Movement system, method for controlling humanoid robot, and program

Abstract

A movement system according to an embodiment of the present invention comprises: a humanoid robot that can ride an electric skateboard and an electric motorcycle and can travel autonomously; and a control unit that sets a to-be-ridden machine to be ridden by the humanoid robot to the electric skateboard or the electric motorcycle in accordance with movement instruction information pertaining to the humanoid robot, and causes the humanoid robot to ride the electric skateboard or the electric motorcycle that has been set.

Description

Movement system, control method for humanoid robot, and program

[0001] The present invention relates to a movement system, a control method for a humanoid robot, and a program.

[0002] Conventional humanoid robots generally use walking or wheels as their main movement means. This allows the robot to move across various terrains and environments, but there are limits to its movement speed and efficiency. In particular, in scenarios where long-distance movement or high-speed movement is required, it may be difficult for conventional movement means to cope with such demands.

[0003] Japanese Patent Publication No. 2017-502796

[0004] In the conventional technology, there are limits to the movement speed and efficiency of humanoid robots, and there is room for improvement in handling scenarios that require high-speed movement.

[0005] The movement system according to the embodiment aims to improve the movement speed and efficiency of a humanoid robot.

[0006] The movement system according to the embodiment includes: a humanoid robot that can ride on an electric skateboard and an electric motorcycle and is capable of autonomous traveling; and a control unit that sets a riding device for the humanoid robot to ride on as the electric skateboard or the electric motorcycle in accordance with movement instruction information for the humanoid robot, and causes the humanoid robot to ride on the set electric skateboard or electric motorcycle.

[0007] The movement system according to the embodiment can improve the movement speed and efficiency of a humanoid robot.

[0008] Figure 1 is a diagram showing an overview of the movement system according to the embodiment. Figure 2 is a functional block diagram showing an overview of a management device. Figure 3 is a block diagram showing a control device of the humanoid robot. Figure 4 is a schematic diagram showing the arrangement of steps. Figure 5 is a flowchart for explaining riding device setting processing according to the embodiment. Figure 6 is a diagram schematically showing an example of the computer hardware configuration that functions as the humanoid robot or the management device.

[0009] The following describes in detail the mobile system, humanoid robot control method, and implementation of the program according to the present invention (hereinafter referred to as "embodiments"). However, these embodiments do not limit the mobile system, humanoid robot control method, and program according to the present invention.

[0010] As shown in Figure 1, the mobility system 1 according to this embodiment comprises an electric skateboard 2, an electric motorcycle 3, a management device 4, and a humanoid robot 5. Figure 1 is a schematic diagram of the mobility system 1 according to this embodiment. The mobility system 1 may comprise multiple electric skateboards 2, multiple electric motorcycles 3, and multiple humanoid robots 5. The electric skateboards 2, electric motorcycles 3, humanoid robots 5, and management device 4 are connected via a network N. The network N is, for example, a mobile communication network such as LTE (Long Term Evolution) or 5G. The mobility system 1 may also be configured without electric skateboards 2 and electric motorcycles 3.

[0011] The electric skateboard 2 and electric motorcycle 3 will be set up in the waiting area 7 (parking lot). The waiting area 7 will be equipped with charging equipment capable of charging the electric skateboard 2 and electric motorcycle 3.

[0012] The electric skateboard 2 is configured to be mobile with a humanoid robot 5 riding on it. The electric skateboard 2 is equipped with a foot base 10. The foot base 10 is formed in a box shape. The foot base 10 is configured so that the humanoid robot 5 can stand and ride on it. The foot base 10 houses a battery, control device, and the like.

[0013] The electric skateboard 2 moves by rotating wheels 11, which are rotatably mounted on a foot base 10, using an electric motor. Multiple wheels 11 are provided. For example, there are two wheels 11 on each side. However, the number of wheels 11 is not limited to this. An electric motor is provided for each wheel 11. For example, the electric motor is an in-wheel motor provided on the wheel 11. The electric motor is powered by electricity supplied from a battery.

[0014] The electric skateboard 2 is operated, for example, by a humanoid robot 5 standing on a foot base 10. The electric skateboard 2 can travel at a first maximum speed with the humanoid robot 5 on board. The first maximum speed is, for example, 40 km / h. The electric skateboard 2 is equipped with a large-capacity battery, allowing for long-duration travel.

[0015] The electric skateboard 2 may have a rapid charging function to rapidly charge its battery. The electric skateboard 2 may also acquire information such as the destination and route of the humanoid robot 5 from the management device 4 or the humanoid robot 5, and enable the humanoid robot 5 to move autonomously along the route to the destination. In this case, the electric skateboard 2 may be equipped with a camera, radar device, etc., and will autonomously navigate based on information acquired by the camera, etc.

[0016] The electric motorcycle 3 is configured to be mobile with a humanoid robot 5 riding on it. The electric motorcycle 3 is configured so that, for example, the humanoid robot 5 can straddle and ride it. The electric motorcycle 3 is driven by the operation of the humanoid robot 5, for example, by the operation of the handlebars 15 operated by the humanoid robot 5.

