected by the detection unit 12 of the tracked robot 2. First, the control unit 42 generates a question using, for example, a language generation model.

[0086] For example, if movement is detected by the infrared sensor of the tracking robot 2, the following question is generated: "The infrared sensor detected this movement. Is this movement a suspicious person? From a criminal's perspective, what action do you think they will take next?"

[0087] By inputting such a question into the sentence generation model, the control unit 42 generates a sentence such as, "There is a high possibility that this person is 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 tracked robot 2 as information regarding the travel route, and the tracked robot 2 sets a travel route so as to approach the person presumed to be a suspicious person at a low speed.

[0088] Also, for example, if a sound is detected by a sensor that detects 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.

[0089] When such a question is input to 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 tracked robot 2 as information regarding the travel route, and the tracked robot 2 recognizes the target as suspicious and sets a travel route to approach the suspicious target via, for example, the shortest route.

[0090] 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, LiDAR, a thermal camera, radar, etc. 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, vibration, ultraviolet rays, and electromagnetic waves.

[0091] Similarly, information regarding the travel route of the tracked robot 2 may be generated based on a plurality of pieces of information detected by the detection unit 12 of the tracked robot 2. The control unit 42 may set the travel route of the tracked robot 2.

[0092] The document generation model generates information about the travel path of the tracked robot 2, which allows the tracked robot 2 to, for example, accurately determine a suspicious object and to move the tracked robot 2 closer to the suspicious object without the suspicious object noticing. Therefore, for example, the tracked robot 2 can improve the hit rate of the tracking mark 21 emitted from the short-range drone 11. In this way, the document generation model generates information about the travel path of the tracked robot 2, which can improve the tracking ability of the tracked robot 2 or the like to track the suspicious object.

[0093] Furthermore, the control unit 42 may generate information regarding 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 regarding the first flight path using a sentence generation model.

[0094] For example, if the tracking robot 2 detects a suspicious object, the suspicious object is a car, and the license plate number of the suspicious object is detected as "AA-BB," the control unit 42 uses the language generation model to create a sentence such as "Take a picture of the car with the license plate number AA-BB." The control unit 42 then inputs the generated sentence into a sentence generation model to generate information regarding the first flight path. For example, the control unit 42 uses the camera of the short-range drone 11 to take a picture of the car with the license plate number "AA-BB" and generates a flight program for the short-range drone 11 to track the car with the license plate number "AA-BB." The control unit 42 then generates the generated flight program as information regarding the first flight path. The generated information regarding the first flight path is transmitted to the short-range drone 11, causing the short-range drone 11 to fly in a manner that tracks 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.

[0095] 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 objects can be improved.

[0096] The generation of information regarding the travel route of the tracked robot 2 using the sentence generation model may be performed by the tracked robot 2.

[0097] Next, the travel control process according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the travel control process according to the first embodiment. The travel control process is executed by the control device 13 of the tracked robot 2.

[0098] The detection unit 12 detects the situation around the robot main body 10 (S100). For example, the detection unit 12 detects various information from cameras, radar, microphones, and other sensors provided on the head 10d, torso 10a, fingers 10e, etc. of the robot main body 10.

[0099] The control unit 32 causes the robot main body 10 to travel autonomously in accordance with the situation detected by the detection unit 12 (S101). For example, the control unit 32 causes the robot main body 10 to travel autonomously by using the results obtained by inputting the situation detected by the detection unit 12 into a learned model that outputs motion information regarding the motion of each of the two legs 10b in accordance with input of the situation around the robot main body 10.

[0100] The tracked robot 2 comprises a robot body 10, a detection unit 12, and a control unit 32. The robot body 10 is capable of autonomous travel. The detection unit 12 detects the situation around the robot body 10. The control unit 32 causes the robot body 10 to travel autonomously in accordance with the situation detected by the detection unit 12. The robot body 10 comprises a trunk 10a, two legs 10b, and rollers 14. The legs 10b are movably attached to the trunk 10a. One roller 14 is provided on each of the two legs 10b, and moves the robot body 10. The center portion 14a of the roller 14 is provided in a position approximately midway between the knee of each of the two legs 10b and the ground.

[0101] The tracked robot 2 can track suspicious objects because it can autonomously move without programming while maintaining balance according to the situation detected by the detection unit 12 such as a gyroscope. Therefore, the tracked robot 2 can improve the tracking ability of suspicious objects.

[0102] The tracked robot 2 is a humanoid robot that can move autonomously while maintaining balance on two rollers 14 installed at a natural height. Therefore, the tracked robot 2 is not only capable of tracking suspicious objects, but also has a variety of capabilities, including assembly, picking, packing, and other tasks, and can more quickly and flexibly perform home delivery, delivery, work inside and outside factories, transportation, etc.

[0103] In addition, the control unit 32 inputs the situation detected by the detection unit 12 into a learned model that outputs movement information regarding the movement of each of the two legs 10b in response to input of the situation around the robot main body 10, and uses the results obtained to cause the robot main body 10 to move autonomously.

[0104] As a result, the tracking robot 2 moves autonomously based on the results obtained from a learned model trained using various information, and can move autonomously far more quickly, safely and reliably than humans, while balancing according to the situation, even on irregular footing at a construction site, for example.

[0105] The exercise information also includes at least one of the thigh lifts and knee bends of each of the two legs 10b, and the number of rotations of each of the rollers 14 provided on each of the two legs 10b.

[0106] As a result, the tracked robot 2 can autonomously move while maintaining balance by appropriately raising the thighs and bending the knees of each of the two legs 10b and adjusting the rotation speed of each roller 14. For example, even when going up and down stairs, the tracked robot 2 can autonomously move much more quickly and reliably than a human by appropriately raising the thighs and bending the knees of each of the two legs 10b and maintaining balance. Furthermore, even when cornering at high speed, the tracked robot 2 can autonomously move safely and reliably without causing an accident by appropriately raising the thighs and bending the knees and adjusting the rotation speed of each roller 14 to create an optimal body inclination.

[0107] The robot body 10 is also provided with a drive mechanism for driving each of the rollers 14, and a main motor 15 of the drive mechanism is provided at the buttocks of each of the two legs 10b.

[0108] This allows the tracked robot 2 to install the large-capacity main motor 15 in an appropriate position that does not interfere with the autonomous running of the robot body 10.

[0109] The robot body 10 is approximately life-size of an average adult male.

[0110] This allows the tracked robot 2 to optimize the size and center position of the robot body 10 to match the average height of adult males, which is the greatest common denominator, just like the size and center position of objects used in almost all tasks in human society.

[0111] 6 is a diagram schematically illustrating 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 perform operations or one or more "parts" associated with the device according to the present embodiment, and / or to perform a process or steps of the process according to the present embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0112] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are interconnected 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, or the like. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. 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.

[0113] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into the graphics controller 1216 itself, and causes the image data to be displayed on the display device 1218.

[0114] 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.

[0115] The ROM 1230 stores therein a boot program or the like that is executed by the computer 1200 upon activation, and / or programs that depend 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, etc.

[0116] 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, RAM 1214, or 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 a method may be configured by implementing operations or processing of information in accordance with the use of the computer 1200.

[0117] For example, when communication is performed between computer 1200 and an external device, CPU 1212 may execute a communication program loaded into RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 reads transmission data stored in a transmission buffer area provided in RAM 1214, storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to a network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

[0118] 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 may 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.

[0119] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on 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 sequences of the programs, and write the results back to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored on 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 multiple 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.

