JP6329121B2 - 移動ロボットを含むロボットシステムにより実行される方法 - Google Patents
移動ロボットを含むロボットシステムにより実行される方法 Download PDFInfo
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Description
本出願は、以下に対して優先権を請求し、本明細書にそれら全体を参照することによって組み込む。2006年5月4日に出願された米国仮特許出願第60/746,491号、2006年4月17日に出願された米国仮特許出願第60/745,006号、および2005年9月30日に出願された米国仮特許出願60/722,935号。
本発明は、概して人々と相互交流するための自律移動ロボットに関し、より具体的には、種々の仕事のために人を助力するための自律移動ロボットに関する。
ロボット研究プラットフォームは、相互交流ロボットによる支援から恩恵を受ける可能性のある、高齢者、子供、またはその他の人々などと家庭状況において相互交流するために開発されてきた。これらのロボットプラットフォームはしばしば、実際の家庭環境、または家庭環境において、コンパニオンロボットを差し出がましくない、歓迎される客にするなど、個人的好みおよび関心事を考慮に入れていない。
一側面では、本発明は、プロセッサと、プロセッサによってアクセス可能なメモリと、ロボットの検知範囲内に人の存在を検知することができるセンサと、人が知覚可能な信号を生成することができる通信インターフェースと、ロボットを動かす、プロセッサに作動的に接続されるドライブと、薬剤投与事象に関する薬剤投与量情報および投与計画事象に関する健康関連情報のうちの少なくとも1つを確認し、事象より先に人探しルーティンを開始するプロセッサ上で実行可能なスケジューラルーティンと、ドライブに指示して周囲環境内でロボットを動かし、人に近い位置で停止させるプロセッサ上で実行可能な人探しルーティンと、投与計画ルーティンとの遵守を確実にするための投与計画遵守管理部とを含む、投与計画遵守管理のためのロボットに関する。
Claims (12)
- カメラを備える移動ロボットを含むロボットシステムにおいて該移動ロボットにより実行される方法であって、該移動ロボットが実行するステップは、
家を自律的に移動しながら前記カメラで画像を自律的に撮影し、該家の空間を識別し、識別した該空間に基づいて該家を部屋識別情報をそれぞれ有する複数の領域に分割し、該部屋識別情報を組み合わせることにより該部屋識別情報の数を削減する削減処理を、削減処理後の残りの該部屋識別情報の数がロボットがアクセス可能な部屋の数と一致するまで行うことにより、該家のマップを生成するステップと、
前記移動ロボットから離れた遠隔ユーザ装置の表示画面に、複数の部屋識別マーカーを、ユーザに対して表示するステップと、
前記部屋識別情報のうちの少なくとも二つに対して、
前記表示画面に、前記移動ロボットのカメラによって前記部屋識別情報に対応する家の領域内で撮影された画像を、ユーザに対して表示するステップと、
前記遠隔ユーザ装置を用いて、ユーザによる、前記表示された複数の部屋識別マーカー中の一つの部屋識別マーカーの選択を受け入れるステップと、
前記選択された部屋識別マーカーを前記部屋識別情報に割り当てるステップと、を含み、
さらに、
前記マップに基づいてユーザマップを前記表示画面に表示するステップと、
前記移動ロボットの駆動システムに、計画された経路における予期しない障害物を回避しながら、行先の部屋識別マーカーの指定に対応する前記家の中の少なくとも一つの位置へ、該計画された経路を進ませるステップと、を含む方法。 - 前記マップを生成するステップは、前記家の移動により得られる情報を用いて、各部屋識別情報に対して、前記複数の領域のうちの該各部屋識別情報に対応する第一領域に隣接する、該複数の領域のうちの第二領域を示すトポロジー隣接データを取得するステップを含み、
前記トポロジー隣接データは、該各部屋識別情報に対応する該第一領域にトポロジー隣接する領域がある場合、該複数の領域のうちのどの領域が該各部屋識別情報に対応する該第一領域にトポロジー隣接しているかを特定するものである、請求項1に記載の方法。 - 前記トポロジー隣接データを取得するステップは、走行距離計測法または位置特定データに従って、一以上のトポロジー経路を閉じるステップを含む、請求項2に記載の方法。
- 前記アクセス可能な部屋の全てに対して前記部屋識別マーカーを選択したかの確認をユーザに要求するステップをさらに含む、請求項1から3のいずれか一項に記載の方法
- 部屋識別マーカーを特定するユーザの命令を受け付けるステップと、
前記部屋識別マーカーに割り当てられた部屋識別情報に対応する目的の領域に移動するステップと、をさらに含む、請求項1から4のいずれか一項に記載の方法。 - 前記目的の領域に移動するステップは、トポロジー隣接データを用いて、第1の領域から、一以上のトポロジー的につながる領域を経由して、目的の領域に移動するステップを含む、請求項2を引用する請求項5に記載の方法。
- 前記ユーザから前記行先の部屋識別マーカーの指定を受け付けるステップと、
現在の部屋識別情報を有する領域内の現在位置から、異なる部屋識別情報を有する必要な介在領域を経由して、前記行先の部屋識別マーカーに対応する行先の部屋識別情報の領域内の位置への経路を計画するステップと、をさらに含む、請求項1から6のいずれか一項に記載の方法。 - 前記ロボットシステムから前記行先の部屋識別マーカーの指定を受け付けるステップと、
現在の部屋識別情報を有する領域内の現在位置から、異なる部屋識別情報を有する必要な介在領域を経由して、前記行先の部屋識別マーカーに対応する行先の部屋識別情報の領域内の位置への経路を計画するステップと、
をさらに含む、
請求項1から6のいずれか一項に記載の方法。 - 前記ロボットシステムから前記行先の部屋識別マーカーの指定を受け付けるステップと、
部屋識別情報内の一連の位置であって、各々が前記行先の部屋識別マーカーに対応する位置からなり、必要な介在位置を経由する経路を計画するステップと、
をさらに含む、請求項1から6のいずれか一項に記載の方法。 - 前記移動ロボットの場所及び状況を識別するステップと、
前記表示画面に表示された前記ユーザマップ上に前記場所及び前記状況を表示するステップと、をさらに含む、請求項1から9のいずれか一項に記載の方法。 - 前記移動ロボットが現在いる部屋を、特徴及び/又は物体の認識に基づいて識別するステップをさらに含む、請求項1から10のいずれか一項に記載の方法。
- 前記遠隔ユーザ装置はタッチスクリーンを備えた携帯電話である、請求項1から11のいずれか一項に記載の方法。
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