[0017] The electric motorcycle 3 is equipped with a battery and a control device. The electric motorcycle 3 moves by rotating wheels 17, which are rotatably mounted on the vehicle body 16, using an electric motor. Multiple wheels 17 are provided. For example, there may be three wheels 17. For example, the electric motorcycle 3 is a three-wheeled electric motorcycle. There may also be two wheels 17. An electric motor is provided for each wheel 17, for example. The electric motor is powered by electricity supplied from the battery.

[0018] The electric motorcycle 3 can carry the humanoid robot 5 and travel at a second maximum speed. The second maximum speed is greater than the first maximum speed. For example, the second maximum speed is 100 km / h. The electric motorcycle 3 is equipped with a large-capacity battery, allowing for long-duration travel.

[0019] The electric motorcycle 3 may have a rapid charging function to rapidly charge its battery. The electric motorcycle 3 may also acquire information such as the destination and route of the humanoid robot 5 from the management device 4 or the humanoid robot 5, and may autonomously move the humanoid robot 5 along the route to the destination. In this case, the electric motorcycle 3 may be equipped with a camera, radar device, etc., and autonomously drive based on information acquired by the camera, etc.

[0020] The management device 4 is, for example, a server device. The management device 4 may also be a cloud server. As shown in Figure 2, the management device 4 comprises a communication unit 20, a storage unit 21, and a control unit 22. Figure 2 is a functional block diagram showing an outline of the management device 4. The management device 4 can acquire information such as traffic information from other external devices.

[0021] The communication unit 20 is wirelessly connected to the network N. The communication unit 20 transmits and receives information with the humanoid robot 5 via the network N. The communication unit 20 may also transmit and receive information with the electric skateboard 2 and the electric motorcycle 3 via the network N.

[0022] The storage unit 21 is implemented by, for example, semiconductor memory elements such as RAM (Random Access Memory) and flash memory, or by storage devices such as HDD (Hard Disk Drive), SSD (Solid State Drive), and optical discs. Various programs and various data are stored in the storage unit 21.

[0023] The control unit 22 is a controller and includes, for example, a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM, input / output ports, and various circuits. Alternatively, the control unit 22 may be composed of hardware such as an integrated circuit (ASIC) or FPGA (Field Programmable Gate Array).

[0024] The control unit 22 generates destination information such as the destination to which the humanoid robot 5 will move and the requested arrival time at the destination, and transmits it to the humanoid robot 5 via the communication unit 20 and the network N. For example, the control unit 22 generates destination information in response to an operation by an administrator. The control unit 22 may also generate destination information using AI (Artificial Intelligence). For example, in response to a movement request to the humanoid robot 5, the control unit 22 selects the optimal humanoid robot 5 capable of executing the movement request and generates destination information for the selected humanoid robot 5.

[0025] Returning to Figure 1, the humanoid robot 5 is capable of autonomous movement. The humanoid robot 5 comprises a robot body 30 and a control device 31. The robot body 30 is shaped like a human. The robot body 30 comprises, for example, a head 32, a torso 33, arms 34, and legs 35. The head 32, arms 34, and legs 35 are movably attached to the torso 33. The robot body 30 is provided with drive mechanisms such as motors that operate each part, such as the head 32, arms 34, and legs 35. The humanoid robot 5 can move by moving its legs 35.

[0026] The leg portion 35 is provided with a fixing portion 37 for detachably securing the leg portion 35 (humanoid robot 5) to the foot base 10 of the electric skateboard 2. The fixing portion 37 includes a clamping mechanism and a release mechanism. The fixing portion 37 secures the leg portion 35 to the foot base 10 by the clamping mechanism. The clamping mechanism is, for example, an engaging mechanism such as a claw. The release mechanism releases the fixation by the clamping mechanism. The release mechanism includes a button or lever for releasing the fixation of the leg portion 35 and is designed to allow easy operation of the robot body 30.

[0027] The fixing part 37 is operated by an electric motor or the like. That is, the attachment and detachment of the legs 35 by the fixing part 37 is performed by an electric motor or the like. The fixing part 37 may be equipped with a guide rail, which is an auxiliary mechanism to facilitate the attachment and detachment of the legs 35 from the electric skateboard 2. The guide rail is provided to facilitate the alignment of the fixing part 37 from the electric skateboard 2.

[0028] The fixing part 37 may be provided on the electric skateboard 2, or on the humanoid robot 5 and the electric skateboard 2.

[0029] The robot body 30 is provided with a detection unit. The detection unit is provided, for example, in the head 32, torso 33, etc., of the robot body 30. The detection unit detects the surrounding conditions of the robot body 30. The detection unit includes, for example, a 360-degree sensing high-sensitivity camera, LiDAR (light detection and ranging), a thermal camera, and radar. The detection unit may also include sensors for vision recognition, minute sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, etc. Multiple detection units may be provided. The detection unit may also consist of multiple types of sensors.

[0030] The detection unit also includes a positioning device. The positioning device is, for example, a GNSS (Global Navigation Satellite System). The positioning device can perform positioning and timing by receiving radio waves from navigation satellites orbiting in the sky. The positioning device detects the position of the robot body 30. The detected position information of the robot body 30 is transmitted to the management device 4 via the network N.

[0031] As shown in Figure 3, the control device 31 comprises a communication unit 40, a storage unit 41, and a control unit 42. Figure 3 is a block diagram showing the control device 31 of the humanoid robot 5.