[0120] The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 1200. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can also be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0121] The blocks in the flowcharts and block diagrams in the present embodiments may represent stages of a process in which an operation is performed or "parts" of a device 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 field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0122] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture, including 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, magnetic, optical, electromagnetic, and semiconductor storage media. 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 disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-ray discs, memory sticks, integrated circuit cards, and the like.

[0123] 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.

[0124] Computer-readable instructions may be provided locally or over a local area network (LAN), a wide area network (WAN) such as the Internet, to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or programmable circuitry, such that the processor or programmable circuitry executes 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.

[0125] Second Embodiment A tracking system 1 including a tracked robot 2 according to a second embodiment will be described. Here, the description will focus on the differences from the first embodiment, and descriptions of the same configurations and processes as the first embodiment will be omitted.

[0126] Next, the tracked robot 2 will be described with reference to Figures 7 to 9. Figures 7 to 9 are diagrams showing an outline of the tracked robot 2 according to the second embodiment.

[0127] As shown in FIG. 7 , the tracked robot 2 includes a robot body 50 , a short-range drone 11 , a detection unit 12 , and a control device 13 .

[0128] The robot body 50 is a one-legged, pillar-shaped humanoid robot attached to a base such as an automated guided vehicle (AGV). The robot body 50 includes a trunk 10a, one leg 50b, and a moving unit 51 that moves the robot body 50.

[0129] The robot main body 50 has at least a waist joint located at the upper end of the leg 50b, an ankle joint located at the lower end of the leg 50b, and a knee joint located between the waist and ankle. In other words, the robot main body 50 has at least three joints: a joint at a part corresponding to a human waist, a joint at a part corresponding to a human ankle, and a joint at a part corresponding to a human knee.

[0130] For example, if the torso 10a is modeled after the upper half of a human body, the robot body 50 may further include arms 10c and a head 10d. The robot body 50 may also include additional joints above the waist joint, which is the third joint from the bottom. For example, the robot body 50 may further include at least one of a shoulder joint located at the top of the arm 10c, a wrist joint located at the bottom of the arm 10c, a finger joint 10e located approximately at the bottom of the arm 10c, and a neck joint located at the bottom of the head 10d.

[0131] Here, the legs 50b are movably attached to the torso 10a at the waist and to the moving part 51 at the ankles. The arms 10c are movably attached to the torso 10a at the shoulders. The head 10d is movably attached to the torso 10a at the neck.

[0132] Furthermore, the robot main body 50 can freely change the position and orientation of the torso 10a, legs 50b, arms 10c, and head 10d by moving the above-mentioned joints back and forth and left and right, and by rotating them relative to the horizontal plane, which allows the robot main body 50 to move like a human being, as shown in FIG.

[0133] The robot body 50 is provided with a driving mechanism such as a motor for moving each part such as the legs 50b, the arms 10c, and the head 10d.

[0134] The moving unit 51 is, for example, an automated guided vehicle. For example, one moving unit 51 is attached to one leg 50b. One moving unit 51 is provided with one or more rollers 51a such as wheels. For example, one moving unit 51 is provided with four rollers 51a. Note that the number of rollers 51a for one moving unit 51 is not limited to this.

[0135] The rollers 51a can rotate relative to the moving part 51. For example, the rollers 51a rotate when rotation generated by a motor is transmitted to the rollers 51a. The robot body 50 can move when the rollers 51a rotate.

[0136] It is also possible to employ a configuration in which a removable box part is attached to the robot main body 50. In this case, for example, as shown in Fig. 9, a removable box part 52 may be connected to the moving part 51, or the box part 52 may be grasped by the arm part 10c and the fingers 10e.

[0137] The detection unit 12 is provided, for example, on at least one of the moving unit 51 and the head 10 d of the robot main body 50 .

[0138] The robot control unit 37 of the control device 13 controls the driving of the legs 50b, the moving unit 51, and the arms 10c of the robot body 50, thereby causing the robot body 50 to travel autonomously. Based on various information detected by the detection unit 12, the robot control unit 37 controls the driving of the legs 50b, the moving unit 51, and the arms 10c of the robot body 50 so that the robot body 50 travels while avoiding obstacles, for example.

[0139] Next, the driving control process according to the second embodiment will be described with reference to FIG.

[0140] The detection unit 12 detects the situation around the robot main body 50 (S100). For example, the detection unit 12 detects various information from cameras and sensors provided on the moving unit 51, the head 10d of the robot main body 50, etc.

[0141] The control unit 32 causes the robot body 50 to travel autonomously in accordance with the situation detected by the detection unit 12 (S101). For example, the control unit 32 determines the number of rotations of the rollers 51a and the posture of the robot body 50 that can avoid obstacles around the robot body 50, and then rotates the rollers 51a by the determined number of rotations and moves the joints to achieve the determined posture, thereby changing the position and orientation of the torso 10a and the legs 50b. In this way, the control unit 32 causes the robot body 50 to travel autonomously while moving like a human.

[0142] The tracked robot 2 includes a robot body 50, a detection unit 12, and a control unit 32. The robot body 50 is capable of autonomous travel. The detection unit 12 detects the situation around the robot body 50. The control unit 32 causes the robot body 50 to travel autonomously in accordance with the situation detected by the detection unit 12. The robot body 50 includes a torso 10a, one leg 50b, and a moving unit 51. The robot body 50 has at least a waist joint located at the upper end of the leg 50b, an ankle joint located at the lower end of the leg 50b, and a knee joint located between the waist and the ankle. The leg 50b is movably attached to the torso 10a at the waist and movably attached to the moving unit 51 at the ankle. The moving unit 51 is provided with rollers 51a.

[0143] As a result, the tracked robot 2 can track a suspicious object by rotating the rollers 51a of the moving unit 51 by a number of rotations according to the situation around the robot main body 50 detected by the detection unit 12, thereby allowing the robot main body 50 to travel autonomously. Therefore, the tracked robot 2 can improve the tracking ability of a suspicious object.

[0144] Furthermore, by moving the joints, the tracked robot 2 can change the position and orientation of the body 10a and legs 50b, allowing the robot body 50 to move autonomously while moving like a human. Therefore, the tracked robot 2 can also function as a luggage transport robot in a warehouse, a worker replacement robot in a factory, etc.

[0145] The moving unit 51 is an automated guided vehicle. This allows the tracked robot 2 to function not just as an automated guided vehicle, but also as a baggage transport robot in a warehouse, for example, by making the robot body 50 move like a human to transport goods.

[0146] A removable box part 52 is attached to the robot main body 50. As a result, for example, when an article or the like is placed in the box part 52, the tracked robot 2 can transport the article or the like in the box part 52 by causing the moving part 51 to move the robot main body 50.

[0147] Third Embodiment A tracking system 1 including a tracked robot 2 according to a third embodiment will be described. Here, differences from the first embodiment will be mainly described, and descriptions of the same configurations and processes as the first embodiment will be omitted. The tracking system 1 is a robot system including a tracked robot 2.

[0148] Next, the tracked robot 2 will be described with reference to Fig. 10. Fig. 10 is a diagram showing an outline of the tracked robot 2 according to the third embodiment.

[0149] The tracking robot 2 is installed in, for example, a facility requiring security. Such a facility is, for example, an airport, a train station, a bus terminal, a commercial facility, an office building, or other facility used by an unspecified number of people. Note that, although specific facilities have been shown above, these are merely examples and are not limiting. Furthermore, the tracking robot 2 does not necessarily have to be installed in a facility requiring security, and may be installed in other facilities or locations.

