US 12,033,108 B2
Control device, unmanned vehicle, and method
Toshiaki Tazume, Tokyo (JP)
Assigned to Rakuten Group, Inc., Tokyo (JP)
Appl. No. 17/257,490
Filed by Rakuten Group, Inc., Tokyo (JP)
PCT Filed Jun. 27, 2019, PCT No. PCT/JP2019/025537
§ 371(c)(1), (2) Date Dec. 31, 2020,
PCT Pub. No. WO2020/261470, PCT Pub. Date Dec. 30, 2020.
Prior Publication US 2021/0319394 A1, Oct. 14, 2021
Int. Cl. G06Q 10/08 (2024.01); B64C 39/02 (2023.01); G06Q 10/0832 (2023.01); G08G 5/00 (2006.01); B64U 101/60 (2023.01)
CPC G06Q 10/0832 (2013.01) [B64C 39/024 (2013.01); G08G 5/0034 (2013.01); G08G 5/0039 (2013.01); G08G 5/0069 (2013.01); B64U 2101/60 (2023.01); B64U 2201/10 (2023.01)] 16 Claims
OG exemplary drawing
 
1. A control device, comprising:
at least one memory storing program code; and
at least one processor operable to read the program code and operate as instructed by the program code, wherein
the program code includes:
acquiring code configured to cause the at least one processor to acquire transport article information expressing a characteristic of an article to be transported;
route determining code configured to cause the at least one processor to determine, on a basis of the characteristic expressed in the acquired transport article information, a transport route on which an unmanned vehicle is to transport the article; and
generating code configured to cause the at least one processor to generate, on the basis of the characteristic expressed in the acquired transport article information, transport control information that includes transport route information expressing the determined transport route and that causes the unmanned vehicle to transport the article by causing the unmanned vehicle to move on the transport route, wherein
the acquiring code is configured to cause the at least one processor to acquire, after the unmanned vehicle starts transporting the article, at least one of attitude information expressing an attitude of the unmanned vehicle or attitude control information expressing a control content on the attitude of the unmanned vehicle, and
the program code further includes:
detecting code configured to cause the at least one processor to detect, on the basis of at least one of a change in the attitude expressed in the acquired attitude information or a change in the control content expressed in the attitude control information, a change in a position of a center of gravity of the article carried by the unmanned vehicle;
route changing code configured to cause the at least one processor to change, when the change is detected, the determined transport route to a transport route on which the unmanned vehicle changes speed a fewer number of times compared to the determined transport route; and
controlling code configured to cause the at least one processor to carry out control that causes the unmanned vehicle to move on the changed transport route.