[0032] The communication unit 40 is wirelessly connected to the network N. The communication unit 40 transmits and receives information with the management device 4 via the network N. The communication unit 40 may also transmit and receive information with the electric skateboard 2 and the electric motorcycle 3 via the network N.

[0033] The storage unit 41 is implemented by, for example, semiconductor memory elements such as RAM and flash memory, or storage devices such as HDDs, SSDs, and optical discs. Various programs and various data are stored in the storage unit 41.

[0034] 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. Alternatively, the control unit 42 may be composed of hardware such as an integrated circuit like an ASIC or FPGA.

[0035] The control unit 42 makes the robot body 30 move autonomously. The control unit 42 makes the robot body 30 move autonomously according to the situation detected by the detection unit. The control unit 42 makes the robot body 30 move autonomously by controlling the drive of the legs 35, arms 34, head 32, etc. of the robot body 30. The control unit 42 makes the robot body 30 move autonomously based on movement instruction information.

[0036] The control unit 42 sets the vehicle on which the humanoid robot 5 will ride to either the electric skateboard 2 or the electric motorcycle 3. In other words, the control unit 42 selects the means of transportation for the humanoid robot 5 from either the electric skateboard 2 or the electric motorcycle 3. Based on the movement instruction information, the control unit 42 sets the vehicle to either the electric skateboard 2 or the electric motorcycle 3.

[0037] Specifically, the control unit 42 generates movement instruction information from, for example, the destination information of the humanoid robot 5. In addition to the destination information, the movement instruction information includes the travel route to the destination and information on the requested speed of movement for the humanoid robot 5 when traveling along the travel route.

[0038] The control unit 42 sets the driving route to the destination. The driving route is set based on map information, etc. For example, the control unit 42 sets the driving route to the route that will get you there the fastest. The control unit 42 may also set the driving route by referring to traffic information. If there are multiple routes that will get you to the destination by the requested arrival time, the control unit 42 may, for example, set the route with less traffic as the driving route. Note that the method of setting the driving route is just one example and is not limited to this.

[0039] The control unit 42 sets the requested speed of movement for the humanoid robot 5 when traveling along a route. The control unit 42 sets the requested speed of movement based on the surrounding environment, such as traffic information. The control unit 42 sets the requested speed of movement based on the general travel speed along the route and the requested arrival time. The control unit 42 may also set the legal speed along the route as the requested speed of movement.

[0040] For example, if the requested speed of movement includes a speed greater than or equal to a predetermined speed, the control unit 42 sets the vehicle to the electric motorcycle 3. If the requested speed of movement does not include a speed greater than or equal to the predetermined speed, the control unit 42 sets the vehicle to the electric skateboard 2. The predetermined speed is set in advance. For example, the predetermined speed is greater than the first maximum speed of the electric skateboard 2. The predetermined speed may also be the same as the first maximum speed.

[0041] For example, when an expressway is included in the travel route, the control unit 42 may set the riding device to the electric motorcycle 3.

[0042] The control unit 42 may set the riding device to the electric skateboard 2 or the electric motorcycle 3 based on the surrounding environment. For example, the surrounding environment may include the remaining battery level of the humanoid robot 5. The surrounding environment may also include weather information.

[0043] For example, when the remaining battery level of the humanoid robot 5 is equal to or lower than a predetermined remaining level, the control unit 42 may set the riding device to the electric motorcycle 3. Thereby, the humanoid robot 5 can quickly arrive at the destination, and for example, can quickly charge the battery of the humanoid robot 5 at the destination.

[0044] The control unit 42 controls the robot main body 30 so that the humanoid robot 5 rides on the set riding device. The control unit 42 controls the humanoid robot 5 to operate the riding device so that the humanoid robot 5 riding on the riding device moves by means of the riding device based on the destination information transmitted from the management device 4. The control unit 42 controls the robot main body 30 so that the riding device ridden by the humanoid robot 5 moves to the destination of the humanoid robot 5.

[0045] The control unit 42 controls the robot main body 30 so that the humanoid robot 5 rides on the riding device, based on the position information of the waiting station 7 where the electric skateboard 2 and the electric motorcycle 3 are parked, the position information of the humanoid robot 5, and the surrounding conditions of the humanoid robot 5.

[0046] Note that the humanoid robot 5 can also move by walking without riding on the electric skateboard 2 and the electric motorcycle 3. For example, when the destination to which the humanoid robot 5 moves is a short distance, the control unit 42 causes the humanoid robot 5 to move to the destination by walking without riding on the electric skateboard 2 and the electric motorcycle 3.

[0047] When the humanoid robot 5 rides on the electric skateboard 2, the leg portions 35 of the robot main body 30, specifically, both the left and right leg portions 35 are fixed to the electric skateboard 2 by the fixing portion 37. Further, when the humanoid robot 5 gets off the electric skateboard 2, the fixation of the leg portions 35 of the robot main body 30 by the fixing portion 37 is released. The attachment and detachment of the leg portions 35 by the fixing portion 37 is controlled by the control unit 42. The control unit 42 operates an electric motor or the like to switch the attachment and detachment of the leg portions 35 by the fixing portion 37, that is, the fixation and release of the leg portions 35 by the fixing portion 37.

