STATE DETERMINATION SYSTEM, STATE DETERMINATION METHOD, AND MOVABLE ROBOT

• US 20150186729A1
• Filed: 12/19/2014
• Published: 07/02/2015
• Est. Priority Date: 12/26/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: SAITO, Fuminori
• Granted Patent: US 10,740,611 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06V 20/20 in augmented reality scenes

Abstract

An state determination system comprises an information acquiring portion that acquires an environment information, a movable body, an instruction portion that performs an action instruction to the movable body, and an estimation portion that estimates an abnormality of the object based on at least one of the information acquired by the information acquiring portion and the environment information acquired by the movable body. In case the estimation portion estimates the abnormality of the object, the instruction portion performs the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body. At least one of the information acquiring portion and the movable body acquires the response state of the object to the action of the movable body instructed by the instruction portion. The state determination system comprises a determination portion that the abnormality of the object based on the acquired response state.

Claims

1. An state determination system comprising:

information acquiring means that is provided in at least one of a predetermined environment and an object, and acquires an environment information;

a movable body that autonomously moves and acquires a circumferential environment information;

instruction means that performs an action instruction to the movable body; and

estimation means that estimates an abnormality of the object based on at least one of the information acquired by the information acquiring means and the environment information acquired by the movable body,

wherein in case the estimation means estimates the abnormality of the object, the instruction means performs the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body,

at least one of the information acquiring means and the movable body acquires the response state of the object to the action of the movable body instructed by the instruction means, and

the state determination system comprises determination means that determines the abnormality of the object based on the acquired response state.

2. The state determination device according to claim 1,

wherein the movable body includes acquiring means that acquires a circumferential image and/or voice,

the movable body removes an obstacle at the time of the acquiring means acquiring the image and/or voice of the object in response to the action instruction from the instruction means,

the acquiring means acquires the image and/or voice of the response state of the object, and

the determination means determines the abnormality of the object based on the image and/or voice of the response state of the object acquired by the acquiring means.

3. The state determination device according to claim 1,

wherein the estimation means estimates the abnormality of the object based on at least one of the information acquired by the acquiring means and the environment information acquired by the movable body, and an action pattern information of the object.

4. The state determination device according to claim 1, further comprising reporting means that reports in case the determination means determines the object is abnormal.

5. The state determination device according to claim 1,

wherein in case of determining the position of the object estimated as the abnormality by the estimation means is within a predetermined area which is set in advance, the instruction means performs the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body.

6. A state determination method for a state determination device which comprises:

information acquiring means that is provided in at least one of a predetermined environment and an object, and acquires an environment information;

a movable body that autonomously moves and acquires a circumferential environment information, the method comprising;

estimating an abnormality of the object based on at least one of the information acquired by the information acquiring means and the environment information acquired by the movable body;

performing the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body in case of estimating the abnormality of the object;

at least one of the information acquiring means and the movable body acquiring the response state of the object to the instructed action of the movable body; and

determining the abnormality of the object based on the acquired response state.

7. A movable robot comprising:

a first sensor that acquires a circumferential environment information; and

estimation means that estimates an abnormality of an object based on at least one of an environment information acquired by a second sensor provided in at least one of a predetermined area and the object, and the environment information acquired by the first sensor,

wherein in case the estimation means estimates the abnormality of the object, the movable robot performs an action for moving to the neighborhood of the object and requiring a response,

at least one of the first sensor and second sensor acquires the response state of the object to the action of the movable robot, and

the movable robot comprises determination means that determines the abnormality of the object based on the response state of the object acquired by at least one of the first sensor and second sensor.

8. An state determination system comprising:

an information acquiring portion that is provided in at least one of a predetermined environment and an object, and acquires an environment information;

a movable body that autonomously moves and acquires a circumferential environment information;

an instruction portion that performs an action instruction to the movable body; and

an estimation portion that estimates an abnormality of the object based on at least one of the information acquired by the information acquiring portion and the environment information acquired by the movable body,

wherein in case the estimation portion estimates the abnormality of the object, the instruction portion performs the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body,

at least one of the information acquiring portion and the movable body acquires the response state of the object to the action of the movable body instructed by the instruction portion, and

the state determination system comprises a determination portion that the abnormality of the object based on the acquired response state.