US 12,170,878 B2
Unmanned moving body and information processing method
Shunsuke Kuhara, Osaka (JP); Stephen William John, Nara (JP); Kazunobu Konishi, Osaka (JP); Katsuhiko Asai, Nara (JP); and Kazuo Inoue, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Jun. 16, 2021, as Appl. No. 17/349,210.
Application 17/349,210 is a continuation of application No. PCT/JP2019/042665, filed on Oct. 30, 2019.
Claims priority of application No. 2019-065940 (JP), filed on Mar. 29, 2019.
Prior Publication US 2021/0311506 A1, Oct. 7, 2021
Int. Cl. G05D 1/00 (2024.01); B64U 101/00 (2023.01)
CPC G05D 1/12 (2013.01) [B64U 2101/00 (2023.01); B64U 2201/20 (2023.01)] 14 Claims
OG exemplary drawing
 
1. An unmanned moving body, comprising:
a directional speaker that outputs sound in an orientation direction; and
a processor,
wherein the processor:
obtains one or more instances of sensing data,
determines whether or not a second target is present in a vicinity of a first target in accordance with at least one of the one or more instances of sensing data,
calculates a positional relationship between the first target and the second target from at least one of the one or more instances of sensing data when it is determined that the second target is present,
determines a first position of the unmanned moving body in accordance with the positional relationship and causes the unmanned moving body to move to the first position, the first position being a position that places the first target and the second target within a range over which the sound from the directional speaker reaches at at least a predetermined quality, and
when the processor determines that the second target is present during a period in which the directional speaker is emitting sound to the first target:
(i) causes the unmanned moving body to move to the first position by passing on a front side of the first target; or
(ii) causes the unmanned moving body to move to the first position while maintaining a constant quality of sound emitted to the first target.