[0150] The tracking robot 2 includes a robot body 60, a short-range drone 11, a detection unit 12, a control device 13, and an alarm unit 61. The tracking robot 2 is capable of autonomous driving, and when a suspicious object is detected, it tracks the suspicious object. The suspicious object may be, for example, a person behaving suspiciously or the perpetrator of a crime. Furthermore, the suspicious object is not limited to a person, but may also be a vehicle carrying a person behaving suspiciously.

[0151] Furthermore, the suspicious object detected by the tracking robot 2 may be an object. A suspicious object is an object that is prohibited from being brought into a facility where the tracking robot 2 is installed. For example, suspicious objects include metal objects (knives, scissors, and other cutting tools), lethal weapons (guns, knives, and the like), and illegal drugs (narcotics, and the like), but these are merely examples and are not limited thereto.

[0152] The robot body 60 is, for example, a humanoid robot. The robot body 60 includes a torso 10a, legs 10b, arms 10c, and a head 10d. However, the robot body 60 is not limited to a humanoid robot.

[0153] The detection unit 12 includes a metal detector. Examples of metal detectors that can be used include, but are not limited to, electromagnetic induction, magnetic induction, and X-ray detectors. The detection unit 12 detects metallic objects that exist around the robot main body 60 as part of the surrounding conditions.

[0154] The detection unit 12 also includes a shape detection sensor capable of detecting the shape of an object. The shape detection sensor may be, for example, one that uses infrared rays to detect the shape of an object, but is not limited to this and may be another type of sensor that uses X-rays, etc. The detection unit 12 detects the shapes of objects present around the robot main body 60 as the surrounding conditions.

[0155] The detection unit 12 also includes an odor detection sensor (odor detector) capable of detecting the odor (smell) of an object. The odor detection sensor may be, for example, a semiconductor type or a quartz oscillator type, but is not limited to these. The detection unit 12 detects the odor of an object present around the robot main body 60 as the surrounding conditions.

[0156] Furthermore, the detection unit 12 detects, as the surrounding conditions, identification information that can identify people present around the robot main body 60. The identification information includes, for example, facial information of the person and personal information stored on an identification card (ID card, passport, driver's license, etc.) held by the person. If the identification information is facial information of the person, the detection unit 12 includes a camera and detects the facial information of the person captured by the camera as the identification information. If the identification information is personal information on the identification card, the detection unit 12 includes a reader and detects the personal information on the identification card read by the reader as the identification information.

[0157] The detection unit 12 outputs the various surrounding conditions detected as described above to the control device 13. The detection unit 12 may transmit the various surrounding conditions detected to the management device 4 via the network N.

[0158] The detection unit 12 may be configured to include all or some of the above-mentioned camera, metal detector, shape detection sensor, odor detection sensor, and reader.

[0159] When a suspicious object is detected, the notification unit 61 notifies the detection of the suspicious object. The notification unit 61 includes, for example, a speaker, and outputs audio information indicating that a suspicious object has been detected to notify those in the vicinity. The audio information may be an alarm sound such as a buzzer, or may be an audio message indicating that a suspicious object has been detected.

[0160] As shown in Fig. 11, the control device 13 includes a communication unit 30, a storage unit 31, and a control unit 32. Fig. 11 is a functional block diagram showing an outline of the control device 13 of the tracked robot 2 according to the third embodiment.

[0161] The storage unit 31 stores suspicious target information 33, non-suspicious target information 34, various programs, various data, and the like.

[0162] The suspicious target information 33 is information about a suspicious target. The suspicious target information 33 includes suspicious target shape information, suspicious target odor information, and suspicious target person information. The suspicious target shape information is information indicating the shape of the suspicious target, for example, information indicating the shape of an object (a weapon such as a gun or a knife) that is prohibited from being brought into a facility where the tracking robot 2 is installed. The suspicious target odor information is information indicating the odor of a suspicious target, for example, information indicating the odor of an object (an illegal drug such as a narcotic) that is prohibited from being brought into a facility where the tracking robot 2 is installed. The suspicious target person information is information indicating a person who is a suspicious target, for example, information indicating a person who is prohibited from entering a facility where the tracking robot 2 is installed. The suspicious target person information includes, for example, facial information of the perpetrator of a crime (a wanted criminal), facial information of suspicious people who have behaved suspiciously in the facility in the past, etc.

[0163] The non-suspicious target information 34 is information about non-suspicious targets, in other words, information about things that do not fall under the category of suspicious targets. The non-suspicious target information 34 includes non-suspicious target person information. The non-suspicious target person information is information indicating people who are not suspicious targets, for example, information indicating people who are permitted to enter a facility where the tracking robot 2 is installed. The non-suspicious target person information includes, for example, facial information and personal information of facility employees, and if the facility is an airport, facial information and personal information of airplane passengers.

[0164] The suspicious target information 33 and the non-suspicious target information 34 are predetermined information. The suspicious target information 33 and the non-suspicious target information 34 are stored in the storage unit 31 in advance.

[0165] The suspicious object detection unit 35 detects suspicious objects (objects or people) present around the robot main body 60 based on the surrounding conditions detected by the detection unit 12. For example, when the detection unit 12 including a metal detector detects a metal object (a bladed object such as a knife or scissors) present around the robot main body 60, the suspicious object detection unit 35 detects the object as a suspicious object.

[0166] Furthermore, the suspicious object detection unit 35 compares the shape of an object present around the robot main body 60 detected by the detection unit 12 including a shape detection sensor with the suspicious object shape information in the suspicious object information 33 stored in the memory unit 31. If the shape of the object detected by the detection unit 12 is a suspicious object shape (a weapon such as a gun or knife), the suspicious object detection unit 35 detects the object as a suspicious object.

[0167] Furthermore, the suspicious target detection unit 35 compares the odor of an object present around the robot main body 60 detected by the detection unit 12 including an odor detection sensor with the suspicious target odor information of the suspicious target information 33 stored in the memory unit 31. If the odor of an object detected by the detection unit 12 is a suspicious target odor (the odor of an illegal drug such as a narcotic), the suspicious target detection unit 35 detects the object as a suspicious target.

[0168] Furthermore, the suspicious target detection unit 35 compares the identification information (face information) of people present around the robot main body 60 detected by the detection unit 12 including a camera with the suspicious target person information of the suspicious target information 33 stored in the memory unit 31. Based on the identification information detected by the detection unit 12, if the person in the identification information is a suspicious person (a wanted criminal or a suspicious person), the suspicious target detection unit 35 detects such person as a suspicious target.

[0169] The suspicious target detection unit 35 may also request a person present around the robot main body 60 to present their identification card and authenticate whether the person is a suspicious target or a non-suspicious target. For example, the suspicious target detection unit 35 may request that the surrounding person have their identification card read by the detection unit 12, which includes a reader. The suspicious target detection unit 35 compares the identification information (personal information) of the ID card detected by the detection unit 12 with the suspicious target person information in the non-suspicious target information 34 stored in the memory unit 31. If the person in the identification information detected by the detection unit 12 is a non-suspicious target (a facility employee or an airplane passenger), the suspicious target detection unit 35 detects the person as a non-suspicious target based on the identification information detected by the detection unit 12. Note that if facial information is registered on the ID card, the suspicious target detection unit 35 may compare the facial information of the person presenting the ID card with the facial information of the person detected by the detection unit 12, which includes a camera, and detect the person as a non-suspicious target when the facial information matches.