[0048] When the humanoid robot 5 rides on the electric motorcycle 3, the robot main body 30 straddles the electric motorcycle 3. The robot main body 30 may be fixed to the electric motorcycle 3 by the fixing portion 37. That is, the fixing portion 37 may be common to the electric skateboard 2 and the electric motorcycle 3.

[0049] When the humanoid robot 5 rides on the electric motorcycle 3, the humanoid robot 5 may ride on the electric motorcycle 3 using a transfer assistance mechanism. The transfer assistance mechanism is provided in the waiting station 7 (parking lot). The transfer assistance mechanism is, for example, a step 50 as shown in FIG. 4. FIG. 4 is a schematic diagram showing the arrangement of the step 50. The step 50 functions as a scaffold for the humanoid robot 5 to safely ride on the electric motorcycle 3. The transfer assistance mechanism may be an assist handle that the humanoid robot 5 can grip. The humanoid robot 5 may use the transfer assistance mechanism when getting off the electric motorcycle 3.

[0050] Next, the boarding device setting processing according to the embodiment will be described with reference to FIG. 5. FIG. 5 is a flowchart for explaining the boarding device setting processing according to the embodiment. The boarding device setting processing is executed by the control unit 42 of the humanoid robot 5.

[0051] The control unit 42 determines whether or not a new destination for the humanoid robot 5 has been acquired (S100). For example, the control unit 42 determines whether or not new destination information has been acquired from the management device 4.

[0052] If no new destination has been acquired (S100: No), the control unit 42 ends the current processing.

[0053] If the control unit 42 acquires a new destination (S100: Yes), it sets the aircraft on which the humanoid robot 5 will be seated (S101). Based on the movement instruction information, the control unit 42 sets the aircraft on which the humanoid robot 5 will be seated.

[0054] The control unit 42 places the humanoid robot 5 into the designated vehicle (S102). The control unit 42 controls the robot body 30 so that the humanoid robot 5 can board it.

[0055] Furthermore, the humanoid robot 5 may store multiple destinations. Specifically, it may store multiple destinations to which the humanoid robot 5 will travel. In this case, travel to the stored destinations will be executed sequentially, and the vehicle on which the humanoid robot 5 will ride will be set when it travels to a destination. For example, waiting areas 7 (parking lots) for the electric skateboard 2 and electric motorcycle 3 may be provided at each destination or in the vicinity of each destination.

[0056] The humanoid robot 5 may change its mode of transport during its journey to its destination. For example, electric skateboards 2 and electric motorcycles 3 may be provided at multiple waiting areas 7, and the humanoid robot 5 may change the mode of transport it is using. For example, the travel route may include sections traveled by electric skateboard 2 and sections traveled by electric motorcycle 3. Depending on the section set in the travel route, the humanoid robot 5 will change the mode of transport it is using to either the electric skateboard 2 or the electric motorcycle 3 and travel according to the route. The sections are set up to be separated by the waiting areas 7.

[0057] Figure 6 is a schematic diagram showing an example of a computer hardware configuration that functions as a humanoid robot 5 or a management device 4. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0058] The computer 1200 according to this embodiment includes a CPU 1212, 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 and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0059] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 and stores it in the frame buffer provided in the RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0060] 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.

[0061] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 when activated. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0062] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0063] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as the RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

[0064] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as a storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0065] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to the RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if a plurality of entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the plurality of entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0066] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0067] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0068] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks (registered trademark), diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (registered trademark) disk, memory stick, integrated circuit card, etc.

[0069] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and conventional procedural programming languages ​​such as the C programming language or similar programming languages.

[0070] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0071] The mobility system 1 comprises a humanoid robot 5 and a control unit 42. The humanoid robot 5 can ride an electric skateboard 2 and an electric motorcycle 3, and is capable of autonomous movement. Based on movement instruction information for the humanoid robot 5, the control unit 42 sets the vehicle on which the humanoid robot 5 will ride to either the electric skateboard 2 or the electric motorcycle 3, and then places the humanoid robot 5 on the set electric skateboard 2 or electric motorcycle 3.

[0072] As a result, the mobility system 1 can move the humanoid robot 5 using an external mobility device, such as an electric skateboard 2 or an electric motorcycle 3, without requiring any mechanical changes to the robot body 30 of the humanoid robot 5. Therefore, the mobility system 1 can improve the mobility speed and efficiency of the humanoid robot 5. In addition, the mobility system 1 can provide the humanoid robot 5 with high flexibility and maneuverability, thereby improving the convenience of moving the humanoid robot 5.

[0073] Furthermore, the humanoid robot 5 is equipped with a fixing part 37 that detachably secures its legs 35 to the electric skateboard 2.

[0074] This prevents the humanoid robot 5 from falling off the electric skateboard 2 while moving, allowing the humanoid robot 5 to be stably mounted on the electric skateboard 2 and moved.

[0075] Furthermore, if the movement request speed of the humanoid robot 5 includes a speed of a predetermined speed or higher, the control unit 42 sets the vehicle on which the humanoid robot 5 rides to the electric motorcycle 3.

[0076] This allows the mobility system 1 to quickly transport the humanoid robot 5 to its destination using the electric motorcycle 3.

[0077] The control unit 42 sets the vehicle on which the humanoid robot 5 rides to the electric skateboard 2 if the requested movement speed of the humanoid robot 5 does not include any requests for a speed exceeding a predetermined speed.

[0078] As a result, the mobility system 1 can move the humanoid robot 5 using an electric skateboard 2, which is smaller than the electric motorcycle 3. Therefore, the mobility system 1 can move the humanoid robot 5 using a small means of transportation.

[0079] Furthermore, the control unit 42 sets the vehicle on which the humanoid robot 5 rides to either the electric skateboard 2 or the electric motorcycle 3, depending on the surrounding environment.

[0080] This allows the mobility system 1 to set the vehicle to be used, for example, according to the remaining battery power of the humanoid robot 5. For example, if the remaining battery power of the humanoid robot 5 is below a predetermined level, the mobility system 1 can put the humanoid robot 5 on the electric motorcycle 3 and get the humanoid robot 5 to its destination as quickly as possible. The mobility system 1 can then quickly recharge the battery of the humanoid robot 5 at its destination.

[0081] The mobile system 1 may have the following configurations, etc.

[0082] The mobility system 1 according to an embodiment of the present invention is a system that allows a humanoid robot 5 to select a mode of transport according to the situation and move at high speed and flexibly. The mobility system 1 is equipped with a mechanism for detachably fixing an electric skateboard 2 to the robot's legs 35, and the skateboard is equipped with a large-capacity battery and can move at a maximum speed of 40 km / h. Furthermore, the mobility system 1 allows the humanoid robot 5 to detach from the electric skateboard 2 as needed and switch to a high-speed electric motorcycle 3, which has a maximum speed of 100 km / h. The mobility system 1 is equipped with a control algorithm that allows the humanoid robot 5 to select either the electric skateboard 2 or the electric motorcycle 3 according to its speed requirements and the surrounding environment, and to connect to or ride either of them. For example, the mobility system 1 allows the selection of a low-speed, small electric skateboard 2 in urban areas and a high-speed, stable electric motorcycle 3 on highways, etc., providing high flexibility and maneuverability. The mobility system 1 includes a fixing unit 37 for detachably securing an electric skateboard 2 to the legs 35 of the humanoid robot 5, a transfer unit for detaching the electric skateboard 2 and switching to a high-speed electric motorcycle 3, and a control unit 42 equipped with a control algorithm that selects either the electric skateboard 2 or the electric motorcycle 3 according to the speed requirements of the humanoid robot 5 and the surrounding environment, and connects to or rides either the electric skateboard 2 or the electric motorcycle 3. As a result, the mobility system 1 allows the humanoid robot 5 to select a mode of transport according to the situation and move quickly and flexibly.

[0083] The mobility system 1 comprises a fixing unit 37, a transfer unit, and a control unit 42. The fixing unit 37 detachably secures the electric skateboard 2 to the legs 35 of the humanoid robot 5. The fixing unit 37 includes, for example, a clamping mechanism for securing the electric skateboard 2 to the legs 35 of the humanoid robot 5. The fixing unit 37 may also include a release mechanism for releasing the electric skateboard 2. Furthermore, the fixing unit 37 may include guide rails to facilitate the attachment and detachment of the electric skateboard 2. For example, the fixing unit 37 securely fixes the legs 35 of the humanoid robot 5 to the electric skateboard 2 using a clamping mechanism. The release mechanism releases the clamp when releasing the electric skateboard 2. The guide rails function as an auxiliary mechanism for smooth attachment and detachment of the electric skateboard 2. The transfer unit is used when the humanoid robot 5 detaches from the electric skateboard 2 and transfers to a high-speed electric motorcycle 3. The transfer unit provides, for example, a step 50 when the humanoid robot 5 transfers from the electric skateboard 2 to the electric motorcycle 3. The transfer unit may also be equipped with handles to assist in boarding the electric motorcycle 3. Furthermore, the transfer unit may be equipped with a safety mechanism to ensure safe transfer to the electric motorcycle 3. For example, the transfer unit provides a step 50 when the humanoid robot 5 transfers from the electric skateboard 2 to the electric motorcycle 3. The handles function as support when the humanoid robot 5 boards the electric motorcycle 3. The safety mechanism functions as an auxiliary mechanism to ensure safety during the transfer. The control unit 42 includes a control algorithm that selects either the electric skateboard 2 or the electric motorcycle 3 according to the speed requirements and surrounding environment of the humanoid robot 5, and connects to or boards it. The control unit 42, for example, monitors the movement status of the humanoid robot 5 in real time and selects the optimal mode of transport. The control unit 42 can also calculate the shortest route to the destination and reflect this in the selection of the mode of transport. Furthermore, the control unit 42 can also monitor the remaining power and influence the selection of the mode of transport. For example, the control unit 42 monitors the movement status of the humanoid robot 5 in real time and selects between the electric skateboard 2 and the electric motorcycle 3.The system calculates the shortest route to the destination and reflects this in the selection of the mode of transport. It also monitors the remaining power and influences the selection of the mode of transport. As a result, the mobility system 1 allows the humanoid robot 5 to select the mode of transport according to the situation and move quickly and flexibly.