[0170] On the other hand, the suspicious object detection unit 35 may detect a person as a suspicious object if the person present around the robot main body 60 refuses to present identification, or if the person whose identification information is based on the identification information on the identification card is not a non-suspicious object.

[0171] When a suspicious object is detected as described above, the suspicious object detection unit 35 activates the notification unit 61 to notify the surrounding area that a suspicious object has been detected. The suspicious object detection unit 35 also notifies the management device 4 via the network N that a suspicious object has been detected.

[0172] In this embodiment, after a suspicious object is detected, if the suspicious person flees, or if a person carrying a suspicious object flees, the suspicious object is tracked.

[0173] The robot control unit 37 controls the driving of the legs 10b and arms 10c of the robot body 60, thereby causing the robot body 60 to travel autonomously. Based on various information detected by the detection unit 12, the robot control unit 37 controls the driving of the legs 10b and arms 10c of the robot body 60 so that the robot body 60 travels while avoiding obstacles, for example.

[0174] Next, the suspicious object detection process according to the third embodiment will be described with reference to Fig. 12. Fig. 12 is a flowchart illustrating the suspicious object detection process executed by the tracked robot 2 according to the third embodiment. The suspicious object detection process is executed by the control device 13 of the tracked robot 2.

[0175] The control unit 32 acquires various pieces of information detected by the detection unit 12 (S300). Based on the acquired various pieces of information, the control unit 32 determines whether a metal object (a bladed object such as a knife or scissors) has been detected around the robot main body 60 (S301). If a metal object has been detected (S301: Yes), the control unit 32 detects the object as a suspicious object (S302). Next, the control unit 32 executes a notification process to notify the user that a suspicious object has been detected (S303).

[0176] If no metal object is detected (S301: No), the control unit 32 determines whether the shape of the object present around the robot main body 60 is a suspicious object shape (a weapon such as a gun or knife) based on the acquired various information (S304). If the shape of the object is a suspicious object shape (S304: Yes), the control unit 32 proceeds to S302, detects the object as a suspicious object, and executes the notification process of S303.

[0177] If the shape of the object is not a suspicious shape (S304: No), the control unit 32 determines whether the odor of the object present around the robot main body 60 is a suspicious odor (the odor of an illegal drug such as a narcotic) based on the various acquired information (S305). If the odor of the object is a suspicious odor (S305: Yes), the control unit 32 proceeds to S302, detects the object as a suspicious object, and executes the notification process of S303.

[0178] If the odor of the object is not a suspicious odor (S305: No), the control unit 32 determines whether the person in the identification information is a suspicious person (wanted criminal or suspicious person) (S306) based on the identification information of the person present around the robot main body 60. If the person in the identification information is a suspicious person (S306: Yes), the control unit 32 proceeds to S302, detects the person as a suspicious person, and executes the notification process of S303. On the other hand, if the person in the identification information is not a suspicious person (S306: No), the control unit 32 ends the process.

[0179] Although the above example shows the process being performed in the order of S301, S304, S305, and S306, the present invention is not limited to this. That is, the order of the processes of S301, S304, S305, and S306 can be set arbitrarily, and all or part of the processes may be performed at the same time.

[0180] Next, the control process of the short-range drone 11 according to the third embodiment will be described with reference to Fig. 13. Fig. 13 is a flowchart illustrating the control process of the short-range drone 11 according to the third embodiment. The control process of the short-range drone 11 is executed by the control device 13 of the tracking robot 2.

[0181] The control unit 32 acquires various pieces of information detected by the detection unit 12 (S400). The control unit 32 determines whether a suspicious object has been detected based on the acquired various pieces of information (S401). For example, the control unit 32 detects a suspicious object by performing the above-described suspicious object detection process or by performing predetermined image processing on an image captured by a high-sensitivity camera.

[0182] If a suspicious object is not detected (S401: No), the control unit 32 ends this processing. If a suspicious object is detected (S401: Yes), the control unit 32 sets a first flight path for the short-range drone 11 (S402).

[0183] The control unit 32 transmits the first flight path to the short-range drone 11 (S403). As a result, the short-range drone 11 takes off from the base unit 17 of the tracked robot 2.

[0184] The control unit 32 acquires the image captured by the camera 20 of the short-range drone 11 (S404).

[0185] The control unit 32 determines whether the distance to the suspicious target is equal to or less than a predetermined distance (S405). If the distance to the suspicious target is greater than the predetermined distance (S405: No), the control unit 32 continues tracking the suspicious target and acquires an image captured by the camera 20 of the short-range drone 11 (S404).

[0186] If the distance to the suspicious target is equal to or shorter than the predetermined distance (S405: Yes), the control unit 32 generates a signal to emit the tracking mark 21 (S406). The control unit 32 transmits the generated emission signal to the short-range drone 11 (S407). As a result, the tracking mark 21 is emitted from the short-range drone 11 toward the suspicious target.

[0187] Next, the control processing of the long-range drone 3 according to the third embodiment will be described with reference to Fig. 14. Fig. 14 is a flowchart illustrating the control processing of the long-range drone 3 according to the third embodiment. The control processing of the long-range drone 3 is executed by the control device 13 of the tracking robot 2.

[0188] The control unit 32 acquires various pieces of information detected by the detection unit 12 (S500). The control unit 32 determines whether or not a suspicious object has been detected based on the acquired various pieces of information (S501).

[0189] If a suspicious object is not detected (S501: No), the control unit 32 ends this processing. If a suspicious object is detected (S501: Yes), the control unit 32 sets a second flight path for the long-range drone 3 (S502).

[0190] The control unit 32 transmits the second flight path to the short-range drone 11 (S503). As a result, the long-range drone 3 takes off from the station.

[0191] The long-range drone 3 flies based on the position information of the tracking mark 21. Therefore, as shown in FIG. 15A , when the short-range drone 11 has not emitted a tracking mark 21 at the suspicious target C, the long-range drone 3 tracks the short-range drone 11 and flies so as to approach the suspicious target C. Then, as shown in FIG. 15B , when the tracking mark 21 is emitted from the short-range drone 11 and attached to the suspicious target C, the long-range drone 3 flies so as to track the suspicious target C. FIG. 15A is a diagram showing an example of the flight of the long-range drone 3 before the tracking mark 21 is emitted. FIG. 15B is a diagram showing an example of the flight of the long-range drone 3 after the tracking mark 21 has attached to the suspicious target C.

[0192] The camera that captures images for detecting and tracking a suspicious object is not limited to a camera installed on the tracking robot 2, etc. For example, if the suspicious object is indoors, a camera on another indoor robot or a surveillance camera installed in the room may be used as the camera that captures images for detecting and tracking a suspicious object. Also, if the suspicious object is outdoors, an outdoor surveillance camera may be used as the camera that captures images for detecting and tracking a suspicious object. That is, for example, the tracking robot 2 may detect a suspicious object based on images taken by a camera on another indoor robot, an indoor surveillance camera, and an outdoor surveillance camera.

[0193] As described above, the tracked robot 2 according to this embodiment includes the robot main body 60, the detection unit 12, and the suspicious object detection unit 35. The detection unit 12 detects the surrounding situation indicating the situation around the robot main body 60. The suspicious object detection unit 35 detects a suspicious object present around the robot main body 60 based on the surrounding situation detected by the detection unit 12. In this way, by using the surrounding situation detected by the detection unit 12 included in the tracked robot 2, it is possible to accurately detect a suspicious object.