[0084] The fixing part 37 detachably secures the electric skateboard 2 to the leg portion 35 of the humanoid robot 5. This fixing part 37 is equipped with a clamping mechanism to securely fix the electric skateboard 2 to the robot's leg portion 35, thereby stably holding the electric skateboard 2 during movement. The clamping mechanism securely fixes the electric skateboard 2 by applying appropriate pressure to the leg portion 35 of the humanoid robot 5. The fixing part 37 also incorporates a release mechanism for releasing the electric skateboard 2, allowing the humanoid robot 5 to quickly detach from the electric skateboard 2. The release mechanism is equipped with a button or lever for releasing the clamp and is designed to be easily operated by the humanoid robot 5. Furthermore, the fixing part 37 is provided with a guide rail to facilitate the attachment and detachment of the electric skateboard 2, allowing for smooth installation and removal. The guide rail plays a role in accurately guiding the position of the electric skateboard 2, assisting the humanoid robot 5 in positioning when mounting the electric skateboard 2. As a result, the fixing part 37 can improve the stability and convenience when the humanoid robot 5 uses the electric skateboard 2, thereby increasing the efficiency of movement. Furthermore, the fixing part 37 can reduce the time required to attach and detach the electric skateboard 2, allowing the humanoid robot 5 to quickly change its mode of transport, thereby improving the overall movement speed.

[0085] The transfer section is used when the humanoid robot 5 detaches from the electric skateboard 2 and transfers to a high-speed electric motorcycle 3. This transfer section provides a step 50 for the humanoid robot 5 to transfer from the electric skateboard 2 to the electric motorcycle 3, supporting a smooth transition. The step 50 functions as a foothold for the humanoid robot 5 to safely transfer, ensuring stability during the transfer. The transfer section is also equipped with a handle to assist in boarding the electric motorcycle 3, functioning as support when the humanoid robot 5 gets on the electric motorcycle 3. The handle is designed as an aid to help the humanoid robot 5 maintain balance, improving safety during the transfer. Furthermore, the transfer section incorporates a safety mechanism to ensure a safe transfer to the electric motorcycle 3, thereby preventing accidents during the transfer. The safety mechanism performs the necessary safety checks when the humanoid robot 5 is transferring and controls the movements of the humanoid robot 5 until the transfer is complete. This allows the transfer unit to improve safety and efficiency when the humanoid robot 5 switches from the electric skateboard 2 to the electric motorcycle 3, thereby increasing flexibility in movement. Furthermore, the transfer unit improves the adaptability of the humanoid robot 5 when using different modes of transport, enabling it to respond to various situations and thus improving overall mobility performance.

[0086] The control unit 42 is equipped with a control algorithm that selects, connects to, or mounts either the electric skateboard 2 or the electric motorcycle 3 depending on the humanoid robot 5's speed requirements and surrounding environment. This control unit 42 monitors the humanoid robot 5's movement status in real time and uses an advanced algorithm to select the optimal mode of transport. The control algorithm considers the humanoid robot 5's current speed requirements, the distance to the destination, and the surrounding traffic conditions to determine which of the electric skateboard 2 or electric motorcycle 3 is best. The control unit 42 can also calculate the shortest route to the destination and reflect this in the selection of the mode of transport. Route calculation is performed based on map data and traffic information to ensure that the humanoid robot 5 can reach its destination efficiently. Furthermore, the control unit 42 can also monitor the remaining power and influence the selection of the mode of transport. The power monitoring function is important in selecting the mode of transport to prevent the humanoid robot 5 from running out of power while moving. As a result, the control unit 42 enables the humanoid robot 5 to select the mode of transport according to the situation and move quickly and flexibly. In addition, the control unit 42 can improve overall movement efficiency by adapting to various situations that the humanoid robot 5 encounters while moving and providing an optimal movement strategy.

[0087] The fixing section 37 may be equipped with an attachment / detachment mechanism for fixing and releasing the legs 35 of the humanoid robot 5 to the electric skateboard 2. For example, the fixing section 37 may be equipped with a clamping mechanism for fixing the legs 35 of the humanoid robot 5 to the electric skateboard 2. The fixing section 37 may also be equipped with a release mechanism for releasing the electric skateboard 2. Furthermore, the fixing section 37 may be equipped with a guide rail to facilitate the attachment and detachment of the electric skateboard 2. For example, the fixing section 37 firmly fixes the legs 35 of the humanoid robot 5 to the electric skateboard 2 using a clamping mechanism. The release mechanism releases the clamp when releasing the electric skateboard 2. The guide rail functions as an auxiliary mechanism for smooth attachment and detachment of the electric skateboard 2. This allows the humanoid robot 5 to easily attach and detach the electric skateboard 2. Some or all of the above-described processes in the fixing section 37 may be performed using AI, for example, or without using AI.

[0088] The electric skateboard 2 is equipped with a large-capacity battery and can travel at a maximum speed of 40 km / h. The electric skateboard 2, for example, is equipped with a large-capacity battery that enables long-duration travel. In addition, the electric skateboard 2 can travel at a maximum speed of 40 km / h, enabling high-speed travel. Furthermore, the electric skateboard 2 can be equipped with a fast-charging function to shorten the battery charging time. For example, the electric skateboard 2 is equipped with a large-capacity battery that enables long-duration travel. It can travel at a maximum speed of 40 km / h, enabling high-speed travel. It is equipped with a fast-charging function to shorten the battery charging time. This enables the electric skateboard 2 to travel for a long time. Some or all of the above processing in the electric skateboard 2 may be performed using AI, for example, or without using AI.

[0089] The electric motorcycle 3 is capable of traveling at a maximum speed of 100 km / h. For example, the electric motorcycle 3 is capable of traveling at a maximum speed of 100 km / h, enabling high-speed travel. The electric motorcycle 3 may also be equipped with a suspension system to improve stability at high speeds. Furthermore, the electric motorcycle 3 may be equipped with a large-capacity battery to enable long-distance travel. For example, the electric motorcycle 3 is capable of traveling at a maximum speed of 100 km / h, enabling high-speed travel. It is equipped with a suspension system to improve stability at high speeds. It is equipped with a large-capacity battery to enable long-distance travel. This enables the electric motorcycle 3 to travel at high speeds. Some or all of the above processing in the electric motorcycle 3 may be performed using AI, for example, or without using AI.

[0090] The control unit 42 can determine whether the control unit of the humanoid robot 5 should use the electric skateboard 2 or the electric motorcycle 3, depending on the robot's movement status, destination, remaining power, etc. For example, the control unit 42 can monitor the humanoid robot 5's movement status in real time and select the optimal mode of transport. The control unit 42 can also calculate the shortest route to the destination and reflect this in the selection of the mode of transport. Furthermore, the control unit 42 can monitor the remaining power and influence the selection of the mode of transport. For example, the control unit 42 monitors the humanoid robot 5's movement status in real time and selects either the electric skateboard 2 or the electric motorcycle 3. It calculates the shortest route to the destination and reflects this in the selection of the mode of transport. It monitors the remaining power and influences the selection of the mode of transport. This allows the humanoid robot 5 to select the optimal means of transport. Some or all of the above-described processes in the control unit 42 may be performed using AI, for example, or without using AI.

[0091] The control unit 42 can perform leg actuation control when switching mobility. For example, the control unit 42 controls leg actuation when the humanoid robot 5 switches from an electric skateboard 2 to an electric motorcycle 3. The control unit 42 may also include an actuation algorithm to smooth the movement of the legs 35 when switching mobility. Furthermore, the control unit 42 can perform feedback control to improve the accuracy of leg actuation. For example, the control unit 42 controls leg actuation when the humanoid robot 5 switches from an electric skateboard 2 to an electric motorcycle 3. An actuation algorithm is used to smooth the movement of the legs 35 when switching mobility. Feedback control is performed to improve the accuracy of leg actuation. This allows the humanoid robot 5 to smoothly switch between modes of transport. Some or all of the above-described processes in the control unit 42 may be performed using AI, for example, or without using AI.

[0092] The variable high-speed movement method is a computer-operated variable high-speed movement method comprising a fixing step, a transfer step, and a control step. The fixing step involves detachably fixing the electric skateboard 2 to the legs 35 of the humanoid robot 5. The transfer step involves detaching the electric skateboard 2 and transferring to a high-speed electric motorcycle 3. The control step includes a control algorithm that selects either the electric skateboard 2 or the electric motorcycle 3 according to the speed requirements of the humanoid robot 5 and the surrounding environment, and connects to or mounts either the electric skateboard 2 or the electric motorcycle 3. As a result, the variable high-speed movement method allows the humanoid robot 5 to select a movement medium according to the situation and move at high speed and flexibly.

[0093] The variable high-speed mobility program has a computer execute a fixing procedure, a transfer procedure, and a control procedure. The fixing procedure involves detachably fixing the electric skateboard 2 to the legs 35 of the humanoid robot 5. The transfer procedure involves detaching the electric skateboard 2 and transferring to a high-speed electric motorcycle 3. The control procedure includes a control algorithm that selects either the electric skateboard 2 or the electric motorcycle 3 according to the speed requirements of the humanoid robot 5 and the surrounding environment, and connects to or mounts either the electric skateboard 2 or the electric motorcycle 3. As a result, the variable high-speed mobility program allows the humanoid robot 5 to select a mode of transport according to the situation and move quickly and flexibly.

[0094] The mobile system 1 is not limited to the example described above, and can be further modified in various ways, for example, as follows.

[0095] The mobility system 1 may also be equipped with an environment recognition unit. The environment recognition unit can scan the environment surrounding the humanoid robot 5 in real time and acquire information on terrain and obstacles. For example, the environment recognition unit can use a laser scanner or camera to detect obstacles in the direction of the humanoid robot 5's movement and plan an avoidance route. The environment recognition unit can also acquire weather information and instruct the control unit 42 to refrain from using the electric skateboard 2 in rainy weather and select the electric motorcycle 3 instead. Furthermore, the environment recognition unit can acquire traffic information and suggest the optimal route to avoid congested roads. In this way, the mobility system 1 can assist the humanoid robot 5 in moving safely and efficiently.

[0096] The mobility system 1 may also be equipped with an energy management unit. The energy management unit can monitor the battery level of the humanoid robot 5 and control it to achieve efficient energy use. For example, the energy management unit can compare the battery levels of the electric skateboard 2 and the electric motorcycle 3 and instruct the unit to prioritize charging the one with the lower battery level. The energy management unit can also optimize speed and acceleration to minimize energy consumption during movement. Furthermore, the energy management unit can reduce the environmental impact by prioritizing charging from renewable energy sources. As a result, the mobility system 1 can serve as a sustainable means of transportation.