[0194] The detection unit 12 detects metallic objects present around the robot main body 60 as surrounding conditions. The suspicious object detection unit 35 detects the objects detected by the detection unit 12 as suspicious objects. This makes it possible to accurately detect metallic objects (e.g., blades) present around the robot main body 60 as suspicious objects.

[0195] The detection unit 12 detects the shapes of objects present around the robot main body 60 as the surrounding situation. If the shape of an object detected by the detection unit 12 is a predetermined suspicious object shape, the suspicious object detection unit 35 detects the object as a suspicious object. This makes it possible to accurately detect objects such as weapons present around the robot main body 60 as suspicious objects.

[0196] The detection unit 12 detects the odor of an object present around the robot main body 60 as the surrounding conditions. If the odor detected by the detection unit 12 is a predetermined suspicious object odor, the suspicious object detection unit 35 detects the object as a suspicious object. This allows objects such as illegal drugs present around the robot main body 60 to be accurately detected as suspicious objects.

[0197] The detection unit 12 detects, as the surrounding situation, identification information that can identify a person present around the robot main body 60. If the person is a predetermined suspicious person based on the identification information detected by the detection unit 12, the suspicious object detection unit 35 detects the person as a suspicious object. This makes it possible to accurately detect people such as wanted criminals and suspicious individuals present around the robot main body 60 as suspicious objects.

[0198] The tracked robot 2 according to this embodiment includes a notification unit 61 that notifies the detection of a suspicious object by the suspicious object detection unit 35. This allows the detection of a suspicious object to be notified to those around, thereby enabling, for example, a security guard or the like to take appropriate action against the suspicious object.

[0199] The tracking robot 2 comprises a short-range drone 11, a robot main body 60, a detection unit 12, and a control unit 32. The short-range drone 11 is capable of tracking a suspicious object and emitting a tracking mark 21 toward the suspicious object. The robot main body 60 is capable of launching and landing the short-range drone 11 and of autonomous travel. The detection unit 12 detects the situation around the robot main body 60. The control unit 32 controls the drone and causes the robot main body 60 to autonomously travel in accordance with the situation detected by the detection unit 12. When a suspicious object is detected, the control unit 32 launches the short-range drone 11 from the robot main body 60 and causes the short-range drone 11 to emit a tracking mark 21 toward the suspicious object.

[0200] As a result, the tracking robot 2 can track the suspicious object by tracking the tracking mark 21. Therefore, the tracking robot 2 can easily identify the suspicious object, making it easier to track the suspicious object and accurately identifying the suspicious object. Therefore, the tracking robot 2 can improve the tracking ability of the suspicious object.

[0201] Fourth Embodiment Here, a tracking system 1 according to a fourth embodiment will be described, focusing on differences from the above-described embodiments, and descriptions of the same configurations and processes as the above-described embodiments will be omitted.

[0202] Next, the tracked robot 2 will be described with reference to Fig. 16. Fig. 16 is a diagram showing an outline of the tracked robot 2 according to the fourth embodiment.

[0203] The tracking robot 2 comprises a robot body 60, a short-range drone 11, a detection unit 12, a control device 13, an alarm unit 61, and a response unit 62.

[0204] The detection unit 12 includes a microphone. The detection unit 12 collects sounds around the robot main body 60 and detects them as the surrounding situation. Specifically, the detection unit 12 detects the sounds and volume around the robot main body 60.

[0205] The detection unit 12 also includes an acceleration sensor. The acceleration sensor may be, for example, a piezoelectric type, a piezo-resistive type, or a capacitance type, but is not limited to these. The detection unit 12 detects acceleration or vibration acting on the tracked robot 2. Note that the detection unit 12 is not limited to an acceleration sensor, and may be, for example, a vibration sensor or other sensor capable of detecting acceleration or vibration.

[0206] The detection unit 12 outputs the various surrounding conditions, acceleration, etc. detected as described above to the control device 13. The detection unit 12 may transmit the various detected surrounding conditions, etc. to the management device 4 via the network N.

[0207] The detection unit 12 may be configured to include all or some of the above-mentioned camera, microphone, and acceleration sensor.

[0208] The notification unit 61 may notify (warn) the suspicious target that a countermeasure action will be taken by the countermeasure unit 62 (described later) against the suspicious target.

[0209] The handling unit 62 is provided on the arm 10c of the robot main body 60. More specifically, the handling unit 62 is provided on the tip (position corresponding to the hand) of the arm 10c of the robot main body 60. Note that while an example in which the handling unit 62 is provided on the arm 10c has been shown here, the present invention is not limited to this, and the handling unit 62 may be provided on other parts of the robot main body 60, such as the torso 10a, the legs 10b, or the head 10d.

[0210] The countermeasure unit 62 performs countermeasure actions against the suspicious object when a suspicious object is detected around the robot main body 60. The countermeasure actions include actions to repel the suspicious object, actions to intimidate the suspicious object, and the like.

[0211] Specifically, the countermeasure unit 62 performs a countermeasure action by discharging a discharge of electricity to the suspicious object. More specifically, the countermeasure unit 62 is a so-called stun gun that discharges a high voltage to the suspicious object to temporarily disable the suspicious object from moving.

[0212] The countermeasure unit 62 also emits light as a countermeasure action against the suspicious object. More specifically, the countermeasure unit 62 is a so-called flashlight device that emits a flashlight (powerful beam) at the suspicious object to temporarily disable the suspicious object's vision.

[0213] The countermeasure unit 62 may perform both discharge and light emission as a countermeasure action against a suspicious object, or may perform either discharge or light emission as a countermeasure action.

[0214] As shown in Fig. 17, the control device 13 includes a communication unit 30, a storage unit 31, and a control unit 32. Fig. 17 is a functional block diagram showing an outline of the control device 13 of the tracked robot 2 according to the fourth embodiment.

[0215] The storage unit 31 stores predetermined condition information 38, various programs, various data, and the like.

[0216] The predetermined condition information 38 is information regarding conditions under which the countermeasure unit 62 can execute a countermeasure action. To be more specific, the countermeasure action by the countermeasure unit 62 is an action to repel or intimidate a suspicious target, as described above. Therefore, the countermeasure action is an unnecessary (dangerous) action under normal circumstances when the possibility of a suspicious target being present is relatively low. Therefore, in this embodiment, when a predetermined condition is established that indicates the possibility of a suspicious target being present, the countermeasure action by the countermeasure unit 62 can be executed.

[0217] The predetermined condition information 38 includes information indicating conditions under which the presence of a suspicious object causes the surroundings of the robot main body 60 or the robot main body 60 itself to be presumed (detected) to be in a dangerous state. For example, when a suspicious object is present and a dangerous state occurs, people around the robot main body 60 will make noise, so the predetermined condition information 38 includes information on a predetermined volume that indicates the volume of noise made by the surrounding people. As a result, when the volume around the robot main body 60 is equal to or greater than the predetermined volume, it is determined that the surrounding people may be making noise due to the presence of a suspicious object, creating a dangerous state, and the predetermined condition is determined to be met.

[0218] Furthermore, when a suspicious object is present and a dangerous situation arises, people around the robot body 60 will utter words indicating the occurrence of danger, such as "danger" or "help," and so the predetermined condition information 38 includes information on predetermined keywords indicating the occurrence of danger. As a result, when the voices around the robot body 60 include predetermined keywords (danger, help, etc.), it is determined that the presence of a suspicious object may have created a dangerous situation, and the predetermined condition is determined to be met.