[0097] The mobility system 1 may further include a user interface. The user interface provides the user with information on the operating status and movement of the humanoid robot 5, enabling intuitive operation. For example, the user interface allows the user to select the movement mode of the humanoid robot 5 using a touchscreen or voice recognition. The user interface can also display the movement speed and battery level in real time, making it easier for the user to understand the situation. Furthermore, the user interface can provide simple operations to stop the humanoid robot 5 in an emergency, improving safety. As a result, the mobility system 1 can be made more convenient as a user-friendly means of transportation.

[0098] The mobile system 1 may also be equipped with a communication unit. The communication unit provides functions for the humanoid robot 5 to exchange information with external devices and networks. For example, the communication unit can use GPS to obtain the current location of the humanoid robot 5 and calculate the optimal route to the destination. The communication unit can also obtain traffic information via the internet and suggest routes to avoid congestion. Furthermore, the communication unit can cooperate with other robots and devices and share information for coordinated movement. As a result, the mobile system 1 can achieve more efficient and safer movement.

[0099] The mobility system 1 may also be equipped with a learning unit. The learning unit can accumulate the movement history and environmental data of the humanoid robot 5 and learn to improve mobility efficiency. For example, the learning unit can analyze past movement data and automatically suggest the optimal movement route. The learning unit can also learn battery consumption patterns according to the usage of the humanoid robot 5 and provide feedback to the energy management unit. Furthermore, the learning unit can learn the user's operation patterns and suggest a movement mode that suits the user's preferences. As a result, the mobility system 1 can evolve over time and provide a more personalized mobility experience.

[0100] The mobility system 1 may further include an environmental recognition unit. The environmental recognition unit detects the surrounding terrain and obstacles and provides information to optimize the movement path of the humanoid robot 5. For example, the environmental recognition unit can use cameras and sensors to analyze road conditions in real time and influence the selection of the electric skateboard 2 or electric motorcycle 3. The environmental recognition unit can also detect weather conditions and instruct the control unit 42 to avoid using the electric skateboard 2 in rainy weather. Furthermore, the environmental recognition unit can recognize traffic signals and signs and assist the humanoid robot 5 in moving safely. As a result, the mobility system 1 can achieve safer and more efficient movement.

[0101] The mobile system 1 may also be equipped with a communication unit. The communication unit exchanges information with other robots and infrastructure, providing data to enable cooperative movement. For example, the communication unit can share positional information with other robots and adjust routes to avoid collisions. The communication unit can also receive real-time traffic information from traffic infrastructure and reflect it in the control unit 42 to select the optimal movement route. Furthermore, the communication unit can send warnings to other robots and management systems in emergencies, enabling a rapid response. As a result, the mobile system 1 can achieve safer and more efficient movement.

[0102] The mobility system 1 may further include an energy management unit. The energy management unit provides functions to optimize the power consumption of the humanoid robot 5 and achieve efficient energy use. For example, the energy management unit adjusts battery usage according to the selected mobility medium, enabling long-duration travel. The energy management unit can also prioritize charging from renewable energy sources, reducing environmental impact. Furthermore, the energy management unit can control power consumption peaks to extend battery life. As a result, the mobility system 1 can achieve more sustainable and efficient mobility.

[0103] 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 or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0104] It should be noted that the execution order of operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not mean that it is essential to perform the operations in that order.

[0105] 1. Mobility system 2. Electric skateboard 3. Electric motorcycle 4. Control device 5. Humanoid robot 10. Foot base 30. Robot body 31. Control device 35. Legs 37. Fixing part 42. Control unit

Claims

1. A mobility system comprising: a humanoid robot capable of autonomous driving and riding on an electric skateboard and an electric motorcycle; and a control unit that, based on movement instruction information of the humanoid robot, sets the vehicle on which the humanoid robot will ride to the electric skateboard or the electric motorcycle, and places the humanoid robot on the set electric skateboard or electric motorcycle.

2. The mobility system according to claim 1, wherein the humanoid robot is equipped with a fixing part that detachably secures its legs to the electric skateboard.

3. The movement instruction information includes the requested movement speed of the humanoid robot, and the control unit sets the vehicle to the electric motorcycle if the requested movement speed of the humanoid robot includes a speed equal to or greater than a predetermined speed, according to claim 1.

4. The mobility system according to claim 3, wherein the control unit sets the rideable vehicle to the electric skateboard if the requested speed of movement of the humanoid robot does not include a request for a speed greater than or equal to the predetermined speed.

5. The mobility system according to claim 1, wherein the control unit sets the rideable vehicle to the electric skateboard or the electric motorcycle depending on the surrounding environment.

6. A method for controlling a humanoid robot, comprising setting the vehicle on which the humanoid robot rides to an electric skateboard or electric motorcycle based on movement instruction information of the autonomous humanoid robot, and having the humanoid robot ride the set electric skateboard or electric motorcycle.

7. A program that causes a computer to execute the following steps: setting the vehicle on which the autonomous humanoid robot will ride to an electric skateboard or electric motorcycle based on movement instruction information of the autonomous humanoid robot; and placing the humanoid robot on the set electric skateboard or electric motorcycle.

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