[0219] Furthermore, a suspicious object may strike or shake the robot body 60, putting the robot body 60 itself in a dangerous state. For this reason, the predetermined condition information 38 includes information on a predetermined acceleration that indicates that excessive force has been applied to the robot body 60, such as by being struck. As a result, if the acceleration acting on the robot body 60 is equal to or greater than the predetermined acceleration, it is determined that the suspicious object may have applied excessive force to the robot body 60, putting it in a dangerous state, and the predetermined condition is determined to be met.

[0220] The predetermined condition information 38 is predetermined information and is stored in the storage unit 31 in advance.

[0221] The suspicious target detection unit 35 determines whether the above-mentioned predetermined conditions are met before detecting a suspicious target. The suspicious target detection unit 35 determines whether the predetermined conditions are met based on the various information detected by the detection unit 12.

[0222] Specifically, the suspicious object detection unit 35 compares the volume of the sound around the robot main body 60 detected by the detection unit 12 including a microphone with the predetermined volume of the predetermined condition information 38 stored in the storage unit 31. When the volume of the sound around the robot main body 60 is equal to or greater than the predetermined volume, the suspicious object detection unit 35 determines that the predetermined condition is met.

[0223] The suspicious object detection unit 35 also analyzes the sound around the robot main body 60 detected by the detection unit 12 including the microphone using any analysis method, and extracts words or sentences contained in the sound. The suspicious object detection unit 35 compares the words or sentences extracted from the surrounding sound with predetermined keywords in the predetermined condition information 38 stored in the memory unit 31. The suspicious object detection unit 35 determines that the predetermined condition is met when the predetermined keyword is contained in the words or sentences extracted from the sound around the robot main body 60.

[0224] Furthermore, the suspicious object detection unit 35 compares the acceleration acting on the robot main body 60 detected by the detection unit 12 including the acceleration sensor with the predetermined acceleration of the predetermined condition information 38 stored in the memory unit 31. The suspicious object detection unit 35 determines that the predetermined condition is met when the acceleration acting on the robot main body 60 is equal to or greater than the predetermined acceleration.

[0225] The suspicious object detection unit 35 may determine that the predetermined condition is met when some of the volume, voice, and acceleration satisfy the respective conditions, or may determine that the predetermined condition is met when all of them satisfy the respective conditions. Furthermore, the suspicious object detection unit 35 may determine that the predetermined condition is met when a suspicious object is detected.

[0226] When a predetermined condition is met, the suspicious target detection unit 35 controls the handling unit 62 so that a handling action can be executed. In other words, the suspicious target detection unit 35 permits the handling action to be executed by the handling unit 62. For example, the suspicious target detection unit 35 turns on the power of the handling unit 62.

[0227] When a suspicious object is detected as described above, the suspicious object detection unit 35 activates the notification unit 61 to notify the surrounding area that a suspicious object has been detected. The suspicious object detection unit 35 also notifies the management device 4 via the network N that a suspicious object has been detected.

[0228] When a suspicious object is detected, the suspicious object detection unit 35 controls the countermeasure unit 62 to take countermeasure action against the suspicious object. Specifically, the suspicious object detection unit 35 controls the countermeasure unit 62, which is a stun gun, to discharge a high voltage toward the suspicious object, temporarily disabling the suspicious object from moving. The suspicious object detection unit 35 also controls the countermeasure unit 62, which is a flashlight device, to emit a flashlight toward the suspicious object, temporarily disabling the suspicious object's vision.

[0229] Before taking countermeasure action, the suspicious target detection unit 35 may notify (warn) the suspicious target via the notification unit 61 that the countermeasure action will be taken by the countermeasure unit 62 against the suspicious target.

[0230] In this embodiment, if a suspicious target is detected and then escapes, the suspicious target is tracked.

[0231] Next, the control process of the countermeasure unit 62 executed by the tracked robot 2 according to the fourth embodiment will be described with reference to Fig. 18. Fig. 18 is a flowchart illustrating the control process of the countermeasure unit 62 executed by the tracked robot 2 according to the fourth embodiment. Note that when the control process of the countermeasure unit 62 starts, it is assumed that it is normal time when the possibility of the presence of a suspicious object is relatively low, and the countermeasure unit 62 is in a state where it cannot execute a countermeasure operation (i.e., a state where execution of a countermeasure operation is prohibited).

[0232] The control unit 32 acquires various information detected by the detection unit 12 (S600). The control unit 32 determines whether or not a predetermined condition is met based on the acquired various information (S601). If the control unit 32 determines that the predetermined condition is not met (S601: No), the control unit 32 ends the current process. If the control unit 32 determines that the predetermined condition is met (S601: Yes), the control unit 32 controls the countermeasure unit 62 so that a countermeasure action can be executed (S602).

[0233] Next, the control unit 32 determines whether or not a suspicious object has been detected based on the acquired various information (S603). For example, the control unit 32 detects a suspicious object by performing predetermined image processing on an image captured by a high-sensitivity camera.

[0234] If a suspicious object is not detected (S603: No), the control unit 32 ends the current process. If a suspicious object is detected (S603: Yes), the control unit 32 controls the handling unit 62 to execute a handling operation for the suspicious object (S604).

[0235] The control processing of the short-range drone 11 according to the fourth embodiment is the same as the processing of the short-range drone 11 according to the third embodiment. The control processing of the long-range drone 3 according to the fourth embodiment is the same as the processing of the long-range drone 3 according to the third embodiment.

[0236] As described above, the tracked robot 2 according to this embodiment includes the robot main body 60 and the countermeasure unit 62. When a suspicious object is detected around the robot main body 60, the countermeasure unit 62 takes action to counter the suspicious object. In this way, by providing the countermeasure unit 62 to the tracked robot 2, it becomes possible to take action to repel or intimidate the suspicious object, for example, and to respond appropriately.

[0237] The countermeasure unit 62 performs a countermeasure action against the suspicious object by discharging electric discharge. As a result, in this embodiment, it is possible to perform a repelling action or a threatening action against the suspicious object by discharging electric discharge, thereby enabling a more appropriate response.

[0238] The countermeasure unit 62 performs a countermeasure action by emitting light to the suspicious object. As a result, in this embodiment, it is possible to perform a repelling action or a threatening action by emitting light to the suspicious object, thereby enabling a more appropriate response.

[0239] The tracked robot 2 includes a control unit 32. The control unit 32 controls the response unit 62 so that a response action can be executed when a predetermined condition is met. Conversely, the control unit 32 controls the response unit 62 so that a response action is not executed when the predetermined condition is not met. This makes it possible to set the predetermined condition as a condition that presumes that the surroundings of the robot main body 60 or the robot main body 60 itself is in a dangerous state due to, for example, the presence of a suspicious object. Therefore, when the predetermined condition is not met, this is a normal time when the possibility of the presence of a suspicious object is relatively low, and it is possible to prevent the response unit 62 from operating erroneously during this normal time.

[0240] The tracked robot 2 includes a detection unit 12 that detects the volume of sound around the robot body 60. The control unit 32 determines that a predetermined condition is met when the volume detected by the detection unit 12 is equal to or greater than a predetermined volume. By setting the predetermined condition in this manner, it is possible to accurately determine, for example, whether the presence of a suspicious object has caused nearby people to make a fuss, creating a dangerous situation, and to control the response unit 62 so that a response action can be taken at that time.

[0241] The tracked robot 2 includes a detection unit 12 that detects sounds around the robot body 60. The control unit 32 determines that a predetermined condition is met when a predetermined keyword is included in the sound detected by the detection unit 12. By setting the predetermined condition in this manner, it is possible to accurately determine that the surrounding area may be in danger due to the presence of a suspicious object, for example, and to control the response unit 62 so that a response action can be taken at that time.

[0242] The tracked robot 2 includes a detection unit 12 that detects acceleration acting on the robot main body 60. The control unit 32 determines that a predetermined condition is met when the acceleration detected by the detection unit 12 is equal to or greater than a predetermined acceleration. By setting the predetermined condition in this manner, it is possible to accurately determine whether, for example, a suspicious object has applied excessive force to the robot main body 60, creating a dangerous situation, and to control the response unit 62 so that a response action can be taken at that time.

[0243] The robot main body 60 is a humanoid robot. The handling unit 62 is provided on the arm 10c of the robot main body 60. In this embodiment, the handling unit 62 can be easily oriented in an appropriate direction, for example, by moving the handling unit 62 so that it faces a suspicious object.

[0244] The tracking robot 2 comprises a short-range drone 11, a robot main body 60, a detection unit 12, and a control unit 32. The short-range drone 11 is capable of tracking a suspicious object and emitting a tracking mark 21 toward the suspicious object. The robot main body 60 is capable of launching and landing the short-range drone 11 and of autonomous travel. The detection unit 12 detects the situation around the robot main body 60. The control unit 32 controls the drone and causes the robot main body 60 to autonomously travel in accordance with the situation detected by the detection unit 12. When a suspicious object is detected, the control unit 32 launches the short-range drone 11 from the robot main body 60 and causes the short-range drone 11 to emit a tracking mark 21 toward the suspicious object.

[0245] As a result, the tracking robot 2 can track the suspicious object by tracking the tracking mark 21. Therefore, the tracking robot 2 can easily identify the suspicious object, making it easier to track the suspicious object and accurately identifying the suspicious object. Therefore, the tracking robot 2 can improve the tracking ability of the suspicious object.

[0246] Fifth Embodiment A tracking system 1 including a tracked robot 70 according to a fifth embodiment will be described with reference to Fig. 19. Fig. 19 is a diagram showing an outline of the tracking system 1 according to the fifth embodiment. Here, the description will focus on points that are different from the above-described embodiments, and descriptions of the same configurations and processes as the above-described embodiments will be omitted.

[0247] The tracking system 1 includes a tracking robot 70, a long-range drone 3, and a management device 4. The tracking robot 70, the long-range drone 3, and the management device 4 are connected via a network N. For example, a plurality of tracking robots 70 and a plurality of long-range drones 3 may be provided.

[0248] Next, the tracked robot 70 will be described with reference to Fig. 20. Fig. 20 is a diagram showing an outline of the tracked robot 70 according to the fifth embodiment.

[0249] The tracking robot 70 includes a robot body 71, a short-range drone 11, a detection unit 12, and a control device 13. The tracking robot 70 is capable of autonomous travel, and when a suspicious object is detected, it tracks the suspicious object.

[0250] The robot body 71 is assumed to be, for example, a two-wheeled vehicle like a Segway (registered trademark). The robot body 71 is not limited to a Segway and may be realized, for example, by a humanoid robot. The robot body 71 includes a bottom portion 71 a, a trunk portion 71 b, and an upper end portion 71 c.

[0251] The robot body 71 also includes two rollers 72. For example, one roller 72 is provided at each of the left and right ends of the bottom surface portion 71a.

[0252] The rollers 72 can rotate relative to the bottom surface portion 71 a. For example, the rollers 72 rotate when rotation generated by a motor is transmitted to the rollers 72. The rotation of the rollers 72 allows the robot body 71 to move.

[0253] The roller 72 may have a speed reduction mechanism such as a gear. The bottom surface portion 71 a is provided with a locking mechanism that can lock the roller 72 so that the roller 72 does not rotate. For example, the locking mechanism locks the rotation axis of the roller 72.

[0254] The locking mechanism locks the roller 72 so that it does not rotate relative to the bottom surface portion 71a, for example, by engaging a claw with a gear provided on the rotation shaft of the roller 72. When the engagement between the gear and the claw is released, the roller 72 can rotate relative to the bottom surface portion 71a. Note that the above-described locking mechanism is an example and is not limited to this.

[0255] The robot body 71 also includes a support portion 73 that supports the robot body 71 on the ground together with the two rollers 72. The support portion 73 is provided on each of the two rollers 72.

[0256] For example, the support parts 73 are provided on the shaft parts 72a of each of the two rollers 72 so as to extend from the shaft parts 72a, which are the rotation axes of each of the two rollers 72, to the ground. The support parts 73 are inserted into the shaft parts 72a of each of the two rollers 72 from the outside of the shaft parts 72a of each of the two rollers 72. The support parts 73 also support the robot main body 71 at positions different from the two rollers 72. In Fig. 20, the two rollers 72 and the support parts 73 extending obliquely from the shaft parts 72a to the ground support the robot main body 71 with a total of four points of contact with the ground.

[0257] The support portion 73 is released from contact with the ground by, for example, rotating around the shaft portion 72a. When the support portion 73 is released from contact with the ground, the roller 72 can rotate relative to the bottom surface portion 71a.

[0258] A base section 17 from which the short-range drone 11 can take off and land is provided on the back of the body section 71b.

[0259] The detection unit 12 is provided, for example, on the upper end 71 c of the robot body 71. The detection unit 12 may also be provided on the bottom surface 71 a, trunk 71 b, or the like of the robot body 71. The detection unit 12 detects the situation around the robot body 71. The detection unit 12 may include a gyroscope. The gyroscope is provided, for example, on the trunk 71 b of the robot body 71.

[0260] The detection unit 12 also includes a positioning device, such as a Global Navigation Satellite System (GNSS), which detects the position of the robot body 71.

[0261] The robot control unit 37 controls the driving of the rollers 72 of the robot body 71 to cause the robot body 71 to travel autonomously. Based on various information detected by the detection unit 12, the robot control unit 37 controls the driving of the rollers 72 of the robot body 71 so that the robot body 71 travels while avoiding obstacles, for example.

[0262] For example, the robot control unit 37 inputs the situation detected by the detection unit 12 into a learned model that outputs movement information regarding the movement of each roller 72 in response to input of the situation around the robot main body 71, and uses the results obtained to cause the robot main body 71 to move autonomously.

[0263] The trained model is, for example, a generation AI such as a sentence generation model, such as chatGPT, which performs automatic dialogue processing using text. The movement information includes, for example, at least one of the rotation speeds of the rollers 72.

[0264] Furthermore, for example, when a suspicious object is detected, the robot control unit 37 sets a travel route to track the suspicious object. The robot control unit 37 sets a travel route to track the suspicious object, for example, based on the position information of the robot main body 71 and the position information where the suspicious object was detected. For example, the robot control unit 37 sets a travel route to track the suspicious object based on the current position information of the robot main body 71, the direction in which the suspicious object was detected relative to the robot main body 71, and the distance from the robot main body 71 to the suspicious object.

[0265] Next, the travel control process according to the fifth embodiment will be described with reference to Fig. 21. Fig. 21 is a flowchart illustrating the travel control process according to the fifth embodiment. The travel control process is executed by the control device 13 of the tracking robot 70.

[0266] The detection unit 12 detects the situation around the robot main body 71 (S700). For example, the detection unit 12 detects various information from a camera, radar, microphone, or other sensor provided on the trunk 71 b, upper end 71 c, etc. of the robot main body 71.

[0267] The control unit 32 causes the robot main body 71 to travel autonomously in accordance with the situation detected by the detection unit 12 (S701). For example, the control unit 32 causes the robot main body 71 to travel autonomously by using the results obtained by inputting the situation detected by the detection unit 12 into a learned model that outputs motion information regarding the motion of each of the two rollers 72 in accordance with input of the situation around the robot main body 71.

[0268] The support parts 73 support the robot body 71 on the ground together with the two rollers 72 (S702). For example, the support parts 73 extend obliquely from the shaft parts 72a of the two rollers 72 to the ground, and support the robot body 71 at a position different from the two rollers 72.

[0269] The tracked robot 70 includes a robot body 71, a detection unit 12, and a control unit 32. The robot body 71 is capable of autonomous travel. The detection unit 12 detects the situation around the robot body 71. The control unit 32 causes the robot body 71 to autonomously travel in accordance with the situation detected by the detection unit 12. The robot body 71 includes two rollers 72 and a support unit 73 that supports the robot body 71 together with the two rollers 72 on the ground. A support unit 73 is provided for each of the two rollers 72.

[0270] The tracking robot 70 can track a suspicious object because it can autonomously move without programming while maintaining balance according to the situation detected by the detection unit 12 such as a gyroscope. Therefore, the tracking robot 70 can improve the tracking ability of the suspicious object.

[0271] Furthermore, the tracked robot 70 can maintain the balance of the robot body 71 without consuming power even when the robot body 71 is stationary. This will be described in detail below.

[0272] For example, two-wheeled autonomous robots such as Segways tend to tip over when stationary. Therefore, conventionally, such robots have been able to stand on their own when stationary by using the principle of a gyroscope, which is based on the law of conservation of angular momentum, to maintain a constant angular momentum.

[0273] Furthermore, such robots have traditionally been equipped with sensors that detect the movement of the passenger's center of gravity. Based on information about the movement of the passenger's center of gravity, such robots apply force in the appropriate direction to maintain balance and stand on their own. In other words, the robot automatically adjusts its balance according to the passenger's movements, allowing it to stand without tipping over even when stationary. However, in this case, the robot must constantly control its motors, which consumes power.

[0274] In contrast, the tracked robot 70 supports the robot body 71 together with the two rollers 72 on the ground by means of supports 73 provided on each of the two rollers 72. The tracked robot 70 can save power for motor control and calculations to balance the robot body 71 by using the supports 73, thereby allowing the battery to last longer. This allows the tracked robot 70 to keep the balance of the robot body 71 without consuming power.

[0275] The support portions 73 are provided on the shaft portions 72 a of the two rollers 72 so as to extend from the shaft portions 72 a, which are the rotation axes of the two rollers 72 , to the ground.

[0276] In this way, since the support portion 73 is provided on the shaft portion 72 a which is the rotation axis of the roller 72 , the tracking robot 70 can support the robot body 71 without interfering with the rotation of the roller 72 .

[0277] Furthermore, the support portion 73 is inserted onto the shaft portion 72 a of each of the two rollers 72 from the outside of the shaft portion 72 a of each of the two rollers 72 .

[0278] This prevents the space on the bottom surface 71a of the robot main body 71 from being eroded due to the support part 73 being attached to the roller 72, so the tracking robot 70 can carry a short-range drone 11 or a passenger on the robot main body 71.

[0279] Furthermore, the support portion 73 supports the robot body 71 at a position different from the two rollers 72 .

[0280] As a result, for example, the two rollers 72 and the support part 73 extending obliquely from the shaft part 72 a to the ground can support the robot body 71 in a state of contact with the ground at a total of four points. Therefore, the tracked robot 70 can support the robot body 71 more stably.

[0281] The robot body 71 is, for example, a Segway.

[0282] Even in the case of a Segway, which is prone to tipping forward and backward when the robot body 71 is stationary, the support part 73 can support the robot body 71 on the ground together with the two rollers 72. Therefore, the tracked robot 70 can keep the balance of the robot body 71 without consuming power.

[0283] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0284] For example, in the above embodiment, a tracking robot is described as an example, but the use of the robot is not limited to this, and other uses are also envisioned, such as a robot to replace workers in a factory or a robot to transport luggage in a warehouse.

[0285] 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," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order.

[0286] REFERENCE SIGNS LIST 1 Tracking system 2, 70 Tracked robot 3 Long-range drone 4 Management device 10, 50, 60, 71 Robot body 10a, 71b Body 10b, 50b Legs 11 Short-range drone 12 Detection unit 13 Control device 14, 51a, 72 Roller 14a Center 15 Main motor 20 Camera 21 Tracking mark 32 Control unit 35 Suspicious object detection unit 36 ​​Drone control unit 37 Robot control unit 51 Moving unit 52 Box 61 Notification unit 62 Response unit 71a Bottom 71c Upper end 73 Support unit

Claims

1. A robot comprising a self-driving capable robot body, a detection unit that detects the situation around the robot body, and a control unit that causes the robot body to self-drive according to the situation detected by the detection unit, wherein the robot body includes a torso, two legs movably attached to the torso, and rollers provided one by one on each of the two legs for moving the robot body, and the center of the roller is provided at a position substantially in the middle between the knee and the ground in each of the two legs.

2. The robot according to claim 1, wherein the control unit uses the result obtained by inputting the situation detected by the detection unit into a learned model that outputs motion information regarding the motion of each of the two legs in response to the input of the situation around the robot body to cause the robot body to self-drive.

3. The robot according to claim 2, wherein the motion information includes at least one of the leg lift, knee bend of each of the two legs, and the rotation speed of each of the rollers provided one by one on each of the two legs.

4. The robot according to claim 1, wherein a drive mechanism for driving each of the rollers is provided on the robot body, and the main motor of the drive mechanism is provided at the hip of each of the two legs.

5. The robot according to any one of claims 1 to 4, wherein the robot body is substantially the same size as an average adult male human.

6. A robot comprising a self-driving capable robot body, a detection unit that detects the situation around the robot body, and a control unit that causes the robot body to self-drive according to the situation detected by the detection unit, wherein the robot body includes a torso, one leg, and a moving unit for moving the robot body, and has at least a hip joint located at the upper end of the leg, an ankle joint located at the lower end of the leg, and a knee joint located between the hip and the ankle, and the leg is movably attached to the torso at the hip and movably attached to the moving unit at the ankle, and the moving unit is provided with a roller.

7. A robot comprising a robot main body, a detection unit that detects a surrounding situation indicating the situation around the robot main body, and a suspicious object detection unit that detects a suspicious object existing around the robot main body based on the surrounding situation detected by the detection unit.

8. A robot comprising a robot main body and a countermeasure unit that performs a countermeasure operation on a suspicious object when a suspicious object is detected around the robot main body.

9. A robot capable of autonomous driving, comprising a robot main body, a detection unit that detects the situation around the robot main body, and a control unit that causes the robot main body to perform autonomous driving according to the situation detected by the detection unit, wherein the robot main body includes two rollers that move the robot main body, and a support unit that supports the robot main body together with the two rollers on the ground, and the support unit is provided on each of the two rollers.

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